Pneumatic soft climbing robot with bionic scale structure

Abstract

The application discloses a pneumatic soft body crawling robot with a bionic scale structure, which is combined by a driver body and a pneumatic connector. The driver body is combined by a head structure, a vacuum cavity, a scale structure and a tail structure. The head structure and the tail structure are hard components and are connected with the soft body vacuum cavity. The vacuum cavity is combined by a plurality of soft chambers, and a hard reinforcing structure is embedded in the middle of each chamber. The scale structure is made of hard material, and each soft chamber is connected with a hard scale at the bottom. The pneumatic connector is provided with an air inlet hole and is connected with the driver body through a threaded structure. The crawling robot has the advantages of miniaturization, strong environmental adaptability, high stability and good flexibility.

Description

Technical Field

[0001] This invention relates to the field of soft robot technology, and in particular to a pneumatic soft crawling robot with a biomimetic scale structure. Background Technology

[0002] In production, daily life, and scientific research, there are numerous needs for unstructured environment exploration, such as narrow pipe repair, damaged road inspection, disaster relief, and gravel pile exploration. The complex topographic features and geological structures in unstructured environments pose significant challenges to these exploration tasks. Crawling robots are widely used in terrain exploration, and the unstructured exploration environment places higher demands on their performance.

[0003] Currently, common detectors and rovers are limited by their size and mobility, making them difficult to adapt to environments with many obstacles and confined spaces. Their detection scenarios are mostly limited to flat terrain. In this context, crawling robots, which are more environmentally adaptable and smaller in size, have a greater advantage.

[0004] However, traditional rigid robots are prone to tipping over when exploring narrow or rugged environments due to instability. Furthermore, impacts and collisions between rigid robots and narrow spaces can damage robot components, affecting their usability.

[0005] Therefore, there is an urgent need to provide a new type of crawling robot that can better adapt to complex exploration scenarios. Summary of the Invention

[0006] The main objective of this invention is to propose a pneumatic soft crawling robot with a biomimetic scale structure, aiming to provide a crawling robot that can better adapt to complex exploration scenarios.

[0007] To achieve the above objectives, the present invention proposes a pneumatic soft crawling robot with a biomimetic scale structure, comprising a actuator body and a pneumatic connector, wherein,

[0008] The actuator body includes a vacuum cavity and multiple scale structures. The vacuum cavity includes multiple interconnected soft chambers. The multiple scale structures are respectively connected to the bottom of the multiple soft chambers. One end of the scale structure is connected to the soft chamber as a connecting end and the other end is a movable end.

[0009] A pneumatic connector is connected to the vacuum chamber and has an air inlet communicating with the vacuum chamber. The pneumatic connector is used to connect to an external air source to deliver gas to the vacuum chamber.

[0010] The vacuum cavity can undergo bending deformation and axial elongation deformation when it is filled with gas. The scale structure changes its relative position with the contact surface as the vacuum cavity deforms, so as to provide crawling force to the vacuum cavity through friction with the contact surface.

[0011] In one embodiment, the vacuum cavity further includes a rigid reinforcement structure disposed in the soft cavity to limit the radial deformation of the soft cavity and improve the robot's load capacity and durability, wherein the scale structure is connected to the rigid reinforcement structure.

[0012] In one embodiment, the rigid reinforcement structure is an open frame structure, the opening of the frame structure is opposite to the scale structure, and the rigid reinforcement structure is embedded in the radial outer periphery of the soft cavity.

[0013] In one embodiment, the plurality of soft chambers are arranged at axial intervals along the vacuum cavity;

[0014] The vacuum cavity also includes a connecting structure, which is located between two adjacent soft cavities. The connecting structure is hollow and forms a channel for connecting adjacent soft cavities.

[0015] In one embodiment, the cross-section of the connecting structure is a semi-circle that protrudes toward the scale structure, and there is a gap between the end of the connecting structure toward the scale structure and the bottom of the soft cavity.

[0016] In one embodiment, the scale structure is inclined downward from the connecting end to the moving end, and the angle between the scale structure and the horizontal plane is between 4° and 10°.

[0017] In one embodiment, the plurality of scale structures are stacked sequentially along the axial direction of the vacuum cavity, and the movable end of one of two adjacent scale structures covers the surface of the connecting end of the other.

[0018] In one embodiment, the scale structure is arranged in a pentagonal shape, and the corner of one of two adjacent scale structures overlaps the side of the other.

[0019] In one embodiment, the driver body further includes a tail structure disposed at one end of the vacuum cavity, the tail structure including a connecting portion and a sealing ring, wherein,

[0020] The connecting part is made of a rigid material and has a connecting air hole that communicates with the vacuum cavity. The outer periphery of the connecting part is provided with a threaded structure for threaded connection with the pneumatic connector.

[0021] The sealing ring is fitted onto the surface of the connecting part.

[0022] In one embodiment, the actuator body further includes a head structure disposed at the other end of the vacuum cavity. The head structure is made of a rigid material, has a rectangular cross-section, and is sealed to the vacuum cavity.

[0023] Compared with traditional crawling robots, the pneumatic soft crawling robot of the present invention has the following advantages:

[0024] 1. The main body of the crawling robot of the present invention is made of soft material, which has high flexibility and high agility, and can better adapt to complex exploration scenarios.

[0025] 2. The robot of the present invention has a hard scale structure arranged in the same direction on its bottom, which provides anisotropic friction force, thereby improving the robot's crawling efficiency.

[0026] 3. All components of the robot of the present invention are printed in one piece using UV curing multi-material 3D printing technology, which makes the manufacturing process simple and quick.

[0027] 4. In this invention, the robot's head structure, vacuum cavity, scale structure, and tail structure are integrated into a single unit, constituting the robot's actuator body. The actuator body is connected to the pneumatic connector via a threaded connection, facilitating easy assembly and disassembly. If any structure is damaged, it can be directly replaced, offering convenience, speed, and reduced maintenance costs. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0029] Figure 1 This is a complete assembly diagram of the pneumatic soft crawling robot with a biomimetic scale structure described in this invention.

[0030] Figure 2 This is a schematic diagram of the structure of the driver body described in this invention;

[0031] Figure 3 This is a schematic diagram of the structure of the pneumatic connector described in this invention;

[0032] Figure 4 This is a cross-sectional schematic diagram of a single biomimetic scale according to the present invention;

[0033] Figure 5 This is a three-dimensional schematic diagram of a single biomimetic scale according to the present invention;

[0034] Figure 6 This is a side view of the multiple scale structures described in this invention;

[0035] Figure 7 This is a top view schematic diagram of the multiple scale structures described in this invention.

[0036] Explanation of icon numbers:

[0037] 1. Head structure; 2. Vacuum chamber; 21. Soft chamber; 22. Rigid reinforced structure; 23. Connecting structure; 3. Scale structure; 31. Connecting end; 32. Movable end; 4. Tail structure; 41. Connecting part; 42. Threaded structure; 43. Sealing ring; 5. Pneumatic connector; 51. Connector body; 52. Connector threaded structure; 53. Internal sealing ring; 54. Air inlet.

[0038] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0039] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0040] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0041] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution that simultaneously satisfies A and B. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0042] This invention proposes a pneumatic soft crawling robot with a biomimetic scale structure.

[0043] In embodiments of the present invention, such as Figures 1 to 7 As shown, the pneumatic soft crawling robot with biomimetic scale structure 3 includes a actuator body and a pneumatic connector 5.

[0044] The actuator body includes a vacuum chamber 2, multiple scale structures 3, a head structure 1, and a tail structure 4.

[0045] Specifically, the vacuum chamber 2 comprises multiple interconnected soft chambers 21, which are made of flexible materials (such as silicone, polyurethane, ABS plastic, Agilus 30, etc.) to allow them to deform during inflation and deflation. Each soft chamber 21 has a scale structure 3 mounted on its bottom. Each scale structure 3 has a connecting end 31 and a movable end 32. The connecting end 31 connects to the soft chamber 21, while the movable end 32 is positioned opposite to the connecting end 31. The scale structure 3 is made of a rigid material to ensure sufficient strength to withstand the pressure during robot movement.

[0046] Specifically, in the inflated state, the vacuum chamber 2 can undergo upward bending deformation and axial elongation deformation. The scale structure 3 changes its relative position with the contact surface (i.e., the crawling surface) as the vacuum chamber 2 deforms, and provides crawling force to the vacuum chamber 2 through friction with the contact surface.

[0047] In this embodiment, the cross-section of the soft cavity 21 is set to be rectangular.

[0048] The head structure 1, made of rigid material, is connected to one end of the vacuum chamber 2. Its rectangular cross-section provides a rigid frame, ensuring the crawling robot maintains stability in its forward direction during movement. The head structure 1 is sealed to the vacuum chamber 2 to prevent gas leakage.

[0049] In this embodiment, the head structure 1 has a rectangular cross-section to facilitate a sealed connection with the soft cavity 21. Of course, in other embodiments, the cross-section of the head structure 1 can also be set as a square.

[0050] The tail structure 4 is located at the other end of the vacuum chamber 2 and includes a connecting part 41 and a sealing ring 43. The connecting part 41 is made of a rigid material and has a connecting vent that communicates with the vacuum chamber 2. The outer periphery of the connecting part 41 has a threaded structure 42 for threaded connection with the pneumatic connector 5. The sealing ring 43 is fitted onto the surface of the connecting part 41 to ensure gas sealing performance between the connecting part 41 and the pneumatic connector 5.

[0051] Specifically, the pneumatic connector 5 is mounted on the tail structure 4 and connected to the driver body via a threaded structure 42. It has an air inlet 54 that communicates with the vacuum chamber 2 and can be connected to an external air source (such as an air pump) to deliver gas to the vacuum chamber 2.

[0052] Specifically, the pneumatic connector 5 includes a connector body 51 and an internal sealing ring 53. The connector body 51 is made of a rigid material and has a connector thread structure 52, which is threadedly connected to the tail structure 4. The internal sealing ring 53 is located inside the connector body 51 to ensure that there is no leakage when gas is input, providing a stable air pressure environment so that the vacuum chamber 2 can deform as expected.

[0053] In addition, the connector body 51 is provided with an air inlet 54, which corresponds to the connecting air hole on the tail structure 4. The wall of the air inlet 54 is provided with an air inlet thread, which facilitates quick and sealed connection between the pneumatic connector 5 and an external air source. The specification of the air inlet is M5×0.8 to ensure compatibility with common air source equipment, such as quick-connect pneumatic straight-through quick-connect fittings and air guide tubes.

[0054] Specifically, when the pneumatic soft crawling robot is activated, an external air source supplies gas to the vacuum chamber 2 through the pneumatic connector 5. As the gas enters the soft chamber 21, the vacuum chamber 2 begins to expand, producing upward bending and axial elongation deformation. During this process, the connecting end 31 of the scale structure 3 moves with the deformation of the soft chamber 21, causing the movable end 32 to gradually separate from the ground (i.e., the contact surface) or change its contact angle with the ground.

[0055] Once inflation is complete, the robot enters the deflation phase. At this time, as gas is expelled from the vacuum chamber 2, the chamber begins to return to its original shape. The movable end 32 of the scale structure 3 re-contacts the ground or returns to its pre-inflation contact angle due to the restored position, generating friction that propels the vacuum chamber 2 forward or backward. Thus, in each inflation / deflation cycle, the scale structure 3 periodically contacts or separates from the ground, effectively propelling the robot forward.

[0056] This dynamic inflation and deflation process allows the crawling robot to flexibly adapt to various conditions in complex terrains, exhibiting excellent mobility and stability to complete exploration tasks. Furthermore, by adjusting the gas input and output, the robot's speed and direction can be precisely controlled, enabling more flexible operation.

[0057] In some embodiments, the vacuum cavity 2 further includes a rigid reinforcement structure 22 disposed in the soft cavity 21 to limit the radial deformation of the soft cavity 21.

[0058] It is understandable that by restricting the deformation of the soft cavity 21 through the rigid reinforcement structure 22, the deformation of the vacuum cavity 2 can be mainly concentrated in the axial direction. In this way, not only is the stability of the robot during movement improved, but the efficiency of gas drive can also be enhanced.

[0059] Specifically, the rigid reinforcement structure 22 is an open frame structure, with the opening facing away from the scale structure 3. This reinforcement structure is embedded in the radial outer periphery of the soft cavity 21. In this way, it not only effectively prevents the soft cavity 21 from excessive radial deformation during inflation, but also allows the vacuum cavity 2 to accurately bend upwards during inflation through the opening, thereby ensuring the crawling robot's travel efficiency.

[0060] Furthermore, the rigid reinforcement structure 22 not only enhances the structural integrity of the vacuum chamber 2, but also enables the robot to maintain high stability and flexibility in complex and varied terrain conditions, and improves the crawling robot's load capacity and durability. Especially in narrow or irregular spaces, the controlled deformation of the vacuum chamber 2 ensures that the robot will not lose balance due to excessive radial deformation, further improving the robot's environmental adaptability.

[0061] Furthermore, the scale structure 3 is directly connected to the rigid reinforcement structure 22. Because the rigid reinforcement structure 22 provides strong support, the scale structure 3 remains stable during the deformation of the soft cavity 21 and moves with the bending and stretching motion of the vacuum cavity 2. In this way, the movable end 32 of the scale structure 3 can more precisely adjust its contact angle with the ground and its separation motion, ensuring sufficient friction during robot crawling.

[0062] Optionally, the rigid reinforcement structure 22 can be made of materials such as nylon, plastic, carbon fiber, Vero Pure White (white resin).

[0063] In some embodiments, the rigid reinforcement structure 22 is embedded in the soft cavity 21 using 3D printing technology.

[0064] Specifically, the application of 3D printing technology enables the rigid reinforced structure 22 to be integrally formed with the soft cavity 21 during the manufacturing process. Through multi-material 3D printing technology, rigid and flexible materials can be precisely integrated into the soft cavity 21 in a single printing process, thereby improving production efficiency and reducing production costs.

[0065] Furthermore, due to the high precision and customizability of 3D printing technology, the rigid reinforcement structure 22 can be precisely embedded into different positions of the soft cavity 21 according to specific design requirements. This technology ensures a perfect fit between the rigid reinforcement structure 22 and the soft cavity 21, avoiding structural weaknesses or failure risks that may occur due to improper bonding or assembly in traditional manufacturing methods.

[0066] In some embodiments, the plurality of soft chambers 21 of the vacuum cavity 2 are arranged at intervals along the axial direction of the vacuum cavity 2. Furthermore, the vacuum cavity 2 also includes a connecting structure 23, which is disposed between two adjacent soft chambers 21 and forms a channel for connecting adjacent soft chambers 21, so as to ensure that the gas between adjacent soft chambers 21 can flow smoothly and realize the uniform expansion and contraction of the entire vacuum cavity 2.

[0067] Specifically, the connecting structure 23 maintains an appropriate interval between two adjacent soft chambers 21. This interval design can effectively promote the upward bending deformation of the vacuum chamber 2 when it is inflated, thereby accurately controlling the deformation of the crawling robot.

[0068] In some embodiments, the cross-section of the connecting structure 23 is designed as a semi-circle convex towards the scale structure 3. This design not only facilitates the smooth flow of gas between chambers but also provides additional support and guidance for the bending deformation of the vacuum chamber 2. The semi-circular cross-sectional shape ensures that the chamber has a certain degree of flexibility when stretched axially, conforming to the bending of the overall structure without causing excessive local stress or uneven deformation during bending.

[0069] In addition, there is a gap between the end of the connecting structure 23 facing the scale structure 3 and the bottom of the soft cavity 21. This design further ensures that the vacuum cavity 2 is not restricted by the bottom space during the inflation process, so that it can bend and deform upward smoothly.

[0070] It is worth noting that the semi-circular cross-section and spacing design of the connecting structure 23 can be adjusted according to the robot's working needs, making it suitable for a variety of tasks and application scenarios, thereby further improving the robot's flexibility and operability.

[0071] In some embodiments, the scale structure 3 is inclined downward from the connecting end 31 to the movable end 32, and the angle between the scale structure 3 and the horizontal plane is between 4° and 10°. The angle between the scale structure 3 and the horizontal plane is the inclination angle of the scale structure 3, which can also be regarded as the angle between the scale structure 3 and the bottom plane of the vacuum cavity 2.

[0072] Specifically, the angle between the scale structure 3 and the horizontal plane, i.e., the tilt angle of the scale structure 3, is between 4° and 10°. Within this range, the scale structure 3 can provide the robot with the best friction effect. A smaller tilt angle (close to 4°) ensures that the scale structure 3 provides sufficient crawling force when in contact with flat or low-friction surfaces; while a larger tilt angle (close to 10°) is suitable for more complex or rough terrain, ensuring that the scales can effectively grip the ground and prevent the robot from slipping or losing balance on rough terrain.

[0073] Optionally, the tilt angle of the scale structure 3 is set to 7°. This means that the tilt angle of the scale structure 3 relative to the horizontal plane or the bottom plane of the vacuum cavity 2 is 7°. This angle allows the scales to effectively grip the irregularities of the surface when in contact with the ground, providing appropriate friction to help the robot move steadily forward. Furthermore, the initial 7° angle ensures that the scale structure 3 maintains good frictional contact with the ground throughout the entire deformation cycle.

[0074] Furthermore, the 7° tilt angle enables the crawling robot to exhibit excellent adaptability in a variety of environmental conditions. For example, on smooth surfaces, the 7° angle allows the scale structure 3 to fully utilize the slight irregularities of the ground to generate friction and avoid slipping; on rougher or uneven surfaces, the 7° angle helps the scale structure 3 maintain an appropriate contact area while avoiding excessive embedment in the surface, thus improving the robot's motion stability.

[0075] Of course, in other embodiments, the tilt angle of the scale structure 3 can also be set to any angle between 4° and 10°, such as 4°, 5°, 6°, 8°, 9°, 10°, etc.

[0076] In some embodiments, multiple scale structures 3 are stacked sequentially along the axial direction of the vacuum cavity 2 to form a continuous scale covering effect.

[0077] Specifically, these scale structures 3 are arranged in a layered manner from the head structure 1 to the tail structure 4, similar to the natural layout of biological (snake) scales. This arrangement of scale structures 3 can work together effectively during the inflation and deflation of the vacuum chamber 2, providing continuous friction and crawling power for the pneumatic soft crawling robot.

[0078] Furthermore, in two adjacent scale structures 3, the movable end 32 of one scale covers the surface of the connecting end 31 of the other. Because the movable end 32 of one scale covers the connecting end 31 of the next scale, the scales can slide smoothly on different terrains, avoiding gaps and discontinuous contact that may occur between scales. This continuous scale structure 3 allows the robot to remain stable while crawling, preventing jamming or slipping on irregular surfaces.

[0079] Furthermore, the stacked design of the scale structure 3 allows for the generation of directional frictional forces during the inflation and deflation of the vacuum chamber. This ensures the directional movement of the crawling robot, such as forward movement (scale structures 3 are stacked sequentially from head structure 1 to tail structure 4) or backward movement (scale structures 3 are stacked sequentially from tail structure 4 to head structure 1). This helps ensure that the crawling robot's movement direction meets expectations and improves its crawling efficiency.

[0080] Of course, the design of this application is not limited to this. In other embodiments, the scale structure 3 can also be arranged in other ways, such as being attached to each other.

[0081] In some embodiments, the scale structure 3 is arranged in a pentagonal shape. Specifically, the scale structure 3 can be regarded as a combination shape formed by splicing a rectangle with a size of 12mm × 8.5mm and an isosceles triangle with a base of 12mm and a vertex of 120°.

[0082] The pentagonal shape of the scale structure 3 provides a large contact area, especially during robot movement, when the vacuum chamber 2 is inflated and bent, allowing the scales to maintain a wider contact with the ground. The rectangular portion provides a large planar contact area, while the isosceles triangular portion can penetrate uneven surfaces through its apex, thereby increasing friction on rugged or irregular terrain.

[0083] Based on the design of the pentagonal scale structure 3, the corner of one of two adjacent scale structures 3 covers the edge of the other. This covering design can provide more continuous surface contact, thereby improving the robot's motion stability on complex terrain and preventing jamming, slipping or failure on rugged terrain.

[0084] In some embodiments, the thickness of the scale structure 3 is 1 mm.

[0085] Specifically, the 1mm thickness allows the scale structure 3 to provide sufficient strength while retaining a certain degree of flexibility. This thickness is sufficient to ensure that the scale structure 3 will not deform or break during crawling and can withstand the friction and pressure during inflation and deflation. At the same time, this thickness does not make the scale structure 3 too rigid, maintaining sufficient flexibility to ensure that it can conform to the slight irregularities of the terrain surface and provide continuous friction.

[0086] Furthermore, the 1mm thickness design ensures the durability of the scale structure 3. During the inflation and deflation cycles of the pneumatic soft crawling robot, the scale structure 3 frequently comes into contact with and separates from the ground, placing high demands on the material strength and wear resistance of the scales. The 1mm thick scale structure 3 maintains stable performance over long-term use, preventing functional failure due to rapid wear. This thickness ensures that the scales are neither too bulky nor too thin, guaranteeing their durability and performance stability.

[0087] In some embodiments, all structures of the actuator body and the pneumatic connector 5 are manufactured using UV curing technology and are integrally formed by multi-material 3D printing.

[0088] Specifically, UV curing technology is a technique that uses ultraviolet light to rapidly solidify liquid photosensitive resin into a molded shape. This process enables the integrated fabrication of a designed structure in a short time, avoiding assembly errors and bonding problems in traditional manufacturing processes. By using multi-material 3D printing technology, robots can combine multiple materials, such as rigid and flexible materials, in a single printing process to achieve complex structures that combine functionality and durability.

[0089] For the actuator body, the vacuum cavity 2, fabricated using UV curing technology, enables seamless integration of the high-precision soft chamber 21 and the rigid reinforcement structure 22. This means that the flexible parts (such as the soft chamber 21) and rigid parts (such as the rigid reinforcement structure 22) of the vacuum cavity 2 can be precisely manufactured in a one-piece molding process, ensuring a strong connection between the parts and thus improving the durability and airtightness of the vacuum cavity 2. Simultaneously, the scale structure 3 can also be formed using appropriate materials in the same printing process, ensuring the strength and flexibility of the scales.

[0090] For the pneumatic connector 5, multi-material 3D printing technology can integrate the rigid body, threaded portion, and internal sealing ring 53 of the pneumatic connector 5 into a single unit. The high precision of UV curing technology allows these functional structures to be precisely molded, thereby achieving a perfect fit between the pneumatic connector 5 and the actuator body, ensuring sealing performance during gas input and output processes.

[0091] Understandably, by employing UV curing technology and multi-material 3D printing technology for integrated molding, the manufacturing process of pneumatic soft crawling robots is more efficient, and the precision and fit between parts are higher. This manufacturing method not only reduces the complexity of manual assembly and lowers production costs, but also makes the overall robot structure more reliable, suitable for long-term operation in high-load, complex environments.

[0092] In some embodiments, the crawling robot comprises 9 soft chambers 21, 9 rigid reinforcement structures 22, 8 chamber interconnection structures 23, and 9 rigid scales. The overall frame cross-sectional dimensions of the robot are 14mm × 15mm, and the total length of the robot is 101mm.

[0093] It's understandable that the robot's overall frame has a cross-sectional dimension of 14mm × 15mm and a total length of 101mm, presenting a small and exquisite structural design. This compact size not only makes the robot easier to operate in confined spaces but also makes it more flexible in complex environments.

[0094] Based on the above embodiments, it can be seen that the pneumatic soft crawling robot of the present invention has the following advantages compared with traditional crawling robots:

[0095] 1. The main body of the crawling robot of the present invention is made of soft material, which has high flexibility and high agility, and can better adapt to complex exploration scenarios.

[0096] 2. The robot of the present invention has a hard scale structure arranged in the same direction on its bottom, which provides anisotropic friction force, thereby improving the robot's crawling efficiency.

[0097] 3. All components of the robot of the present invention are printed in one piece using UV curing multi-material 3D printing technology, which makes the manufacturing process simple and quick.

[0098] 4. In this invention, the robot's head structure, vacuum cavity, scale structure, and tail structure are integrated into a single unit, constituting the robot's actuator body. The actuator body is connected to the pneumatic connector via a threaded connection, facilitating easy assembly and disassembly. If any structure is damaged, it can be directly replaced, offering convenience, speed, and reduced maintenance costs.

[0099] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A pneumatic soft crawling robot with a biomimetic scale structure, characterized in that, include: The actuator body includes a vacuum cavity and multiple scale structures. The vacuum cavity includes multiple interconnected soft chambers. The multiple scale structures are respectively connected to the bottom of the multiple soft chambers. One end of the scale structure is connected to the soft chamber as a connecting end and the other end is a movable end. A pneumatic connector is connected to the vacuum chamber and has an air inlet communicating with the vacuum chamber. The pneumatic connector is used to connect to an external air source to deliver gas to the vacuum chamber. The vacuum cavity can undergo bending deformation and axial elongation deformation when it is filled with gas. The scale structure changes its relative position with the contact surface as the vacuum cavity deforms, so as to provide the vacuum cavity with crawling force through friction with the contact surface. The scale structure is inclined downward from the connecting end to the moving end, and the angle between the scale structure and the horizontal plane is between 4° and 10°. The plurality of scale structures are stacked sequentially along the axial direction of the vacuum cavity, and the movable end of one of two adjacent scale structures covers the surface of the connecting end of the other. The scale structure is arranged in a pentagonal shape, and the corner of one of two adjacent scale structures overlaps the side of the other.

2. The pneumatic soft crawling robot with a biomimetic scale structure as described in claim 1, characterized in that, The vacuum cavity further includes a rigid reinforcement structure disposed in the soft cavity to limit the radial deformation of the soft cavity, and the scale structure is connected to the rigid reinforcement structure.

3. The pneumatic soft crawling robot with a biomimetic scale structure as described in claim 2, characterized in that, The rigid reinforcement structure is an open frame structure, with the opening direction of the frame structure facing away from the scale structure, and the rigid reinforcement structure is embedded in the radial outer periphery of the soft cavity.

4. The pneumatic soft crawling robot with a biomimetic scale structure as described in claim 3, characterized in that, The plurality of soft chambers are arranged at intervals along the axial direction of the vacuum cavity; The vacuum cavity also includes a connecting structure, which is located between two adjacent soft cavities. The connecting structure is hollow and forms a channel for connecting adjacent soft cavities.

5. The pneumatic soft crawling robot with a biomimetic scale structure as described in claim 4, characterized in that, The cross-section of the connecting structure is a semi-circle that protrudes towards the scale structure, and there is a gap between the end of the connecting structure facing the scale structure and the bottom of the soft cavity.

6. The pneumatic soft crawling robot with a biomimetic scale structure as described in claim 1, characterized in that, The actuator body also includes a tail structure located at one end of the vacuum cavity, the tail structure including a connecting part and a sealing ring, wherein, The connecting part is made of a rigid material and has a connecting air hole that communicates with the vacuum cavity. The outer periphery of the connecting part is provided with a threaded structure for threaded connection with the pneumatic connector. The sealing ring is fitted onto the surface of the connecting part.

7. The pneumatic soft crawling robot with a biomimetic scale structure as described in claim 1, characterized in that, The actuator body also includes a head structure located at the other end of the vacuum cavity. The head structure is made of a rigid material, has a rectangular cross-section, and is sealed to the vacuum cavity.

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