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Bionic soft robot based on hydrostatic skeleton mechanism property

A robot and bone technology, which is applied in the field of bionic soft robots based on the mechanism and characteristics of hydrostatic bones, can solve the problems of narrow operating environment, difficulty in autonomous movement and obstacle crossing of robots, and inability to reach the operating site, and achieves a reduction in the size of the shape design. Effect

Active Publication Date: 2011-09-07
HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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Problems solved by technology

Traditional robot drive methods, such as rigid drive mechanisms such as wheel, leg, and swing walk, have shown unique advantages in some applications, but they are not suitable for unstructured applications such as pipeline maintenance, medical diagnosis and treatment, ruin search and rescue, and military reconnaissance. In environmental applications, due to the narrow and changeable working environment and various unknown obstacles, it is relatively difficult for the robot to move autonomously and overcome obstacles, and may not be able to reach the work site

Method used

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  • Bionic soft robot based on hydrostatic skeleton mechanism property
  • Bionic soft robot based on hydrostatic skeleton mechanism property
  • Bionic soft robot based on hydrostatic skeleton mechanism property

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Embodiment Construction

[0022] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0023] like figure 1 , figure 2 and image 3 As shown, the overall structure of the bionic soft robot of the present invention is mainly composed of an elastic shell 1 , an incompressible fluid 2 and a loading device 3 . The above-mentioned elastic shell is a spherical structure of the front body, which is composed of twenty cell units 10, and each cell unit 10 is an equilateral triangle with equal faces, sides and angles. The outer wall of the cell unit is made of elastic material—silica gel (xSio2·yH2O), and the interconnected edges of each cell unit are glued to each other with Ecoflex elastic material, so that the overall structure of the shell is strictly closed. Each cell unit includes an outer cell wall 11, a cell cavity, a magneto-rheological fluid 12, a micro-electromagnetic driving device and a cell unit controller, and a connecti...

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Abstract

The invention relates to a bionic soft robot, and in particular relates to a bionic soft robot based on the hydrostatic skeleton mechanism property which is applied to non-structuring operation environments, such as pipeline overhauling, medical treatment, ruins searching and rescuing, military reconnaissance, aiming to provide the bionic soft robot based on the hydrostatic skeleton mechanism property which can be deformed continuously, and is convenient to use in non-structuring occasions. The bionic soft robot is provided with an elastic outer shell which is internally provided with an incompressible fluid and a loading device which is used for accomplishing the specific tasks of the robot; the elastic outer shell is composed by the splicing of cell units; each cell unit is provided with an elastic cell outer wall and a cell cavity; the cell cavity is internally provided with a magnet rheological fluid, a micro electromagnetic driving device and a cell unit controller, wherein the micro electromagnetic driving device is used for generating electromagnetic field for promoting the magnet rheological fluid to generate 'solid-liquid form conversion'; and the cell unit controller is used for receiving and transmitting instruction signals and controlling the operation of the micro electromagnetic driving device.

Description

technical field [0001] The invention relates to a bionic soft robot, in particular to a bionic soft robot based on the mechanical characteristics of hydrostatic bones, which is applied in unstructured operating environments such as pipeline maintenance, medical diagnosis and treatment, ruin search and rescue, and military reconnaissance. technical background [0002] With the continuous development of science and technology, robots have been widely used in various fields of society, such as industry, medical treatment, agriculture, military and disaster relief. Traditional robot drive methods, such as rigid drive mechanisms such as wheel, leg, and swing walk, have shown unique advantages in some applications, but they are not suitable for unstructured applications such as pipeline maintenance, medical diagnosis and treatment, ruin search and rescue, and military reconnaissance. In environmental applications, because the working environment is narrow, changeable and there are...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/418
Inventor 宋小波李丹蓉何锋刘百辰王丹
Owner HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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