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A soft robot module with multiple forms of motion

A motion form and robot technology, applied in the direction of manipulators, manufacturing tools, etc., can solve problems such as single motion form, difficult manufacturing, complex structure, etc., and achieve the effect of easy manufacturing, simple structure, and efficient driving

Inactive Publication Date: 2018-12-07
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention provides a soft robot module with various motion forms in order to solve the problems that existing soft robots contain rigid parts, are not real soft robots, and have complex structures, difficult manufacturing, and single motion forms.

Method used

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  • A soft robot module with multiple forms of motion
  • A soft robot module with multiple forms of motion
  • A soft robot module with multiple forms of motion

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Experimental program
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Effect test

specific Embodiment approach 1

[0015] Specific implementation mode one: combine Figure 1 to Figure 5 Describe this embodiment. This embodiment includes an elastic body 4, three ventilation pipes 1 and several restraint rings 3. The elastic body 4 is cylindrical, and several restraint rings 3 are arranged at equal intervals in the axial direction of the elastic body 4. , the inner ring of the restraining ring 3 cooperates with the outer cylindrical surface of the elastic main body 4, and the rear end surface 5 of the elastic main body 4 is provided with a positioning hole 6 and two arc-shaped connecting grooves 7, and the two arc-shaped connecting grooves 7 are connected with the elastic main body 4 The axial center line is arranged symmetrically, the arc-shaped connecting groove 7 is used for the connection of the adjacent soft robot modules, the positioning hole 6 is used for the positioning of the adjacent soft robot modules, and the elastic body 4 is provided with three drive inner cavities 9, and the th...

specific Embodiment approach 2

[0016] Specific implementation mode two: combination Figure 4 To describe this embodiment, the ventilation tube 1 of this embodiment is made of photosensitive resin, which is processed by 3D printing. Other compositions and connections are the same as those in Embodiment 1 or Embodiment 2.

specific Embodiment approach 3

[0017] Specific implementation mode three: combination Figure 5 Describe this embodiment, the air pipe 1 of this embodiment is connected with an external air pump or hydraulic pump, the air pipe 1 is used to introduce and export the driving air pressure to the driving inner chamber 9, and form various forms of air pressure through the deformation and cooperation of the three driving inner chambers 9. sports. Other components and connections are the same as those in the second embodiment.

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Abstract

The invention discloses a soft robot module with multiple motion forms and relates to an inflatable / liquid type soft robot so as to solve the problems that an existing soft robot comprising rigid parts is not a real soft robot, and is complex in structure, difficult to manufacture, single in motion form and the like. The soft robot module comprises a cylindrical elastic body, three breather pipes and a plurality of restraint rings, the restraint rings are arranged in the axial direction of the elastic body at intervals, an inner circumference of each restraint ring is matched with the outer cylindrical surface of the elastic body, a positioning hole and two arc-shaped connecting grooves are formed in the front end face of the elastic body, the two arc-shaped connecting grooves are arranged symmetrically around an axis of the elastic body, three inner driving cavities are arranged in the elastic body and are uniformly arranged along the same circumference, one end of each inner driving cavity is closed while the other end of each inner driving cavity is communicated with the breather pipe, the breather pipe is positioned on the front end face of the elastic body, and the elastic body and the restraint rings are made of superelastic silicone rubber composite material.

Description

technical field [0001] The invention relates to an inflatable / liquid soft robot, in particular to a soft robot that can drive the soft robot to complete multiple degrees of freedom movements such as bending, elongation, and twisting in a work space by being inflated or filled with liquid. Background technique [0002] Robot technology has been widely used in military, industrial, scientific detection and many other fields. In recent years, with the development of new materials and rapid processing and manufacturing technology, soft robot technology has become a research hotspot in the field of robotics. Soft robot technology involves the disciplines of bionics, soft matter and robotics. Compared with traditional rigid robots, it has many advantages: it has infinite degrees of freedom in theory, does not require complex mechanisms, and is easy to achieve multifunctionality. ;It can better adapt to the unknown or complex unstructured working environment through deformation; i...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J11/00
CPCB25J11/00
Inventor 闫继宏张新彬董红兵赵杰
Owner HARBIN INST OF TECH
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