A thermally deformable cavity-driven crawling soft robot

A thermal deformation, robot technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problem of not being able to turn around quickly

Active Publication Date: 2021-04-20
JIANGSU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] Based on the characteristics of the above soft materials, the present invention provides a new type of thermally deformable cavity-driven crawling soft robot using a pure soft material structure. solves the problem that ordinary soft robots cannot turn around quickly

Method used

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  • A thermally deformable cavity-driven crawling soft robot
  • A thermally deformable cavity-driven crawling soft robot
  • A thermally deformable cavity-driven crawling soft robot

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Embodiment Construction

[0027] Below in conjunction with accompanying drawing and specific embodiment, the working principle of the present invention is described in detail:

[0028] The present invention relates to a crawling soft robot driven by a thermal deformation cavity, which is composed of a motion base, an actuation system, a foot expansion system and a signal system; the motion base consists of three identical unit bodies 4, a head 1, a first The foot group 5 and the second foot group 6 are formed, and the inside of the first foot group 5 and the second foot group 6 is provided with a cavity, and the first foot group 5 and the second foot group 6 are all composed of 9 For the composition of the feet, they are evenly arranged at the bottom of the three unit bodies 4 of the movement matrix in sequence from left to right; the movement body is made of silicone rubber, and it is integrated through the process of feeding, plasticizing, injection, cooling and demoulding. Injection molding is compl...

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Abstract

The invention relates to a crawling soft robot driven by a thermally deformable cavity, which is composed of a motion base, an actuation system, a foot expansion system and a signal system; the motion base is composed of three identical unit bodies, a head, and a first foot group and a second foot group. The joints of the three units are covered with air ring pads, so that the moving base can move smoothly. The actuator includes an outer wall and an inner cavity surrounded by the outer wall, and the inner cavity is completely air-tight; the actuation system includes an actuator, a heating system and a cooling system, and the operation of the heating system and the cooling system is controlled by a signal system . The foot expansion system incorporates an actuation system to change the direction of motion of the motion substrate. Based on the principle of bionics, the present invention makes special structural design on the soft unit modules constituting the base by rationally utilizing the special properties of soft materials, so as to meet the mechanical requirements for the movement of soft robots and realize the forward, turning and backward movements of soft robots.

Description

technical field [0001] The invention relates to a crawling soft robot driven by a thermal deformation cavity, in particular to a crawling soft robot that can be driven by a thermal deformation cavity to complete multiple degrees of freedom movements such as forward, backward without turning around, and turning in a working space. Soft robots. Background technique [0002] With the continuous development of human life and science and technology, robots have been widely used in various fields of society, especially in extreme and dangerous engineering environments where humans are not suitable to set foot. Robots provide great convenience for humans. Traditional rigid robots The structure is usually assembled by motors, pistons, joints, hinges and other components. Although the power is sufficient, the power is large, and the performance is stable, in some non-structural environments, due to the limitation of size and working space, the autonomous movement and obstacle surmoun...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J9/10
CPCB25J9/0009B25J9/0015B25J9/10B25J9/104
Inventor 张忠强宋振玲程广贵邹娇丁建宁
Owner JIANGSU UNIV
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