Pneumatic soft robot with ring longitudinal muscle structure

Abstract

The invention discloses a pneumatic worm-imitating worm soft robot with a ring longitudinal muscle structure. The pneumatic worm-imitating worm soft robot comprises a head body joint and a tail body joint and is divided into an inner layer structure and an outer layer structure. The inner layer is of a longitudinal muscle structure and comprises a left-right symmetric semicircular longitudinal muscle gas cavity and a metal radial limiting ring. The outer layer is of a ring muscle structure and comprises three ring muscle gas cavities located at the bottom, a sliding piece is stuck to the outerportion, and a friction foot with a protruding point is arranged beside the sliding piece. The robot has the following beneficial effects that firstly, inflation and deflation are conducted on all the gas cavities so as to conduct driving control; secondly, the inner layer longitudinal muscle gas cavity can be inflated so that the robot body joints can stretch to deform, and when the inflation pressure intensity of the left gas cavity and the right cavity is not consistent, the body joints are bent and deformed; and thirdly, the outer layer ring muscle gas cavities can be inflated so that thesliding piece can stretch out. Benefit from the above beneficial effects, the robot can have various movement modes such as linear climbing, turning climbing, climbing movement and obstacle striding.By means of the pneumatic worm-imitating worm soft robot, high air tightness specialty rubber and compressed air are applied, environment friendliness and energy conservation are benefited, and the pneumatic worm-imitating worm soft robot has good application prospects in the fields of resource survey, disaster relief and rescue, pipeline detection and military reconnaissance.

Description

technical field [0001] The invention relates to the field of pneumatic transmission, in particular to a pneumatic soft robot with a circular longitudinal muscle structure. Background technique [0002] Soft robots are based on soft-bodied organisms in nature, and have many advantages: theoretically, they have infinite degrees of freedom, and the end effector can reach any point in space; they have good flexibility and can adapt to various narrow and irregular environments; Through active deformation and passive deformation, it can change its shape and size in a large range, and can pass through gaps smaller than its normal size. Therefore, soft robots have broad application prospects in fields such as industry, military affairs, medical treatment, and rescue. [0003] In theory, soft robots have infinite degrees of freedom, but the number of drivers is limited. At present, the main driving methods of soft robots are driven by intelligent materials (dielectric elastomer DE, ...

AI Technical Summary

Problems solved by technology

[0006] The object of the present invention is to provide a pneumatic soft robot with a circular longitudinal muscle structure, which solves the problems of single motion form, low running speed and difficult control in the existing soft robot during the movement process

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