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A Pneumatic Earthworm-like Soft Robot

A robot and software technology, applied in motor vehicles, transportation and packaging, etc., can solve the problem that software robots are not suitable for crawling, and achieve the effect of radial expansion, high movement efficiency, and stable crawling mode.

Active Publication Date: 2021-03-30
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The soft robot has a simple structure and high crawling efficiency, but the soft robot is not suitable for crawling in complex environments such as pipelines with slopes

Method used

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  • A Pneumatic Earthworm-like Soft Robot
  • A Pneumatic Earthworm-like Soft Robot
  • A Pneumatic Earthworm-like Soft Robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0040] Such as Figure 6 It is the gait cycle diagram of the soft robot plane crawling, the crawling direction is leftward crawling, and the fast plane crawling is realized through the high-speed cyclic crawling cycle. The specific driving methods are as follows:

[0041] (1) In the first stage, ventilate the elastic outer cavity of each segment to make it have a certain rigidity without large deformation.

[0042](2) In the process from the first stage to the second stage, the axial drivers of the segmental units 10 and 9 are ventilated, and at the same time, the elastic outer cavity is deflated, so that it pushes the segmental unit 11 to elongate to the left, and keeps the left end of the robot Do not move.

[0043] (3) In the process from the second stage to the third stage, ventilate the axial driver of the node unit 8 and vent the elastic outer cavity, and at the same time ventilate the axial driver of the node unit 10 and ventilate the elastic outer cavity, so that the...

Embodiment 2

[0046] Such as Figure 7 The gait cycle diagram of the soft robot crawling in the pipeline, the crawling direction is to the left, and the fast pipeline crawling is realized through the high-speed cyclic crawling cycle. The specific crawling methods are as follows:

[0047] (1) In the process from the first stage to the second stage, ventilate the elastic outer cavity of the segmental unit 12 to make it expand radially, thereby increasing the frictional force between the segmental unit and the pipe wall.

[0048] (2) During the process from the second stage to the third stage, ventilate the axial drivers of the segment units 13, 14, 15 to make them extend axially and contract radially. Since the friction force on the left side of the robot is greater than that on the right end, the robot elongates to the right.

[0049] (3) In the process from the third stage to the fourth extreme, the elastic outer cavity of the segmental unit 13 is ventilated to cause a large radial expans...

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Abstract

The invention provides a pneumatic earthworm-like soft robot. The robot comprises at least three single-section structures which are connected by adhesive, each single-section structure comprises an axial driver, an elastic outer cavity sleeving the axial driver and gas pipes, each axial driver is of a cylindrical multi-cavity structure, the outer portion of each cylinder is of a corrugated structure, each corrugation is internally provided with a cavity, and all the cavities are connected through gas paths; one end of each axial driver is provided with a vent hole, and the first gas pipes areconnected with the axial drivers through the vent holes; each elastic outer cavity is of an ellipsoidal cavity structure, and the second gas pipes are arranged between the axial drivers and the elastic outer cavities. The soft robot is driven by gas and can crawl on the plane and in narrow space such as pipelines; when the soft robot crawls on the plane, the soft robot crawls more stably comparedwith a flexing crawling mode, and the movement efficiency is high; when the soft robot crawls in the pipelines and other narrow space, the robot can crawl in various slope environments.

Description

technical field [0001] The invention relates to a soft robot, in particular to a pneumatic earthworm imitating soft robot. Background technique [0002] In recent years, with the development of bionic robots and 3D printing technology, soft robots have received widespread attention. Soft robot is a kind of robot developed based on the prototype of soft-bodied organisms in nature. Its body is mainly composed of elastic materials that can withstand large deformations. Compared with traditional robots, soft robots can produce deformation with unlimited degrees of freedom on the one hand, so that a certain end point of the robot can reach any position in three-dimensional space. On the other hand, the surface of the soft robot has relatively low resistance to pressure and has good integration with obstacles. At the same time, the driving methods of soft robots are relatively diverse, so soft robots can be widely used in industrial, medical and other fields. [0003] For soft ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/02
CPCB62D57/021
Inventor 隋立明刘亭羽王隐
Owner HARBIN ENG UNIV
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