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Modular ground crawling software robot

A modular and robotic technology, applied in the field of robotics, can solve problems such as poor safety and human interaction, difficulty in rigid robots, and low environmental adaptability, and achieve the effects of strong replaceability, strong repeatability, and strong adaptability

Pending Publication Date: 2019-12-10
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, most traditional robots are composed of rigid mechanisms through assembly, which have the disadvantages of complex structure, limited flexibility, poor safety and human interaction, and low environmental adaptability.
[0003] In some special application scenarios, such as grasping and handling of fragile or soft objects, or detection work on rough and irregular roads or narrow pipelines, the traditional Rigid robots are difficult to achieve similar tasks, while soft robots have unique advantages in such working conditions

Method used

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  • Modular ground crawling software robot
  • Modular ground crawling software robot
  • Modular ground crawling software robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0051] Such as figure 1 As shown, a modular ground crawling soft robot, including:

[0052] The second pneumatic telescopic unit 2 is configured to bend or extend along its own axis when inflated;

[0053] The first pneumatic telescopic unit 1 is symmetrically connected to both ends of the second pneumatic telescopic unit 2; it is set so that it can only extend in one direction along its own axial direction when inflated, and each of the first pneumatic telescopic units 1 The extension directions are the same and perpendicular to the axial direction of the second pneumatic telescopic unit 2 .

[0054] Such as image 3 As shown, the second pneumatic telescopic unit 2 includes:

[0055] The second axially telescopic main body 21 is cylindrical as a whole, made of flexible material and has two closed air cavities symmetrically inside, such as Figure 7 shown;

[0056] A plurality of rigid restricting rings are evenly spaced on the outer peripheral wall of the second axially ...

Embodiment 2

[0070] Such as Figure 11 As shown, the difference between this embodiment and Embodiment 1 is that: the two ends of the second pneumatic telescopic unit 2 are respectively connected with the second connectors 4, the number of the first pneumatic telescopic units 1 is four, and the four The second connectors 4 are symmetrically connected in pairs on the left and right sides of the two second connectors 4 respectively. In this embodiment, four first pneumatic telescopic units 1 are provided to improve the stability of the robot during movement.

[0071] Such as Figure 12 As shown, the second connector 4 includes a square tubular main body, the two vertical edges of the left and right panels of the square tubular main body are extended with second flanges 41, and the left and right panels of the square tubular main body are The inner side of the square tubular body is vertically provided with two fourth slots 44 which are respectively located in the front panel of the square t...

Embodiment 3

[0073] Such as Figure 13 As shown, the difference between the present embodiment and the second embodiment is that there are two second pneumatic telescopic units 2, and the adjacent second pneumatic telescopic units 2 are connected in series through the first connecting piece 3, such as Figure 14 As shown, the front and rear ends of the first connector 3 are provided with a first U-shaped hole 32 and a second card slot 31 that is plugged and fitted with the first flange 23 of the connector 22. The first connector The left and right sides of the component 3 are provided with third card slots 33 . In this embodiment, the speed of linear motion can be effectively increased by connecting two second pneumatic telescopic units 2 in series.

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Abstract

The invention discloses a modular ground crawling software robot. The modular ground crawling software robot comprises a second pneumatic telescopic unit and first pneumatic telescopic units, whereinthe second pneumatic telescopic unit is configured to bend or extend in the self axial direction when being inflated; the first pneumatic telescopic units are respectively and symmetrically arranged at the two ends of the second pneumatic telescopic unit in a connecting manner and are configured to only extend unidirectionally in the self axial direction when being inflated; the extension directions of the first pneumatic telescopic units are identical; and the first pneumatic telescopic units are simultaneously orthogonal to the axial direction of the second pneumatic telescoping unit. The modular ground crawling software robot has the advantages of convenient replacement, flexible assembly, powerful functions, simple structure, easy operation and the like. A variety of robot configurations can be formed by combination through the relatively simple selection and series-parallel connection assembly of modular components; and the robot can perform linear and curvilinear motions, so thatthe robot can better adapt to a variety of work environments and tasks.

Description

technical field [0001] The invention belongs to the field of robots, and in particular relates to a modular ground crawling soft robot. Background technique [0002] With the development of science and technology, robot technology has developed rapidly, and has been widely used in industrial production, space exploration, cargo transportation, medical surgery, disaster relief, and national defense and military industries, achieving a high level of automation. Save labor cost. However, most traditional robots are composed of rigid mechanisms through assembly, which have the disadvantages of complex structure, limited flexibility, poor safety and human interaction, and low environmental adaptability. [0003] In some special application scenarios, such as grasping and handling of fragile or soft objects, or detection work on rough and irregular roads or narrow pipelines, the traditional Rigid robots are difficult to achieve similar tasks, and soft robots have unique advantag...

Claims

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Application Information

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IPC IPC(8): B62D57/02
CPCB62D57/021
Inventor 王念峰陈必成葛宪东张宪民
Owner SOUTH CHINA UNIV OF TECH
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