CN110238822A - Bionic soft robot based on looper - Google Patents
Bionic soft robot based on looper Download PDFInfo
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- CN110238822A CN110238822A CN201910638897.3A CN201910638897A CN110238822A CN 110238822 A CN110238822 A CN 110238822A CN 201910638897 A CN201910638897 A CN 201910638897A CN 110238822 A CN110238822 A CN 110238822A
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- foot
- trunk
- driving assembly
- spring
- looper
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- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims abstract description 17
- 239000000741 silica gel Substances 0.000 claims abstract description 17
- 229910002027 silica gel Inorganic materials 0.000 claims abstract description 17
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- 230000006870 function Effects 0.000 abstract description 10
- 229910001285 shape-memory alloy Inorganic materials 0.000 abstract description 4
- 230000009194 climbing Effects 0.000 description 12
- 241000256247 Spodoptera exigua Species 0.000 description 11
- ISRUGXGCCGIOQO-UHFFFAOYSA-N Rhoden Chemical compound CNC(=O)OC1=CC=CC=C1OC(C)C ISRUGXGCCGIOQO-UHFFFAOYSA-N 0.000 description 4
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- 239000004973 liquid crystal related substance Substances 0.000 description 3
- 241000545744 Hirudinea Species 0.000 description 2
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 2
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- 235000013399 edible fruits Nutrition 0.000 description 2
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- 229920000642 polymer Polymers 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 239000010703 silicon Substances 0.000 description 2
- 229910052710 silicon Inorganic materials 0.000 description 2
- 241000254032 Acrididae Species 0.000 description 1
- 241000251468 Actinopterygii Species 0.000 description 1
- 241000238421 Arthropoda Species 0.000 description 1
- 241000238631 Hexapoda Species 0.000 description 1
- 241000238413 Octopus Species 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
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- 230000007613 environmental effect Effects 0.000 description 1
- 229920005570 flexible polymer Polymers 0.000 description 1
- 108010084652 homeobox protein PITX1 Proteins 0.000 description 1
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- CXQXSVUQTKDNFP-UHFFFAOYSA-N octamethyltrisiloxane Chemical compound C[Si](C)(C)O[Si](C)(C)O[Si](C)(C)C CXQXSVUQTKDNFP-UHFFFAOYSA-N 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0015—Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of bionic soft robots based on looper, including robot body；The both ends of the robot body are configured as foot；Be formed as the trunk of the robot body between the foot；The robot body is made of flexible material；The trunk is configured to drive the structure of overall movement deviously, the foot can clamp along the trunk moving direction distribution supporter and auxiliary move；The foot can obliquely clamp the supporter for deviateing moving direction distribution relative to the trunk to assist changing moving direction；The structure type that soft robot of the invention is driven using silica gel frame and multilevel shape memory alloy spring, so that robot has flexible and control flexibility well, it is able to achieve various motion form, there is the function across simple obstacle, while reducing the volume of robot.
Description
Technical field
The present invention relates to marmem actuation techniques field more particularly to a kind of bionic soft machines based on looper
People.
Background technique
Continuous promotion with people to robot technology demand, conventional rigid robot is because its structure is complicated, safety
The reasons such as difference, bad adaptability, flexibility difference have been difficult to meet the needs of people, and soft robot is one kind by flexible material
The novel robot of production can adapt to various unstructured moving grids, be capable of providing safer human-computer interaction.
The research Inspiration Sources of bionic soft robot are in biology, these biological biologies of creeping including worm etc., octopus, trip
The organisms in water such as fish, jumping types biology such as grasshopper, flea etc. is different according to bionical object, and bionic soft robot possesses difference
The characteristics of and function.
Looper belongs to arthropod, and body is elongated, and one bends one and stretches as an arch bridge when action, has very strong climbing energy
Power is very strong to the adaptability of climbing environment.
For sma actuator made of marmem because of its power density height, structure is simple, low noise advantages, is soft
One of common driving method in body robot.
Bionic inchworm robot flexibility is poor at present, and environmental suitability is poor, or only has ability of simply creeping.Therefore such as
What makes Bionic inchworm have stronger flexibility and a variety of climbing abilities, is a big critical issue.
Documents 1: it is disclosed in Chinese invention patent application (105697927 A of CN) a kind of based on the bionical of IPMC
Looper pipeline climbing mechanism.The device includes two clamped modules and a flexible module, after being powered using intellectual material IPMC
For curved characteristic as driving principle, size is small, light weight, and the tilt angle by adjusting IPMC foot is adapted to different pipes
Diameter, self structure is flexible, the advance in pipeline can may be implemented, be resident, the fortune of retrogressing by the bend of greater curvature
It is dynamic.
Documents 2: it is disclosed in Chinese invention patent application (CN109756147A) a kind of based on liquid crystal flexible polymer
The Bionic inchworm structure of object, structure top layer are with certain thickness Silicon moulds, and lower section is viscous by adhesion material and Silicon moulds
The batter post shape array structure and liquid crystal elastomeric polymer became one.The structure can realize driving under small voltage driving
Controllable and large deformation organic unity.
Documents 3: a kind of Bionic inchworm robot, machine are disclosed in Chinese invention patent application (CN109823429A)
Device head part includes ultrasonic distance measurement probe, infrared human body inductive probe and condition prompting etc., and several joints are connected to form body
Dry, a steering engine is contained in each joint, and spring, steel needle, connecting rod, steering engine are constituted needle cluster foot again, can grab after steel needle combination spring
Firmly uneven ground, the front and back foot steel needle direction of robot is identical, and when robot moves forward or back, steel needle in the same direction to push away
Power direction is consistent, avoids sliding to reduce the loss of power, the bionical needle cluster foot of robot, crawler belt be unable to run environment remain into
Enter ruins effectively attachment surface adaptation to the ground, is conducive to improve the percent of pass in ruins, carries out seeking work.
Documents 4: in document " Reachability Improvement of a Climbing Robot Based
On Large Deformations Induced by Tri-Tube Soft Actuators " in disclose a kind of leech bionical
Robot, sucker structure of the robot by both ends, intermediate hose construction composition stretch by the way that three hoses of driving are different
Amount carries out the displacement constraint control of robot by the sucker structure of head and the tail to control the deflection of robot.The robot energy
It is enough to realize the climbing in perpendicular walls.
Those skilled in the art sum up bio-robot in the prior art after carefully studying above-mentioned documents
There are still following technical problems:
A kind of Bionic inchworm pipeline climbing mechanism based on IPMC, is mainly made of rigid structure disclosed in documents 1,
It is flexible poor, and be only suitable for creeping in rule, caliber adaptation pipeline, application scenarios limitation is more.
The Bionic inchworm structure of liquid crystal elastomeric polymer disclosed in documents 2 is only capable of creeping in accessible plane,
Ability without leaping over obstacles, climbing capacity are poor.
Bionic inchworm structure disclosed in documents 3 is rigid structure, so that its adaptability is poor.
" the Reachability Improvement of a Climbing Robot Based on Large of documents 4
Deformations Induced by Tri-Tube Soft Actuators " in leech bio-robot, figure is larger,
There are higher smooth smoothness requirements to the surface of climbing attachment simultaneously, is not suitable in coarse surface and tiny long and narrow object
It is climbed on body.
Summary of the invention
The object of the present invention is to provide a kind of flexible height, flexibility is good, can be realized various motion form and has and crosses over
The bionic soft robot based on looper of simple obstacle ability.
To achieve the goals above, the invention provides the following technical scheme:
Bionic soft robot based on looper of the invention, comprising:
Robot body；
The both ends of the robot body are configured as foot；
Be formed as the trunk of the robot body between the foot；
The robot body is made of flexible material；
The trunk is configured to drive the structure of overall movement deviously, and the foot can be clamped along described
The supporter of trunk moving direction distribution simultaneously assists moving；
The foot can obliquely clamp the supporter for deviateing moving direction distribution relative to the trunk to assist
Change moving direction；
The robot further include:
Driving mechanism, the driving mechanism drive the robot body mobile and clamping.
Further, the trunk and foot integral structure, and the both ends of the trunk partially extend ground downwards
Be formed as the foot；
The driving mechanism is divided into three parts, is respectively as follows:
It is integrated in the hunchbacked driving assembly of the trunk, the back of a bow driving assembly drives the trunk bending with complete
At shift action；
It is integrated in the clamping driving assembly of the foot, the clamping driving assembly drives the foot folding to complete to press from both sides
Hold movement；And
It is integrated in the new line driving assembly of the foot Yu trunk junction, the new line driving assembly drives the foot
Portion is tilted relative to trunk.
Further, be fixed with the first connection sheet being spaced apart from each other on the trunk, two first connection sheets it
Between the hunchbacked driving assembly is installed；
The back of a bow driving assembly is to be installed between first connection sheet and extend along the trunk length direction
Comptocormia spring；
The comptocormia spring bending is to drive the trunk to be bent towards same direction.
Further, the top of the trunk has multiple cuboid obstruction silica gel particle protrusions mutually to recline；
When the trunk is bent, the adjacent cuboid obstruction silica gel particle protrusion is separated from each other；
When the trunk is un-flexed, the adjacent cuboid obstruction silica gel particle protrusion mutually reclines.
Further, the lower part of the foot has opening, and foot is divided into two clampings by the opening of the foot
Body, the two sides of the foot are fixed at intervals with two the second connection sheets；
Wherein second connection sheet is fixed on the side for being fixed on the opening, and another second connection sheet is solid
Due to the top of the foot far from the opening；
The clamping driving assembly is fixed between two second connection sheets；
The clamping driving assembly is grasp opening spring；
When the grasp opening spring is pulled up, two cramping bodies form clamp port separated from each other；
When the grasp opening spring restores, the clamp port closure.
Further, the upper end of two cramping bodies is formed with holding tank.
Further, the junction interval of the trunk and foot is connected, and there are two third connection sheets, wherein described in one
Third connection sheet is fixed on close to the trunk side, and another third connection sheet is fixed on close to the foot side；
The new line driving assembly is fixed between two third connection sheets；
The new line driving assembly is new line driving spring；
When the new line driving spring is bent upwards close to described foot one end, the new line driving spring drives the foot
Portion be bent upwards with the angled inclination of the trunk；
When the new line driving spring restores, the foot is parallel with the trunk.
Further, the lower surface of the foot has friction structure.
In the above-mentioned technical solutions, the bionic soft robot provided by the invention based on looper has below beneficial to effect
Fruit:
1, the structure type that soft robot of the invention is driven using silica gel frame and multilevel shape memory alloy spring,
So that robot has flexible and control flexibility well, it is able to achieve various motion form, is had across simple obstacle
Function, while compared with motor, air pressure driving, greatly reduce the volume of robot, it is easy to accomplish wireless control.
2, soft robot of the invention is devised with clamping function foot, can climb thin bar part, foot
Special-shaped friction structure can prevent Bionic inchworm skidding when creeping.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only one recorded in the present invention
A little embodiments are also possible to obtain other drawings based on these drawings for those of ordinary skill in the art.
Fig. 1 is the structural schematic diagram of the bionic soft robot provided in an embodiment of the present invention based on looper；
Fig. 2 is the main view of the bionic soft robot provided in an embodiment of the present invention based on looper.
Description of symbols:
1, trunk；2, foot；
101, cuboid obstruction silica gel particle protrusion；
201, cramping body；202, it is open；203, holding tank；
301, the first connection sheet；302, comptocormia spring；
401, the second connection sheet；402, grasp opening spring；
501, third connection sheet；502, new line driving spring.
Specific embodiment
In order to make those skilled in the art more fully understand technical solution of the present invention, below in conjunction with attached drawing to this hair
It is bright to be further detailed.
Referring to shown in Fig. 1~2；
Bionic soft robot based on looper of the invention, comprising:
Robot body；
The both ends of robot body are configured as foot 2；
Be formed as the trunk 1 of robot body between foot 2；
Robot body is made of flexible material；
Trunk 1 is configured to drive the structure of overall movement deviously, and foot 2 can be clamped to be moved along trunk 1
The supporter of dynamic directional spreding simultaneously assists moving；
Foot 2 can obliquely clamp the supporter for deviateing moving direction distribution relative to trunk 1 to assist changing shifting
Dynamic direction；
The robot further include:
Driving mechanism, driving mechanism drive robot body mobile and clamping.
Specifically, present embodiment discloses a kind of bionic soft robot based on looper, looper is that a kind of software is creeped
Class insect, this kind of Bionic inchworm soft robot can be mobile in the more complicated environment of landform with the posture creeped, and does phase
The operation of pass.Wherein, which is divided into trunk 1 and foot 2, and trunk 1 is the body of Bionic inchworm, with bending
The form creeped gradually is moved forward or rearward, and foot 2 is and the contact face contact in path, one side offer and contact surface
Impetus, on the other hand the foot 2 in the embodiment has clamping function, the object on periphery is grabbed when can assist creeping,
Realize the function of soft robot climbing.It is moved in addition, the clamping operation of the foot 2 can further assist trunk 1 to change
Dynamic rail slash is creeped to other tracks, and usage mode is flexible.
In view of the problem of soft robot flexibility, the soft robot of the present embodiment is integrally made of flexible material,
Such as silica gel or PDMS or other similar materials flexible can be more easily under the driving of driving mechanism
Ground forms bending.
Preferably, 2 integral structure of trunk 1 and foot in the present embodiment, and the both ends of trunk 1 partially extend downwards
Ground is formed as foot 2；
Driving mechanism is divided into three parts, is respectively as follows:
It is integrated in the hunchbacked driving assembly of trunk 1, hunchbacked driving assembly driving trunk 1 bending is mobile dynamic to complete
Make；
It is integrated in the clamping driving assembly of foot 2, the clamping driving assembly driving folding of foot 2 is to complete holding action；With
And
It is integrated in the new line driving assembly of foot 2 Yu 1 junction of trunk, new line driving assembly drives foot relative to body
Cadre 1 tilts.
Further description: the classification of the main disclosed driving mechanism of the present embodiment is divided into three classes, main includes using
Bending function is realized in driving trunk 1 and is finally completed mobile hunchbacked driving assembly, for driving 2 holding action of foot
Clamp driving assembly and for driving the junction part of foot 2 and trunk 1 to be bent the new line to realize the swing of foot 2
Driving assembly.Three driving assemblies independently control the movement at each position, can realize more flexiblely and creep, clamp and grab
The movement for taking, converting motion track enables the soft robot more to meet the needs of the shifting of climbing, more complicated path
Act industry.
Preferably, the first connection sheet 301 being spaced apart from each other, two first connections are fixed in the present embodiment on trunk 1
Hunchbacked driving assembly is installed between piece 301；
Hunchbacked driving assembly is to be installed between the first connection sheet 301 and the trunk extended along 1 length direction of trunk is curved
Bent spring 302；
The bending of comptocormia spring 302 is to drive trunk 1 to be bent towards same direction.
Wherein, the top of trunk 1 has multiple cuboid obstruction silica gel particle protrusions 101 mutually to recline；
When trunk 1 is bent, adjacent cuboid obstruction silica gel particle protrusion 101 is separated from each other；
When trunk 1 is un-flexed, adjacent cuboid obstruction silica gel particle protrusion 101 mutually reclines.
The embodiment mainly describes the structure and working principle of hunchbacked driving assembly, passes through above-mentioned first connection sheet 301
Be connected, comptocormia spring 302 is fixed on trunk 1, as far as possible guarantee comptocormia spring 302 be in trunk 1
At center, once comptocormia spring 302 is bent, since soft robot is integrally made of flexible material, along with trunk
It is also easily equidirectional and with radian be bent that flexural spring 302 will drive trunk 1, and in view of trunk 1 need it is often curved
Song blocks silica gel particle protrusion 101, the cuboid in 1 upper position cuboid of trunk according to the curved direction of trunk 1
Obstruction silica gel particle protrusion 101 is formed as the state being located remotely from each other when trunk 1 is bent, and when 1 un-flexed state of trunk,
Adjacent cuboid obstruction silica gel particle protrusion 101 mutually sticks together again, with this come position when guaranteeing soft robot return
The accuracy set.
Preferably, the lower part of foot 2 has opening 202 in the present embodiment, divides foot 202 at the opening 202 of foot 2
For two cramping bodies 201, the two sides of foot 2 are fixed at intervals with two the second connection sheets 401；
Wherein one second connection sheet 401 is fixed on the side being fixed at opening 202, and another second connection sheet 401 is fixed
In the top of the foot 2 far from opening 202；
Clamping driving assembly is fixed between two the second connection sheets 401；
Clamping driving assembly is grasp opening spring 402；
When grasp opening spring 402 is pulled up, two cramping bodies 201 form clamp port separated from each other；
When grasp opening spring 402 restores, clamp port closure.
The principle that the embodiment mainly describes the structure of foot 2 and foot 2 grips, wherein 2 lower surface of foot
With opening 202, which is divided into two parts for 2 lower part of foot, as above-mentioned two cramping body 201, two cramping bodies
201 are used as hold assembly, once its opening/separation, two cramping bodies 201 are respectively placed in the two sides of object to be held；Two folders
The two sides for holding body 201 are equipped with above-mentioned clamping driving assembly, the clamping driving group in the present embodiment by the second connection sheet 401
Part selects 402 structure of grasp opening spring to be able to drive cramping body 201 when the lower ends bent of grasp opening spring 402
Lower end separates outward, is come with this so that clamp port opens, at this time once having object to enter in the clamp port, with grasp opening
The recovery of spring 402, two cramping bodies 201 return and will mutually recline, and can normally grip object at this time.
In addition, in order to ensure having certain grasping part, the upper end of two cramping bodies 201 inside two cramping bodies 201
It is formed with holding tank 203.The shape and size of the holding tank 203 can according to the place that the soft robot often haunts and
It is fixed, if the soft robot is often walked on branch, then being necessary to ensure that the size and shape of holding tank 203 can be with tree
The basic matching of branch, similarly, according to the walking environment of soft robot, those skilled in the art can suitably change holding tank
203 size and shape.
Preferably, the junction interval of trunk 1 and foot 2 is connected there are two third connection sheet 501 in the present embodiment,
In a third connection sheet 501 be fixed on close to 1 side of trunk, another third connection sheet 501 is fixed on close to 2 side of foot；
New line driving assembly is fixed between two third connection sheets 501；
New line driving assembly is new line driving spring 502；
When new line driving spring 502 is bent upwards close to 2 one end of foot, new line driving spring 502 drives foot 2 to be bent up
Bent ground and the angled inclination of trunk 1；
When new line driving spring 502 restores, foot 2 is parallel with trunk 1.
The present embodiment mainly describes the structure and principle of new line, specifically: it is main in the junction of trunk 1 and foot 2
To be located at the upper surface of 2 junction of trunk 1 and foot, new line driving assembly is mounted with by third connection sheet 501 at this,
And the new line driving assembly in the embodiment is mainly new line driving spring 502, structural principle and above two spring are basic
Unanimously, mainly foot 2 is driven to be bent upwards by the bending of new line driving spring 502, with realization " new line " function, at this
It repeats no more.
In addition, the spring in above-described embodiment is all made of shape memory alloy spring, and control its curved functional component
For electric control part, normal controller controls the energized state of spring, sets program, once spring is powered, spring is driven to carry out
It shrinks, and completes above-mentioned movement.
In view of row regularity oftimekeeping avoids the problem that skidding, the lower surface of the foot 2 in the present embodiment has friction knot
Structure.The friction structure of 2 lower surface of foot can be designed as polymorphic structure friction protrusion (having shown that in figure) or be in foot 2
Lower surface composite non-slip layer, object above is provided to increase and the skin-friction force on walking path surface, it is ensured that walking is more
Add safety and stablizes.
Similarly, in order to improve the stability in clamping process, increasing friction force can also be covered in cramping body medial surface
Structure, such as hairbrush or nonskid coating etc..
In the above-mentioned technical solutions, the bionic soft robot provided by the invention based on looper has below beneficial to effect
Fruit:
The structure type that soft robot of the invention is driven using silica gel frame and multilevel shape memory alloy spring, makes
Obtaining robot has flexibility that is flexible well and controlling, is able to achieve various motion form, has the function across simple obstacle
Can, while compared with motor, air pressure driving, greatly reduce the volume of robot, it is easy to accomplish wireless control.
Soft robot of the invention is devised with clamping function foot 2, can climb thin bar part, foot 2
Special-shaped friction structure can prevent Bionic inchworm skidding when creeping.
It is above that certain exemplary embodiments of the invention are only described by way of explanation, undoubtedly, for ability
The those of ordinary skill in domain without departing from the spirit and scope of the present invention can be with a variety of different modes to institute
The embodiment of description is modified.Therefore, above-mentioned attached drawing and description are regarded as illustrative in nature, and should not be construed as to the present invention
The limitation of claims.
Claims (8)
1. the bionic soft robot based on looper characterized by comprising
Robot body；
The both ends of the robot body are configured as foot (2)；
Be formed as the trunk (1) of the robot body between the foot (2)；
The robot body is made of flexible material；
The trunk (1) is configured to drive the structure of overall movement deviously, and the foot (2) can clamp along institute
It states the supporter of trunk (1) moving direction distribution and assists moving；
The foot (2) can obliquely clamp the supporter for deviateing moving direction distribution relative to the trunk (1) with auxiliary
Help change moving direction；
The robot further include:
Driving mechanism, the driving mechanism drive the robot body mobile and clamping.
2. the bionic soft robot according to claim 1 based on looper, which is characterized in that the trunk (1) and
Foot (2) integral structure, and the both ends of the trunk (1) are partially formed extended at both sides downwards as the foot (2)；
The driving mechanism is divided into three parts, is respectively as follows:
Be integrated in the hunchbacked driving assembly of the trunk (1), the back of a bow driving assembly drive trunk (1) bending with
Complete shift action；
It is integrated in the clamping driving assembly of the foot (2), the clamping driving assembly drives foot (2) folding to complete
Holding action；And
The new line driving assembly of the foot (2) Yu trunk (1) junction is integrated in, described in the new line driving assembly driving
Foot (2) is tilted relative to trunk (1).
3. the bionic soft robot according to claim 2 based on looper, which is characterized in that on the trunk (1)
It is fixed with the first connection sheet (301) being spaced apart from each other, the back of a bow driving is installed between two first connection sheets (301)
Component；
The back of a bow driving assembly is to be installed between first connection sheet (301) and along the trunk (1) length direction
The comptocormia spring (302) of extension；
Comptocormia spring (302) bending is to drive the trunk (1) to be bent towards same direction.
4. the bionic soft robot according to claim 3 based on looper, which is characterized in that the trunk (1)
Top has multiple cuboid obstruction silica gel particles mutually to recline raised (101)；
When the trunk (1) is bent, the adjacent cuboid obstruction silica gel particle raised (101) is separated from each other；
When the trunk (1) is un-flexed, the adjacent cuboid obstruction silica gel particle raised (101) mutually reclines.
5. the bionic soft robot according to claim 2 based on looper, which is characterized in that under the foot (2)
Portion, which has, to be open (202), and foot is divided into two cramping bodies (201), the foot at the opening (202) of the foot (2)
(2) two sides are fixed at intervals with two the second connection sheets (401)；
Wherein second connection sheet (401) is fixed on the side being fixed at the opening (202), and another described second connects
The top of the foot (2) far from the opening (202) is fixed in contact pin (401)；
The clamping driving assembly is fixed between two second connection sheets (401)；
The clamping driving assembly is grasp opening spring (402)；
When the grasp opening spring (402) is pulled up, two cramping bodies (201) form clamp port separated from each other；
When the grasp opening spring (402) is restored, the clamp port closure.
6. the bionic soft robot according to claim 5 based on looper, which is characterized in that two cramping bodies
(201) upper end is formed with holding tank (203).
7. the bionic soft robot according to claim 2 based on looper, which is characterized in that the trunk (1) and
The junction interval of foot (2) is connected, and there are two third connection sheet (501), wherein a third connection sheet (501) is fixed on
Close to the trunk (1) side, another third connection sheet (501) is fixed on close to the foot (2) side；
The new line driving assembly is fixed between two third connection sheets (501)；
The new line driving assembly is new line driving spring (502)；
When the new line driving spring (502) is bent upwards close to the foot (2) one end, the new line driving spring (502)
Drive the foot (2) be bent upwards with the trunk (1) angled inclination；
When the new line driving spring (502) is restored, the foot (2) is parallel with the trunk (1).
8. the bionic soft robot according to claim 1 based on looper, which is characterized in that under the foot (2)
Surface has friction structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910638897.3A CN110238822B (en) | 2019-07-16 | 2019-07-16 | Inchworm-based bionic soft robot |
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| CN110588817A (en) * | 2019-10-15 | 2019-12-20 | 齐鲁工业大学 | SMA coil-driven soft obstacle crossing robot |
| CN112975935A (en) * | 2021-04-15 | 2021-06-18 | 东南大学 | Rope traction type soft robot capable of steering and control method |
| CN113335405A (en) * | 2021-05-24 | 2021-09-03 | 南京理工大学 | Multi-foot bionic flexible robot |
| CN113459115A (en) * | 2021-05-26 | 2021-10-01 | 云南电网有限责任公司昆明供电局 | Cable tunnel inspection robot and method |
| CN114055453A (en) * | 2021-12-10 | 2022-02-18 | 上海交通大学 | Multi-mode moving bionic inchworm crawling and climbing soft robot |
| CN114261459A (en) * | 2021-12-20 | 2022-04-01 | 浙江大学 | Shape memory spring bionic robot based on gradual change Miura paper folding elastic curved beam |
| CN114426068A (en) * | 2021-11-29 | 2022-05-03 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | Paper-based wall-climbing robot based on shape memory polymer drive and manufacturing method thereof |
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