CN112061261A - Software crawling robot based on paper folding structure - Google Patents

Software crawling robot based on paper folding structure Download PDF

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Publication number
CN112061261A
CN112061261A CN202010859985.9A CN202010859985A CN112061261A CN 112061261 A CN112061261 A CN 112061261A CN 202010859985 A CN202010859985 A CN 202010859985A CN 112061261 A CN112061261 A CN 112061261A
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telescopic
telescopic unit
twisting
upper bottom
torsion
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田应仲
沈峰
金滔
汪田鸿
李龙
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University of Shanghai for Science and Technology
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University of Shanghai for Science and Technology
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members

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Abstract

The invention discloses a soft crawling robot based on a paper folding structure. The supporting device is a clockwise torsion telescopic unit or an anticlockwise torsion telescopic unit, and a telescopic device is connected between the two supporting units. Each of the torsion expansion units includes an upper bottom surface, a lower bottom surface and side plane surfaces. An air hole is arranged in the middle of one side edge of the upper bottom surface of the torsion telescopic unit, the air nozzle is inserted and connected in the hole, and the air nozzle is connected to an external air source through a silicone tube. After the air source vacuumizes the cavity, the torsion telescopic unit descends while rotating, and after the cavity is communicated with atmospheric pressure, the torsion telescopic unit ascends while rotating. The robot is manufactured by 3D printing through flexible thermoplastic materials based on a low-cost fused deposition modeling method, the formed robot is flexible in movement and not easy to damage, the functions of advancing, retreating, steering, crossing advancing and the like can be realized, and the application prospect is wide.

Description

一种基于折纸结构的软体爬行机器人A soft crawling robot based on origami structure

技术领域technical field

本发明涉及软体机器人领域,具体涉及了一种基于折纸结构的软体爬行机器人。The invention relates to the field of soft robots, in particular to a soft crawling robot based on an origami structure.

背景技术Background technique

在软体机器人发展领域,传统软机器人采用流体作为执行器的驱动方式,主要通过在高度可变形材料制成的腔室内部施加压力来进行驱动,这种驱动方式往往会因为腔体制造材料可承受最大应变的限制而对软体机器人的整体运动产生影响;采用形状记忆聚合物以及形状记忆合金等智能材料驱动的软体机器人,通常采用对智能材料进行加热或者冷却的方式来使机器人完成一定的动作,但是其可控性较差并且存在运动响应速度慢,存在响应迟滞等缺陷。以上两种传统软体机器人的驱动方式对材料要求较高,同时存在机器人运动模式单一,环境适应性差等缺点。近期使用类硅胶材料浇筑成封闭气腔的软气动执行器驱动的爬行机器人,主要通过更换模具制作具有不同运动模式的气动执行器,如调节执行器气腔内部气压值可实现机器人弯曲或转向,但是其存在模具制造过程复杂繁琐,制作成功率低,通用性差以及类硅胶材料的运动响应时间较长的缺点。In the field of soft robot development, traditional soft robots use fluid as the driving method of the actuator, which is mainly driven by applying pressure inside a chamber made of highly deformable materials. The limitation of the maximum strain has an impact on the overall motion of the soft robot; soft robots driven by smart materials such as shape memory polymers and shape memory alloys usually heat or cool the smart materials to make the robot complete certain actions. However, it has poor controllability, slow motion response, and sluggish response. The driving methods of the above two traditional soft robots have high requirements on materials, and at the same time have shortcomings such as single robot motion mode and poor environmental adaptability. Recently, crawling robots driven by soft pneumatic actuators that use silicone-like materials to form closed air chambers, mainly by replacing molds to produce pneumatic actuators with different motion modes. However, it has the disadvantages that the mold manufacturing process is complicated and tedious, the manufacturing success rate is low, the versatility is poor, and the motion response time of the silicone-like material is long.

针对以上情况发明一种制造方法简单、耗材少、成本低,同时运动响应迅速的新型软气动执行器,以提升软体爬行机器人的性能显得尤为重要。In view of the above situation, it is particularly important to invent a new type of soft pneumatic actuator with simple manufacturing method, few consumables, low cost, and rapid motion response, so as to improve the performance of the soft crawling robot.

发明内容SUMMARY OF THE INVENTION

为了解决背景技术中所存在的问题,本发明的目的在于提供一种基于折纸结构的软体爬行机器人,软气动执行器采用基于熔融沉积建模方法直接3D打印柔性热塑性材料制成,可以降低制作成本,同时其抗拉伸能力突出,即在未驱动时能够承受较大负载,运动恢复迅速,通过设计不同运动方式,可将爬行机器人应用于复杂的作业环境中。In order to solve the problems existing in the background technology, the purpose of the present invention is to provide a soft crawling robot based on an origami structure. The soft pneumatic actuator is made of a flexible thermoplastic material directly 3D printed based on a fused deposition modeling method, which can reduce the production cost. At the same time, its anti-stretching ability is outstanding, that is, it can bear a large load when it is not driven, and the motion recovers quickly. By designing different motion modes, the crawling robot can be applied to complex working environments.

为了达到上述目的,本发明釆用的技术方案如下:In order to achieve the above object, the technical scheme adopted in the present invention is as follows:

一种基于折纸结构的软体爬行机器人,包括两个支撑装置、一个伸缩装置、两个连接装置以及两个吸盘粘附装置连接构成门框式构架;所述伸缩装置由一个顺时针扭转伸缩单元的上底面和一个逆时针扭转伸缩单元的下底面通过磁铁固定连接组成;支撑装置为一个顺时针扭转伸缩单元或逆时针扭转伸缩单元;两个支撑装置中扭转伸缩单元的下底面分别与吸盘粘附装置的上底面相固连,两个扭转伸缩单元的上底面分别与连接装置的下底面相固连,形成两个支撑单元;两个支撑单元之间连接一个伸缩装置,伸缩装置两端分别与连接装置的侧面通过磁铁相固连。A soft crawling robot based on an origami structure, comprising two supporting devices, a telescopic device, two connecting devices and two suction cup adhering devices connected to form a door frame structure; The bottom surface and the lower bottom surface of a counterclockwise twisting telescopic unit are fixedly connected by magnets; the supporting device is a clockwise twisting telescopic unit or a counterclockwise twisting telescopic unit; in the two supporting devices, the lower bottom surface of the twisting telescopic unit is respectively attached to the suction cup adhering device The upper and bottom surfaces of the two torsion telescopic units are fixedly connected with the lower bottom surface of the connecting device respectively to form two supporting units; a telescopic device is connected between the two supporting units, and both ends of the telescopic device are respectively connected with The sides of the device are held together by magnets.

优选地,每个扭转伸缩单元都包括上底面,下底面以及侧边平面;侧边平面的四个面上有相应的凹槽将表面分为两个相等的三角形区域,通过改变侧边平面凹槽方向可以使扭转伸缩单元实现不同方向的扭转。Preferably, each torsional telescopic unit includes an upper bottom surface, a lower bottom surface and a side plane; there are corresponding grooves on the four sides of the side plane to divide the surface into two equal triangular areas, and by changing the side plane concave The direction of the slot can make the twisting telescopic unit realize twisting in different directions.

优选地,侧边平面与下底面采用一体化打印并与上底面密封固连,使得整个扭转伸缩单元形成一个密封腔体,且使得整个扭转伸缩单元形成一个长方体;在上底面以及下底面中间设有一个凹槽,磁铁安装于内用于连接;在扭转伸缩单元上底面的一条侧边中间设有一个气孔,气嘴插装连接于孔内,气嘴通过硅胶管连接到外部气源,顺时针扭转伸缩单元的侧边平面沿顺时针方向扭转收缩,逆时针扭转收伸缩单元的侧边平面沿逆时针方向扭转收缩;气嘴通过硅胶管连接外部气源,气源对腔体抽真空之后,侧边平面进行正向扭转同时带动上下底面进行收缩,即扭转伸缩单元同时进行扭转和收缩运动。当腔体接通大气压时,侧边平面进行反向扭转同时带动上下底面进行伸展,即扭转伸缩单元同时进行扭转和舒张运动,整个扭转伸缩装单元恢复常态形状。Preferably, the side plane and the lower bottom surface are integrally printed and sealed and fixed with the upper bottom surface, so that the entire torsional telescopic unit forms a sealed cavity, and the entire torsional telescopic unit forms a rectangular parallelepiped; between the upper bottom surface and the lower bottom surface, a There is a groove, and the magnet is installed inside for connection; there is an air hole in the middle of one side of the bottom surface of the twisting telescopic unit, the air nozzle is inserted into the hole, and the air nozzle is connected to the external air source through a silicone tube. Clockwise twist the side plane of the telescopic unit to twist and shrink in the clockwise direction, and counterclockwise to twist the side plane of the telescopic unit to twist and shrink counterclockwise; , the side planes perform positive torsion and simultaneously drive the upper and lower bottom surfaces to contract, that is, the torsional telescopic unit performs torsion and contraction movements at the same time. When the cavity is connected to atmospheric pressure, the side planes reversely twist and simultaneously drive the upper and lower bottom surfaces to stretch, that is, the twisting and stretching unit performs twisting and relaxation movements at the same time, and the entire twisting and stretching unit returns to its normal shape.

优选地,所述伸缩装置,由逆时针扭转伸缩单元的下底面与顺时针扭转伸缩单元的上底面通过磁铁固连,伸缩装置的两端分别与连接装置的侧面通过磁铁固连。两个不同方向的扭转伸缩单元通过气嘴与硅胶管连接外部气源,通过气源同时对两个扭转伸缩单元进行相同的控制,即控制同时进行抽气或同时接通大气压,使得两个扭转伸缩单元的扭转方向相反,底面伸缩运动同步,抵消两个扭转伸缩单元的旋转,使得整个伸缩装置仅进行伸缩运动。Preferably, the telescopic device is fixedly connected with the lower bottom surface of the anti-clockwise twisting telescopic unit and the upper bottom surface of the clockwise twisting telescopic unit by magnets, and the two ends of the telescopic device are respectively fixed with the side surface of the connecting device by magnets. The two twisting and telescopic units in different directions are connected to the external air source through the air nozzle and the silicone tube, and the two twisting and expanding units are controlled at the same time through the air source. The torsion direction of the telescopic unit is opposite, and the telescopic motion of the bottom surface is synchronized, which offsets the rotation of the two torsional telescopic units, so that the entire telescopic device only performs telescopic motion.

优选地,所述伸缩装置的顺时针扭转伸缩单元和逆时针扭转伸缩单元之间除使用磁铁进行连接之外,还使用了类榫卯结构进行固定,其中逆时针扭转伸缩模块的下底面带有四个凹槽作为阴面,顺时针扭转伸缩模块的上底面大有四个凸台作为阳面,在装配时进行相互配合连接达到防松的目的。Preferably, in addition to using a magnet for connection between the clockwise twisting telescopic unit and the counterclockwise twisting telescopic unit of the telescopic device, a tenon-and-mortise-like structure is also used for fixing, wherein the lower bottom surface of the counterclockwise twisting telescopic module has a The four grooves are used as negative surfaces, and the upper bottom surface of the clockwise twisted telescopic module has four bosses as positive surfaces, which are mutually matched and connected to achieve the purpose of preventing loosening during assembly.

优选地,所述连接装置与扭转伸缩单元之间的固定同样使用了类榫卯结构来进行防松。Preferably, the fixing between the connecting device and the torsional telescopic unit also uses a tenon-and-mortise-like structure to prevent loosening.

优选地,本发明的柔性扭转伸缩驱动装置构成的爬行机器人,运动灵活,可以实现前进,后退,转向及交叉运动等功能。Preferably, the crawling robot constituted by the flexible torsion telescopic drive device of the present invention has flexible movement and can realize functions such as forward, backward, steering and cross movement.

优选地,所述基于折纸结构的软气动执行器都是基于三角圆柱折纸结构改进设计,其热塑性弹性体组成的上底面、下底面和侧边平面均采用熔融沉积建模方法直接3D打印,具有良好的抗拉伸性能和快速收缩、回复性能;Preferably, the soft pneumatic actuator based on the origami structure is based on the improved design of the triangular cylindrical origami structure. Good tensile properties and rapid shrinkage and recovery properties;

优选地,所述两个支撑装置一个为顺时针扭转伸缩单元,另一个为逆时针扭转伸缩单元。Preferably, one of the two supporting devices is a clockwise twisting telescopic unit, and the other is a counterclockwise twisting telescopic unit.

优选地,每个所述的扭转伸缩单元的气嘴通过硅胶管连接到外部气源,所有气嘴都布置于扭转伸缩单元的上底面侧边中间,硅胶管从同一侧连接到外部气源。Preferably, the air nozzles of each of the twisting and telescopic units are connected to the external air source through a silicone tube, all the air nozzles are arranged in the middle of the side edges of the upper bottom surface of the twisting and telescopic unit, and the silicone tube is connected to the external air source from the same side.

本发明与背景技术相比,具有如下显而易见的突出实质性特点和显著的技术进步:Compared with the background technology, the present invention has the following obvious outstanding substantive features and remarkable technological progress:

1.本发明中采用的基于折纸结构的驱动器具采用气动方式,采用熔融沉积建模方法进行制作,通过改变扭转伸缩单元侧面凹槽的布置方式即可改变扭转伸缩单元的运动方向,制作过程简单、耗材少、成本低;1. The driving device based on the origami structure adopted in the present invention adopts the pneumatic method and adopts the fused deposition modeling method to manufacture. By changing the arrangement of the grooves on the side of the twisting and expanding unit, the movement direction of the twisting and expanding unit can be changed, and the manufacturing process is simple. , less consumables, low cost;

2.基于折纸结构的驱动器具有良好的抗拉伸性能,在输出力,负载能力以及稳定性方面比传统软气动执行器有了较大的性能提升;驱动器具有快速伸缩的运动特点,可以使得软体爬行机器人的运动更为敏捷;2. The driver based on the origami structure has good anti-stretch performance, and has a greater performance improvement than the traditional soft pneumatic actuator in terms of output force, load capacity and stability; the driver has the characteristics of rapid expansion and contraction, which can make the software The movement of the crawling robot is more agile;

3.本发明中的软体爬行机器人运动灵活,有多种组合方式;当调节不同位置扭转伸缩单元的气压时可以实现前进、后退、转向以及交叉前进等功能,在柔顺性,灵活性以及适应性方面有较大改进。3. The soft crawling robot in the present invention is flexible in movement and has various combinations; when adjusting the air pressure of the torsion telescopic unit at different positions, it can realize functions such as forward, backward, steering and cross forward, and it has the advantages of flexibility, flexibility and adaptability. There is a big improvement.

附图说明Description of drawings

图1是本发明的整体结构示意图。Figure 1 is a schematic diagram of the overall structure of the present invention.

图2逆时针扭转伸缩单元抽气变形示意图。FIG. 2 is a schematic diagram of the air-extraction deformation of the anti-clockwise twisting telescopic unit.

图3伸缩装置抽气后变形示意图。Figure 3 is a schematic diagram of the deformation of the telescopic device after air extraction.

图4伸缩装置装配细节图。Figure 4 is a detailed view of the assembly of the telescopic device.

图5爬行机器人向前运动示意图。Figure 5 Schematic diagram of the forward motion of the crawling robot.

图6爬行机器人向后运动示意图。Figure 6 Schematic diagram of the backward movement of the crawling robot.

图7爬行机器人转向运动示意图。Fig. 7 Schematic diagram of the steering motion of the crawling robot.

图8爬行机器人交叉运动示意图。Figure 8 Schematic diagram of the cross motion of the crawling robot.

具体实施方式Detailed ways

下面结合附图和优选实施例对本发明作进一步说明。The present invention will be further described below with reference to the accompanying drawings and preferred embodiments.

实施例一:Example 1:

参见图1-图8,一种基于折纸结构的软体爬行机器人,包括两个支撑装置、一个伸缩装置、两个连接装置以及两个吸盘粘附装置连接构成门框式构架;所述伸缩装置由一个顺时针扭转伸缩单元21的上底面和一个逆时针扭转伸缩单元22的下底面通过磁铁14固定连接组成;支撑装置为一个顺时针扭转伸缩单元21或逆时针扭转伸缩单元22;两个支撑装置中扭转伸缩单元的下底面20分别与吸盘粘附装置的上底面相固连,两个扭转伸缩单元的上底面17分别与连接装置的下底面相固连,形成两个支撑单元;两个支撑单元之间连接一个伸缩装置,伸缩装置两端分别与连接装置的侧面通过磁铁相固连。Referring to Figures 1-8, a soft crawling robot based on origami structure includes two supporting devices, one telescopic device, two connecting devices and two suction cup adhesion devices connected to form a door frame structure; the telescopic device consists of a The upper bottom surface of the clockwise twisting telescopic unit 21 and the lower bottom surface of a counterclockwise twisting telescopic unit 22 are fixedly connected by magnets 14; the supporting device is a clockwise twisting telescopic unit 21 or a counterclockwise twisting telescopic unit 22; The lower bottom surfaces 20 of the torsion telescopic unit are respectively fixed with the upper bottom surface of the suction cup adhering device, and the upper bottom surfaces 17 of the two torsion telescopic units are respectively fixed with the lower bottom surface of the connecting device to form two supporting units; two supporting units A telescopic device is connected between them, and the two ends of the telescopic device are respectively fixedly connected with the side surfaces of the connecting device through magnets.

本实施例采用的基于折纸结构的驱动器具采用气动方式,采用熔融沉积建模方法进行制作,通过改变扭转伸缩单元侧面凹槽的布置方式即可改变扭转伸缩单元的运动方向,制作过程简单、耗材少、成本低。The driving device based on the origami structure adopted in this embodiment adopts the pneumatic method and adopts the fused deposition modeling method to manufacture. By changing the arrangement of the grooves on the side of the twisting and expanding unit, the moving direction of the twisting and expanding unit can be changed. The manufacturing process is simple and the consumables are low. Less and low cost.

实施例二:Embodiment 2:

本实施例与实施例一基本相同,特别之处在于:This embodiment is basically the same as the first embodiment, and the special features are:

如图1所示,本发明爬行机器人具体实施包括两个支撑装置、一个伸缩装置、五对磁铁、两个连接装置、两个吸盘粘附装置和六个气嘴,支撑装置为一个顺时针扭转伸缩单元21或逆时针扭转伸缩单元22;伸缩装置由一个顺时针扭转伸缩单元21的上底面和一个逆时针扭转伸缩单元22的下底面通过磁铁14固定连接组成;两个支撑装置中扭转伸缩单元的下底面分别与两个吸盘粘附装置的上底面相固连,两个扭转伸缩单元的上底面分别与两个连接装置的下底面用磁铁相固连,形成两个支撑单元;两个支撑单元之间连接一个伸缩装置,伸缩装置两端分别与连接装置的侧面通过磁铁14相固连。As shown in FIG. 1, the specific implementation of the crawling robot of the present invention includes two supporting devices, one telescopic device, five pairs of magnets, two connecting devices, two suction cup adhering devices and six air nozzles, and the supporting device is a clockwise twisting device. Telescopic unit 21 or counterclockwise twisting telescopic unit 22; the telescopic device is composed of an upper bottom surface of a clockwise twisting telescopic unit 21 and a lower bottom surface of a counterclockwise twisting telescopic unit 22 fixedly connected by magnets 14; among the two supporting devices, the twisting telescopic unit The lower bottom surfaces of the two suction cup adhering devices are fixedly connected with the upper bottom surfaces of the two suction cup adhering devices respectively, and the upper bottom surfaces of the two torsion telescopic units are respectively fixed with the lower bottom surfaces of the two connecting devices with magnets to form two supporting units; A telescopic device is connected between the units, and the two ends of the telescopic device are respectively fixedly connected with the side surfaces of the connecting device through magnets 14 .

如图2所示,每个扭转伸缩单元都包括上底面17,下底面20以及侧边平面19;侧边平面19的四个面上有相应的凹槽18将表面分为两个相等的三角形区域,通过改变侧边平面凹槽18方向可以使扭转伸缩单元实现不同方向的扭转。侧边平面19与下底面20采用一体化打印并与上底面17密封固连,使得整个扭转伸缩单元形成一个密封腔体,且使得整个扭转收缩装置形成一个长方体;在上底面17以及下底面20中间各设有一个凹槽15,磁铁14安装于内用于连接;在上底面17的一条侧边中间设有一个气孔16,气嘴2插装连接于孔内,气嘴通过硅胶管连接到外部气源,顺时针扭转伸缩单元21的侧边平面沿顺时针方向扭转手收缩,逆时针扭转伸缩单元22的侧边平面沿逆时针方向扭转手收缩;气嘴通过硅胶管连接外部气源并对腔体抽气,侧边平面进行正向扭转同时带动上底面17和下底面20进行收缩,及扭转伸缩单元边扭转边降低高度。当腔体接通大气压时,侧边平面进行反向扭转同时带动上底面17和下底面20进行回复,即扭转收缩装置边扭转边增加高度,整个伸缩装置恢复常态形状。As shown in FIG. 2, each torsion telescopic unit includes an upper bottom surface 17, a lower bottom surface 20 and a side plane 19; the four sides of the side plane 19 have corresponding grooves 18 to divide the surface into two equal triangles By changing the direction of the side plane grooves 18, the twisting telescopic unit can be twisted in different directions. The side plane 19 and the lower bottom surface 20 are integrally printed and tightly connected with the upper bottom surface 17, so that the entire torsional expansion and contraction unit forms a sealed cavity, and the entire torsional contraction device forms a rectangular parallelepiped; on the upper bottom surface 17 and the lower bottom surface 20 There is a groove 15 in the middle, and the magnet 14 is installed in it for connection; an air hole 16 is arranged in the middle of a side edge of the upper bottom surface 17, and the air nozzle 2 is inserted and connected in the hole, and the air nozzle is connected to the hole through a silicone tube. For the external air source, twist the side plane of the telescopic unit 21 clockwise to twist the hand in the clockwise direction, and twist the side plane of the telescopic unit 22 counterclockwise to twist the hand in the counterclockwise direction; the air nozzle is connected to the external air source through the silicone tube and The cavity is evacuated, the side planes are twisted in a positive direction and simultaneously drive the upper bottom surface 17 and the lower bottom surface 20 to shrink, and the twisting telescopic unit reduces the height while twisting. When the cavity is connected to the atmospheric pressure, the side plane reversely twists and simultaneously drives the upper bottom surface 17 and the lower bottom surface 20 to recover, that is, the twisting and shrinking device increases its height while twisting, and the entire retractable device returns to its normal shape.

如图3所示,伸缩装置中,由逆时针扭转伸缩单元22的下底面与顺时针扭转伸缩单元21的上底面通过磁铁14相固连,伸缩装置的两端分别与连接装置的侧面通过磁铁固定连接。两个扭转伸缩单元通过气嘴与硅胶管连接外部气源,通过气源同时对两个扭转伸缩单元进行相同的控制,即控制同时进行抽气或接通大气压,使得两个扭转伸缩单元的扭转方向相反,底面伸缩运动同步,抵消两个扭转伸缩单元的旋转,使得整个伸缩装置仅进行伸缩运动。As shown in FIG. 3, in the telescopic device, the lower bottom surface of the telescopic unit 22 twisted counterclockwise and the upper bottom surface of the telescopic unit 21 twisted clockwise are fixedly connected by magnets 14, and the two ends of the telescopic device are respectively connected to the side of the connecting device by magnets Fixed connection. The two torsion and expansion units are connected to the external air source through the air nozzle and the silicone tube, and the same control is performed on the two torsion and expansion units at the same time through the air source, that is, the control is to perform air extraction or turn on the atmospheric pressure at the same time, so that the torsion of the two torsion and expansion units is controlled. In the opposite direction, the telescopic movement of the bottom surface is synchronized, which offsets the rotation of the two torsional telescopic units, so that the entire telescopic device only performs telescopic movement.

如图4所示,所述伸缩装置6的顺时针扭转伸缩单元21和逆时针扭转伸缩单元22之间除使用磁铁14进行固定连接之外,还使用了类榫卯结构进行固定,其中逆时针扭转伸缩模块的下底面带有四个凹槽25作为阴面,顺时针扭转伸缩模块的上底面大有四个凸台24作为阳面,在装配式进行相互配合进行固定达到防松的目的。As shown in FIG. 4 , in addition to using the magnet 14 for fixed connection between the clockwise twisting telescopic unit 21 and the counterclockwise twisting telescopic unit 22 of the telescopic device 6, a tenon-like structure is also used for fixing, wherein the counterclockwise The lower bottom surface of the torsional telescopic module has four grooves 25 as the negative surface, and the upper bottom surface of the clockwise twisted expansion and contraction module has four bosses 24 as the positive surface.

具体实施中,支撑装置分别为A支撑装置3和B支撑装置11,A支撑装置3的下底面与A吸盘粘附装置1的上底面固连,A支撑装置3的上底面与A连接装置5的下底面固连,伸缩装置6中顺时针扭转伸缩单元21的下底面与A连接装置5的侧面通过磁铁固连,A吸盘粘附装置1、A支撑装置3和顺时针扭转伸缩单元21各自对应的A气嘴2、B气嘴4和C气嘴7分别连接硅胶管接通气源。In the specific implementation, the supporting devices are respectively A supporting device 3 and B supporting device 11 , the lower bottom surface of A supporting device 3 is fixedly connected with the upper bottom surface of A suction cup adhering device 1 , and the upper bottom surface of A supporting device 3 is connected with A connecting device 5 . The lower bottom surface of the telescopic device 6 is fixedly connected to the lower bottom surface of the clockwise twisting telescopic unit 21 and the side surface of the A connecting device 5 is fixedly connected by magnets. The A gas nozzle 2, B gas nozzle 4 and C gas nozzle 7 are respectively connected to the silicone tube and connected to the gas source.

B支撑装置11的下底面与B吸盘粘附装置13的上底面固连,B支撑装置11的上底面与B连接装置9的下底面固连,伸缩装置6中逆时针扭转伸缩单元22的下底面与B连接装置9的侧面固定连接,B吸盘粘附装置13、B支撑装置11和顺时针扭转伸缩单元21各自对应的D气嘴8、E气嘴10和F气嘴12分别连接硅胶管接通气源。The lower bottom surface of the B supporting device 11 is fixedly connected with the upper bottom surface of the B suction cup adhering device 13 , the upper bottom surface of the B supporting device 11 is fixedly connected with the lower bottom surface of the B connecting device 9 , and the lower surface of the telescopic unit 22 in the telescopic device 6 is twisted counterclockwise. The bottom surface is fixedly connected with the side of the B connection device 9, and the B suction cup adhesion device 13, the B support device 11 and the clockwise twisting telescopic unit 21 correspond to the respective D air nozzles 8, E air nozzles 10 and F air nozzles 12 respectively connected to the silicone pipe joints. ventilation source.

本发明的基于折纸结构的软气动执行器驱动的柔性机器人置于平面上,按照以下方式进行向前运动:The flexible robot driven by the soft pneumatic actuator based on the origami structure of the present invention is placed on a plane and moves forward in the following manner:

机器人向前运动可以分为6个动作依次进行,如图5所示。The forward movement of the robot can be divided into 6 actions and performed sequentially, as shown in Figure 5.

动作M1:A气嘴2连接大气压,A气嘴2连接的A吸盘粘附装置与平面解除吸合状态;B气嘴4接通较小负压,B气嘴4连接的A支撑装置3提升一定高度。Action M1: A gas nozzle 2 is connected to the atmospheric pressure, the suction cup adhesion device A connected to the A gas nozzle 2 is released from the plane; the B gas nozzle 4 is connected to a small negative pressure, and the A support device 3 connected to the B gas nozzle 4 is lifted a certain height.

动作M2:C气嘴7和D气嘴8同时连接负压,C气嘴7和D气嘴8连接的伸缩模块6中的两个扭转伸缩单元同时进行收缩,带动A支撑装置3、A连接装置5和A吸盘粘附装置1向前运动,即向B支撑装置11、B连接装置9和B吸盘粘附装置13运动。Action M2: The C air nozzle 7 and the D air nozzle 8 are connected to the negative pressure at the same time, and the two torsional expansion and contraction units in the telescopic module 6 connected with the C air nozzle 7 and the D air nozzle 8 are simultaneously retracted, driving the A support device 3 and A to connect The apparatus 5 and the A suction cup adhering apparatus 1 move forward, ie, toward the B supporting apparatus 11 , the B connecting apparatus 9 and the B suction cup adhering apparatus 13 .

动作M3:B气嘴4接通较小负压,B气嘴4连接的A支撑装置3恢复初始状态。A气嘴2接通负压,使得A吸盘粘附装置1与平面吸合;Action M3: The B air nozzle 4 is connected to a small negative pressure, and the A support device 3 connected to the B air nozzle 4 returns to the initial state. The A air nozzle 2 is connected to the negative pressure, so that the A suction cup adhesion device 1 is sucked into the plane;

动作M4:F气嘴12连接大气压,F气嘴12连接的B吸盘粘附装置与平面解除吸合状态;E气嘴10接通较小负压,E气嘴10连接的B支撑装置11提升一定高度。Action M4: The F air nozzle 12 is connected to atmospheric pressure, the B suction cup adhesion device connected to the F air nozzle 12 is released from the suction state; the E air nozzle 10 is connected to a small negative pressure, and the B support device 11 connected to the E air nozzle 10 is lifted a certain height.

动作M5:C气嘴7和D气嘴8同时连接大气压,C气嘴7和D气嘴8连接的伸缩模块6中的两个扭转伸缩单元同时恢复形态,推动B支撑装置11、B连接装置9和B吸盘粘附装置13向前运动。Action M5: The C air nozzle 7 and the D air nozzle 8 are connected to the atmospheric pressure at the same time, and the two torsional expansion and contraction units in the telescopic module 6 connected with the C air nozzle 7 and the D air nozzle 8 restore their forms at the same time, and push the B support device 11 and the B connection device. 9 and B suction cup adhering device 13 moves forward.

动作M6:E气嘴10接通较小负压,E气嘴10连接的B支撑装置11恢复初始状态;F气嘴12接通负压,使得B吸盘粘附装置13与平面吸合。机器人向前运动完成。Action M6: The E air nozzle 10 is connected to a small negative pressure, and the B support device 11 connected to the E air nozzle 10 is restored to the initial state; the F air nozzle 12 is connected to the negative pressure, so that the B suction cup adhesion device 13 is sucked into the plane. The forward movement of the robot is completed.

爬行机器人向后运动与向前运动动作类似,如图6所示。The backward movement of the crawling robot is similar to the forward movement, as shown in Figure 6.

爬行机器人转向运动可分解为4个动作依次进行,如图7所示。The steering motion of the crawling robot can be decomposed into 4 actions to be performed in sequence, as shown in Figure 7.

动作M1:B气嘴4和E气嘴10同时连接负压,B气嘴4和E气嘴10连接的A支撑装置3和B支撑装置11同时收缩。Action M1: The B air nozzle 4 and the E air nozzle 10 are connected with negative pressure at the same time, and the A support device 3 and the B support device 11 connected with the B air nozzle 4 and the E air nozzle 10 are simultaneously retracted.

动作M2:A气嘴2接通大气压,使得A吸盘粘附装置与底面解除吸合状态;同时减小E气嘴10中的负压,使得B支撑装置11进行扭转并逐渐恢复形态,同时带动A支撑装置3和A吸盘粘附装置1与平面脱离并使整个爬行机器人进行转向。Action M2: The A air nozzle 2 is connected to the atmospheric pressure, so that the A suction cup adhesion device and the bottom surface are released from the suction state; at the same time, the negative pressure in the E air nozzle 10 is reduced, so that the B support device 11 is twisted and gradually restores its shape, while driving The A supporting device 3 and the A suction cup adhering device 1 are disengaged from the plane and make the whole crawling robot turn.

动作M3:当达到所需角度时,即B支撑装置11可能未完全回复初始状态时,保持E气嘴10气压值不变,F气嘴12接通大气压,F气嘴12连接的B吸盘粘附装置13解除与平面吸合状态;B气嘴4接通大气压,使得A支撑装置3回复初始状态;A气嘴2接通负压,使A吸盘粘附装置1与平面吸合固定。同时带动B支撑装置向上移动一段距离。Action M3: When the required angle is reached, that is, when the B support device 11 may not completely return to the initial state, keep the air pressure value of the E air nozzle 10 unchanged, the F air nozzle 12 is connected to the atmospheric pressure, and the B suction cup connected to the F air nozzle 12 is glued. The attachment device 13 is released from the suction state with the plane; the B air nozzle 4 is connected to atmospheric pressure, so that the A support device 3 returns to the initial state; the A air nozzle 2 is connected to negative pressure, so that the A suction cup adhesion device 1 is sucked and fixed with the plane. At the same time, the B support device is driven to move up a certain distance.

动作M4:E气嘴10接通大气压,E气嘴10连接的B支撑装置11恢复常态;F气嘴12接通负压,F气嘴12连接的B支撑装置11与平面进行吸合固定。机器人转向运动完成。Action M4: The E air nozzle 10 is connected to atmospheric pressure, and the B support device 11 connected to the E air nozzle 10 returns to normal; the F air nozzle 12 is connected to negative pressure, and the B support device 11 connected to the F air nozzle 12 is sucked and fixed with the plane. Robot steering movement is complete.

爬行机器人交叉运动可分解为4个动作依次进行,如图8所示。The cross motion of the crawling robot can be decomposed into 4 actions, as shown in Figure 8.

动作M1:F气嘴12接通大气压,F气嘴12连接的B吸盘粘附装置13与平面解除吸合状态;E气嘴10接通负压,使得B支撑装置11向上收缩;在B支撑装置11完成动作的同时,B气嘴4接通负压,B气嘴4连接的A支撑装置3进行扭转收缩,带动爬行机器人整体进行旋转。Action M1: The F air nozzle 12 is connected to the atmospheric pressure, and the B suction cup adhesion device 13 connected to the F air nozzle 12 is released from the plane; When the device 11 completes the action, the B air nozzle 4 is connected to negative pressure, and the A support device 3 connected to the B air nozzle 4 twists and contracts, driving the crawling robot to rotate as a whole.

动作M2:E气嘴10接通大气压,E气嘴10连接的B支撑装置11恢复初始状态,F气嘴12接通负压,F气嘴12连接的B吸盘粘附装置13与平面吸合固定;同时B气嘴4连接大气压,B气嘴4连接的A支撑装置3向上回复初始状态。Action M2: The E air nozzle 10 is connected to atmospheric pressure, the B support device 11 connected to the E air nozzle 10 is restored to its initial state, the F air nozzle 12 is connected to negative pressure, and the B suction cup adhesion device 13 connected to the F air nozzle 12 is sucked into the plane Fixed; at the same time, the B air nozzle 4 is connected to the atmospheric pressure, and the A support device 3 connected to the B air nozzle 4 returns to the initial state upward.

动作M3:A气嘴2接通大气压,A气嘴2连接的A吸盘粘附装置1与平面解除吸合状态;B气嘴4接通负压,使得A支撑装置3向上收缩;在A支撑装置完3成动作的同时,E气嘴10接通负压,E气嘴4连接的B支撑装置11进行扭转收缩,带动爬行机器人进行旋转。Action M3: A gas nozzle 2 is connected to the atmospheric pressure, and the suction cup adhesion device 1 connected to the A gas nozzle 2 is released from the plane; the B gas nozzle 4 is connected to the negative pressure, so that the A support device 3 is retracted upward; At the same time when the device completes the action, the E gas nozzle 10 is connected to the negative pressure, and the B support device 11 connected to the E gas nozzle 4 is twisted and contracted to drive the crawling robot to rotate.

动作M4:B气嘴4接通大气压,B气嘴4连接的A支撑装置3恢复初始状态,A气嘴2接通负压,A吸盘粘附装置1与平面吸合进行固定;同时E气嘴10接通大气压,E气嘴10连接的B支撑装置11向上回复初始状态。机器人交叉运动完成。Action M4: The B air nozzle 4 is connected to the atmospheric pressure, the A support device 3 connected to the B air nozzle 4 is restored to the initial state, the A air nozzle 2 is connected to the negative pressure, and the A suction cup adhesion device 1 is sucked and fixed with the plane; at the same time, the E air The nozzle 10 is connected to the atmospheric pressure, and the B support device 11 connected to the E gas nozzle 10 returns to the initial state upward. The robot cross motion is complete.

本实施例基于折纸结构的软体爬行机器人包括吸盘粘附装置、支撑装置、伸缩装置和连接装置。支撑装置为一个顺时针扭转伸缩单元或逆时针扭转伸缩单元,两个支撑装置中扭转伸缩单元的下底面分别与两个吸盘粘附装置的上底面相固连,扭转伸缩单元的上底面分别与两个连接装置的下底面相固连,形成两个支撑单元。两个支撑单元之间连接一个伸缩装置,伸缩装置由一个逆时针扭转伸缩单元的下底面和一个顺时针扭转伸缩单元的上底面固定连接组成。每个扭转伸缩单元都包括上底面,下底面和侧边平面。侧边平面与下底面采用一体化打印并与上底面密封固连,使得整个扭转伸缩单元形成一个密封腔体。在扭转伸缩单元上底面的一条侧边中间设有一个气孔,气嘴插装连接于孔内,气嘴通过硅胶管连接到外部气源。气源对腔体抽真空之后,扭转伸缩单元边旋转边下降,腔体接通大气压之后,扭转伸缩单元边旋转边上升。本实施例基于折纸结构的软气动执行器基于折纸结构的软气动驱动器都是基于三角圆柱折纸结构改进设计,都是采用基于低成本熔融沉积建模方法的柔性热塑性材料通过3D打印制造的,构成的机器人运动灵活,不易损坏,能实现前进、后退、转向以及交叉前进等功能,应用前景广泛。The soft crawling robot based on the origami structure in this embodiment includes a suction cup adhering device, a supporting device, a telescopic device and a connecting device. The support device is a clockwise torsion telescopic unit or a counterclockwise torsion telescopic unit. The lower bottom surfaces of the torsional expansion and contraction units in the two support devices are respectively fixed with the upper bottom surfaces of the two suction cup adhering devices, and the upper bottom surfaces of the torsion expansion and contraction units are respectively connected with the upper bottom surfaces of the two suction cup adhering devices. The lower bottom surfaces of the two connecting devices are fixedly connected to form two supporting units. A telescopic device is connected between the two supporting units, and the telescopic device is composed of a lower bottom surface of a counterclockwise twisting telescopic unit and an upper bottom surface of a clockwise twisting telescopic unit fixedly connected. Each torsional telescopic unit includes an upper bottom surface, a lower bottom surface and side planes. The side plane and the lower bottom surface are integrally printed and tightly connected with the upper bottom surface, so that the entire torsional telescopic unit forms a sealed cavity. An air hole is arranged in the middle of a side edge of the upper bottom surface of the twisting telescopic unit, the air nozzle is inserted and connected in the hole, and the air nozzle is connected to an external air source through a silicone tube. After the air source evacuates the cavity, the torsional telescopic unit descends while rotating. After the cavity is connected to atmospheric pressure, the torsional telescopic unit rises while rotating. The soft pneumatic actuator based on the origami structure in this embodiment The soft pneumatic actuator based on the origami structure is all based on the improved design of the triangular cylindrical origami structure. They are all made of flexible thermoplastic materials based on the low-cost fused deposition modeling method through 3D printing. The robot is flexible in movement, not easy to be damaged, and can realize functions such as forward, backward, steering and cross-forward, and has a wide application prospect.

上面对本发明实施例结合附图进行了说明,但本发明不限于上述实施例,还可以根据本发明的发明创造的目的做出多种变化,凡依据本发明技术方案的精神实质和原理下做的改变、修饰、替代、组合或简化,均应为等效的置换方式,只要符合本发明的发明目的,只要不背离本发明的技术原理和发明构思,都属于本发明的保护范围。The embodiments of the present invention have been described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned embodiments, and various changes can also be made according to the purpose of the invention and creation of the present invention. Changes, modifications, substitutions, combinations or simplifications should be equivalent substitution methods, as long as they meet the purpose of the present invention, as long as they do not deviate from the technical principles and inventive concepts of the present invention, all belong to the protection scope of the present invention.

Claims (7)

1.一种基于折纸结构的软体爬行机器人,其特征在于:包括两个支撑装置、一个伸缩装置、两个连接装置以及两个吸盘粘附装置连接构成门框式构架;所述伸缩装置由一个顺时针扭转伸缩单元(21)的上底面和一个逆时针扭转伸缩单元(22)的下底面通过磁铁(14)固定连接组成;支撑装置为一个顺时针扭转伸缩单元(21)或逆时针扭转伸缩单元(22);两个支撑装置中扭转伸缩单元的下底面(20)分别与吸盘粘附装置的上底面相固连,两个扭转伸缩单元的上底面(17)分别与连接装置的下底面相固连,形成两个支撑单元;两个支撑单元之间连接一个伸缩装置,伸缩装置两端分别与连接装置的侧面通过磁铁相固连。1. A soft crawling robot based on an origami structure is characterized in that: it comprises two supporting devices, a telescopic device, two connecting devices and two suction cup adhesion devices connected to form a door frame frame; The upper bottom surface of the clockwise twisting telescopic unit (21) and the lower bottom surface of a counterclockwise twisting telescopic unit (22) are fixedly connected by magnets (14); the supporting device is a clockwise twisting telescopic unit (21) or a counterclockwise twisting telescopic unit (22); the lower bottom surfaces (20) of the torsional telescopic units in the two supporting devices are respectively fixedly connected with the upper bottom surfaces of the suction cup adhering device, and the upper bottom surfaces (17) of the two torsional expansion and contraction units are respectively connected with the lower bottom surface of the connecting device Two supporting units are formed by being fixedly connected; a telescopic device is connected between the two supporting units, and the two ends of the telescopic device are respectively fixedly connected with the side surfaces of the connecting device through magnets. 2.根据权利要求1所述基于折纸结构的软体爬行机器人,其特征在于:每个扭转伸缩单元都包括上底面(17),下底面(20)以及侧边平面(19);侧边平面(19)的四个面上有相应的凹槽(18)将表面分为两个相等的三角形区域,通过改变侧边平面凹槽(18)方向可以使扭转伸缩单元实现不同方向的扭转;侧边平面(19)与下底面(20)采用一体化打印并与上底面(17)密封固连,使得整个扭转伸缩单元形成一个密封腔体,且使得整个扭转收缩装置形成一个长方体;在上底面(17)以及下底面(20)中间各设有一个凹槽(15),磁铁(14)安装于内用于连接;在上底面(17)的一条侧边中间设有一个气孔(16),有气嘴插装连接于孔内,气嘴通过硅胶管连接到外部气源;顺时针扭转伸缩单元(21)的侧边平面沿顺时针方向扭转收缩,逆时针扭转伸缩单元(22)的侧边平面沿逆时针方向扭转手收缩;气嘴通过硅胶管连接外部气源并对腔体抽气,侧边平面进行正向扭转同时带动上底面(17)和下底面(20)进行收缩,即扭转伸缩单元边扭转边降低高度;当腔体接通大气压时,侧边平面进行反向扭转同时带动上底面(17)和下底面(20)进行分离,即扭转收缩单元边扭转边增加高度。2. The soft crawling robot based on the origami structure according to claim 1, wherein each torsion telescopic unit comprises an upper bottom surface (17), a lower bottom surface (20) and a side plane (19); 19) There are corresponding grooves (18) on the four faces to divide the surface into two equal triangular areas, and by changing the direction of the side plane grooves (18), the twisting telescopic unit can be twisted in different directions; The plane (19) and the lower bottom surface (20) are integrally printed and tightly connected with the upper bottom surface (17), so that the entire torsional expansion and contraction unit forms a sealed cavity, and the entire torsion contraction device forms a rectangular parallelepiped; on the upper bottom surface ( 17) and the middle of the lower bottom surface (20) are respectively provided with a groove (15), the magnet (14) is installed inside for connection; an air hole (16) is provided in the middle of a side edge of the upper bottom surface (17), there are The air nozzle is inserted and connected in the hole, and the air nozzle is connected to the external air source through a silicone tube; the side plane of the telescopic unit (21) is twisted and contracted in a clockwise direction by twisting clockwise, and the side of the telescopic unit (22) is twisted counterclockwise. The plane is twisted in the counterclockwise direction to shrink the hand; the air nozzle is connected to the external air source through the silicone tube and the cavity is pumped, and the side plane is rotated in a positive direction while driving the upper bottom surface (17) and the lower bottom surface (20) to shrink, that is, torsion The telescopic unit reduces the height while twisting; when the cavity is connected to atmospheric pressure, the side plane reversely twists and drives the upper bottom surface (17) and the lower bottom surface (20) to separate, that is, the twisting and shrinking unit increases the height while twisting. 3.根据权利2要求所述基于折纸结构的软体爬行机器人,其特征在于,所述伸缩装置中,由逆时针扭转伸缩单元(22)的下底面与顺时针扭转伸缩单元(21)的上底面通过磁铁(14)相固连;两个扭转伸缩单元通过气嘴(1)与硅胶管连接外部气源,通过气源同时对两个扭转伸缩单元进行相同的控制,即控制同时进行抽气或接通大气压。3. The origami-based soft crawling robot according to claim 2, characterized in that, in the telescopic device, the bottom surface of the telescopic unit (22) is twisted counterclockwise and the upper bottom surface of the telescopic unit (21) is twisted clockwise. The magnets (14) are fixedly connected to each other; the two torsion telescopic units are connected to the external air source through the air nozzle (1) and the silicone tube, and the two torsion telescopic units are controlled simultaneously through the air source to perform the same control, that is, control the simultaneous pumping or Turn on atmospheric pressure. 4.根据权利2要求所述基于折纸结构的软体爬行机器人,其特征在于,所述伸缩装置的两个扭转伸缩单元之间除使用磁铁(14)进行固定连接外,还使用了类榫卯结构进行防松固定,其中逆时针扭转伸缩模块的下底面带有四个凹槽(25)作为阴面,顺时针扭转伸缩模块的上底面带有四个凸台(24)作为阳面,在装配时相互配合进行固定达到防松的目的。4. The soft crawling robot based on the origami structure according to claim 2, characterized in that, in addition to using magnets (14) for fixed connection between the two torsional telescopic units of the telescopic device, a tenon-and-mortise-like structure is also used. The anti-loose fixing is performed, wherein the lower bottom surface of the anti-clockwise twisted telescopic module has four grooves (25) as the female surface, and the upper bottom surface of the clockwise twisted expansion module has four bosses (24) as the positive surface, which are mutually connected during assembly. Cooperate to fix to achieve the purpose of preventing loosening. 5.根据权利2要求所述基于折纸结构的软体爬行机器人,其特征在于,所述基于折纸结构的软气动执行器都是基于三角圆柱折纸结构改进设计的,其上底面(17)、下底面(20)以及侧边平面19都是采用基于低成本熔融沉积建模方法直接3D打印柔性热塑性材料制造,具有良好的抗拉伸性能和快速伸缩性能;5. The soft crawling robot based on the origami structure according to claim 2, wherein the soft pneumatic actuator based on the origami structure is designed based on the improved design of the triangular cylindrical origami structure, and its upper bottom surface (17), the lower bottom surface (20) and the side plane 19 are all made of flexible thermoplastic materials based on low-cost fused deposition modeling method to directly 3D print, and have good tensile properties and rapid expansion and contraction properties; 6.根据权利2要求所述基于折纸结构的软体爬行机器人,其特征在于,所述两个支撑装置中的一个为顺时针扭转伸缩单元(21),另一个为逆时针扭转伸缩单元(22)。6. The origami-based soft crawling robot according to claim 2, wherein one of the two supporting devices is a clockwise twisting telescopic unit (21), and the other is a counterclockwise twisting telescopic unit (22) . 7.根据权利2要求所述基于折纸结构的软体爬行机器人,其特征在于,每个所述的扭转伸缩单元的气嘴通过硅胶管连接到外部气源,所有气嘴都布置于扭转伸缩单元的上底面侧边中间,硅胶管从同一侧连接到外部气源。7. The soft crawling robot based on the origami structure according to claim 2, wherein the air nozzles of each of the torsion telescopic units are connected to an external air source through a silicone tube, and all air nozzles are arranged on the torsion telescopic unit. In the middle of the side of the upper bottom surface, the silicone tube is connected to the external air source from the same side.
CN202010859985.9A 2020-08-24 2020-08-24 Software crawling robot based on paper folding structure Pending CN112061261A (en)

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Application publication date: 20201211