CN207157327U - Soft robot - Google Patents
Soft robot Download PDFInfo
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- CN207157327U CN207157327U CN201721111667.4U CN201721111667U CN207157327U CN 207157327 U CN207157327 U CN 207157327U CN 201721111667 U CN201721111667 U CN 201721111667U CN 207157327 U CN207157327 U CN 207157327U
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- soft
- support frame
- blockage mechanism
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Abstract
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Claims (9)
- A kind of 1. soft robot, it is characterised in that:Including vavuum pump and Liang Zhao mechanisms, Liang Zhao mechanisms include rigid joint and two Only outer soft arm;One end of two outer soft arms is connected with rigid arthrodesis;Every outer soft arm includes several unit modules being serially connected;Each unit module includes interior flexible back bone, tracheae, outer flexible layer, blockage mechanism, deformation plug and blocks plug;Interior flexible back bone has central through hole, and several shapes have been evenly distributed on the interior flexible back bone of central through hole periphery Variable orifice;Outer flexible layer is coated on the periphery of interior flexible back bone;The both ends in each deformation hole respectively seal one deformation plug of filling;Blockage mechanism is fixed in central through hole, and blockage mechanism includes support frame, elastic connection rope, big ball particle, bead Particle, tighten up spring and sealing film;Each one blocking plug of filling in the central through hole at blockage mechanism both ends;Support frame is symmetrical structure, and the quantity of support frame is several, and elastic connection rope is successively from each support frame Symmetrical centre pass through, and each support frame is fixedly connected with elastic connection rope;The both ends difference of elastic connection rope Plug is blocked with two to be fixedly connected;Accommodating chamber is respectively provided between two neighboring support frame;Big ball particle is evenly distributed centered on elastic connection rope In accommodating chamber, and it is connected between big ball particle by tightening up spring;Small spherical particles are filled in the remaining space of accommodating chamber It is interior;Sealing film is coated on the periphery of support frame and small spherical particles;A tracheae is each provided with blockage mechanism and each deformation hole, all tracheaes are connected with vavuum pump;Formed a fixed connection between two neighboring unit module by shared blocking plug and deformation plug;By in unit module in several deformation holes gas pressure control, the drawing to corresponding units module can be realized Stretch, compress or bend;By the suction vacuumizing to blockage mechanism, blockage mechanism can be made to be changed into rigid state by flexibility, from And adapt to the climbing of the body of rod in complicated leverage.
- 2. soft robot according to claim 1, it is characterised in that:Also include outer soft trunk, the quantity of Liang Zhao mechanisms No less than two, two neighboring Liang Zhao mechanisms are symmetricly set on the both ends of an outer soft trunk, and firm in each Liang Zhao mechanisms The one end of property joint with outer soft trunk is fixedly connected;Outer soft trunk also includes several unit modules being serially connected.
- 3. soft robot according to claim 2, it is characterised in that:The quantity of Liang Zhao mechanisms is two, two two pawls Mechanism and an outer soft trunk form four paws climbing robot.
- 4. soft robot according to claim 2, it is characterised in that:The quantity of Liang Zhao mechanisms is three, outer soft trunk Quantity be two, the outer soft trunks of three Ge Liang pawls mechanisms and two form six pawl climbing robots.
- 5. soft robot according to claim 1, it is characterised in that:Each unit module also includes integument, wraps Covering layer is coated on the periphery of outer flexible layer.
- 6. soft robot according to claim 1, it is characterised in that:Interior flexible back bone edge week in each unit module To being laid with three deformation holes.
- 7. soft robot according to claim 1, it is characterised in that:Interior flexible back bone is hollow cylinder, each Deformation hole is arcuate socket, and each arcuate socket is arranged concentrically with interior flexible back bone.
- 8. soft robot according to claim 1, it is characterised in that:Support frame be shaped as rhombus, ellipse or Hyperbola.
- 9. soft robot according to claim 1, it is characterised in that:The periphery of sealing film and the inwall of central through hole Mutually it is adhesively fixed.
Priority Applications (1)
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CN201721111667.4U CN207157327U (en) | 2017-08-31 | 2017-08-31 | Soft robot |
Applications Claiming Priority (1)
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CN201721111667.4U CN207157327U (en) | 2017-08-31 | 2017-08-31 | Soft robot |
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CN207157327U true CN207157327U (en) | 2018-03-30 |
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Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107757745A (en) * | 2017-08-31 | 2018-03-06 | 南京邮电大学 | Flexible multijaw climbing robot |
CN109693725A (en) * | 2019-03-04 | 2019-04-30 | 西南科技大学 | A kind of software climbing level robot |
CN110015351A (en) * | 2019-04-27 | 2019-07-16 | 西南科技大学 | A kind of imitative snake software climbing level robot and its application |
CN110104086A (en) * | 2019-06-13 | 2019-08-09 | 中国科学院沈阳自动化研究所 | Adaptive software climbing robot |
CN110202607A (en) * | 2019-04-29 | 2019-09-06 | 天津大学 | A kind of gas line double drive brace type software hand |
CN110774292A (en) * | 2019-10-25 | 2020-02-11 | 上海交通大学 | Bionic soft rolling robot |
CN111265388A (en) * | 2020-02-04 | 2020-06-12 | 成都普崔克机电有限公司 | Joint device |
WO2020238337A1 (en) * | 2019-05-30 | 2020-12-03 | 南方科技大学 | Robotic network structure and sensing system suitable for unstructured environment |
CN112407092A (en) * | 2020-11-11 | 2021-02-26 | 常州嘉业智能装备科技有限公司 | Hook claw type climbing robot mechanical sucker mechanism |
WO2021082520A1 (en) * | 2019-10-29 | 2021-05-06 | 南京南邮信息产业技术研究院有限公司 | Model building method for variable-stiffness soft robot |
-
2017
- 2017-08-31 CN CN201721111667.4U patent/CN207157327U/en active Active
Cited By (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107757745B (en) * | 2017-08-31 | 2019-07-23 | 南京邮电大学 | Flexible multijaw climbing robot |
CN107757745A (en) * | 2017-08-31 | 2018-03-06 | 南京邮电大学 | Flexible multijaw climbing robot |
CN109693725A (en) * | 2019-03-04 | 2019-04-30 | 西南科技大学 | A kind of software climbing level robot |
CN109693725B (en) * | 2019-03-04 | 2020-12-29 | 西南科技大学 | Soft rod-climbing robot |
CN110015351B (en) * | 2019-04-27 | 2022-01-28 | 西南科技大学 | Snake-like soft rod-climbing robot and application thereof |
CN110015351A (en) * | 2019-04-27 | 2019-07-16 | 西南科技大学 | A kind of imitative snake software climbing level robot and its application |
CN110202607A (en) * | 2019-04-29 | 2019-09-06 | 天津大学 | A kind of gas line double drive brace type software hand |
CN110202607B (en) * | 2019-04-29 | 2022-06-24 | 天津大学 | Pneumatic-line dual-drive supporting type soft hand |
US11467594B2 (en) | 2019-05-30 | 2022-10-11 | Southern University Of Science And Technology | Robotic network structure and sensing system suitable for unstructured environment |
WO2020238337A1 (en) * | 2019-05-30 | 2020-12-03 | 南方科技大学 | Robotic network structure and sensing system suitable for unstructured environment |
CN110104086A (en) * | 2019-06-13 | 2019-08-09 | 中国科学院沈阳自动化研究所 | Adaptive software climbing robot |
CN110774292A (en) * | 2019-10-25 | 2020-02-11 | 上海交通大学 | Bionic soft rolling robot |
WO2021082520A1 (en) * | 2019-10-29 | 2021-05-06 | 南京南邮信息产业技术研究院有限公司 | Model building method for variable-stiffness soft robot |
CN111265388B (en) * | 2020-02-04 | 2022-02-25 | 成都普崔克机电有限公司 | Joint device |
CN111265388A (en) * | 2020-02-04 | 2020-06-12 | 成都普崔克机电有限公司 | Joint device |
CN112407092B (en) * | 2020-11-11 | 2021-11-30 | 常州嘉业智能装备科技有限公司 | Hook claw type climbing robot mechanical sucker mechanism |
CN112407092A (en) * | 2020-11-11 | 2021-02-26 | 常州嘉业智能装备科技有限公司 | Hook claw type climbing robot mechanical sucker mechanism |
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GR01 | Patent grant | ||
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EE01 | Entry into force of recordation of patent licensing contract | ||
EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Nanjing Nanyou Information Industry Technology Research Institute Co. Ltd. Assignor: Nanjing Post & Telecommunication Univ. Contract record no.: 2018320000285 Denomination of utility model: Software robot Granted publication date: 20180330 License type: Common License Record date: 20181101 |
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EE01 | Entry into force of recordation of patent licensing contract | ||
EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Zhangjiagang Institute of Zhangjiagang Assignor: NANJING University OF POSTS AND TELECOMMUNICATIONS Contract record no.: X2020980007094 Denomination of utility model: software robots Granted publication date: 20180330 License type: Common License Record date: 20201026 |