CN214352429U - Snake-shaped soft robot - Google Patents
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- CN214352429U CN214352429U CN202022865951.9U CN202022865951U CN214352429U CN 214352429 U CN214352429 U CN 214352429U CN 202022865951 U CN202022865951 U CN 202022865951U CN 214352429 U CN214352429 U CN 214352429U
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Abstract
The utility model provides a snakelike software robot, includes the flexible body, is equipped with a plurality of scales that are used for increasing frictional force on the flexible body, is equipped with a plurality of recesses that correspond the setting with each scale on the flexible body, and the recess sets up along the border of scale, and is not fragile and drops.
Description
Technical Field
The utility model relates to a bionic robot technical field, in particular to snakelike software robot.
Background
Snakes rely on the contraction and relaxation of muscles on both sides of the spine to bend the body into a sine wave shape and generate forward power by using the friction between the body surface and the ground. The snake abdomen epidermis has anisotropic friction with the ground, the friction in the advancing direction is low during movement, and the friction in the lateral direction and the backward direction is high to provide larger driving force.
At present, bionic robots based on snakes are mainly divided into two types: the first is a rigid snake-shaped robot consisting of a hub, a joint, a motor and the like; the second is a flexible snake robot made of soft material. Compared with a rigid snake-shaped robot, the flexible snake-shaped robot has higher flexibility and stronger environment adaptability. Therefore, the research on the flexible snake-shaped robot is one of the hot spots at present. In order to make the surface of the robot have anisotropic friction, the surface of the trunk of the snake-shaped robot is coated with a film with a paper-cut structure in the prior art. However, the external plastic film is not favorable for the environmental adaptability of the snake-shaped robot and is easy to damage, so that the snake-shaped robot cannot be applied to complicated terrains.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model provides a snakelike software robot, the ability that adapts to the environment is strong, and is not fragile and drops.
The utility model provides a snakelike software robot, includes the flexible body, is equipped with a plurality of scales that are used for increasing frictional force on the flexible body, is equipped with a plurality of recesses that correspond the setting with each scale on the flexible body, and the recess sets up along the border of scale.
In an embodiment of the present invention, the scales and the flexible body are integrally formed.
In an embodiment of the present invention, the groove includes a first groove section and a second groove section, the first groove section and the second groove section form a "V" shape, the scale is formed between the first groove section and the second groove section, and the scale is a triangle.
In an embodiment of the present invention, the groove includes a first groove section, a second groove section and a third groove section, one end of the second groove section is communicated with the first groove section, the other end of the second groove section is communicated with the third groove section, the scale is formed between the first groove section, the second groove section and the third groove section, and the scale is trapezoidal.
In an embodiment of the present invention, the cross-section of the flexible body is elliptical.
The utility model discloses an in the embodiment, above-mentioned flexible body is used for driven belly to be equipped with a plurality of ripple grooves, and each this ripple groove sets up in this belly along the length direction of this flexible body, and each this scale sets up.
In an embodiment of the present invention, the flexible body includes a first driving section and a second driving section, the end of the first driving section is connected to the end of the second driving section, a first fluid cavity and a second fluid cavity are disposed in the first driving section, a third fluid cavity and a fourth fluid cavity are disposed in the second driving section, and the form of the snake-shaped soft body robot is adjusted by controlling the amount of inflation or liquid filling of the first fluid cavity, the second fluid cavity, the third fluid cavity and/or the fourth fluid cavity.
In an embodiment of the present invention, the first driving section includes a first driving portion and a second driving portion, the first driving portion and the second driving portion are symmetrically disposed, the first fluid cavity is disposed in the first driving portion, and the second fluid cavity is disposed in the second driving portion.
In an embodiment of the present invention, a first fiber is disposed in the first driving portion, the first fiber is wound along a length direction of the first driving portion in a double spiral manner, a second fiber is disposed in the second driving portion, and the second fiber is wound along a length direction of the second driving portion in a double spiral manner.
In an embodiment of the present invention, the second driving section includes a third driving portion and a fourth driving portion, the third driving portion and the fourth driving portion are symmetrically disposed, the third fluid cavity is disposed in the third driving portion, and the fourth fluid cavity is disposed in the fourth driving portion.
In an embodiment of the present invention, a third fiber is disposed in the third driving portion, the third fiber is wound along the length direction of the third driving portion in a double spiral manner, a fourth fiber is disposed in the fourth driving portion, and the fourth fiber is wound along the length direction of the fourth driving portion in a double spiral manner.
In an embodiment of the present invention, the first driving portion includes a first connecting plane, a first mesh cloth is disposed on the first connecting plane, the second driving portion includes a second connecting plane, a second mesh cloth is disposed on the second connecting plane, and the first mesh cloth and the second mesh cloth are fixedly connected; the third driving part comprises a third connecting plane, third gridding cloth is arranged on the third connecting plane, the fourth driving part comprises a fourth connecting plane, fourth gridding cloth is arranged on the fourth connecting plane, and the third gridding cloth is fixedly connected with the fourth gridding cloth.
In an embodiment of the present invention, the scales and the flexible body are made of silica gel/hydrogel/shape memory polymer.
The utility model discloses a scale of snakelike software robot forms on flexible body, need not at robot surface cladding film structure, has avoided using laser cutting machine and crease board preparation scale, has simplified the robot manufacture process greatly, can also reach the effect the same with film structure simultaneously, and the ability of adaptation environment is strong. Moreover, the scales and the flexible bodies which are integrally formed are not easy to damage and fall off, and the scale can adapt to complex terrains.
Drawings
Fig. 1 is a schematic structural diagram of the snake-shaped soft robot of the present invention.
Fig. 2 is a schematic perspective view of the flexible body of the present invention.
Fig. 3 is a side view of the flexible body of fig. 2.
Fig. 4 is a bottom view of the flexible body of fig. 2.
Fig. 5 is an enlarged partial schematic view of the flexible body shown in fig. 4.
Fig. 6 is a partial schematic view of a flexible body of the present invention.
Fig. 7 is a partial schematic view of the flexible body of the present invention when inflated.
Fig. 8a to 8j are schematic diagrams illustrating the bending movement of the serpentine soft robot according to the present invention.
Fig. 9 is a schematic view of a split structure of the first mold assembly of the present invention.
Fig. 10 is a schematic view of a second mold assembly according to the present invention.
Fig. 11 a-11 e are schematic diagrams of a process for making a flexible body using a first mold assembly and a second mold assembly.
Detailed Description
The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.
The terms "first," "second," "third," "fourth," "fifth," and the like in the description and in the claims, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
Fig. 1 is the utility model discloses a snakelike software robot's structural schematic diagram, fig. 2 is the utility model discloses a flexible body's spatial structure schematic diagram, fig. 3 is the side-looking structural schematic diagram of the flexible body shown in fig. 2, fig. 4 is the bottom-looking structural schematic diagram of the flexible body shown in fig. 2, as shown in fig. 1, fig. 2, fig. 3 and fig. 4, snakelike software robot includes flexible body 10, be equipped with a plurality of scales 13 that are used for increasing frictional force on the flexible body 10, be equipped with a plurality of recesses 101 that correspond the setting with each scale 13 on the flexible body 10, recesses 101 set up along the border of scale 13.
The utility model discloses a scale 13 of snakelike software robot forms on flexible body 10, need not at robot surface cladding film structure, has avoided using laser cutting machine and crease board preparation scale 13, has simplified the robot manufacture process greatly, can also reach the effect the same with film structure simultaneously, and the ability of adaptation environment is strong. Moreover, the scale 13 and the flexible body 10 which are integrally formed are not easy to damage and fall off, and can adapt to complex terrains.
Further, as shown in fig. 4, each scale 13 is integrally formed with the flexible body 10. In the present embodiment, each scale 13 and the flexible body 10 are made of the same material and are integrally formed by casting, and preferably, each scale 13 and the flexible body 10 are made of silica gel/hydrogel/shape memory polymer. Because the scale 13 and the flexible body 10 are cast and formed by the same material, the surface rigidity of the snake-shaped soft robot cannot be changed, and the bending of the snake-shaped soft robot cannot be influenced.
In a preferred embodiment, as shown in fig. 4, the groove 101 includes a first groove section 101a and a second groove section 101b, the first groove section 101a and the second groove section 101b form a "V" shape, a scale 13 is formed between the first groove section 101a and the second groove section 101b, and the scale 13 is triangular.
In another preferred embodiment, the groove 101 includes a first groove section, a second groove section and a third groove section, one end of the second groove section is communicated with the first groove section, the other end of the second groove section is communicated with the third groove section, and scales 13 are formed among the first groove section, the second groove section and the third groove section, and the scales are trapezoidal. In this embodiment, the included angle between the first groove segment and the second groove segment is greater than or equal to 90 °, and the included angle between the third groove segment and the second groove segment is greater than or equal to 90 °.
In another preferred embodiment, the grooves 101 are curved in a semi-circular or semi-elliptical shape and the flaps 13 are semi-circular or semi-elliptical.
Further, the cross section of the flexible body 10 is elliptical or circular, and the shape of the flexible body 10 can be freely selected according to actual needs, but not limited thereto.
Further, fig. 5 is a partially enlarged schematic view of the flexible body shown in fig. 4, as shown in fig. 5, the flexible body 10 moves by stretching and contracting the abdomen, the abdomen of the flexible body 10 is provided with a plurality of corrugated grooves 102, each corrugated groove 102 is arranged along the length direction of the flexible body 10, each scale 13 is arranged on the abdomen, each corrugated groove 102 passes through a part of the scale 13, and a plurality of grooves are formed on the surface of the scale 13. When the flexible body 10 moves telescopically, the abdomen of the flexible body 10 is directly or indirectly contacted with the ground, and the propelling force for the robot to advance in the bending recovery process is increased through the corrugated groove 102 and the scale 13 of the abdomen. In this embodiment, the corrugation grooves 102 can increase the friction force in the transverse direction of the robot and increase the pushing force for the robot to advance during the bending recovery process.
Further, the depression depth of the corrugation groove 102 is smaller than that of the groove 101.
Further, the flexible body 10 includes a first driving section 11 and a second driving section 12, an end of the first driving section 11 is connected to an end of the second driving section 12, a first fluid cavity (not shown) and a second fluid cavity (not shown) are provided in the first driving section 11, a third fluid cavity (not shown) and a fourth fluid cavity (not shown) are provided in the second driving section 12, and the form of the serpentine flexible robot is adjusted by controlling the amount of inflation or deflation of the first fluid cavity, the second fluid cavity, the third fluid cavity and/or the fourth fluid cavity, for example, the first fluid cavity, the second fluid cavity, the third fluid cavity and the fourth fluid cavity are inflated or deflated to drive the flexible body 10 to alternately bend in an "S" shape and a "C" shape, that is, the robot is driven to advance by the friction force between the abdomen and the ground. In the present embodiment, the end of the first driving section 11 and the end of the second driving section 12 are fixedly connected by glue, but not limited thereto.
Further, fig. 6 is a partial schematic view of the flexible body of the present invention, fig. 7 is a partial schematic view of the flexible body of the present invention when inflated, as shown in fig. 6 and 7, when the flexible body 10 is not inflated, each scale 13 is embedded in the flexible body 10, preferably, the surface of each scale 13 is coplanar with the surface of the flexible body 10; when the flexible body 10 is inflated, each scale 13 is stressed by axial tension and protrudes out of the surface of the flexible body 10, the surface of the protruding scale 13 is an inclined plane and is low in the advancing direction of the robot, so that the backward resistance of the robot can be increased, and the advancing driving force of the robot is improved.
Further, the first driving section 11 includes a first driving portion 111 and a second driving portion 112, the first driving portion 111 and the second driving portion 112 are symmetrically disposed, the first fluid cavity is disposed in the first driving portion 111, and the second fluid cavity is disposed in the second driving portion 112. In this embodiment, the first fluid lumen and the second fluid lumen are independent closed lumens, and when the first fluid lumen is inflated (Δ P1>0) and the second fluid lumen is not inflated (Δ P2 ═ 0), the first driving portion 111 is inflated and the first driving segment 11 bends to "C" shape toward the second driving portion 112, or when the second fluid lumen is inflated (Δ P2>0) and the first fluid lumen is not inflated (Δ P1 ═ 0), the second driving portion 112 is inflated and the first driving segment 11 bends to "C" shape toward the first driving portion 111.
Further, a first filament is provided in the first driving part 111, and the first filament is wound in a double spiral manner along the length direction of the first driving part 111, and a second filament is provided in the second driving part 112, and the second filament is wound in a double spiral manner along the length direction of the second driving part 112.
Further, the second driving section 12 includes a third driving portion 121 and a fourth driving portion 122, the third driving portion 121 is disposed symmetrically to the fourth driving portion 122, the third fluid cavity is disposed in the third driving portion 121, and the fourth fluid cavity is disposed in the fourth driving portion 122. In this embodiment, the third fluid lumen and the fourth fluid lumen are independent closed lumens, and when the third fluid lumen is inflated (Δ P3>0) and the fourth fluid lumen is not inflated (Δ P4 ═ 0), the third driving portion 121 is inflated and the second driving segment 12 bends to form a "C" shape toward the fourth driving portion 122, or when the fourth fluid lumen is inflated (Δ P4>0) and the third fluid lumen is not inflated (Δ P3 ═ 0), the fourth driving portion 122 is inflated and the second driving segment 12 bends to form a "C" shape toward the third driving portion 121.
Further, a third filament is provided in the third driving part 121, the third filament is wound in a double spiral manner along the length direction of the third driving part 121, a fourth filament is provided in the fourth driving part 122, and the fourth filament is wound in a double spiral manner along the length direction of the fourth driving part 122.
Further, the first fiber filament, the second fiber filament, the third fiber filament and the fourth fiber filament are glass fiber filaments, but not limited thereto.
The utility model discloses a flexible body 10's cross-section is oval, can prevent that the robot from crawling the in-process and taking place to roll.
Further, the first driving portion 111 includes a first connection plane, a first mesh cloth is disposed on the first connection plane, the second driving portion 112 includes a second connection plane, a second mesh cloth is disposed on the second connection plane, and the first mesh cloth and the second mesh cloth are fixedly connected; the third driving portion 121 includes a third connection plane, a third mesh cloth is disposed on the third connection plane, the fourth driving portion 122 includes a fourth connection plane, a fourth mesh cloth is disposed on the fourth connection plane, and the third mesh cloth is fixedly connected to the fourth mesh cloth. In this embodiment, the first mesh cloth, the second mesh cloth, the third mesh cloth, and the fourth mesh cloth are used to limit the axial deformation of the flexible body 10, and the first driving section 11 and the second driving section 12 are constrained by the fiber filaments and the mesh cloth, so that the flexible body 10 can only be bent and deformed.
Further, the first mesh cloth, the second mesh cloth, the third mesh cloth and the fourth mesh cloth are glass fiber mesh cloths, but not limited thereto.
Further, the bending direction of the groove 101 of the web part of the first driving section 11 is opposite to the bending direction of the groove 101 of the web part of the second driving section 12, and preferably, the groove 101 of the web part of the first driving section 11 is arranged in mirror symmetry with the groove 101 of the web part of the second driving section 12.
Further, as shown in fig. 1, the serpentine soft robot includes a first driving assembly 20 and a second driving assembly 30;
the first driving assembly 20 comprises a first air pump 21, a first air pipe 22, a second air pipe 23, a first valve assembly 24 and a second valve assembly 25, wherein one end of the first air pipe 22 is connected with the first air pump 21, the other end of the first air pipe 22 is communicated with the first fluid inner cavity, the first valve assembly 24 is connected to the first air pipe 22 and used for controlling inflation and exhaust of the first fluid inner cavity, one end of the second air pipe 23 is connected with the first air pump 21, the other end of the second air pipe 23 is communicated with the second fluid inner cavity, and the second valve assembly 25 is connected to the second air pipe 23 and used for controlling inflation and exhaust of the second fluid inner cavity;
the second driving assembly 30 includes a second air pump 31, a third air pipe 32, a fourth air pipe 33, a third valve assembly 34 and a fourth valve assembly 35, one end of the third air pipe 32 is connected to the second air pump 31, the other end of the third air pipe 32 is communicated with the third fluid lumen, the third valve assembly 34 is connected to the third air pipe 32 for controlling the inflation and deflation of the third fluid lumen, one end of the fourth air pipe 33 is connected to the second air pump 31, the other end of the fourth air pipe 33 is communicated with the fourth fluid lumen, and the fourth valve assembly 35 is connected to the fourth air pipe 33 for controlling the inflation and deflation of the fourth fluid lumen.
Further, as shown in fig. 1, the first valve assembly 24 includes a first intake solenoid valve 241 and a first exhaust solenoid valve 242, the first intake solenoid valve 241 and the first exhaust solenoid valve 242 cooperating to control the inflation and deflation of the first fluid chamber; the second valve assembly 25 comprises a second air inlet solenoid valve 251 and a second air outlet solenoid valve 252, and the second air inlet solenoid valve 251 and the second air outlet solenoid valve 252 are matched to control the inflation and the air exhaust of the second fluid cavity; the third valve assembly 34 includes a third intake solenoid valve 341 and a third exhaust solenoid valve 342, the third intake solenoid valve 341 and the third exhaust solenoid valve 342 cooperating to control the inflation and deflation of the third fluid chamber; the fourth valve assembly 35 includes a fourth intake solenoid valve 351 and a fourth exhaust solenoid valve 352, the fourth intake solenoid valve 351 and the fourth exhaust solenoid valve 352 cooperating to control the inflation and deflation of the fourth fluid chamber.
Further, fig. 8a to 8j are schematic diagrams illustrating the bending movement of the snake-shaped soft robot of the present invention, and referring to fig. 8a to 8j, the bending movement of the snake-shaped soft robot includes the following steps:
step one, the first fluid lumen is inflated (Δ P1>0), and none of the second fluid lumen, the third fluid lumen, and the fourth fluid lumen is inflated, as shown in fig. 8 b.
Step two, the third fluid lumen is inflated (Δ P3>0) to maintain the first fluid lumen in an inflated state (Δ P1>0), as shown in FIG. 8 c.
Step three, the first fluid lumen is deflated (Δ P1 ═ 0) and the third fluid lumen remains inflated (Δ P3>0), as shown in fig. 8 d.
Step four, inflating the second fluid lumen (Δ P2>0) to maintain the third fluid lumen in an inflated state (Δ P3>0), as shown in FIG. 8 e.
Step five, the third fluid lumen is deflated (Δ P3 ═ 0) to maintain the second fluid lumen in an inflated state (Δ P2>0), as shown in fig. 8 f.
Step six, the fourth fluid lumen is inflated (Δ P4>0) to maintain the second fluid lumen in an inflated state (Δ P2>0), as shown in FIG. 8 g.
Step seven, the second fluid lumen is deflated (Δ P2 ═ 0) and the fourth fluid lumen is maintained inflated (Δ P4>0), as shown in fig. 8 h.
Step eight, the first fluid lumen is inflated (Δ P1>0) to maintain the fourth fluid lumen in an inflated state (Δ P4>0), as shown in fig. 8 i.
Step nine, deflate the fourth fluid lumen (Δ P4 ═ 0) to maintain the first fluid lumen in an inflated state (Δ P1>0), as shown in fig. 8 j.
The flexible body 10 can be driven to alternately bend and move in an S shape and a C shape by repeating the steps.
Further, fig. 9 is the utility model discloses a split structure schematic diagram of first mould subassembly, fig. 10 is the utility model discloses a split structure schematic diagram of second mould subassembly, the utility model discloses a flexible body 10 utilizes first mould subassembly 40 and second mould subassembly 50 step by step casting shaping.
As shown in fig. 9, the first mold assembly 40 includes a first mold housing 41, a semi-elliptic cylinder 42 and a first positioning end cap 43, a first casting groove 401 is provided in the first mold housing 41, one end of the first casting groove 401 is open, the cross section of the first casting groove 401 is semi-elliptic, double-spiral ribs 44 are provided on the groove wall and the groove bottom of both sides of the first casting groove 401, the first positioning end cap 43 is fixed on the end of the first mold housing 41, the first positioning end cap 43 is located at the open end of the first casting groove 401, the semi-elliptic cylinder 42 is disposed in the first casting groove 401, a first casting gap is formed between the semi-elliptic cylinder 42 and the first casting groove 401, one end of the semi-elliptic cylinder 42 is fixed on the first positioning end cap 43, and the other end of the semi-elliptic cylinder 42 is fixed on the bottom of the first mold housing 41.
As shown in fig. 10, the second mold assembly 50 includes a second mold housing 51, a bottom sealing mold 52 and a second positioning end cap 53, a second casting groove 501 is provided in the second mold housing 51, one end of the second casting groove 501 is open, the cross section of the second casting groove 501 is semi-elliptical, a plurality of elongated ribs 54 and a plurality of bending ribs 55 are provided on the groove wall on both sides of the second casting groove 501, a plurality of bending ribs 55 are provided on the bottom of the second casting groove 501, and preferably, the bending ribs 55 are "V" -shaped; the second positioning end cap 53 is fixed to the end of the second mold housing 51, the second positioning end cap 53 is located at the open end of the second casting groove 501, the semi-elliptic cylinder 42 can be disposed in the second casting groove 501, a second casting gap is formed between the semi-elliptic cylinder 42 and the second casting groove 501, one end of the semi-elliptic cylinder 42 is fixed to the second positioning end cap 53, and the other end of the semi-elliptic cylinder 42 is fixed to the bottom of the second mold housing 51.
Fig. 11a to 11e are schematic diagrams illustrating a process of manufacturing a flexible body by using a first mold assembly and a second mold assembly, and referring to fig. 11a to 11e, the manufacturing step of the flexible body 10 includes:
step one, respectively weighing silica gel (Ecoflex-30) A and B solutions by using an electronic scale, and mixing the solutions in a ratio of 1: 1, mixing the two, stirring uniformly, placing the mixture into a vacuum box, and degassing for about 10 minutes;
step two, assembling the first mold shell 41, the semi-elliptic cylinder 42 and the first positioning end cover 43 to form a first casting gap between the semi-elliptic cylinder 42 and the first casting groove 401;
step three, injecting the mixed silica gel solution into the first casting gap, and placing a first mesh cloth on the top of the first casting groove 401, as shown in fig. 11 a;
step four, the semi-elliptic cylinder is placed at room temperature for about 3 hours to solidify liquid silica gel, or is placed in an insulation box (the temperature is about 60 ℃) to solidify, after the silica gel is solidified, the first mould shell 41 is removed, a double-spiral groove is formed on the surface of the silica gel on the semi-elliptic cylinder 42, and a first fiber is wound in the double-spiral groove in a double-spiral mode, as shown in fig. 11 b;
step five, installing the silica gel wound with the first fiber filaments and the semi-elliptic cylinder 42 in a second pouring groove 501 of the second mold shell 51, forming a second pouring gap between the silica gel and the groove wall of the second pouring groove 501 at the moment, and injecting the mixed silica gel solution into the second pouring gap, as shown in fig. 11 c;
sixthly, after the liquid silica gel is solidified, removing the second mold shell 51, the second positioning end cover 53 and the semi-elliptic cylinder 42, wherein a plurality of corrugated grooves 102 and a plurality of scales 13 are formed on the surface of the semi-elliptic silica gel, as shown in fig. 11 d;
step seven, repeating the step one to the step six to manufacture another semi-elliptic silica gel, enabling the two semi-elliptic silica gels to be beneficial to glue to be fixedly combined into an elliptic cylinder, fixing the end parts of the two semi-elliptic silica gels by utilizing a back cover mould 52, sealing by utilizing liquid silica gel, and forming a first driving section 11 after the sealed silica gel is solidified, as shown in fig. 11 e;
and step eight, repeating the steps to manufacture the second driving section 12, and fixing the end part of the first driving end and the end part of the second driving section 12 by using glue to form the flexible body 10.
It should be noted that the flexible body 10 may further include a third driving section and a fourth driving section, and the structure and function of the third driving section and the fourth driving section are referred to above, and are not described herein again. The number of the driving segments can be freely selected according to actual needs, and is not limited to this.
The present application is not limited to the details of the above-described embodiments, and various simple modifications may be made to the technical solution of the present application within the technical idea of the present application, and these simple modifications are all within the protection scope of the present application. The various features described in the foregoing detailed description may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations are not described separately in this application.
Claims (13)
1. The snake-shaped soft robot is characterized by comprising a flexible body, wherein a plurality of scales used for increasing friction force are arranged on the flexible body, a plurality of grooves corresponding to the scales are arranged on the flexible body, and the grooves are arranged along the edge of the scales.
2. A serpentine shaped soft robot as claimed in claim 1 wherein each scale is integrally formed with the flexible body.
3. A snake-shaped soft robot as claimed in claim 1, wherein the groove comprises a first groove section and a second groove section, the first groove section and the second groove section form a "V" shape, the scale is formed between the first groove section and the second groove section, and the scale is triangular.
4. A snake-shaped soft robot as claimed in claim 1, wherein the groove comprises a first groove section, a second groove section and a third groove section, one end of the second groove section is connected to the first groove section, the other end of the second groove section is connected to the third groove section, the scales are formed among the first groove section, the second groove section and the third groove section, and the scales are trapezoidal.
5. The serpentine shaped soft robot of claim 1, wherein the flexible body has an elliptical cross-section.
6. The serpentine flexible robot as claimed in any one of claims 1 to 5, wherein the belly of the flexible body for driving is provided with a plurality of wave grooves, each of the wave grooves is disposed along the length of the flexible body, and each of the scales is disposed on the belly.
7. A snake-shaped soft robot according to claim 6, wherein the flexible body comprises a first driving section and a second driving section, the end of the first driving section is connected with the end of the second driving section, a first fluid cavity and a second fluid cavity are arranged in the first driving section, a third fluid cavity and a fourth fluid cavity are arranged in the second driving section, and the shape of the snake-shaped soft robot is adjusted by controlling the amount of inflation or liquid filling of the first fluid cavity, the second fluid cavity, the third fluid cavity and/or the fourth fluid cavity.
8. The serpentine soft robot of claim 7, wherein the first driving section comprises a first driving portion and a second driving portion, the first driving portion and the second driving portion are symmetrically disposed, the first fluid chamber is disposed within the first driving portion, and the second fluid chamber is disposed within the second driving portion.
9. The serpentine soft robot of claim 8, wherein the first drive section has a first filament disposed therein, the first filament being wound in a double helix along a length of the first drive section, and the second drive section has a second filament disposed therein, the second filament being wound in a double helix along a length of the second drive section.
10. A serpentine soft robot as recited in claim 8 wherein the second drive section includes a third drive portion and a fourth drive portion, the third drive portion being disposed symmetrically with respect to the fourth drive portion, the third fluid lumen being disposed within the third drive portion and the fourth fluid lumen being disposed within the fourth drive portion.
11. A serpentine bladder robot as set forth in claim 10 wherein said third drive portion has a third filament disposed therein, said third filament being wound in a double helix along a length of said third drive portion, said fourth drive portion having a fourth filament disposed therein, said fourth filament being wound in a double helix along a length of said fourth drive portion.
12. The serpentine soft robot as claimed in claim 10, wherein the first driving part comprises a first connecting plane, the first connecting plane is provided with a first mesh cloth, the second driving part comprises a second connecting plane, the second connecting plane is provided with a second mesh cloth, and the first mesh cloth is fixedly connected with the second mesh cloth; the third driving part comprises a third connecting plane, third gridding cloth is arranged on the third connecting plane, the fourth driving part comprises a fourth connecting plane, fourth gridding cloth is arranged on the fourth connecting plane, and the third gridding cloth is fixedly connected with the fourth gridding cloth.
13. A snake-shaped soft robot as claimed in claim 6, wherein each scale and the flexible body are made of silica gel/hydrogel/shape memory polymer.
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| CN202022865951.9U CN214352429U (en) | 2020-12-03 | 2020-12-03 | Snake-shaped soft robot |
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| CN202022865951.9U CN214352429U (en) | 2020-12-03 | 2020-12-03 | Snake-shaped soft robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114211669A (en) * | 2021-12-21 | 2022-03-22 | 郑州轻工业大学 | Reconfigurable software driver manufacturing die and driver manufacturing method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114211669A (en) * | 2021-12-21 | 2022-03-22 | 郑州轻工业大学 | Reconfigurable software driver manufacturing die and driver manufacturing method thereof |
| CN114211669B (en) * | 2021-12-21 | 2024-05-31 | 郑州轻工业大学 | Reconfigurable software driver manufacturing die and driver manufacturing method thereof |
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