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    Bionic leech soft-bodied robot capable of penetrating through narrow space and advancing method of bionic leech soft-bodied robot

    Bionic leech soft-bodied robot capable of penetrating through narrow space and advancing method of bionic leech soft-bodied robot

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    The invention discloses a bionic leech soft robot capable of penetrating through a narrow space and an advancing method of the bionic leech soft robot, and belongs to the field of bionic soft robotics.The bionic leech soft robot is characterized in that a device body is composed of a front section, a middle section and a rear section, and each section comprises a pneumatic telescopic rod and an annular air bag used for controlling the telescopic action of the corresponding section of the device; the front section and the rear section are each fixedly provided with two suction cups used for anchoring in the advancing process, the positive pressure control loop and the negative pressure control loop are used for controlling actions of all pneumatic parts and the suction cups respectively, the structure and the advancing strategy of the device are designed through observation and bionic operation in the advancing process of leeches, and the operation efficiency of the device is improved. The device is flexibly controlled by a pneumatic loop, so that the actions such as extension and contraction of the whole length of the device, expansion and contraction of the cross sectional area, multi-angle flexible steering and pitching can be realized, the device can advance and pass through a narrow space, and the deformation movement capability of the soft robot to cope with various complex terrains and advancing routes is effectively improved.

    本发明公开了一种可穿越狭小空间的仿生水蛭软体机器人及其行进方法，属于仿生软体机器人领域，本发明的装置主体由前段、中段、后段三个部分组成，各段分别包括气动伸缩杆和环状气囊用于控制装置各段的伸缩动作，前段和后段分别固定了两个吸盘用于行进过程中的锚定，本发明利用正压、负压两个控制回路分别控制各气动零件和吸盘的动作，本发明通过对水蛭行进过程中的观察和仿生，设计了装置的结构和行进策略，利用气动回路对装置的灵活控制，可以实现装置整体长度的伸缩、横截面积的放缩以及多角度的灵活转向、俯仰等动作，能够实现装置的行进以及穿越狭小空间，有效提高了软体机器人应对各种复杂地形和行进路线的变形运动能力。

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    Titel :

    Bionic leech soft-bodied robot capable of penetrating through narrow space and advancing method of bionic leech soft-bodied robot

    Weitere Titelangaben:

    一种可穿越狭小空间的仿生水蛭软体机器人及其行进方法

    Beteiligte:
    LIU JING (Autor:in) / GUO LIN (Autor:in) / REN LEI (Autor:in) / QIAN ZHIHUI (Autor:in) / WU JIANAN (Autor:in) / XU RUIXIA (Autor:in) / XU WANGCHAO (Autor:in) / LIU HUAN (Autor:in) / REN LUQUAN (Autor:in)
    Erscheinungsdatum :

    2023-06-27

    Medientyp :

    Patent

    Format :

    Elektronische Ressource

    Sprache :

    Chinesisch

    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge

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