The invention discloses a soft crawling robot based on a paper folding structure. The soft crawling robot comprises suction cup adhesion devices, supporting devices, a telescopic device and connectingdevices. The supporting devices are clockwise torsion telescopic units or anticlockwise torsion telescopic units, and one telescopic device is connected between the two supporting units. Each torsiontelescopic unit comprises an upper bottom face, a lower bottom face and a side edge plane. An air hole is formed in the middle of one side edge of the upper bottom face of each torsion telescopic unit, and an air nozzle is connected into each hole in an inserted mode and connected to an external air source through a silicone tube. After an air source vacuumizes a cavity, the torsion telescopic units rotate and descend at the same time, and after the cavity is communicated with the atmospheric pressure, the torsion telescopic units rotate and ascend at the same time. A flexible thermoplastic material based on a low-cost fused deposition modeling method is adopted and manufactured through 3D printing, the formed robot is flexible in movement and not prone to damage, the functions of advancing, retreating, steering, cross advancing and the like can be achieved, and the application prospect is wide.

    本发明公开了一种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,两个支撑单元之间连接一个伸缩装置。每个扭转伸缩单元都包括上底面,下底面和侧边平面。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。本发明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。


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    Titel :

    Soft crawling robot based on paper folding structure


    Weitere Titelangaben:

    一种基于折纸结构的软体爬行机器人


    Beteiligte:
    TIAN YINGZHONG (Autor:in) / SHEN FENG (Autor:in) / JIN TAO (Autor:in) / WANG TIANHONG (Autor:in) / LI LONG (Autor:in)

    Erscheinungsdatum :

    2020-12-11


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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