The invention belongs to the field of biomimetic robots, and discloses a multi-gait earthworm biomimetic soft robot and a working method.The multi-gait earthworm biomimetic soft robot is fixed to the ground through air exhaust of a first fixed driver and a second fixed driver, and the multi-gait earthworm biomimetic soft robot is fixed to the ground through air inflation and air exhaust of two cavities in a power corrugated pipe; the elastic potential energy is released and accumulated by stretching and contracting the power corrugated pipe, so that the linear motion and the turning motion of the device are realized, the crawling of the device is more stable, the space is saved, the device is suitable for working in a narrow space, and the power corrugated pipe simulates the ring muscle and the longitudinal muscle of an earthworm to realize stretching and contracting. Bending at different angles is achieved by adjusting the pressure difference of the two sides of the power corrugated pipe, the first fixing driver and the second fixing driver replace bristles of the earthworms to achieve the fixing effect, linear motion can be achieved, turning motion can also be achieved, flexible switching between the linear motion gait and the turning motion gait can be achieved, and the working efficiency is improved. And compared with buckling type crawling, the robot is more stable and reliable.

    本发明属于仿生机器人领域,公开了一种多步态的蚯蚓仿生软体机器人及工作方法,本发明通过第一固定驱动器和第二固定驱动器的抽气实现与地面固定,通过动力波纹管中两个空腔的充气与抽气,使动力波纹管舒展与收缩来释放和积攒弹性势能,从而实现本装置的直线运动和转弯运动,本装置的爬行更加稳定,且节省空间,适用于狭小空间工作,本装置的动力波纹管模仿蚯蚓的环肌及纵肌,实现伸长与收缩,通过调整动力波纹管两侧压力差实现不同角度的弯曲,第一固定驱动器和第二固定驱动器代替蚯蚓的刚毛来起到固定作用,本发明不仅可以实现直线运动,也可也实现转弯运动,并且可以在直线与转弯运动步态间灵活切换,相较于屈曲式爬行,更加平稳可靠。


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    Titel :

    Multi-gait earthworm bionic soft robot and working method


    Weitere Titelangaben:

    一种多步态的蚯蚓仿生软体机器人及工作方法


    Beteiligte:
    SHEN MINGJIE (Autor:in) / HAN BAOJIAN (Autor:in) / JIN JIAGENG (Autor:in) / HAO ZHEN (Autor:in)

    Erscheinungsdatum :

    2022-12-13


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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