The invention provides a soft robot with a paper folding skeleton protection function, and belongs to the technical field of soft robots. The bistable elastic body system comprises a front shell and a rear shell which are connected through a paper folding skeleton, the whole paper folding skeleton is of a paper folding pipe structure, a soft spine penetrates through the paper folding pipe structure and is embedded between the front shell and the rear shell, the front shell and the rear shell are flexibly connected through a first tension spring and a second tension spring, and the first tension spring, the second tension spring and the soft spine jointly form the bistable elastic body system. The soft robot has two steady states, namely a bending energy storage state in which the soft spine bends upwards and a stretching energy release state in which the soft spine bends downwards, under the action of the system, and the first tension spring and the second tension spring quickly store and release elastic energy in the bending and stretching processes of the soft spine, so that power is provided for quick running of the soft robot; the soft spine is pneumatically driven to bend and deform to input energy so as to break through the bistable energy potential well, steady-state rapid conversion is achieved, the soft robot can rapidly store and release energy, and therefore rapid running is achieved.

    本发明提供了一种具有折纸骨骼防护的软体机器人,属于软体机器人技术领域。其包括前壳体和后壳体,二者间通过折纸骨骼连接,折纸骨骼整体采用折纸管结构,软体脊柱贯穿折纸管结构并嵌设于前、后壳体间,前、后壳体通过第一拉簧和第二拉簧柔性连接,第一拉簧、第二拉簧和软体脊柱共同组成双稳态弹性体系统,软体机器人在系统作用下拥有软体脊柱向上弯曲的弯曲储能状态和向下弯曲的伸展释能状态两种稳态,第一拉簧和第二拉簧在软体脊柱弯曲和伸展过程快速储存和释放弹性能,为软体机器人快速奔跑提供动力,软体脊柱通过气动驱动弯曲变形输入能量以突破双稳态能量势阱,实现稳态快速转换,使软体机器人快速储存和释放能量,从而实现快速奔跑。


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    Titel :

    Soft robot with paper folding skeleton protection function


    Weitere Titelangaben:

    一种具有折纸骨骼防护的软体机器人


    Beteiligte:
    LIU JIE (Autor:in) / LI ZHIYONG (Autor:in) / WEN GUILIN (Autor:in) / YANG ZHONGJIE (Autor:in) / WANG HONGXIN (Autor:in) / LUO ZHANTENG (Autor:in) / CHEN SHUTONG (Autor:in) / YE MINRUI (Autor:in)

    Erscheinungsdatum :

    2023-02-03


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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