The invention discloses a centipede-motion-imitating full-steering soft tree-climbing robot, which belongs to the field of soft climbing robots and comprises a telescopic actuator, a twisting actuator and a bending actuator which are of a vertically and bilaterally symmetrical structure. The telescopic actuator is located in the middle and can stretch out and draw back in the length direction of the telescopic actuator, and the two ends of the telescopic actuator are connected with the twisting actuators in series. The tail end of the twisting actuator is connected with one or more pairs of bending actuators connected in parallel through a three-hole three-way connector, a middle through hole of the three-hole three-way connector is connected with the tail end of the twisting actuator, and the ends of the one or more pairs of bending actuators are symmetrically connected to through holes in the two sides of the three-hole three-way connector; the telescopic actuator, the twisting actuator and the bending actuator are all independently connected with the pneumatic hose. The robot provided by the invention can realize full-steering crawling on trees through cooperation of the multi-body-section modules, and is simple in structure and high in environmental adaptability.

    本发明公开了一种仿蜈蚣运动的全转向软体爬树机器人,属于软体爬行机器人领域,包括包括伸缩执行器、扭曲执行器和弯曲执行器,呈上下左右对称结构;伸缩执行器位于中间位置,能够沿其长度方向伸缩,伸缩执行器的两端分别连接扭曲执行器,两者串联;扭曲执行器的末端与一对或多对并联的弯曲执行器通过三孔三通连接器相连,三孔三通连接器的中间通孔与扭曲执行器的末端连接,一对或多对弯曲执行器的端部对称连接在三孔三通连接器的两侧通孔处;伸缩执行器、扭曲执行器和弯曲执行器均独立连接气动软管。本发明的机器人通过多体节模块之间的配合能够实现在树木上的全转向爬行,结构简单、环境适应性强。


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    Title :

    All-steering soft tree-climbing robot simulating centipede movement


    Additional title:

    一种仿蜈蚣运动的全转向软体爬树机器人


    Contributors:
    DU DONGDONG (author) / YE YONGKAI (author) / WANG JUN (author) / WEI ZHENBO (author)

    Publication date :

    2023-03-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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