The invention discloses an electromagnetically-controlled continuous steering device and method for a self-growing soft robot, the electromagnetically-controlled continuous steering device comprises a soft robot main body, the tail part of the soft robot main body is hermetically connected to an air inlet, when air pressure is input, the soft robot main body is integrally expanded under the action of internal pressure, and the free end of the head part is continuously turned outwards and grows forwards under the pushing of the air pressure; the head of the soft robot body is connected between the inner end cover and the outer end cover, and the inner end cover and the outer end cover are combined into a whole through magnetic attraction. Electromagnets are arranged on the two sides of the inner end cover and are used for realizing accurate steering of the soft robot by controlling magnetic force; a plurality of inflation bags are evenly distributed on the outer side surface of the soft robot body in the axial direction, each inflation bag is connected with an air guide bag through an electromagnetic valve, and air flow between the inflation bags and the air guide bag is achieved by controlling opening and closing of the electromagnetic valves, so that the steering angle of the soft robot is adjusted. According to the invention, continuous steering and steering angle control of the self-growing soft robot are realized.
一种电磁控制的自生长软体机器人连续转向装置及方法,包括软体机器人主体,软体机器人主体的尾部密封连接在进气口处,输入气压时软体机器人主体在内部压力的作用下整体膨胀,头部自由端在气压的推动下不断外翻并向前生长;软体机器人主体的头部连接在内部端盖和外部端盖之间,内部端盖和外部端盖通过磁力吸引结合为一体;内部端盖的两侧装有电磁铁,用于通过控制磁力实现软体机器人的精确转向;软体机器人主体的外侧表面沿轴向均匀分布多个充气囊,每个充气囊通过电磁阀和导气囊连接,通过控制电磁阀的开启和关闭,实现充气囊和导气囊之间的气体流动,从而调整软体机器人的转向角度;本发明实现自生长软体机器人连续转向以及转向角度控制。
Electromagnetically-controlled continuous steering device and method for self-growing soft-bodied robot
一种电磁控制的自生长软体机器人连续转向装置及方法
2025-01-03
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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