The invention discloses a soft crawling robot simulating inchworm multi-posture movement. The problems that an existing inchworm-imitating soft crawling robot is low in crawling speed, small in freedom degree and not flexible enough in crawling, and some complex obstacle crossing functions such as high-altitude wall climbing and wall climbing gap crossing cannot be achieved are solved. The device comprises a soft body control mechanism and two surface attachment mechanisms, the soft body control mechanism is arranged between the two surface attachment mechanisms, and the length extension direction of the soft body control mechanism is the same as the direction of a connecting line of the two surface attachment mechanisms; the soft body control mechanism comprises a plurality of control units which are connected in series, each control unit comprises two connecting bases and N groups of telescopic assemblies which are uniformly arranged between the two connecting bases in the circumferential direction, and the length change is realized through the extension and retraction of each telescopic assembly and the combined action of the N groups of telescopic assemblies; therefore, the length of each control unit is changed. The invention belongs to the technical field of robots.

    一种仿尺蠖多姿态运动的软体爬行机器人。为解决现有的仿尺蠖软体爬行机器人爬行速度低、自由度少、爬行不够灵活,无法实现高空爬墙、爬墙越隙等一些较为复杂的越障功能的问题。本发明包括软体控制机构和两个表面附着机构,所述的软体控制机构布置在两个表面附着机构之间,软体控制机构的长度延伸方向与两个表面附着机构连线的方向相同;所述的软体控制机构包括若干节串联设置的控制单元,每节控制单元包括两个连接底座和N组周向均匀设置在两个连接底座之间的伸缩组件,通过每个伸缩组件的伸缩以及N组伸缩组件的联合作用实现长度的改变,进而实现每个控制单元长度的改变。本发明属于机器人技术领域。


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    Title :

    Soft crawling robot simulating inchworm multi-posture movement


    Additional title:

    一种仿尺蠖多姿态运动的软体爬行机器人


    Contributors:
    WANG LANWEN (author) / LUO JIANRONG (author) / YE SHIQING (author) / OU JINWEI (author) / LI YUHAN (author)

    Publication date :

    2024-06-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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