CN206938903U - A kind of flexible earthworm bio-robot - Google Patents
A kind of flexible earthworm bio-robot Download PDFInfo
- Publication number
- CN206938903U CN206938903U CN201720876722.2U CN201720876722U CN206938903U CN 206938903 U CN206938903 U CN 206938903U CN 201720876722 U CN201720876722 U CN 201720876722U CN 206938903 U CN206938903 U CN 206938903U
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- robot
- head
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- afterbody
- trunk
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Abstract
The utility model discloses a kind of flexible earthworm bio-robot, include shell, the shell includes head, connecting portion motion trunk and afterbody, and the lower end on the head, motion trunk and afterbody is equipped with feeler, the silica gel material that the head, motion trunk use with afterbody；Connected between the head and motion trunk, between motion trunk and afterbody by connecting portion；The connecting portion is hollow corrugated.The utility model by the making material of shell by selecting silica gel, because the flexibility of silica gel, plus the weight of robot itself so that robot can have larger contact area with ground, stability during so as to improve robot motion；The shell of silica gel material so that robot stands a certain amount of extruding, so as to realize ability that robot gets into the cave；And connecting portion uses the structure of hollow gauffer so that hollow part further increases the flexibility of robot equivalent to a section flexure spring.
Description
Technical field
It the utility model is related to the transfer of a kind of robot field, particularly robot.
Background technology
Bionic soft robot is the emerging development branch of one in robotic technology field, is current research both at home and abroad
Focus；At present, software body robot technology, even if taking out soft robot prototype, is only able to still in conceptual phase
Simple motion, overall technology and imperfection are completed, wherein being primarily present deficiency：1st, driving force deficiency and cause to transport
Dynamic speed is slow；2nd, flexibility and flexibility are all poor.
Using the flexible body framework of this new technique of nowadays software and earthworm and the motion principle of wriggling, to solve mesh
Weak point existing for front wheel type and legged type robot.Such as：1st, in rugged area motion, there is the danger of overturning
Danger；2nd, wheeled and legged type robot total quality is big, and lifting surface area is small, can not move in more soft earth's surface；3rd, overall frame
Frame uses rigid structure substantially, and causes the overall flexibility of robot body poor；4th, in mobile restricted existing for small space, spirit
The features such as poor activity.And in existing robot, because body is made using hard material so that the flexibility of robot
Not enough.
Utility model content
The technical problems to be solved in the utility model is：A kind of more flexible convenient flexible Earthworm Robot is provided.
The solution that the utility model solves its technical problem is：A kind of flexible earthworm bio-robot, includes
Shell, the shell include head, connecting portion motion trunk and afterbody, the lower end on the head, motion trunk and afterbody
It is equipped with feeler, the silica gel material that the head, motion trunk use with afterbody；Between the head and motion trunk, move
Connected between trunk and afterbody by connecting portion；The connecting portion is hollow corrugated.
As the further improvement of above-mentioned technical proposal, the head includes top body and following body, the following body
More than described top body, the following body is tapered, and the top body is hemispherical, the top body and the round and smooth mistake of following body
Cross.
As the further improvement of above-mentioned technical proposal, the motion trunk is in American football shape.
The beneficial effects of the utility model are：The utility model by the making material of shell by selecting silica gel, because silicon
The flexibility of glue, plus the weight of robot itself so that robot can have larger contact area with ground, so as to improve machine
Stability when device people moves；The shell of silica gel material so that robot stands a certain amount of extruding, so as to realize machine
The ability that people gets into the cave；And connecting portion uses the structure of hollow gauffer so that hollow part is equivalent to a section flexure spring, in machine
When device people moves, silica gel is reduced to its resistance, enough spaces are also provided for motions such as the steerings of machine so that robot
The motions such as steering are more light, further increase the flexibility of robot.
Brief description of the drawings
, below will be to needed for embodiment description in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
The accompanying drawing to be used is briefly described.Obviously, described accompanying drawing is part of the embodiment of the present utility model, rather than entirely
Portion's embodiment, those skilled in the art on the premise of not paying creative work, can also obtain it according to these accompanying drawings
His design and accompanying drawing.
Fig. 1 is structural representation of the present utility model.
Embodiment
Design, concrete structure and caused technique effect of the present utility model are carried out below with reference to embodiment and accompanying drawing
Clearly and completely describe, to be completely understood by the purpose of this utility model, feature and effect.Obviously, described embodiment
It is part of the embodiment of the present utility model, rather than whole embodiments, based on embodiment of the present utility model, the skill of this area
The other embodiment that art personnel are obtained on the premise of not paying creative work, belong to the model of the utility model protection
Enclose.In addition, all connection/annexations being previously mentioned in text, not singly refer to component and directly connect, and refer to can be according to specific reality
Situation is applied, by adding or reducing couple auxiliary, to form more excellent draw bail.Each technology in the invention is special
Sign, can be with combination of interactions on the premise of not conflicting conflict.
Reference picture 1, a kind of flexible earthworm bio-robot include shell, and the shell includes head 1, connection
Move trunk 3 and afterbody 4 in portion 2, and the lower end on the head 1, motion trunk 3 and afterbody 4 is equipped with feeler 5, the head 1,
Move the silica gel material that trunk 3 uses with afterbody 4；Between the head 1 and motion trunk 3, between motion trunk 3 and afterbody 4
Connected by connecting portion 2；The connecting portion 2 is hollow corrugated.Silica gel has enough flexibilities；Robot is using wriggling
Motion mode, and by the use of electromagnetic force as driving force, the shell that has silica gel material to make is advantageously reduced and rushed caused by electromagnetic force
Hit.
Preferred embodiment is further used as, the head 1 includes top body and following body, and the following body is more than
Described top body, the following body is tapered, and the top body is hemispherical, the top body and following body rounding off.
Preferred embodiment is further used as, the motion trunk 3 is in American football shape.
Better embodiment of the present utility model is illustrated above, but the invention be not limited to it is described
Embodiment, those skilled in the art can also make a variety of equivalent changes on the premise of without prejudice to the utility model spirit
Type or replacement, these equivalent modifications or replacement are all contained in the application claim limited range.
Claims (3)
1. a kind of flexible earthworm bio-robot, includes shell, it is characterised in that：The shell includes head (1), connected
Socket part (2) motion trunk (3) and afterbody (4), the lower end of the head (1), motion trunk (3) and afterbody (4) are equipped with tactile
Angle (5), the silica gel material that the head (1), motion trunk (3) use with afterbody (4)；The head (1) and motion trunk (3)
Between, motion trunk (3) and afterbody (4) between be connected by connecting portion (2)；The connecting portion (2) is hollow corrugated.
2. flexible earthworm bio-robot according to claim 1, it is characterised in that：The head (1) includes
Head body and following body, the following body are more than described top body, and the following body is tapered, and the top body is hemispherical,
The top body and following body rounding off.
3. flexible earthworm bio-robot according to claim 2, it is characterised in that：The motion trunk (3) is in olive
Olive is spherical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720876722.2U CN206938903U (en) | 2017-07-18 | 2017-07-18 | A kind of flexible earthworm bio-robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720876722.2U CN206938903U (en) | 2017-07-18 | 2017-07-18 | A kind of flexible earthworm bio-robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206938903U true CN206938903U (en) | 2018-01-30 |
Family
ID=61369917
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720876722.2U Expired - Fee Related CN206938903U (en) | 2017-07-18 | 2017-07-18 | A kind of flexible earthworm bio-robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206938903U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110525531A (en) * | 2019-07-08 | 2019-12-03 | 杭州电子科技大学 | A kind of frictional mobile software robot and its driving method |
| CN112056017A (en) * | 2020-09-16 | 2020-12-11 | 新疆农业大学 | Residual film recycling machine with edge film recycling device |
-
2017
- 2017-07-18 CN CN201720876722.2U patent/CN206938903U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110525531A (en) * | 2019-07-08 | 2019-12-03 | 杭州电子科技大学 | A kind of frictional mobile software robot and its driving method |
| CN112056017A (en) * | 2020-09-16 | 2020-12-11 | 新疆农业大学 | Residual film recycling machine with edge film recycling device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180130 Termination date: 20200718 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |