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发明公开
CN110450138A 一种基于辊轴-辊轮运动方式的自生长软体机器人存储装置 无效 - 驳回

一种基于辊轴-辊轮运动方式的自生长软体机器人存储装置
摘要：
本发明涉及软体机器人存储装置，更具体的说是一种基于辊轴-辊轮运动方式的自生长软体机器人存储装置，包括基座、主体固定筒、固定式辊轴、运动式辊轮、软体机器人主体和控制线，基座上设置有主体固定筒，软体机器人主体的外侧固定连接在主体固定筒上，软体机器人主体的内侧通过主体固定筒深入到基座内，基座内固定连接有多个固定式辊轴，多个固定式辊轴上均转动连接有运动式辊轮，可以通过将软体机器人主体内侧依次绕过多个运动式辊轮形成缠绕结构，收纳在基座中，使得软体机器人主体和控制线没有缠在一起，控制线和软体机器人主体可以产生相对运动，软体机器人主体可以利用控制线转向。
摘要（英）：

The invention relates to a storage device of a soft robot, in particular to a storage device of a self-growing soft robot based on a roll shaft-roller mode of motion. The storage device comprises a base, a main body fixing barrel, a fixed roll shaft, a plurality of movable rollers, a soft robot main body and a control line. The main body fixing barrel is arranged on the base, the outer side of thesoft robot main body is fixedly connected to the main body fixing barrel, the inner side of the soft robot main body penetrates into the base through the main body fixing barrel, a plurality of fixedroll shafts are fixedly connected in the base, and the movable rollers are rotatably connected to the fixed roll shafts. The inner side of the soft robot main body bypasses the movable rollers successively to form a winding structure which is stored in the base, so that the soft robot main body and the control line are not wound together, the control line and the soft robot main body can generaterelative motions, and the soft robot main body can turn by means of the control line.

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