The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Apr. 09, 2024
Filed:
Jan. 14, 2020
Tsinghua University, Beijing, CN;
Hongen Liao, Beijing, CN;
Boyu Zhang, Beijing, CN;
Hexiang Wang, Beijing, CN;
Tiantian Zhang, Beijing, CN;
Tsinghua University, Beijing, CN;
Abstract
Disclosed is a self-propelled soft robot body, including a tube which is internally and axially provided with a tube cavity, and at least one propelling structure, comprising a first driving unit, a second driving unit and a third driving unit, which are evenly fixed on a peripheral wall of the tube cavity, relative to an axis thereof, and along the axis of the tube; and the first driving unit, the second driving unit and the third driving unit are respectively telescopic along the axis of the tube; at least two support structures, with each two adjacent support structures having at least one propelling structure arranged therebetween, the support structures are fixedly connected with the propelling structure and arranged on the peripheral wall of the tube cavity.