US 11,913,590 B2
Flexible peristaltic robot with built-in bidirectional gas pump for self-regulating gas flow
Fusong Yuan, Beijing (CN); Peijun Lyu, Beijing (CN); Yunsong Liu, Beijing (CN); and ShanShan Liang, Beijing (CN)
Assigned to PEKING UNIVERSITY SCHOOL OF STOMATOLOGY, Beijing (CN)
Filed by PEKING UNIVERSITY SCHOOL OF STOMATOLOGY, Beijing (CN)
Filed on May 7, 2021, as Appl. No. 17/315,264.
Application 17/315,264 is a continuation of application No. PCT/CN2019/103912, filed on Sep. 2, 2019.
Claims priority of application No. 201910652241.7 (CN), filed on Jul. 18, 2019.
Prior Publication US 2021/0260752 A1, Aug. 26, 2021
Int. Cl. F16L 55/34 (2006.01); F04B 43/08 (2006.01)
CPC F16L 55/34 (2013.01) [F04B 43/08 (2013.01)] 7 Claims
OG exemplary drawing
 
1. A flexible peristaltic robot with a built-in bidirectional gas pump for self-regulating gas flow, comprising:
a head-end airbag;
a extension-retraction airbag;
a tail-end airbag;
a power module;
a control module;
a bidirectional gas pump; and
an additional airbag;
wherein the power module is configured to supply power to the bidirectional gas pump and the control module;
the head-end airbag, the extension-retraction airbag and the tail-end airbag are connected in sequence along an axial direction;
the control module is configured to control the bidirectional gas pump to inflate and deflate the head-end airbag, the extension-retraction airbag and the tail-end airbag, such that the head-end airbag and the tail-end airbag are expanded or contracted along a radial direction, and the extension-retraction airbag is extended or retracted along the axial direction;
the additional airbag is configured to store gas;
the bidirectional gas pump comprises a first bidirectional gas pump, a second bidirectional gas pump and a third bidirectional gas pump; and
two air pipes of the first bidirectional gas pump are connected to the additional airbag and the head-end airbag, respectively; two air pipes of the second bidirectional gas pump are connected to the additional airbag and the tail-end airbag, respectively; and two air pipes of the third bidirectional gas pump are connected to the additional airbag and the extension-retraction airbag, respectively.