US 11,950,763 B2
Self-propelled soft robot body
Hongen Liao, Beijing (CN); Boyu Zhang, Beijing (CN); Hexiang Wang, Beijing (CN); and Tiantian Zhang, Beijing (CN)
Assigned to Tsinghua University, Beijing (CN)
Filed by Tsinghua University, Beijing (CN)
Filed on Jan. 14, 2020, as Appl. No. 16/742,422.
Application 16/742,422 is a continuation of application No. PCT/CN2018/114117, filed on Nov. 6, 2018.
Claims priority of application No. 201810480355.3 (CN), filed on May 18, 2018.
Prior Publication US 2020/0221938 A1, Jul. 16, 2020
Int. Cl. A61B 1/00 (2006.01); A61B 1/015 (2006.01)
CPC A61B 1/00156 (2013.01) [A61B 1/00057 (2013.01); A61B 1/00119 (2013.01); A61B 1/00133 (2013.01); A61B 1/015 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A self-propelled soft robot body, adapted for automatically moving in a tract, comprising a tube which is internally and axially provided with
a tube cavity,
at least one propelling structure, comprising a first driving unit, a second driving unit and a third driving unit, which are embedded within a peripheral wall of the tube cavity, relative to an axis thereof, and along the axis of the tube; and
at least two support structures, with each two adjacent support structures having the at least one propelling structure arranged therebetween;
wherein,
the first driving unit, the second driving unit and the third driving unit are respectively telescopic along the axis of the tube; and
the support structures are fixedly connected with the propelling structure and arranged about the peripheral wall of the tube cavity, for fixing at least one end of the self-propelled soft robot body on the tract, and providing support for the self-propelled soft robot body in the tract during movement.