Patent ID: 11913590
Assignee: PEKING UNIVERSITY SCHOOL OF STOMATOLOGY
Field: Mechanical elements (Mechanical engineering)
Classification: CPC F | IPC F

Claim 0:
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.