Internal rigid structure of soft mechanical arm and pneumatic mechanical arm type soft robot

Abstract

The invention relates to the technical field of manufacturing of soft mechanical arms, and provides an internal rigid structure of a soft mechanical arm and a pneumatic mechanical arm type soft robotto solve the problem that the soft mechanical arm of an existing pneumatic mechanical arm type soft robot is too small in rigidity, unlikely to fix in shape and easy to deviate in position and angle.The internal rigid structure of the soft mechanical arm comprises a sleeve, a turning framework arranged in the sleeve and a sleeve cover body, wherein the turning framework comprises a rotating shaft, and a plurality of sliding parts are vertically arranged at the end, stretching into the sleeve, of the rotating shaft; a plurality of sliding slot bodies are formed in the middle upper part of thesleeve, and the turning framework is slidably matched with the sliding slot bodies through the sliding parts to stretch. According to the invention, stretching and bending motions and serial connection of the internal rigid structures of the soft mechanical arms are achieved to meet the actual length of the soft mechanical arm. The rigid structure is easy to fix in shape while the rigidity of thesoft mechanical arm is improved, and therefore, the operating safety of a target is improved.

Description

technical field [0001] The invention relates to the technical field of soft manipulator manufacturing, in particular to an internal rigid structure of a soft manipulator and a pneumatic manipulator type soft robot. Background technique [0002] In recent years, manipulator-based soft robots have attracted extensive attention because they can adapt to complex and narrow environments and use their own shape changes to perform compliant and safe operations on targets. [0003] For pneumatic manipulator soft robots, under air pressure control, the soft arm can be bent and extended in all directions. However, precisely because of the flexibility of the pneumatic soft arm, its stiffness is too small and it is not easy to solidify. In the event that the pneumatic soft arm is contacted or disturbed by external entities, positional and angular deviations may occur, thereby affecting the safe operation of the target. Contents of the invention [0004] In order to overcome the prob...

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the problems that the rigidity of the soft mechanical arm of the existing pneumatic mechanical arm type soft robot is too small, it is not easy to solidify, and the deviation of position and angle is easy to occur, the present invention provides a flexible internal rigid structure of the soft mechanical arm

Images