Soft robot anti-torsion framework and soft robot

Abstract

The invention provides a soft robot anti-torsion framework and a soft robot. The soft robot anti-torsion framework comprises anti-torsion modules, and the anti-torsion modules are connected with one another to form the anti-torsion framework; each anti-torsion module comprises an inner gear shaft and an outer gear barrel; a plurality of convex teeth are arranged on each inner gear shaft; the outer gear barrels are hollow, and a plurality of tooth grooves matched with the convex teeth are formed in the inner walls of the outer gear barrels; the inner gear shafts and the outer gear barrels are movably connected through the convex teeth and the tooth grooves; and the convex teeth and the tooth grooves can rotate relatively. The anti-torsion framework is prevented from doing bending motion along the axis through meshing of the convex teeth and the tooth grooves; and due to the fact that the convex teeth can rotate relative to the tooth grooves, the anti-torsion framework can do non-axis bending motion under the condition of low resistance. The invention further comprises the soft robot, and the anti-torsion framework is embedded in the soft robot; and the soft robot embedded with the anti-torsion framework shows torsion resistance in torsion along the axis of the framework, and meanwhile, the soft robot can bend deviating from the axis in low resistance.

Description

technical field [0001] The invention belongs to the field of robots, in particular to a torsion-resistant skeleton of a soft robot and the soft robot. Background technique [0002] With its excellent adaptability, soft robots have broad prospects in many fields such as medical rehabilitation, helping the elderly and the disabled, exoskeleton, continuous operation, complex environment monitoring and detection, and space on-orbit operation. [0003] Due to the softness of the soft robot itself, the soft robot is easily disturbed by the outside during the movement process, causing the robot to flip and twist, so it is necessary to set up a skeleton inside the soft robot. [0004] Existing skeletons located inside the soft robot, such as the Chinese patent with the publication number CN111843991A, disclose a rigid structure inside a soft manipulator and a pneumatic manipulator type soft robot, including a sleeve, a steering frame and a sleeve located inside the sleeve. The cove...

AI Technical Summary

Problems solved by technology

[0007] In order to solve the problem that the existing soft robot with a built-in skeleton cannot overcome the torsion of the soft robot along the axis, the present invention provides a torsion-resistant skeleton of the soft robot, which can prevent the soft robot from twisting along the axis, and can do so with less resistance. off-axis bending motion

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