Rigid-flex coupling module and assembly method thereof, and rigid-flex coupling robot

Abstract

This invention relates to a rigid-soft coupling module, its assembly method, and a rigid-soft coupling robot. The rigid-soft coupling module includes a rigid component, a first driving component, and at least two flexible components. The first driving component is fixedly mounted on the rigid component, and both flexible components are mounted on the rigid component. The flexible components can rotate relative to the rigid component under the drive of the first driving component, thereby moving the rigid-soft coupling module. The rigid-soft coupling module provided by this invention, comprising both rigid and flexible components, leverages the strong deformability of soft structures while combining the high mechanical strength of rigid structures. Furthermore, the first driving component in the rigid-soft coupling module can drive the flexible components to rotate relative to the rigid component, thereby moving the rigid-soft coupling module and enhancing its mobility, overcoming the weakness of existing rigid-soft coupling structures in terms of mobility.

Description

Technical Field

[0001] This invention relates to the field of rigid-soft coupling robots, and in particular to a rigid-soft coupling module, its assembly method, and a rigid-soft coupling robot. Background Technology

[0002] Traditional rigid robots have advantages such as high mechanical strength and strong mobility, while soft robots have advantages such as strong variability and strong environmental adaptability, and can perform actions such as crawling and climbing. Rigid-soft coupling robots combine the advantages of traditional rigid robots and soft robots, but current rigid-soft coupling robots have complex structures and weak mobility. Summary of the Invention

[0003] In view of this, it is necessary to provide a rigid-soft coupling module, its assembly method, and a rigid-soft coupling robot.

[0004] This invention provides a rigid-soft coupling module for use in a rigid-soft coupling robot. The rigid-soft coupling module includes a rigid component, a first driving component, and at least two flexible components. The first driving component is fixedly installed on the rigid component, and both flexible components are installed on the rigid component. The flexible components can rotate relative to the rigid component under the drive of the first driving component, thereby moving the rigid-soft coupling module.

[0005] In one embodiment of the present invention, there are two flexible members, which are respectively installed at both ends of the rigid member. The flexible members are wheel-shaped or cylindrical, and the two flexible members are coaxial.

[0006] In one embodiment of the present invention, there are two first driving members, each of which includes an output shaft. The output shaft extends out of the rigid member and is connected to the flexible member. The first driving member drives the flexible member to rotate through the output shaft.

[0007] In one embodiment of the present invention, the rigid member is provided with a plurality of first connection positions, and / or the flexible member is provided with second connection positions;

[0008] The two rigid-soft coupling modules are assembled together by two first connection points, two second connection points, or the combination of the first connection point and the second connection point.

[0009] In one embodiment of the present invention, the two first connection positions or the two second connection positions or the first connection position and the second connection position are fixedly connected by magnetic attraction, riveting, threaded connection, snap-fit ​​or adhesive bonding.

[0010] In one embodiment of the present invention, the rigid-soft coupling module further includes a control component, which is fixedly installed on the rigid component and is used to control the opening and closing and rotational speed of the first driving component.

[0011] In one embodiment of the present invention, the rigid-soft coupling module further includes a second driving member, and the flexible member can be bent and / or stretched under the action of the second driving member.

[0012] In one embodiment of the present invention, the second driving member drives the flexible member to bend and / or extend / retract by at least one of pneumatic pressure, hydraulic pressure, and voltage.

[0013] In one embodiment of the present invention, the rigid member is a polygonal prism, and two adjacent sides of the polygonal prism are connected by rounded chamfers. The flexible member is cylindrical, and the rounded chamfers of the rigid member are flush with the outer peripheral wall of the flexible member.

[0014] The present invention also provides a rigid-soft coupling robot, comprising multiple rigid-soft coupling modules, wherein the rigid-soft coupling modules are as described above, and the flexible components in the rigid-soft coupling modules are capable of bending and / or stretching; two of the rigid-soft coupling modules can be assembled with each other through a connection between two rigid components, two flexible components, or a connection between two rigid components and a flexible component.

[0015] In one embodiment of the present invention, the rigid-soft coupling robot is in the shape of a robotic arm or a snake, and the rigid-soft coupling robot includes at least two rigid-soft coupling modules, with two adjacent rigid-soft coupling modules connected sequentially by two flexible elements on different rigid-soft coupling modules; or...

[0016] The rigid-soft coupling robot is ring-shaped and includes at least two rigid-soft coupling modules. Two adjacent rigid-soft coupling modules are sequentially connected by two flexible components on different rigid-soft coupling modules, and at least two rigid-soft coupling modules are sequentially connected end-to-end; or...

[0017] The rigid-soft coupling robot is a four-wheeled robot, comprising at least three rigid-soft coupling modules, two of which are located at both ends, and the remaining modules are located in the middle. The rigid-soft coupling modules at both ends are connected to the flexible components of the rigid-soft coupling modules located in the middle via rigid components; or...

[0018] The rigid-soft coupling robot is in the shape of a humanoid robot. It includes at least seven rigid-soft coupling modules, comprising four or multiples of four rigid-soft coupling modules located at the limb positions, at least one rigid-soft coupling module located at the torso position, and two rigid-soft coupling modules for connection. The rigid components of the two connecting rigid-soft coupling modules are respectively connected to two flexible components of the rigid-soft coupling module at the torso position, and the flexible components of the rigid-soft coupling modules located at the limb positions are respectively connected to the flexible components of the connecting rigid-soft coupling modules; or...

[0019] The rigid-soft coupling robot is a multi-legged robot, comprising multiple limbs. Each limb includes at least seven rigid-soft coupling modules. Each limb includes four or multiples of four rigid-soft coupling modules located at the foot position, at least one rigid-soft coupling module located at the torso position, and two rigid-soft coupling modules for connection. The rigid components of the two connecting rigid-soft coupling modules are respectively connected to two flexible components of the rigid-soft coupling module at the torso position. The flexible components of the rigid-soft coupling module located at the foot position are respectively connected to the flexible components of the connecting rigid-soft coupling module. The rigid-soft coupling modules located at the foot position and for connection between adjacent limbs can be shared.

[0020] The present invention also provides a method for assembling a rigid-soft coupling module, characterized in that it includes at least two of the above-mentioned rigid-soft coupling modules, and the coupling method of the rigid-soft coupling module includes:

[0021] Obtain at least two of the rigid-soft coupling modules;

[0022] The two rigid-flexible coupling modules are assembled together through a connection between two rigid components, two flexible components, or a rigid component and a flexible component.

[0023] The rigid-soft coupling module provided by this invention includes a rigid component and a flexible component, which can leverage the strong deformation capability of soft structures while combining the high mechanical strength of rigid structures. Furthermore, the first driving component in the rigid-soft coupling module can drive the flexible component to rotate relative to the rigid component, thereby moving the rigid-soft coupling module and enhancing its mobility, thus overcoming the weakness of existing rigid-soft coupling structures in terms of mobility. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the rigid-soft coupling module in one embodiment of the present invention;

[0025] Figure 2 for Figure 1 The diagram shows the structure of the flexible component in the rigid-soft coupling module in the shortened state.

[0026] Figure 3 for Figure 1 The diagram shows the structure of the flexible component in the rigid-soft coupling module in the elongated state.

[0027] Figure 4 for Figure 1 The diagram shows the structure of the flexible component in the rigid-soft coupling module under bending conditions.

[0028] Figure 5 for Figure 1 The diagram shows the structure of a rigid-soft coupling robot in the shape of a mechanical arm assembled from rigid-soft coupling modules.

[0029] Figure 6 for Figure 1 The diagram shows the structure of a snake-shaped rigid-soft coupling robot assembled from rigid-soft coupling modules.

[0030] Figure 7 for Figure 1 The diagram shows a ring-shaped rigid-soft coupling robot assembled from rigid-soft coupling modules.

[0031] Figure 8 for Figure 1 The diagram shows a four-wheeled robot-shaped rigid-soft coupling robot assembled from rigid-soft coupling modules.

[0032] Figure 9 for Figure 1 The diagram shows a humanoid robot-shaped rigid-soft coupling robot assembled from rigid-soft coupling modules.

[0033] Figure 10 for Figure 1 The diagram shows a multi-legged robot-shaped rigid-soft coupling robot assembled from rigid-soft coupling modules.

[0034] 100. Rigid-soft coupling module; 10. Rigid component; 11. First connection position; 12. Rounded chamfer; 20. Flexible component; 21. Second connection position; 200. Rigid-soft coupling robot. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] It should be noted that when a component is said to be "connected to" another component, it can be directly connected to the other component or it can be centered within another component. When a component is said to be "set to" another component, it can be directly set to the other component or it may also be centered within another component. When a component is said to be "fixed to" another component, it can be directly fixed to the other component or it may also be centered within another component.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.

[0038] While current rigid-soft coupled robots can perform actions such as climbing and crawling by changing their shape, they still suffer from drawbacks such as complex structure and weak mobility. In particular, existing rigid-soft coupled robots all adopt a structure with rigid ends and a flexible middle. This structure limits them to relatively slow crawling and climbing actions, or sudden jumping actions, resulting in overall slow movement speeds.

[0039] Please see Figure 1 , Figure 1 This is a schematic diagram of the rigid-soft coupling module 100 in one embodiment of the present invention.

[0040] This invention provides a rigid-soft coupling module 100, which can be used on its own in a rigid-soft coupling robot 200. In this embodiment, the rigid-soft coupling module 100 can be used independently, for example, in simple reconnaissance and detection. It is understood that in other embodiments, the rigid-soft coupling modules 100 can be assembled with each other to form a more complex rigid-soft coupling robot 200 with a wider range of applications, for example, in reconnaissance, detection, and transportation in unstructured environments.

[0041] The rigid-soft coupling module 100 includes a rigid component 10, a first driving component (not shown) and at least two flexible components 20. The first driving component is fixedly installed on the rigid component 10, and the two flexible components 20 are both installed on the rigid component 10. The flexible components 20 can rotate relative to the rigid component 10 under the drive of the first driving component, and drive the rigid-soft coupling module 100 to move.

[0042] The rigid component 10 is a hard metal or polymer, such as stainless steel or plastic, used to provide mechanical strength for the rigid-soft coupling module 100 and to serve as a load-bearing base for the flexible component 20, the first drive component, or other components.

[0043] The flexible component 20 is made of a flexible material, such as an electroactive polymer, gel, shape memory polymer or other flexible polymer material; the user can control the flexible component 20 to change its shape by means of air pressure, hydraulic pressure, voltage or other means.

[0044] The rigid-soft coupling module 100 provided by this invention can leverage the strong deformation capability of soft structures while combining the high mechanical strength of rigid structures. Furthermore, the first driving component in the rigid-soft coupling module 100 can drive the flexible component 20 to rotate relative to the rigid component 10, thereby moving the rigid-soft coupling module 100. This results in strong mobility for the rigid-soft coupling module 100, overcoming the weakness of existing rigid-soft coupling structures in terms of mobility.

[0045] Preferably, in one embodiment, there are two flexible members 20, which are respectively installed at both ends of the rigid member 10. The flexible members 20 are wheel-shaped or cylindrical, and the two flexible members 20 are coaxial. It should be noted that the coaxiality of the two flexible members 20 means that the two flexible members 20 are coaxial in a non-bending state, that is, the two flexible members 20 are coaxial when they are elongated, shortened, or not subjected to external force. With this configuration, the two flexible members 20 and the rigid member 10 together form a two-wheel structure. Driven by the first driving member, the two flexible members 20 can act as wheels to drive the rigid-soft coupling module 100 to move quickly, thereby greatly improving the mobility of a single rigid-soft coupling module 100.

[0046] It is understood that in other embodiments, the flexible element 20 may also be disposed in the middle of the rigid element 10, and more than three flexible elements 20 may be disposed on the rigid element 10. If it is desired to improve the stability of the rigid-soft coupling module 100 itself in a static state, the flexible element 20 may also be configured as a polygonal prism, as long as the flexible element 20 can drive the rigid-soft coupling module 100 to move under the drive of the first driving element.

[0047] Preferably, the outer peripheral wall of the flexible component 20 is provided with anti-slip texture to prevent the rigid-soft coupling module 100 from slipping during movement.

[0048] It is understandable that, in order to prevent the rigid member 10 from affecting the rotation of the flexible member 20, the outer peripheral wall dimension of the rigid member 10 should be smaller than the outer peripheral wall dimension of the flexible member 20 in at least one state.

[0049] Preferably, the rigid member 10 is a polygonal prism, with its two sides connected by a rounded chamfer 12. The flexible member 20 is cylindrical, and the rounded chamfer 12 of the rigid member 10 is flush with the outer peripheral wall of the flexible member 20. This arrangement facilitates the processing and forming of the rigid member 10, and the flushness of the rounded chamfer 12 of the rigid member 10 with the outer peripheral wall of the flexible member 20 provides a certain lateral support force for the flexible member 20.

[0050] In one embodiment, there are two first driving members, each including an output shaft that extends out of the rigid member 10 and connects to the flexible member 20. The first driving member drives the flexible member 20 to rotate via the output shaft. With this configuration, each first driving member can drive one flexible member 20 independently, thereby improving the driving accuracy of each flexible member 20.

[0051] Specifically, in this embodiment, the first driving element is a single-output shaft motor, and each first driving element drives one flexible element 20 to rotate. It is understood that in other embodiments, the first driving element can also be a dual-output shaft motor, and each first driving element can drive two flexible elements 20 to rotate. Of course, the first driving element can also be other common driving structures, as long as they can drive the flexible elements 20 to rotate; this is not limited here.

[0052] Please refer to the following: Figures 2 to 4 In one embodiment, the rigid-soft coupling module 100 further includes a second driving member (not shown), under the action of the second driving member, the flexible member 20 can bend and / or extend. With this configuration, the second driving member controls the flexible member 20 to bend and / or extend, allowing the rigid-soft coupling module 100 to have more postures and more modes of motion.

[0053] Specifically, the second driving member drives the flexible member 20 to bend and / or extend / retract via at least one of pneumatic, hydraulic, or electrical pressure. Furthermore, the number of second driving members is the same as the number of flexible members 20, with each second driving member driving one flexible member 20.

[0054] In one embodiment, the rigid-soft coupling module 100 further includes a control component (not shown), which is fixedly mounted on the rigid component 10. The control component is used to control the opening and closing of the first driving component and its rotational speed, thereby improving the control accuracy of the first driving component. Preferably, the control component is also used to control the second driving component.

[0055] Preferably, the first driving component, the second driving component, and the control component are all installed inside the rigid component 10, thereby extending the service life of the rigid-soft coupling module 100 and improving its integration. It is understood that in other embodiments, the first driving component, the second driving component, and the control component may also be installed outside the rigid component 10, and this is not a limitation.

[0056] The following describes several exemplary motion forms of a single rigid-soft coupling module 100. It should be understood that the following motion forms are not all motion forms of a single rigid-soft coupling module 100, and other theoretically achievable motion forms should also be considered within the protection scope of this invention.

[0057] A. Ground Movement: The two flexible components 20 can serve as wheels. Driven by the first driving component, the rigid-soft coupling module 100 achieves dual-wheel movement. The opening, closing, and rotation speed of the first driving component can be controlled by the control component to adjust the opening, closing, and rotation speed of the flexible components 20, enabling the rigid-soft coupling module 100 to perform forward, backward, and turning movements. Simultaneously, the second driving component can be controlled by the control component to extend or shorten the flexible components 20, thereby adjusting the width of the wheels and thus the contact area between the wheels and the ground.

[0058] B. Obstacle crossing: The flexible component 20 can extend or bend under the drive of the second drive component, thereby adjusting the chassis height of the rigid-soft coupling module 100 to pass through road sections with obstacles.

[0059] C. Climbing: The flexible component 20 can extend or bend under the drive of the second drive component and together with the rigid component 10 form an embracing shape to realize climbing work such as climbing poles and trees.

[0060] D. Peristalsis: The rigid-soft coupling module 100 can achieve peristaltic movement through the elongation, shortening, bending and rotation of the flexible component 20.

[0061] E. Serpentine motion: The rigid-soft coupling module 100 can achieve serpentine motion by extending, shortening, rotating and bending in different directions through the flexible component 20.

[0062] F. Jumping: The rigid-soft coupling module 100 can deform the flexible component 20 by applying a predetermined air pressure, hydraulic pressure or voltage to the flexible component 20 instantaneously, so that the rigid-soft coupling module 100 generates jumping force and completes jumping motion.

[0063] G. Walking: The rigid-soft coupling module 100 can use the two flexible members 20 to walk as two legs by extending, shortening, rotating and bending.

[0064] In one embodiment, the rigid member 10 is provided with a plurality of first connection positions 11, and / or the flexible member 20 is provided with second connection positions 21; the two rigid-flexible coupling modules 100 are assembled with each other through the cooperation of the two first connection positions 11 or the two second connection positions 21 or the first connection positions 11 and the second connection positions 21.

[0065] With this configuration, the two rigid-soft coupling modules 100 can be connected to each other through two flexible parts 20, two rigid parts 10, or a combination of rigid parts 10 and flexible parts 20. This diversity of connection methods enables the rigid-soft coupling modules 100 to be combined in various ways, allowing them to be assembled into a variety of robot forms to suit different application scenarios.

[0066] In one embodiment, the two first connecting positions 11 or the two second connecting positions 21, or the first connecting position 11 and the second connecting position 21, are fixedly connected by magnetic attraction, riveting, threaded connection, snap-fit, or adhesive bonding. This configuration simplifies the connection method and facilitates assembly.

[0067] In this embodiment, the rigid member 10 is generally rectangular in shape. The two end faces of the rigid member 10 are connected to the two flexible members 20. Each of the four sides of the rigid member 10 is provided with a first connection position 11. The flexible members 20 are provided with a second connection position 21 on the side opposite to the rigid member 10.

[0068] The present invention also provides a rigid-soft coupling robot 200, including a plurality of rigid-soft coupling modules 100, wherein the flexible element 20 in the rigid-soft coupling module 100 is capable of bending and / or stretching; two rigid-soft coupling modules 100 can be assembled with each other through two rigid elements 10 or two flexible elements 20 or the connection between the rigid element 10 and the flexible element 20.

[0069] In current modular robot technology, rigid-soft coupling modules have limited degrees of freedom, allowing them to perform only a limited number of actions, resulting in limited motion modes for the assembled rigid-soft coupling robots. This invention, based on the aforementioned rigid-soft coupling module 100, fully combines the advantages of soft and rigid robots, proposing a design method with multiple degrees of freedom. The resulting rigid-soft coupling robot 200 can have more than 8 controllable degrees of freedom and multiple motion modes.

[0070] The following examples, with reference to the accompanying drawings, illustrate several rigid-soft coupling robots 200. It should be understood that the following assembly methods are not all possible assembly methods for the rigid-soft coupling module 100, and other theoretically feasible assembly methods should also be considered within the scope of protection of this invention.

[0071] Please refer to the following: Figure 5 and Figure 6 The rigid-soft coupling robot 200 is in the shape of a robotic arm or a snake. The rigid-soft coupling robot 200 includes at least two rigid-soft coupling modules 100. The two adjacent rigid-soft coupling modules 100 are connected in sequence by two flexible parts 20 on different rigid-soft coupling modules 100.

[0072] Please refer to the following: Figure 7 The rigid-soft coupling robot 200 is ring-shaped and includes at least two rigid-soft coupling modules 100. Two adjacent rigid-soft coupling modules 100 are connected sequentially by two flexible members 20 on different rigid-soft coupling modules 100, and at least two rigid-soft coupling modules 100 are connected end-to-end sequentially. The ring-shaped robot can achieve more stable rolling and climbing movements. This is understandable. Figure 7The illustration shows a ring-shaped rigid-soft coupling robot 200 formed by connecting four rigid-soft coupling robots 200 end to end. It can be understood that in other embodiments, two or even a single rigid-soft coupling module 100 can form a ring.

[0073] Please refer to the following: Figure 8 The rigid-soft coupling robot 200 is a four-wheeled robot. It includes at least three rigid-soft coupling modules 100, with two modules located at both ends and the remaining modules located in the middle. The modules at both ends are connected to the flexible components 20 of the module in the middle via rigid components 10. Four-wheeled robots are more stable than two-wheeled robots. Similarly, four-wheeled robots can avoid obstacles by adjusting their chassis height.

[0074] It is understood that in other embodiments, the rigid-soft coupling robot 200 may also be a robot with six, eight, or even more wheels, and this is not limited here. In addition, when there are multiple rigid-soft coupling modules 100 located in the middle, the multiple rigid-soft coupling modules 100 can be connected sequentially by flexible members 20, or they can be arranged side by side, and this is not limited here.

[0075] Please refer to the following: Figure 9 The rigid-soft coupling robot 200 is in the shape of a humanoid robot. The rigid-soft coupling robot 200 includes at least seven rigid-soft coupling modules 100, including four or multiples of four rigid-soft coupling modules 100 located at the limb positions, at least one rigid-soft coupling module 100 located at the torso position, and two rigid-soft coupling modules 100 for connection. The rigid members 10 of the two connecting rigid-soft coupling modules 100 are respectively connected to two flexible members 20 of the rigid-soft coupling module 100 at the torso position. The flexible members 20 of the rigid-soft coupling modules 100 located at the limb positions are respectively connected to the flexible members 20 of the connecting rigid-soft coupling modules 100. It is understood that when there are multiple rigid-soft coupling modules 100 located at the torso position, the multiple rigid-soft coupling modules 100 can be connected sequentially through the flexible members 20, or they can be arranged side-by-side; this is not limited here.

[0076] Please refer to the following: Figure 10The rigid-soft coupling robot 200 is a multi-legged robot. The multi-legged rigid-soft coupling robot 200 includes multiple limbs, each limb including at least seven rigid-soft coupling modules 100. Each limb includes four or multiples of four rigid-soft coupling modules 100 located at the foot position, at least one rigid-soft coupling module 100 located at the torso position, and two rigid-soft coupling modules 100 for connection. The rigid members 10 of the two connecting rigid-soft coupling modules 100 are respectively connected to two flexible members 20 of the rigid-soft coupling module 100 at the torso position. The flexible members 20 of the rigid-soft coupling module 100 located at the foot position are respectively connected to the flexible members 20 of the connecting rigid-soft coupling module 100. The rigid-soft coupling modules 100 located at the foot position and the connecting rigid-soft coupling modules 100 between adjacent limbs can be shared. It is understood that when there are multiple rigid-soft coupling modules 100 located at the torso position, the multiple rigid-soft coupling modules 100 can be connected sequentially through flexible members 20, or arranged side-by-side, without limitation.

[0077] It should be noted that in the rigid-soft coupling robot 200 assembled from multiple rigid-soft coupling modules 100, the elongation, shortening, bending, and rotation of each rigid-soft coupling module 100 can still be realized. The rigid-soft coupling robot 200 forms a composite motion through multiple rigid-soft coupling modules 100, so that the motion form of the rigid-soft coupling robot 200 is more diversified and the motion process is more stable.

[0078] The present invention also provides a method for assembling a rigid-soft coupling module 100, comprising:

[0079] S1. Obtain at least two rigid-soft coupled modules 100;

[0080] S2. The two rigid-soft coupling modules 100 are assembled together through the connection between two rigid parts 10 or two flexible parts 20 or between rigid parts 10 and flexible parts 20.

[0081] The assembly method of the rigid-soft coupling module 100 provided by the present invention has diverse assembly methods, and can form rigid-soft coupling robots 200 of various shapes after assembly, so as to be suitable for different application scenarios.

[0082] The rigid-soft coupling module 100 provided by this invention includes a rigid component 10 and a flexible component 20, which can leverage the strong deformation capability of soft structures while combining the high mechanical strength of rigid structures. Furthermore, the first driving component in the rigid-soft coupling module 100 can drive the flexible component 20 to rotate relative to the rigid component 10, thereby moving the rigid-soft coupling module 100. This results in strong mobility for the rigid-soft coupling module 100, overcoming the weakness of existing rigid-soft coupling structures in terms of mobility.

[0083] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0084] Those skilled in the art should recognize that the above embodiments are merely illustrative of the present invention and are not intended to limit the present invention. Any appropriate changes and variations made to the above embodiments within the essential spirit of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. A rigid-soft coupling module, applied to a rigid-soft coupling robot, characterized in that, The rigid-soft coupling module includes a rigid component, a first driving component, and at least two flexible components. The first driving component is fixedly installed on the rigid component, and both flexible components are installed on the rigid component. The flexible components can rotate relative to the rigid component under the drive of the first driving component, and drive the rigid-soft coupling module to move. The rigid component is provided with a plurality of first connection positions, and / or the flexible component is provided with second connection positions; the two rigid-flexible coupling modules are assembled with each other through the cooperation of two first connection positions or two second connection positions or the cooperation of the first connection positions and the second connection positions. The rigid-soft coupling module also includes a second driving component, and the flexible component can be bent and / or stretched under the action of the second driving component.

2. The rigid-soft coupling module according to claim 1, characterized in that, There are two flexible components, which are respectively installed at both ends of the rigid component. The flexible components are wheel-shaped or cylindrical, and the two flexible components are coaxial.

3. The rigid-soft coupling module according to claim 2, characterized in that, There are two first driving components, each of which includes an output shaft. The output shaft extends out of the rigid component and is connected to the flexible component. The first driving component drives the flexible component to rotate through the output shaft.

4. The rigid-soft coupling module according to claim 1, characterized in that, The two first connection positions or the two second connection positions or the first connection position and the second connection position are fixedly connected by magnetic attraction, riveting, threaded connection, snap-fit ​​or adhesive bonding.

5. The rigid-soft coupling module according to claim 1, characterized in that, The rigid-soft coupling module also includes a control component, which is fixedly installed on the rigid component and is used to control the opening and closing and rotation speed of the first drive component.

6. The rigid-soft coupling module according to claim 1, characterized in that, The second driving member drives the flexible member to bend and / or extend / retract via at least one of pneumatic pressure, hydraulic pressure, and voltage.

7. The rigid-soft coupling module according to claim 1, characterized in that, The rigid component is a polygonal prism, and two adjacent sides of the polygonal prism are connected by rounded chamfers. The flexible component is cylindrical, and the rounded chamfers of the rigid component are flush with the outer peripheral wall of the flexible component.

8. A rigid-soft coupled robot, characterized in that, It includes multiple rigid-soft coupling modules, wherein the rigid-soft coupling module is the rigid-soft coupling module described in any one of claims 1-7, and the flexible component in the rigid-soft coupling module is capable of bending and / or stretching; two rigid-soft coupling modules can be assembled with each other through two rigid components, two flexible components, or a connection between two rigid components and a flexible component.

9. The rigid-soft coupling robot according to claim 8, characterized in that, The rigid-soft coupling robot is either arm-shaped or snake-shaped, and includes at least two rigid-soft coupling modules. Two adjacent rigid-soft coupling modules are connected sequentially by two flexible components on different rigid-soft coupling modules; or... The rigid-soft coupling robot is ring-shaped and includes at least two rigid-soft coupling modules. Two adjacent rigid-soft coupling modules are sequentially connected by two flexible components on different rigid-soft coupling modules, and at least two rigid-soft coupling modules are sequentially connected end-to-end; or... The rigid-soft coupling robot is a four-wheeled robot, comprising at least three rigid-soft coupling modules, two of which are located at both ends, and the remaining modules are located in the middle. The rigid-soft coupling modules at both ends are connected to the flexible components of the rigid-soft coupling modules located in the middle via rigid components; or... The rigid-soft coupling robot is in the shape of a humanoid robot. The rigid-soft coupling robot includes at least seven rigid-soft coupling modules. The rigid-soft coupling robot includes four or multiples of four rigid-soft coupling modules located at the limb positions, at least one rigid-soft coupling module located at the torso position, and two rigid-soft coupling modules for connection. The rigid components of the two rigid-soft coupling modules used for connection are respectively connected to the two flexible components of the rigid-soft coupling module at the torso position, and the flexible components of the rigid-soft coupling modules located at the limb positions are respectively connected to the flexible components of the rigid-soft coupling modules used for connection; or, The rigid-soft coupling robot is a multi-legged robot. The multi-legged rigid-soft coupling robot includes multiple limbs, each limb including at least seven rigid-soft coupling modules, each limb including four or multiples of four rigid-soft coupling modules located at the foot position, at least one rigid-soft coupling module located at the torso position, and two rigid-soft coupling modules for connection. The rigid components of the two rigid-soft coupling modules for connection are respectively connected to the two flexible components of the rigid-soft coupling module at the torso position, and the flexible components of the rigid-soft coupling module at the foot position are respectively connected to the flexible components of the rigid-soft coupling module for connection; wherein, the rigid-soft coupling modules at the foot position and for connection between two adjacent limbs can be shared.

10. A method for assembling a rigid-soft coupling module, characterized in that, It includes at least two rigid-soft coupling modules as described in any one of claims 1-7, wherein the coupling method of the rigid-soft coupling modules includes: Obtain at least two of the rigid-soft coupling modules; The two rigid-flexible coupling modules are assembled together through a connection between two rigid components, two flexible components, or a rigid component and a flexible component.

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