A soft bionic robot based on an airbag structure and its intermediate connection module

Abstract

A soft bionic robot based on an airbag structure and an intermediate connection module thereof. The present invention relates to the technical field of bionic robots. The present invention aims to solve the problems that existing soft robots are complex to manufacture, have poor bending ability, single motion mode, and at the same time, existing multi-module soft robots generally use multiple air circuits for inflation and deflation, and the drag of the air circuits will affect the movement of the robot. A soft bionic robot based on an airbag structure includes an intermediate connection module and four soft modules. Two soft modules are respectively connected to both ends of the intermediate connection module, and the two soft modules are fixedly connected back to back up and down. The soft module is a hollow shell structure, and a closed chamber is provided inside the soft module. The air inlet and outlet ports of the air inlet and outlet pipes on the upper side of the intermediate connection module are communicated with the closed chamber of the adjacent upper soft module, and the air inlet and outlet ports of the air inlet and outlet pipes on the lower side of the intermediate connection module are communicated with the closed chamber of the adjacent lower soft module. The present invention is used for bionic robots.

Description

Technical Field

[0001] The present invention relates to the technical field of bionic robots, and particularly relates to a soft bionic robot based on an airbag structure and an intermediate connection module thereof. Background Art

[0002] Since the twentieth century, with the development and cross-integration of multiple disciplines such as materials science, bionics, and mechanics, the robot discipline has developed rapidly and matured, gradually replacing humans to complete some high-risk and difficult tasks, and has been widely applied in industrial production, space exploration, cargo transportation, medical surgery, disaster relief, and national defense industries. Therefore, the research on robots has very important significance. In the current field of robots, the research directions of robots are mainly divided into rigid robots and soft robots.

[0003] Traditional robots mainly have a rigid structure, generally manifested as robotic arms connected by joints or application-type robots assembled by mechanical structures. Due to its advantages such as high power, sufficient power, and stable performance, it has been applied to many industries, such as industry, medicine, and agriculture, achieving a high degree of automation and saving labor costs to a certain extent. In recent years, with the expansion of the application fields of robots, people have put forward requirements for robots such as flexible deformation, high degrees of freedom, simple structure, and strong environmental adaptability. However, most traditional robots are composed of rigid mechanisms through assembly, and they have disadvantages such as low degrees of freedom, complex structures, limited flexibility, poor safety and human-computer interaction, and low environmental adaptability.

[0004] Compared with traditional rigid robots, soft robots have extremely strong environmental adaptability, such as passing through various narrow gaps, etc., and the structure is also relatively simple, which can well meet the requirements of operations. In addition, a soft robot is a robot made of intelligent soft materials, and it has advantages such as stronger flexibility, elasticity, controllability, flexible movement, and higher safety in human-computer interaction. Compared with traditional rigid robots, soft organisms in nature provide inspiration for the design and manufacture of soft robots. By imitating the movement mechanism and biological structure of soft organisms, analyzing the movement mode and driving mode of real soft organisms, the movement of soft robots is realized.

[0005] The movement of soft robots mainly depends on the design of the structure and the connection between multiple modules. The existing designs mainly use multiple cylindrical inner cavities combined to achieve multi-directional bending, or a single chamber module to achieve single-directional bending or movement. However, such structures generally have complex manufacturing, poor bending ability, and single movement mode. At the same time, the existing multi-module soft robots generally use multiple air paths for inflation and deflation, and the drag of the air paths will affect the movement of the robots. Summary of the Invention

[0006] In order to solve the problems that the existing soft robots are complex to manufacture, have poor bending ability, single motion mode, and at the same time, the existing multi-module soft robots generally use multiple air paths for inflation and deflation, and the drag of the air paths will affect the movement of the robot, the present invention further provides a soft bionic robot based on an airbag structure and an intermediate connection module thereof.

[0007] The technical solution adopted by the present invention to solve the above technical problems is as follows:

[0008] An intermediate connection module of a soft bionic robot based on an airbag structure includes a housing, a total intake pipe, a total exhaust pipe, four intake and exhaust pipes, and four intake and exhaust switch mechanisms. The total intake pipe and the total exhaust pipe are both arranged in a "mouth" shape. The total intake pipe is arranged on one side inside the housing, and a total intake port is provided on the total intake pipe. The total exhaust pipe is arranged on the other side inside the housing, and a total exhaust port is provided on the total exhaust pipe. One upper and one lower side at each end inside the housing are respectively provided with an intake and exhaust pipe. One end of the intake and exhaust pipe is communicated with the total intake pipe, and the other end of the intake and exhaust pipe is communicated with the total exhaust pipe. An intake and exhaust port is provided in the middle of the intake and exhaust pipe, and an intake and exhaust switch mechanism is provided at the connection end of the intake and exhaust port and the intake and exhaust pipe.

[0009] Further, the outer ends of the total intake port, the total exhaust port, and the intake and exhaust port are all arranged on the outside of the housing.

[0010] Further, the total intake port is arranged on the upper part of the total intake pipe, and the total exhaust port is arranged on the lower part of the total exhaust pipe.

[0011] Further, the intake and exhaust switch mechanism includes a motor, a gear, a toothed track, and a slide rail. The slide rail is arranged in parallel on the inner side of the intake and exhaust pipe. The base of the motor is slidably connected to the slide rail. The gear is fixedly connected to the output shaft of the motor and is arranged on the upper side of the intake and exhaust pipe. The toothed track is arranged along the length direction in the middle of the lower side of the intake and exhaust pipe, and the gear meshes with the toothed track.

[0012] Further, the toothed track is fixedly connected to the lower end of the slide rail through a track receiving plate.

[0013] Further, the material of the intake and exhaust pipe is an elastic hose.

[0014] Further, connection ends are provided at both the upper and lower ends of the housing.

[0015] A soft bionic robot based on an airbag structure includes the intermediate connection module of the soft bionic robot based on an airbag structure, and further includes four soft modules. Two soft modules are respectively connected to both ends of the intermediate connection module, and the two soft modules are fixedly connected back to back up and down. The soft module is a hollow shell structure, and a closed chamber is arranged inside the soft module. The air inlet / outlet port of the air inlet / outlet pipeline on the upper side of the intermediate connection module is communicated with the closed chamber of the adjacent upper soft module, and the air inlet / outlet port of the air inlet / outlet pipeline on the lower side of the intermediate connection module is communicated with the closed chamber of the adjacent lower soft module.

[0016] Further, the soft module includes an intermediate partition, a strain layer, two side plates and two end plates. The strain layer is horizontally arranged on the outside, the intermediate partition is arranged in parallel on the inner side of the strain layer, the end plates are respectively vertically fixedly connected to the ends between the strain layer and the intermediate partition, the side plates are respectively vertically fixedly connected to the sides between the strain layer and the intermediate partition, and ventilation holes corresponding to the air inlet / outlet ports are arranged on the end plates adjacent to the intermediate connection module, and the air inlet / outlet ports are respectively inserted into the ventilation holes.

[0017] Further, the strain layer is a wavy curved surface uniformly provided with a plurality of grooves along the length direction, and the cross-sectional shape of the groove is a rectangle.

[0018] The beneficial effects included in the present invention compared with the prior art are as follows:

[0019] In the present invention, an airbag structure is introduced as the chamber unit of the soft robot, so that the soft robot has a larger folding ratio and response rate. At the same time, the symmetrical airbag structure enables the soft robot to complete bidirectional movement and multi-mode movement; the whole robot is spliced by an intermediate connection module and four soft modules, which is simple to manufacture; a single chamber, two or more chambers all have the ability to move, and with the cooperation of different chambers, the soft robot has different movement modes; the opening and closing of the air inlet / outlet valve are controlled by a motor, which is uniformly integrated into the intermediate connection module, and at the same time, only one air duct is used to inflate and deflate the robot, greatly reducing the movement error of the soft robot. Description of the Drawings

[0020] Figure 1 is the overall structure schematic diagram of a soft bionic robot based on an airbag structure of the present invention;

[0021] Figure 2 is Figure 1 the front view of

[0022] Figure 3 is the structure schematic diagram of a single soft module 2 after removing the intermediate partition 23 in the present invention;

[0023] Figure 4 is the axonometric drawing of the soft module 2 with a connector in the present invention;

[0024] Figure 5 Is an axonometric view of the intermediate connection module 1 in the present invention;

[0025] Figure 6 Is a structural schematic diagram of the air inlet and outlet switch mechanism in the present invention;

[0026] Figure 7 Is a structural diagram of a soft bionic robot with a quasi-sine wave configuration;

[0027] Figure 8 Is a structural diagram of a soft bionic robot with a quasi-half wave configuration;

[0028] Figure 9 Is a structural diagram of a soft bionic robot with a drag configuration. Detailed implementation manners

[0029] Detailed implementation manner one: In combination with Figure 5 and Figure 6 Illustrate this implementation manner. The intermediate connection module of a soft bionic robot based on an airbag structure described in this implementation manner includes a housing 11, a main air inlet pipe 12, a main air outlet pipe 13, four air inlet and outlet pipes 14, and four air inlet and outlet switch mechanisms. The main air inlet pipe 12 and the main air outlet pipe 13 are both arranged in a "mouth" shape. The main air inlet pipe 12 is arranged on one side inside the housing 11, and a main air inlet port 16 is provided on the main air inlet pipe 12. The main air outlet pipe 13 is arranged on the other side inside the housing 11, and a main air outlet port 17 is provided on the main air outlet pipe 13. One air inlet and outlet pipe 14 is provided on each of the upper and lower sides at both ends inside the housing 11. One end of the air inlet and outlet pipe 14 is communicated with the main air inlet pipe 12, and the other end of the air inlet and outlet pipe 14 is communicated with the main air outlet pipe 13. An air inlet and outlet port 15 is provided in the middle of the air inlet and outlet pipe 14, and an air inlet and outlet switch mechanism is provided at the connection end of the air inlet and outlet port 15 and the air inlet and outlet pipe 14.

[0030] The shape of the housing 11 is rectangular, and the material of the housing 11 is hard plastic. The housing 11 is used to support the intermediate connection module.

[0031] Through the adjustment of the air inlet and outlet switch mechanism, the air inlet and outlet pipe 14 is respectively communicated with the main air inlet pipe 12 and the main air outlet pipe 13, so as to realize the air inlet, air outlet and closing adjustment of the air inlet and outlet pipe 14, and realize the function of controlling the gas flow direction.

[0032] Detailed implementation manner two: In combination with Figure 5 and Figure 6 Illustrate this implementation manner. The outer ends of the main air inlet port 16, the main air outlet port 17 and the air inlet and outlet port 15 are all arranged outside the housing 11. The technical features not disclosed in this implementation manner are the same as those in the first detailed implementation manner.

[0033] The air inlet / outlet port 15 is used to achieve communication with the interior of the two soft modules 2 on both sides.

[0034] Specific Embodiment Three: In combination with Figure 5 and Figure 6 describe this embodiment. In this embodiment, the total air inlet port 16 is arranged at the upper part of the total air inlet pipe 12, and the total air outlet port 17 is arranged at the lower part of the total air outlet pipe 13. The technical features not disclosed in this embodiment are the same as those in Specific Embodiment One.

[0035] Such a design facilitates the overall flow of gas.

[0036] Specific Embodiment Four: In combination with Figure 5 and Figure 6 describe this embodiment. The air inlet / outlet switch mechanism in this embodiment includes a motor 18, a gear 19, a toothed track 110, and a slide rail 111. The slide rail 111 is arranged in parallel on the inner side of the air inlet / outlet pipe 14. The base of the motor 18 is slidably connected to the slide rail 111. The gear 19 is fixedly connected to the output shaft of the motor 18 and is arranged on the upper side of the air inlet / outlet pipe 14. The toothed track 110 is arranged along the length direction in the middle of the lower side of the air inlet / outlet pipe 14. The gear 19 meshes with the toothed track 110. The technical features not disclosed in this embodiment are the same as those in Specific Embodiment One.

[0037] The air inlet / outlet switch mechanism designed in this way, by turning on the motor 18, the gear 19 meshes with the toothed track 110. Since the toothed track 110 is fixed, the gear 19 moves along the toothed track 110 under the guiding action of the slide rail 111 and the base of the motor 18. The motor 18 is a forward and reverse motor.

[0038] The four slide rails 111 can be arranged in two groups back to back in this way to reduce space. At the same time, each group of slide rails 111 can be an integral structure, such as made of an I-beam. A connecting rod 113 is vertically and fixedly connected in the middle of the outer shell 11. The upper and lower groups of slide rails 111 are fixedly connected to the connecting rod 113.

[0039] When the air inlet / outlet port 15 where it is located needs to intake air, the motor 18 rotates in reverse, and the gear 19 moves towards the side of the total air outlet pipe 13. A passage is formed between the air inlet / outlet pipe 14 where it is located and the total air inlet pipe 12. After the gas enters the air inlet / outlet pipe 14 through the total air inlet pipe 12, it enters the corresponding chamber of the adjacent soft module 2 through the air inlet / outlet port 15.

[0040] When the air inlet / outlet port 15 needs to release air, the motor 18 rotates forward, the gear 19 moves towards the side of the main air inlet pipe 12, a passage is formed between the air inlet / outlet pipe 14 and the main air outlet pipe 13, and the gas enters the air inlet / outlet pipe 14 from the corresponding chamber of the adjacent soft module 2 through the air inlet / outlet port 15 and is discharged from the main air inlet pipe 12.

[0041] When the gear 19 is located at the middle position of the air inlet / outlet pipe 14, the air inlet / outlet pipe 14 is in a non - communicating state with both the main air outlet pipe 13 and the main air inlet pipe 12. At this time, the air inlet / outlet port 15 is in a closed state and there is no gas flow.

[0042] Specific Embodiment Five: Combining Figure 5 and Figure 6 to describe this embodiment, the toothed track 110 in this embodiment is fixedly connected to the lower end of the slide rail 111 through the track bearing plate 112. The technical features not disclosed in this embodiment are the same as those in Specific Embodiment Four.

[0043] Such a design is to achieve the fixed connection of the toothed track 110.

[0044] Specific Embodiment Six: Combining Figure 5 and Figure 6 to describe this embodiment, the air inlet / outlet pipe 14 in this embodiment is made of an elastic hose. The technical features not disclosed in this embodiment are the same as those in Specific Embodiment Five.

[0045] Since the air inlet / outlet pipe 14 is arranged between the gear 19 and the toothed track 110, when the gear 19 meshes with the toothed track 110, the air inlet / outlet pipe 14 at the meshing part is flattened, and the air inlet / outlet pipe 14 in the non - meshing state can return to its original shape under the action of the elastic force of its own material.

[0046] Specific Embodiment Seven: Combining Figure 5 and Figure 6 to describe this embodiment, both the upper and lower ends of the outer shell 11 in this embodiment are provided with connecting ends 3. The technical features not disclosed in this embodiment are the same as those in Specific Embodiments One, Two, Three, Four, Five or Six.

[0047] Such a design enables the middle connection module 1 to be connected to the adjacent soft module 2 through the connecting ends 3.

[0048] Specific Embodiment Eight: Combining Figures 1 to 6To describe this embodiment, the soft bionic robot based on an airbag structure described in this embodiment includes the intermediate connection module 1 of the soft bionic robot based on an airbag structure, and further includes four soft modules 2. Two soft modules 2 are respectively connected to both ends of the intermediate connection module 1. The two soft modules 2 are fixedly connected back to back vertically. The soft module 2 is a hollow shell structure, and a closed chamber is provided inside the soft module 2. The air inlet / outlet port 15 of the air inlet / outlet pipeline 14 on the upper side of the intermediate connection module 1 is communicated with the closed chamber of the adjacent upper soft module 2, and the air inlet / outlet port 15 of the air inlet / outlet pipeline 14 on the lower side of the intermediate connection module 1 is communicated with the closed chamber of the adjacent lower soft module 2.

[0049] With such a design, a chamber is provided inside the soft module 2, and a total of four chambers are provided in the overall robot, enabling the four air inlet / outlet ports 15 to be correspondingly arranged with the four chambers one by one, realizing the intake and exhaust of the four chambers, thereby realizing the change of the robot's shape and multi-mode movement.

[0050] The materials of the soft modules 2 are all elastic materials, such as silicone.

[0051] Specific Embodiment Nine: Combining Figures 1 to 6 To describe this embodiment, the soft module 2 described in this embodiment includes an intermediate partition 23, a strain layer 24, two side plates 21 and two end plates 22. The strain layer 24 is horizontally arranged on the outside, the intermediate partition 23 is arranged in parallel on the inner side of the strain layer 24, the end plates 22 are respectively vertically fixedly connected to the ends between the strain layer 24 and the intermediate partition 23, and the side plates 21 are respectively vertically fixedly connected to the sides between the strain layer 24 and the intermediate partition 23. Ventilation holes corresponding to the air inlet / outlet ports 15 are provided on the end plates 22 adjacent to the intermediate connection module 1, and the air inlet / outlet ports 15 are respectively inserted into the ventilation holes. The technical features not disclosed in this embodiment are the same as those in Specific Embodiment Eight.

[0052] The overall shape of the soft module 2 is rectangular. The outer end of the air inlet / outlet port 15 is communicated with the inside of the chamber. By inflating or exhausting air into / from the chamber through the air inlet / outlet port 15, the strain layer 24 deforms.

[0053] A connecting head is provided at the inner end of the strain layer 24, which forms an insertion connection with the connecting end head 3, and the insertion method between the two can be a mortise and tenon connection.

[0054] Specific Embodiment Ten: Combining Figures 1 to 6 To describe this embodiment, the strain layer 24 is a wavy curved surface uniformly provided with a plurality of grooves along the length direction, and the cross-sectional shape of the grooves is rectangular. The technical features not disclosed in this embodiment are the same as those in Specific Embodiment Nine.

[0055] With such a design, it is convenient for the strain layer 24 to deform.

[0056] Working principle

[0057] A caterpillar-like soft robot based on an airbag structure includes a strain layer 24, an intermediate partition 23, end plates 22, side plates 21, and an intermediate connection module 1; each strain layer 24 is formed by a plurality of connected rectangular unit arrays, and the strain layer 24, intermediate partition 23, end plates 22, and side plates 21 divide the soft module 2 into enclosed chambers; both ends of the intermediate connection module 1 are provided with connection ends 3 for connecting to the strain layer 24 in the soft module 2. The two sides of the intermediate connection module 1 are respectively provided with a total air inlet port 16 and a total air outlet port 17 for communicating with the outside. By inflating or exhausting air into the four chambers through the air inlet and outlet ports 15, the deformation of the strain layer 24 is achieved. When inflating and exhausting air into different inner cavities, the caterpillar-like soft robot will generate different motion modes. When two inner cavities act simultaneously, it will generate a quasi-sine wave motion and a quasi-half wave motion. When a single inner cavity acts, it will generate a dragging motion. The motor 18 installed in the intermediate connection module 1 controls the movement of the gear 19 on the toothed track 110 by sliding on the slide rail 111, thereby controlling the air inlet and outlet switch of the air inlet and outlet port 15. When inflating a certain chamber, the slide rail 111 drives the motor 18 to one side of the total air outlet pipe 13, and the gear 19 meshes with the toothed track 110 on one side of the total air outlet pipe 13, and the air inlet and outlet port 15 inflates the chamber. After introducing the appropriate gas, the gear 19 meshes with the toothed track 110 on one side of the total air inlet pipe 12, and the chamber is exhausted through the air inlet and outlet port 15.

[0058] The soft robot is composed of four soft modules 2 connected by an intermediate connection module. The sliding of the motor 18 controls the switch of the air inlet and outlet pipe 14, and the quasi-sine wave configuration, quasi-half wave configuration, and dragging configuration of the combined drive of different modules.

[0059] The soft robot is pneumatically driven. When inflating different inner cavities, the robot realizes multi-mode motion. It can be applied to a variety of bionic motions. For example: Figure 7 As shown, the soft robot is composed of four connected soft modules. By simultaneously inflating and exhausting air in the upper and lower different-side soft modules, an S-shaped configuration is formed, and the soft robot performs a sine wave mode motion.

[0060] As Figure 8 shown, by simultaneously inflating and exhausting air in the two upper soft modules, an Ω-shaped configuration is formed, and the soft robot performs a quasi-half wave mode motion, realizing the Ω-shaped caterpillar-like motion.

[0061] As Figure 9 shown, by inflating and exhausting air in the single upper soft module, the soft robot performs a dragging mode motion.

[0062] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An intermediate connection module of a soft bionic robot based on an airbag structure, characterized in that: It includes a housing (11), a total intake pipe (12), a total exhaust pipe (13), four intake and exhaust pipes (14) and four intake and exhaust switch mechanisms. The total intake pipe (12) and the total exhaust pipe (13) are both arranged in a "mouth" shape. The total intake pipe (12) is arranged on one side inside the housing (11), and a total intake port (16) is provided on the total intake pipe (12). The total exhaust pipe (13) is arranged on the other side inside the housing (11), and a total exhaust port (17) is provided on the total exhaust pipe (13). One intake and exhaust pipe (14) is provided on each of the upper and lower sides at both ends inside the housing (11). One end of the intake and exhaust pipe (14) is communicated with the total intake pipe (12), and the other end of the intake and exhaust pipe (14) is communicated with the total exhaust pipe (13). An intake and exhaust port (15) is provided in the middle of the intake and exhaust pipe (14), and an intake and exhaust switch mechanism is provided at the connection end of the intake and exhaust port (15) and the intake and exhaust pipe (14). The intake and exhaust switch mechanism includes a motor (18), a gear (19), a toothed track (110) and a slide rail (111). The slide rail (111) is arranged in parallel on the inner side of the intake and exhaust pipe (14). The base of the motor (18) is slidably connected to the slide rail (111). The gear (19) is fixedly connected to the output shaft of the motor (18) and is arranged on the upper side of the intake and exhaust pipe (14). The toothed track (110) is arranged along the length direction in the middle of the lower side of the intake and exhaust pipe (14), and the gear (19) meshes with the toothed track (110).

2. The intermediate connection module of a soft bionic robot based on an airbag structure according to claim 1, characterized in that: The outer ends of the total intake port (16), the total exhaust port (17) and the intake and exhaust port (15) are all arranged on the outside of the housing (11).

3. The intermediate connection module of a soft bionic robot based on an airbag structure according to claim 1, characterized in that: The total intake port (16) is arranged on the upper part of the total intake pipe (12), and the total exhaust port (17) is arranged on the lower part of the total exhaust pipe (13).

4. The intermediate connection module of a soft bionic robot based on an airbag structure according to claim 1, characterized in that: The toothed track (110) is fixedly connected to the lower end of the slide rail (111) through a track receiving plate (112).

5. The intermediate connection module of a soft bionic robot based on an airbag structure according to claim 1, characterized in that: The material of the intake and exhaust pipe (14) is an elastic hose.

6. The intermediate connection module of a soft bionic robot based on an airbag structure according to claim 1, 2, 3, 4 or 5, characterized in that: Connection ends (3) are provided at both the upper and lower ends of the housing (11).

7. A soft bionic robot based on an airbag structure, characterized in that: It includes an intermediate connection module (1) of a soft bionic robot based on an airbag structure as described in any one of claims 1 to 6, and further includes four soft modules (2). Two soft modules (2) are respectively connected to both ends of the intermediate connection module (1). The two soft modules (2) are fixedly connected back to back up and down. The soft module (2) is a hollow shell structure, and a closed chamber is provided inside the soft module (2). The intake and exhaust port (15) of the intake and exhaust pipe (14) on the upper side of the intermediate connection module (1) is communicated with the closed chamber of the adjacent upper soft module (2), and the intake and exhaust port (15) of the intake and exhaust pipe (14) on the lower side of the intermediate connection module (1) is communicated with the closed chamber of the adjacent lower soft module (2).

8. The soft bionic robot based on the airbag structure according to claim 7, wherein: The software module (2) includes an intermediate partition (23), a strain layer (24), two side plates (21) and two end plates (22). The strain layer (24) is horizontally arranged on the outside, the intermediate partition (23) is arranged in parallel on the inner side of the strain layer (24), the end plates (22) are respectively vertically fixed at the ends between the strain layer (24) and the intermediate partition (23), and the side plates (21) are respectively vertically fixed at the sides between the strain layer (24) and the intermediate partition (23). Vent holes corresponding to the air inlet and outlet ports (15) are provided on the end plates (22) adjacent to the intermediate connection module (1), and the air inlet and outlet ports (15) are respectively inserted into the vent holes.

9. The soft bionic robot based on an airbag structure according to claim 8, wherein: The strain layer (24) is a wavy curved surface uniformly provided with a plurality of grooves along the length direction, and the cross-sectional shape of the grooves is rectangular.

Images