A soft actuator

Abstract

The present invention provides a soft actuator, comprising: a flexible tube body having an air cavity inside; a plurality of flexible limiting sleeves sleeved on the flexible tube body continuously along the length direction, an arc-shaped sliding groove being provided on the outer wall of the flexible limiting sleeve, the sliding groove being arranged along the circumferential direction of the flexible limiting sleeve; and a plurality of sliding blocks, the bottom of each sliding block being embedded in a sliding groove and being slidable along the sliding groove, the sliding blocks being sequentially connected by connecting ropes, rotating the flexible limiting sleeve or sliding the sliding blocks can make all the sliding blocks arranged into different lines, so as to form different strain limiting layers on the surface of the flexible tube body. The beneficial effects of the present invention: the positions of the sliding blocks can be adjusted to form different strain limiting layers on the flexible tube body, so as to realize the real-time adjustment of the bending curvature, bending direction, torsion curvature and torsion direction, enabling the soft robot to have various motion forms and online adjusting the motion forms of the soft robot according to different application requirements.

Description

Technical Field

[0001] The present invention relates to the technical field of soft robot devices, and in particular, to a soft actuator. Background Art

[0002] Due to their light weight, high safety, and low control complexity, soft robots can better adapt to the shape of the surrounding environment, and thus better adapt to complex environments and tasks. Currently, there are mainly three motion modes of soft actuators, namely bending motion, telescopic motion, and torsional motion. The motion forms of most existing soft robots are predefined at the initial design stage and cannot be adjusted online in real time. For example, by designing the internal structure of the soft actuator, the bending curvature of the soft actuator is pre-programmed, and then processed and manufactured. After production, the soft robot can bend according to the pre-designed curvature. However, if the predefined curvature of the soft robot needs to be changed due to changes in the operating / work environment, it can only be redesigned and remanufactured. This not only greatly limits the application of soft robots in complex multi-condition scenarios, but also increases additional time and economic costs. Summary of the Invention

[0003] In view of this, in order to solve the problems of single motion form and inflexible adjustment of the motion form of the current soft actuator, an embodiment of the present invention provides a soft actuator.

[0004] An embodiment of the present invention provides a soft actuator, including:

[0005] A flexible tube body having an air cavity inside;

[0006] A plurality of flexible limit sleeves continuously sleeved on the flexible tube body along the length direction, an arc-shaped chute is provided on the outer wall of the flexible limit sleeve, and the chute is arranged along the circumferential direction of the flexible limit sleeve;

[0007] And a plurality of sliders, the bottom of each slider is embedded in one of the chutes and can slide along the chute, and the sliders are sequentially connected by a connecting rope. Rotating the flexible limit sleeve or sliding the slider can make all the sliders arranged in different lines, so that all the sliders form different strain limiting layers on the surface of the flexible tube body.

[0008] Further, the flexible limit sleeve includes a flexible sleeve and two side edges, wherein the two side edges are respectively arranged on both sides of the upper part of the flexible sleeve and extend outwards, and a chute is formed between the two side edges, and the width of the lower part of the flexible sleeve decreases from both sides to the middle.

[0009] Further, the longitudinal section of the side edge is L-shaped, so that two limiting grooves extending outwards are formed on both sides of the chute, and both sides of the bottom of the slider are respectively embedded in the two limiting grooves.

[0010] Furthermore, the slider is I-shaped, including a lower sliding block and an upper connecting block connected thereto, the lower sliding block is embedded in the sliding groove and can slide, and the upper connecting blocks of each slider are connected in sequence by the connecting rope.

[0011] Furthermore, the lower sliding block is a T-shaped block, the lower surface of the lower sliding block is arc-shaped, and when the lower sliding block is embedded in the sliding groove, the lower surface of the lower sliding block fits with the outer wall of the flexible limiting sleeve.

[0012] Furthermore, the upper connecting block is provided with through holes, and the through holes are arranged along the length direction of the flexible tube body. The connecting rope passes through the through holes of each of the upper connecting blocks in sequence to connect each of the sliders in sequence.

[0013] Furthermore, each of the sliding blocks is located on a generatrix of the flexible pipe body, or on an arc line surrounding the circumference of the flexible pipe body.

[0014] Furthermore, each of the sliding blocks is arranged as a plurality of line segments extending along the length direction of the flexible tube body, and two adjacent line segments are staggered in the circumferential direction of the flexible tube body.

[0015] Furthermore, two adjacent line segments are staggered by 180° in the circumferential direction of the flexible pipe body.

[0016] Furthermore, the staggered angle between two adjacent line segments in the circumferential direction of the flexible pipe body is (0, 180°).

[0017] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention are:

[0018] 1. A soft driver of the present invention can adjust the position of the slider and form different strain limiting layers on the flexible tube body to achieve real-time adjustment of the bending curvature, bending direction, torsional curvature, and torsional direction, so that the soft robot has a variety of motion forms. The motion form of the soft robot can be adjusted online according to different application requirements.

[0019] 2. A software driver of the present invention can freely switch the motion form in actual work, adapt to complex and uncertain environments, and can quickly convert the motion form to perform different tasks.

[0020] 3. In a soft driver of the present invention, the sliders are arranged as multiple line segments extending along the length direction of the flexible tube body. By different arrangement positions of the sliders on the soft driver, multiple strain limiting layers are formed on the flexible tube body, and various complex working forms such as C-shaped bending, S-shaped bending, three-dimensional bending and torsion can be constructed, which greatly improves its application range. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of a soft actuator (bendable) of the present invention;

[0022] Figure 2 This is a schematic diagram of a flexible tube body;

[0023] Figure 3 This is a connection schematic diagram of a flexible limit sleeve and a slider;

[0024] Figure 4 This is an exploded view of a flexible limit sleeve and a slider;

[0025] Figure 5 This is Figure 1 a schematic diagram of the bent state of the soft actuator in

[0026] Figure 6 This is a schematic diagram of a soft actuator (twistable) of the present invention;

[0027] Figure 7 This is Figure 6 a schematic diagram of the twisted state of the soft actuator in

[0028] Figure 8 This is a schematic diagram of a soft actuator (S-shaped bendable) of the present invention;

[0029] Figure 9 This is Figure 8 a schematic diagram of the S-shaped bent state of the soft actuator in

[0030] Figure 10 This is a schematic diagram of a soft actuator (three-dimensionally bendable) of the present invention;

[0031] Figure 11 This is Figure 10 a schematic diagram of the three-dimensionally bent state of the soft actuator in

[0032] In the figure: 1. Flexible tube body; 2. Flexible limit sleeve; 3. Slider; 4. Chute; 5. Connecting rope; 6. Flexible sleeve; 7. Baffle; 8. Limit groove; 9. Lower slider; 10. Upper connecting block; 11. Perforation; 12. Notch; 13. Air pipe. Detailed implementation manners

[0033] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will further describe the embodiments of the present invention with reference to the accompanying drawings. The following introduces a relatively superior one among multiple possible embodiments of the present invention, aiming to provide a basic understanding of the present invention, but not aiming to identify the key or decisive elements of the present invention or limit the scope to be protected.

[0034] In all the examples shown and discussed herein, any specific values should be construed as merely exemplary and not as a limitation. Thus, other examples of the exemplary embodiments may have different values.

[0035] Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such technologies, methods, and devices should be regarded as part of the authorization specification.

[0036] It should be noted that like reference numerals and letters denote like items in the following figures, so once an item is defined in one figure, it does not need to be further discussed in subsequent figures. At the same time, it should be understood that, for the sake of convenience of description, the dimensions of the various parts shown in the figures are not drawn in actual proportional relationships.

[0037] Furthermore, it should be noted that unless otherwise clearly specified and defined, the terms "installation" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] Please refer to Figure 1 , embodiments of the present invention provide a soft actuator, which is applied to a soft robot and used to drive the actuator of the soft robot to perform corresponding tasks. The soft actuator mainly includes a flexible tube body 1, a plurality of flexible limit sleeves 2, and a plurality of sliders 3.

[0039] As Figure 2 shown, the flexible tube body 1 is a closed cylindrical tube body, and the inside of the flexible tube body 1 is hollow to form an air cavity. One end of the flexible tube body 1 is provided with an air tube 13, and through the air tube 13, the inside of the flexible tube body 1 can be inflated and deflated. When the flexible tube body 1 is inflated, the flexible tube body 1 expands and elongates, and when the flexible tube body 1 is deflated, the flexible tube body 1 contracts and shortens.

[0040] More specifically, the flexible tube body 1 includes a silicone tube and two sealing caps hermetically connected to both ends of the silicone tube. Among them, the silicone tube can be formed by pouring and curing silicone, and the sealing caps can be formed by resin 3D printing.

[0041] As Figure 3As shown, the flexible limiting sleeves 2 are provided in plurality, and in practical application, are generally determined according to the length of the flexible pipe body 1. Each of the flexible limiting sleeves 2 is continuously sleeved on the flexible pipe body 1 along the length direction, and the sides of two adjacent flexible limiting sleeves 2 are in contact. When the flexible pipe body 1 is not inflated, the flexible limiting sleeves 2 can rotate around the flexible pipe body 1.

[0042] The outer wall of the flexible limit sleeve 2 is provided with an arc-shaped slide groove 4, and the slide groove 4 is arranged along the circumference of the flexible limit sleeve 2. Preferably, the outer wall of the upper part of the flexible limit sleeve 2 is provided with an arc-shaped slide groove 4, and the width of the lower part is reduced. Figure 4 As shown, in this embodiment, the flexible limit sleeve 2 includes a flexible sleeve 6 and two ribs 7, and the flexible limit sleeve 2 can be made of soft rubber 3D printing. The two ribs 7 are respectively arranged on both sides of the upper part of the flexible sleeve 6 and extend outward, and the slide groove 4 is formed between the two ribs 7. The lower part of the flexible sleeve 6 has a decreasing width from both sides to the middle, and here both sides of the lower part of the flexible sleeve 6 are provided with arc-shaped notches 12, so that the width of the flexible sleeve 6 at the notch 12 is reduced.

[0043] The number of the sliders 3 is set to be multiple, which is the same as the number of the flexible limit sleeves 2. The bottom of each slider 3 is embedded in a slide groove 4 and can slide along the slide groove 4. The sliders 3 are connected in sequence by connecting ropes 5.

[0044] The shape of the slide groove 4 is adapted to the shape of the slider 3, so that the slider 3 slides circumferentially along the flexible limit sleeve 2 through the slide groove 4. The slider 3 is I-shaped, including a lower sliding block 9 and an upper connecting block 10 connected thereto, and the lower sliding block 9 is embedded in the slide groove 4 and can slide.

[0045] Preferably, the lower sliding block 9 is a T-shaped block, and the lower surface of the lower sliding block 9 is arc-shaped. When the lower sliding block 9 is embedded in the slide groove 4, the lower surface of the lower sliding block 9 fits with the outer wall of the flexible limiting sleeve 2 to ensure that the slider 3 can stably slide along the surface of the flexible limiting sleeve 2. In addition, the longitudinal section of the retaining edge 7 in this embodiment is L-shaped, so that two limiting grooves 8 extending outward are formed on both sides of the slide groove 4, and the two limiting grooves 8 are respectively embedded on both sides of the bottom of the slider 3, so that the bottom of the lower slider 3 is limited and cannot fall off from the slide groove 4 when the slider slides.

[0046] The upper connecting blocks 10 of the sliders 3 are sequentially connected by the connecting rope 5. Specifically, the upper connecting blocks 10 are provided with through holes 11, which are arranged along the length direction of the flexible pipe body 1. The connecting rope 5 passes through the through holes 11 of the upper connecting blocks 10 in sequence to connect the sliders 3 in sequence.

[0047] It should be noted that generally, the slider 3 can be arranged at the middle position of the chute 4. After a plurality of the flexible limiting sleeves 2 are assembled together, the relatively narrower parts of two adjacent flexible limiting sleeves 2 are spliced to form a hollow structure, that is, the notches 12 of two adjacent flexible limiting sleeves 2 are spliced to form a hollow structure. After the flexible tube body 1 is inflated, the part of the flexible tube body 1 located in the hollow structure expands and elongates. And each slider 3 is connected together by the connecting rope 5 to form a strain limiting layer on the surface of the flexible tube body 1, restricting the expansion and elongation of the flexible tube body 1 at the position of the slider 3.

[0048] Since each slider 3 can slide on the flexible limiting sleeve 2, that is, it can be arranged at any position in the circumferential direction of the flexible tube body 1, different strain limiting layers can be formed, enabling the soft actuator to form different motion forms. And after the flexible tube body 1 is inflated, it will expand. At this time, the flexible limiting sleeve 2 sleeved on the surface of the flexible tube body 1 cannot directly rotate. Thus, by sliding the slider 3, the shape and position of the strain limiting layer can be adjusted, and the position on the flexible tube body 1 opposite to the strain limiting layer expands and elongates. The expansion and elongation position is inconsistent with the notch 12 of the flexible limiting sleeve 2. Therefore, the notch 12 may not be provided on the flexible limiting sleeve 2 either.

[0049] Specifically, as Figure 1 shown, each slider 3 in the soft actuator is located on a generatrix of the flexible tube body 1 to form a linear strain limiting layer. In this way, when the flexible tube body 1 is inflated, as Figure 5 shown, the expansion and elongation of one side of the flexible tube body 1 where the slider 3 is located are restricted, while the other opposite side of the flexible tube body 1 expands and elongates, and the flexible tube body 1 forms a C-shaped bending state. By adjusting the air pressure in the flexible tube body 1, the bending curvature of the soft actuator can be adjusted.

[0050] Similarly, as Figure 6 shown, each slider 3 in the soft actuator is located on an arc surrounding the circumferential direction of the flexible tube body 1, and each flexible limiting sleeve 2 is staggered in sequence in the circumferential direction of the flexible tube body 1. Each slider 3 is located at the middle position of the chute 4 where it is located. In this way, each slider 3 is staggered in sequence in the circumferential direction of the flexible tube body 1 to form a spiral curve-shaped strain limiting layer. In this way, when the flexible tube body 1 is inflated, as Figure 7 shown, the expansion and elongation of the flexible tube body 1 at the positions of each slider 3 are restricted, while the flexible tube body 1 expands and elongates at the hollow structure opposite to each slider 3, and the flexible tube body 1 forms a twisted state.

[0051] The torsional direction can be adjusted by changing the positions of the flexible limiting sleeve 2 and the slider 3; the torsional curvature can also be adjusted by changing the circumferential staggering angle between adjacent flexible limiting sleeves 2. The smaller the staggering angle, the smaller the torsional curvature under the same input air pressure; the larger the staggering angle, the larger the torsional curvature.

[0052] In addition, for a soft actuator of the present invention, different motion states can also be formed by adjusting the positions of the sliders 3 to form multiple strain limiting layers. Specifically, in the soft actuator, the sliders 3 are arranged in multiple line segments extending along the length direction of the flexible tube 1, and adjacent two line segments are staggered in the circumferential direction of the flexible tube 1. Here, one line segment composed of multiple consecutive sliders 3 constitutes a strain limiting layer, and multiple different strain limiting layers constrain different positions of the flexible tube 1, so that the soft actuator has different motion states.

[0053] As Figure 8 shown, all the sliders 3 of the soft actuator are arranged in two line segments extending along the length direction of the flexible tube 1, and adjacent two line segments are staggered 180° in the circumferential direction of the flexible tube 1. After the flexible tube 1 is inflated, under the action of the two strain limiting layers, the flexible tube 1 bends in segments to form an S-shaped bending state as Figure 9 shown. It can be understood that when all the sliders 3 of the soft actuator are arranged in three or more line segments extending along the length direction of the flexible tube 1, and adjacent two line segments are staggered 180° in the circumferential direction of the flexible tube 1, the soft actuator can form a continuous wavy bending state.

[0054] Again, as Figure 10 shown, all the sliders 3 of the soft actuator are arranged in two line segments extending along the length direction of the flexible tube 1, and adjacent two line segments are staggered 90° in the circumferential direction of the flexible tube 1. After the flexible tube 1 is inflated, under the action of the two strain limiting layers, the flexible tube 1 bends in segments to form a three-dimensional bending state as Figure 11 shown. It can be understood that when all the sliders 3 of the soft actuator are arranged in three or more line segments extending along the length direction of the flexible tube 1, and adjacent two line segments are staggered 90° in the circumferential direction of the flexible tube 1, the soft actuator can form a three-dimensional bending state with multiple bends. And theoretically, when the circumferential staggering angle between adjacent two line segments in the flexible tube 1 is (0, 180°), the soft actuator can achieve a three-dimensional bending state.

[0055] In this text, the directional terms such as front, rear, upper, and lower are defined based on the positions of the components in the drawings and their relative positions to each other, solely for the sake of clarity and convenience in expressing the technical solution. It should be understood that they are relative concepts and can change accordingly depending on different usage and placement methods. The use of these directional terms should not limit the scope of protection claimed in this application.

[0056] Without conflict, the above-mentioned embodiments and the features in the embodiments in this text can be combined with each other.

[0057] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A soft actuator, characterized in that, include: A flexible pipe body having an air cavity therein; A plurality of flexible limiting sleeves are continuously sleeved on the flexible pipe body along the length direction, and an arc-shaped sliding groove is provided on the outer wall of the flexible limiting sleeve, and the sliding groove is arranged along the circumference of the flexible limiting sleeve; And multiple sliders, the bottom of each slider is embedded in a slide groove and can slide along the slide groove, and the sliders are connected in sequence by connecting ropes. Rotating the flexible limit sleeve or sliding the slider can arrange all the sliders into different lines, so that all the sliders form different strain limiting layers on the surface of the flexible tube body.

2. The soft actuator according to claim 1, wherein: The flexible limiting sleeve comprises a flexible sleeve and two ribs, wherein the two ribs are respectively arranged on two sides of the upper part of the flexible sleeve and extend outward, the slide groove is formed between the two ribs, and the lower part of the flexible sleeve decreases in width from the two sides to the middle.

3. The soft actuator according to claim 2, characterized in that: The longitudinal section of the retaining edge is L-shaped, so that two limiting grooves extending outward are formed on both sides of the sliding groove, and the two limiting grooves are respectively embedded in the two sides of the bottom of the sliding block.

4. The soft actuator according to claim 1, characterized in that: The sliding block is in an I-shape and comprises a lower sliding block and an upper connecting block connected thereto. The lower sliding block is embedded in the sliding groove and can slide. The upper connecting blocks of the sliding blocks are connected in sequence through the connecting rope.

5. The soft actuator according to claim 4, wherein: The lower sliding block is a T-shaped block, and the lower surface of the lower sliding block is arc-shaped. When the lower sliding block is embedded in the sliding groove, the lower surface of the lower sliding block fits with the outer wall of the flexible limiting sleeve.

6. The soft actuator according to claim 4, wherein: The upper connecting block is provided with through holes, and the through holes are arranged along the length direction of the flexible tube body. The connecting rope passes through the through holes of each of the upper connecting blocks in sequence to connect each of the sliders in sequence.

7. The soft actuator according to claim 1, wherein: Each of the sliding blocks is located on a generatrix of the flexible pipe body, or on an arc line surrounding the circumference of the flexible pipe body.

8. A soft actuator according to claim 1, wherein: The sliding blocks are arranged into a plurality of line segments extending along the length direction of the flexible tube body, and two adjacent line segments are staggered in the circumferential direction of the flexible tube body.

9. The soft actuator according to claim 8, characterized in that: Two adjacent line segments are staggered by 180 degrees in the circumferential direction of the flexible pipe body.

10. A soft actuator according to claim 8, wherein: The staggered angle between two adjacent line segments in the circumferential direction of the flexible pipe body is (0, 180°).

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