A multi-degree-of-freedom soft robotic arm

Abstract

The present invention discloses a soft robotic arm with multiple degrees of freedom. The soft robotic arm includes a plurality of soft joints. The soft joint includes an air-electric integrated slip ring, a bus-type hollow motor, and a soft bending arm. The stator part includes a stator outer end cover, a stator barrel body, a stator pneumatic connector, a stator inner end cover, an air guide chamber, a brush, and a stator electrical connector. The rotor part includes a rotor pneumatic connector, an air flow channel, a rotor connector, a rotor body, a conductive ring, and a voltage regulating module. The soft bending arm includes an outer jacket layer, as well as strip-shaped air bags and wire conduits wrapped inside the outer jacket layer. The present invention adopts a combination of an air-electric integrated slip ring, a motor, and a pneumatic soft body. Through the air-electric integrated slip ring, an air path and electrical signals can be transmitted between the stator and the rotor, and the air pressure in each strip-shaped air bag can be controlled to achieve the bending control of the robot, enabling the soft robot to bend arbitrarily and rotate continuously around the axis, significantly improving the degrees of freedom of movement of the soft robot.

Description

Technical Field

[0001] The present invention belongs to the technical field of soft robots, and particularly relates to a soft robotic arm with multiple degrees of freedom. Background Art

[0002] A soft robot is a flexible robot whose body is often made of some flexible materials and can often undergo some flexible deformations, so that it can replace traditional rigid robots to complete some special tasks. Currently, limited by the structure of the soft robotic arm, the working range and working path of most soft robotic arms are often fixed and cannot meet some special working requirements. Therefore, an air-electric integrated slip ring is introduced to enable the soft bending arm of the soft robotic arm to rotate continuously around the slip ring. However, the current air-electric integrated slip ring does not have a voltage regulation function, so that the soft bending arms of each segment cannot have different bending angles. Therefore, the present invention improves the air-electric integrated slip ring, and enables each stage of the soft robotic arm to achieve different degrees of bending by integrating a voltage regulation module. Summary of the Invention

[0003] The purpose of the present invention is to overcome the disadvantages of the single working path of traditional soft robotic arms and the weak robustness of rigid robotic arms, and provide a soft robotic arm with multiple degrees of freedom. The robotic arm realizes the rapid coupling / decoupling of air pressure supply and different chambers of the robot through an air-electric integrated slip ring, and transmits the power supply and electrical signals to the rotor part of the air-electric integrated slip ring through the slip ring to drive the motor of the next-stage soft joint; at the same time, a voltage regulation module is integrated in the air-electric integrated slip ring, so that the air-electric integrated slip ring can adjust the soft bending arms on the soft robotic arm to be able to bend arbitrarily. By replacing the end effector module, the soft robotic arm can complete complementarity with the rigid robotic arm in different scenarios.

[0004] A soft robotic arm with multiple degrees of freedom includes a plurality of soft joints. The soft joints are connected end to end in sequence. Each soft joint includes an air-electric integrated slip ring, a bus-type hollow motor, and a soft bending arm. The air-electric integrated slip ring includes a stator part and a rotor part. The stator part and the rotor part form a rotating pair. The fixed part and the rotating part of the bus-type hollow motor are respectively fixed to the stator part and the rotor part of the air-electric integrated slip ring.

[0005] The stator part includes a stator outer end cover, a stator barrel body, a stator pneumatic joint, a stator inner end cover, a gas guide chamber, a brush, and a stator electrical connector. The stator outer end cover and the stator inner end cover are respectively fixed to both ends of the cylindrical stator barrel body. On the inner side surface of the stator barrel body, n annular gas guide chambers are arranged in sequence along its own axis, where n≥3. On the outer side surface of the stator barrel body, n stator pneumatic joints are provided. The n stator pneumatic joints are respectively communicated with the n gas guide chambers.

[0006] An inner side surface of the stator outer end cover is provided with a brush shaft. An axis of the brush shaft coincides with a central axis of the annular air guide chamber. m brushes arranged in sequence along its own axial direction are provided on a side surface of the brush shaft, where m≥4. A stator electrical connector is installed on the stator part; the m brushes are electrically connected to the stator electrical connector. A control line of the bus-type hollow motor is led out through the stator electrical connector.

[0007] The rotor part includes a rotor pneumatic joint, an air guide flow channel, a rotor connector, a rotor body, a conductive ring, and a voltage regulating module. A central electrical transmission hole is formed in an end surface of the rotor body facing the stator outer end cover. m conductive rings arranged in sequence along its own axial direction are fixed in the central electrical transmission hole; the brush shaft extends into the central electrical transmission hole; the m brushes are respectively in contact with the m conductive rings. A rotor connector is fixed on the rotor body. The m conductive rings are connected to the rotor connector.

[0008] n voltage regulating modules and n rotor pneumatic joints are provided on the rotor body. Air outlets of the n voltage regulating modules are respectively communicated with the n rotor pneumatic joints. n air inlet holes are formed in an outer side surface of the rotor body. The n air inlet holes are respectively communicated with the n air guide chambers on the stator cylinder body. The n air inlet holes and air inlets of the n voltage regulating modules are respectively communicated through the air guide flow channel.

[0009] The soft bending arm includes an outer jacket layer, and a strip-shaped airbag and a wire passing tube wrapped in the outer jacket layer. The n strip-shaped airbags surround the wire passing tube. An electrical signal transmission line is arranged in the wire passing tube; the rotor connector of the previous soft joint is connected to the stator electrical connector of the next soft joint through the electrical signal transmission line.

[0010] Inlet pipes of the n strip-shaped airbags are respectively connected to the n rotor pneumatic joints on its own soft joint. End parts of outlet pipes of the n strip-shaped airbags are respectively connected to the n stator pneumatic joints of the next soft joint.

[0011] Preferably, during the working process, in the direction from the inner end to the outer end of the multi-degree-of-freedom soft robotic arm; pressure working ranges of the strip-shaped airbags in each soft joint do not intersect with each other and decrease gradually.

[0012] Preferably, the pressure regulating module includes a pressure regulating valve core, a rotor end cover, a sealing elastic pad, a valve core spring, an electromagnet, and a sealing rubber pad. At the position where the pressure regulating module is installed on the rotor body, a first flow channel, a second flow channel, and a third flow channel are provided. Both the first flow channel and the third flow channel are communicated with the second flow channel. The inner end of the first flow channel is communicated with the corresponding air guiding flow channel. The outer end of the first flow channel is closed. The rotor pneumatic joint is installed at the outer end of the third flow channel. A pressure regulating installation area is provided at the end of the second flow channel away from the first flow channel. The sealing elastic pad, the valve core spring, and the electromagnet arranged in sequence from outside to inside are all installed in the pressure regulating installation area. The electromagnet is fixed to the rotor body. The edge of the sealing elastic pad is fixed to the side wall of the pressure regulating installation area. Both ends of the valve core spring are respectively fixed to the opposite sides of the sealing elastic pad and the electromagnet. The inner end of the pressure regulating valve core is hermetically fixed to the central hole of the sealing elastic pad. A throttle block is provided at the outer end of the pressure regulating valve core. The throttle block is located at the connection between the first flow channel and the second flow channel. The pressure regulating valve core is integrally made of a permanent magnet or has a permanent magnet fixed to the inner end. During the working process, the electromagnet exerts a repulsive force on the pressure regulating valve core. By adjusting the magnitude of the current input to the electromagnet, the gap between the throttle block and the end of the second flow channel is adjusted, and the gas pressure input to the second flow channel is changed.

[0013] Preferably, electronic gyroscopes are installed at the connection positions of any two soft joints 7.

[0014] Preferably, an end effector is installed at the outer end of the last soft joint. An electronic gyroscope is installed on the end effector.

[0015] Preferably, the outer side surface of the rotor body is connected to the inner side surface of the stator barrel through two single-row deep groove ball bearings arranged at intervals. The two single-row deep groove ball bearings are axially limited by the end faces of the stator outer end cover and the stator inner end cover, as well as the stepped surfaces on the stator barrel and the rotor body.

[0016] Preferably, n pressure regulating modules are evenly distributed circumferentially along the central axis of the rotor body.

[0017] Preferably, bending strain gauges are provided inside the wire passing tube.

[0018] Preferably, the soft joint further includes a soft quick connector and a threaded joint. Quick connectors are fixed to both the inner end and the outer end of the soft bending arm; threaded joints are fixed to both the rotor part and the stator part of the pneumatic and electrical integrated slip ring. An internal thread is provided on the quick connector. An external thread is provided on the threaded joint. The threaded joint on the rotor part of the pneumatic and electrical integrated slip ring is threadedly connected to the quick connector at the inner end of the soft bending arm.

[0019] The quick connector at the outer end of the soft bending arm in the previous soft joint is threadedly connected to the threaded joint on the stator part of the next pneumatic and electrical integrated slip ring.

[0020] Preferably, the rotor body is in the shape of a stepped shaft and consists of a small-diameter shaft section and a large-diameter shaft section. The small-diameter shaft section of the rotor body passes through the central relief hole of the inner end cover of the stator and extends into the inner side of the stator barrel.

[0021] Preferably, the large-diameter shaft section of the rotor body is spaced from the inner end cover of the stator. The bus-type hollow motor is sleeved on the outer side of the small-diameter shaft section of the rotor body and is located between the large-diameter shaft section of the rotor body and the inner end cover of the stator.

[0022] The beneficial effects of the present invention are as follows:

[0023] 1. The present invention adopts the combination of an air-electric integrated slip ring, a motor, and a pneumatic soft body. Through the air-electric integrated slip ring, an air path and an electrical signal can be transmitted between the stator and the rotor, and the air pressure in each strip-shaped airbag can be controlled to achieve the bending control of the robot, enabling the soft robot to bend arbitrarily and rotate continuously around the axis, significantly improving the motion freedom of the soft robot.

[0024] 2. By combining soft bodies, air-electric integrated slip rings, and bus-type motors with different lengths and quantities, soft robots of any length can be obtained. Through the pressure regulating valve integrated in the air-electric integrated slip ring, the bending directions and bending angles of each section of the soft body can be different, enabling the soft robotic arm to achieve any curved path.

[0025] 3. Most of the structures in the soft robot provided by the present invention are flexible structures, which have better robustness compared to rigid robotic arms. The present invention is designed modularly, and by replacing the end effector, it can be complementary to the rigid robotic arm in specific application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is the first overall structural schematic diagram of the present invention.

[0027] Figure 2 It is the cross-sectional view of the air-electric integrated slip ring of the present invention.

[0028] Figure 3 It is the schematic diagram of the pressure regulating module of the present invention.

[0029] Figure 4 It is the schematic diagram of the quick connector of the present invention.

[0030] Figure 5 It is the schematic diagram of the threaded connector of the present invention.

[0031] Figure 6 It is the structural schematic diagram of the soft bending arm of the present invention.

[0032] Figure 7aThis is a schematic cross-sectional view of the end effector module in Embodiment 2 of the present invention.

[0033] Figure 7b This is a schematic end face view of the end effector module in Embodiment 2 of the present invention.

[0034] Figure 8 This is a schematic structural view of the end effector module in Embodiment 3 of the present invention.

[0035] Figure 9 This is a schematic structural view of the end effector module in Embodiment 4 of the present invention.

[0036] Figure 10 This is a schematic structural view of the end effector module in Embodiment 5 of the present invention. Detailed implementation manners

[0037] The present invention will be further described below with reference to the accompanying drawings.

[0038] Embodiment 1

[0039] As Figure 1 shown, a multi-degree-of-freedom soft robotic arm includes a plurality of soft joints, an electronic gyroscope 7, and an end effector 6. Each soft joint is connected in series in sequence and can be independently controlled. The end effector 6 is installed at the outer end of the last soft joint. Electronic gyroscopes 7 are installed on the outer sides of the end effector 6 and all the air-electric integrated slip rings 1 in all the soft joints except the first soft joint. The electronic gyroscope 7 is used to detect the movement of the outer end of the soft joint, so as to judge the posture of the soft robotic arm.

[0040] The soft joint includes an air-electric integrated slip ring 1, a bus-type hollow motor 2, a soft quick connector 3, a threaded joint 4, and a soft bending arm 5. The soft bending arm 5 can rotate around the joint axis under the drive of the bus-type central control motor 2, and can rotate continuously due to the presence of the air-electric integrated slip ring 1. The soft bending arm 5 of the soft robot can be bent to different directions and curvatures by adjusting the air pressure in each internal chamber.

[0041] As Figure 4 and 5 shown, quick connectors 3 are fixed to both the inner end and the outer end of the soft bending arm 5; threaded joints 4 are fixed to both the rotating end and the fixed end of the air-electric integrated slip ring 1 by bolts. The quick connector 3 is provided with an internal thread. The threaded joint 4 is provided with an external thread. The external thread of the threaded joint 4 at the rotating end of the air-electric integrated slip ring 1 is threadedly connected to the internal thread of the quick connector 3 at the inner end of the soft bending arm 5.

[0042] As Figure 2 and 3As shown in the figure, the pneumatic and electrical integrated slip ring 1 includes a stator part, a rotor part, and a single-row deep groove ball bearing 104. The stator part includes a stator outer end cover 101, a stator barrel 102, a stator pneumatic joint 103, a stator inner end cover 105, an air guide chamber 110, a brush 112, and a stator electrical connector 113. The stator outer end cover 101 and the stator inner end cover 105 are respectively fixed to both ends of the cylindrical stator barrel 102. Four annular air guide chambers 110 are arranged in sequence along the axial direction on the inner side surface of the stator barrel 102. Four stator pneumatic joints 103 are arranged on the outer side surface of the stator barrel 102. The four stator pneumatic joints 103 are respectively communicated with the four air guide chambers 110.

[0043] A central relief hole for the rotor part to pass through is provided on the stator inner end cover 105. A brush shaft is fixed at the center position of the inner side surface of the stator outer end cover 101. The axis of the brush shaft coincides with the central axis of the annular air guide chamber 110. Four brushes 112 are arranged in sequence along the axial direction on the side surface of the brush shaft. A stator electrical connector 113 is fixed at the center position of the outer side surface of the stator outer end cover 101; the four wiring terminals in the stator electrical connector 113 are respectively electrically connected to the four brushes 112.

[0044] The rotor part includes a rotor pneumatic joint 106, an air flow channel 107, a rotor connector 108, a rotor main body 109, a conductive ring 111, and a voltage regulating module. The rotor main body 109 is in the shape of a stepped shaft and is composed of a small-diameter shaft section and a large-diameter shaft section. The small-diameter shaft section of the rotor main body 109 passes through the central relief hole of the stator inner end cover 105 and extends into the inner side of the stator barrel 102. The outer side surface of the rotor main body 109 and the inner side surface of the stator barrel 102 form a rotating pair through two single-row deep groove ball bearings 104 arranged at intervals. The two single-row deep groove ball bearings 104 are axially limited by the end surfaces of the stator outer end cover 101, the stator inner end cover 105, and the stepped surfaces on the stator barrel 102 and the rotor main body 109.

[0045] The large-diameter shaft section of the rotor main body 109 is arranged at an interval from the stator inner end cover 105. The bus-type hollow motor 2 is sleeved on the outer side of the small-diameter shaft section of the rotor main body 109 and is located between the large-diameter shaft section of the rotor main body 109 and the stator inner end cover 105. The fixed part of the bus-type hollow motor 2 is fixed to the stator inner end cover 105; the rotating part of the bus-type hollow motor 2 is fixed to the rotor main body 109. Thus, an integrated design of the drive structure, the air guide structure, and the conductive structure is realized. The power supply line and the control line of the bus-type hollow motor 2 are connected to the corresponding stator electrical connectors 113, so as to realize the independent control of the bus-type hollow motor 2 in multiple soft joints through the bus control method.

[0046] On the end face of the rotor main body 109 facing the stator outer end cover 101, a central electrical transmission hole is provided. Four conductive rings 111 arranged in sequence along its own axis are fixed in the central electrical transmission hole; the brush shaft is coaxially arranged in the central electrical transmission hole; the four brushes 112 are respectively in contact with the four conductive rings 111 to form an electrical connection. A rotor connector 108 is fixed to the outer end of the rotor main body 109. The four terminal ends in the rotor connector 108 are respectively electrically connected to the four conductive rings 111.

[0047] Four pressure regulating modules and four rotor pneumatic connectors 106 are arranged at positions of the rotor main body 109 outside the stator barrel 102. The four pressure regulating modules are evenly distributed circumferentially along the central axis of the rotor main body 109. The air outlets of the four pressure regulating modules are respectively communicated with the four rotor pneumatic connectors 106. Four air input holes are provided on the outer side surface of the rotor main body 109. The four air input holes are respectively aligned with the inner sides of the four air guide chambers 110 on the stator barrel 102 to realize air conduction. Four independent air guide channels 107 are arranged in the rotor main body 109. One ends of the four air guide channels 107 are respectively communicated with the four air input holes. The other ends of the four air guide channels 107 are respectively communicated with the air inlets of the four pressure regulating modules.

[0048] As Figure 3 shown, the pressure regulating module includes an air plug 114, a pressure regulating valve core 115, a rotor end cover 116, a sealing elastic pad 117, a valve core spring 118, an electromagnet 119 and a sealing rubber pad 120. At the position on the rotor main body 109 where the pressure regulating module is installed, a first flow channel, a second flow channel and a third flow channel are provided. Both the first flow channel and the third flow channel are arranged along the radial direction of the rotor main body 109. The length direction of the second flow channel is parallel to the axis of the rotor main body 109. Both the first flow channel and the third flow channel are communicated with the second flow channel.

[0049] The inner end of the first flow channel is communicated with the corresponding air guide channel 107. The outer end of the first flow channel is closed by the air plug 114. The rotor pneumatic connector 106 is installed at the outer end of the third flow channel. A pressure regulating installation area is provided at the end of the second flow channel far from the first flow channel. The sealing elastic pad 117, the valve core spring 118 and the electromagnet 119 arranged in sequence from outside to inside are all installed in the pressure regulating installation area. The electromagnet 119 is fixed to the rotor main body 109. The edge of the sealing elastic pad 117 is fixed to the side wall of the pressure regulating installation area. The two ends of the valve core spring 118 are respectively fixed to the opposite side surfaces of the sealing elastic pad 117 and the electromagnet 119. The valve core spring 118 applies a pulling force to the sealing elastic pad 117.

[0050] The pressure regulating valve core 115 is rod-shaped. The inner end of the pressure regulating valve core 115 is hermetically fixed to the central hole of the sealing elastic pad 117. A throttle block is provided at the outer end of the pressure regulating valve core 115. The throttle block is located at the connection of the first flow channel and the second flow channel; the pressure regulating valve core 115 is integrally made of a permanent magnet or a permanent magnet is fixed to the end of the inner end. When the electromagnet 119 is energized, a repulsive force can be applied to the pressure regulating valve core 115. Thus, by adjusting the current magnitude of the electromagnet 119, the position of the throttle block in the axial direction of the second flow channel can be changed, and further the flow cross-sectional area at the connection of the first flow channel and the second flow channel can be adjusted, and thereby the output pressure of the pressure regulating module can be adjusted.

[0051] As Figure 6 shown, the soft bending arm 5 includes an outer jacket layer 52, and a strip-shaped airbag, a wire passing tube 53, and a bending strain gauge 54 wrapped inside the outer jacket layer 52. The outer jacket layer 52 is cylindrical and made of a rubber material, and can be freely bent and deformed. The wire passing tube 53 is arranged at the central position of the inner cavity. Four strip-shaped airbags surround the wire passing tube 53. The bending strain gauge 54 is arranged inside the wire passing tube 53. An electrical signal transmission line is arranged inside the wire passing tube 53; one ends of four core wires inside the electrical signal transmission line are connected to the rotor connectors 108 on the rotor part of the soft joint where they are located. The other ends of the four core wires inside the electrical signal transmission line are connected to the connectors on the end effector 6 or the stator connectors 113 of the stator part of the next soft joint, thereby realizing signal transmission, and controlling the operation of the bus-type hollow motor 2 in the soft joint and the operation of the motor in the end effector 6 by means of bus control.

[0052] Except for the soft joints located at the end, the inner ends and outer ends of the strip-shaped airbags are respectively provided with an air inlet pipe and an air outlet pipe led out from the side ends of the outer jacket layer 52. The strip-shaped airbags in the soft joints at the end are all provided with air inlet pipes. The ends of the air inlet pipes of the four strip-shaped airbags are respectively connected to the four rotor pneumatic connectors 106 of the soft joint where they are located. The ends of the air outlet pipes of the four strip-shaped airbags are respectively connected to the four stator pneumatic connectors 103 of the next soft joint.

[0053] Each stator pneumatic connector of the first soft joint is connected to the air source. In the direction from the inner end (i.e., the fixed end) to the outer end (i.e., the moving end) of the multi-degree-of-freedom soft robotic arm; the air pressure in each strip-shaped airbag is controlled by the corresponding pressure regulating mechanism. The pressure working ranges of the strip-shaped airbags of each soft joint do not intersect with each other and decrease gradually; for example, in this embodiment, the air pressure of the strip-shaped airbags of the soft joint at the inner end is adjusted between 5 MPa and 8 MPa; the air pressure of the strip-shaped airbags of the soft joint at the outer end is adjusted between 2 MPa and 5 MPa; thus, the independent bending control of multiple soft joints can be realized by means of continuously reducing the pressure through a group of air paths.

[0054] In this embodiment, a non-essential technical detail is provided: the model of the bending strain gauge 54 is BF350-50AA; by measuring the output voltage, the real-time bending angle of the soft body can be fed back and the control accuracy can be improved.

[0055] In this embodiment, a non-essential technical detail is provided: inside the cylindrical quick connector 3, there are a metal elastic piece 31 and an internal thread 32, and outside there is a snap button 32 for driving the metal elastic piece 31 to flip to achieve locking. When in use, the snap button can be pressed down, then the soft body bending arm 5 is inserted into the connector, and it is connected to the threaded connector 4 through the internal thread 32.

[0056] In this embodiment, a non-essential technical detail is provided: inside the cylindrical threaded connector 4, there is an annular connecting plate, and outside there is an external thread 42; on the annular connecting plate, there are through holes 41 for installing bolts; the external thread 42 is used to connect with the soft body quick connector 3; the annular connecting plate is connected to the stator outer end cover 101 of the air-electric integrated slip ring or the rotor main body 109 of the air-electric integrated slip ring or the end effector 6.

[0057] In this embodiment, a non-essential technical detail is provided: the model of the electronic gyroscope 7 is MPU6050. Through the electronic gyroscope 7, the position vectors of each air-electric integrated slip ring 2 can be determined, so that the entire robotic arm can perform closed-loop control and the control accuracy of the robotic arm is improved.

[0058] In the air-electric integrated slip ring provided in this embodiment, the rotor part can rotate continuously around the stator part and avoid winding of the lines and air paths. Since there can be multiple soft body joints in the whole robot, it is necessary to drive multiple motors to rotate at different speeds. Therefore, in this embodiment, a bus-type motor is adopted to reduce the number of slip ring circuits and facilitate the control and debugging of the robot. In this embodiment, by controlling the working voltage of the electromagnet 118, the pressure regulating valve core 115 is controlled to adjust the width of the air vent gap, so that the working air pressure of each segment of the soft body can be different, that is, through different bending directions and bending angles of each segment of the soft body, the soft body robotic arm can realize any curved path.

[0059] During assembly, only need to screw the threaded connector into the pneumatic quick connector 3. Therefore, for one end of the threaded connector 4, it is connected to the air-electric integrated slip ring 1, and the other end is connected to the pneumatic quick connector 3; when the quick connector 3 is in use, only need to insert the end of the soft body bending arm into the end provided with the metal elastic piece, and after insertion, the metal elastic piece will lock the soft body. When disassembling, only need to hold the retaining ring to complete the disassembly. For the soft body bending arm 5, its two ends are respectively inserted into two pneumatic quick connectors 4, and then the pneumatic quick connectors 4 cooperate with other structures. Therefore, the final assembly structure is: air-electric integrated slip ring - threaded connector - quick connector - soft body bending arm - pneumatic quick connector - threaded connector - air-electric integrated slip ring or end effector.

[0060] Example 2

[0061] As Figure 7a and 7b shown, a soft robotic arm for automatically performing nucleic acid testing. The difference between this embodiment and Embodiment 1 is that the end effector is specifically a cotton swab clamping module; the cotton swab clamping module includes an electric three-jaw chuck 61, a clamping base 62, guide rods 63, and buffer springs 64. A plurality of guide rods 63 are arranged on the front surface of the clamping base 62; the electric three-jaw chuck 61 is slidably connected to the outer ends of the guide rods 63. A plurality of buffer springs 64 are arranged between the electric three-jaw chuck 61 and the clamping base 62. A plurality of threaded holes 65 are formed on the back surface of the clamping base 62. The clamping base 62 is connected to the threaded joint 4 at the outer end of the soft joint at the end through bolts.

[0062] The electric three-jaw chuck 61 is used to grasp the test cotton swab, send the cotton swab into the mouth of the tested person after grasping the cotton swab, and after the cotton swab touches the part to be tested, the three-jaw chuck can move along the guide rod 63 under pressure. At the same time, due to the action of the spring 63, the cotton swab can generate an appropriate pressure on the tested surface, so that the detection can be accurately completed.

[0063] During operation, the carbon brush 112 and the copper sheet 111 in the pneumatic and electric integrated slip ring 1 transmit electrical signals between the stator part and the rotor part, and transmit compressed air through the air guide chamber 110 and the air guide channel 107; so that the different chambers of the soft bending arm can be quickly coupled / decoupled. By independently controlling the bending of multiple soft bending arms and the rotation angle of the bus-type hollow motor 2, the soft robot can achieve different bending curves; thus, for tested objects of different heights, it can bend with different curves, so that the detection cotton swab clamping mechanism can complete the detection at an appropriate height.

[0064] In this embodiment, a soft robot is used to replace a rigid detection robot, which can increase the robustness of the detection system. In addition, the flexible structure in this embodiment can reduce the probability of events such as tissue contusion during fully automatic nucleic acid testing, and improve the safety of fully automatic nucleic acid testing.

[0065] Example 3

[0066] As Figure 8 shown, a soft robotic arm for automatically performing electric vehicle charging. The difference between this embodiment and Embodiment 1 is that the end effector is specifically an electric vehicle charging plug; the electric vehicle charging plug can be driven by each soft joint to move to the charging socket of the electric vehicle to achieve automatic docking, so as to complete the automatic charging of the electric vehicle.

[0067] Example 4

[0068] As Figure 9As shown, a soft robotic arm for grasping objects. The difference between this embodiment and Embodiment 1 is that the end effector is specifically a pipeline exploration module.

[0069] Embodiment 5

[0070] As Figure 10 As shown, a soft robotic arm for grasping objects. The difference between this embodiment and Embodiment 1 is that the end effector is specifically a pneumatic or electric gripper module.

Claims

1. A soft robotic arm with multiple degrees of freedom, comprising a plurality of soft joints; the soft joints are connected end to end in sequence; Characterized in that: The soft joint includes an electro-pneumatic integrated slip ring (1), a bus-type hollow motor (2) and a soft bending arm (5); the electro-pneumatic integrated slip ring (1) includes a stator part and a rotor part; the stator part and the rotor part form a rotating pair; the fixed part and the rotating part of the bus-type hollow motor (2) are respectively fixed to the stator part and the rotor part of the electro-pneumatic integrated slip ring (1); The stator part includes a stator outer end cover (101), a stator barrel (102), a stator pneumatic joint (103), a stator inner end cover (105), an air guide chamber (110), a brush (112) and a stator electrical connector (113); the stator outer end cover (101) and the stator inner end cover (105) are respectively fixed to both ends of the cylindrical stator barrel (102); n annular air guide chambers (110) arranged in sequence along its own axis are provided on the inner side surface of the stator barrel (102), n≥3; n stator pneumatic joints (103) are provided on the outer side surface of the stator barrel (102); the n stator pneumatic joints (103) are respectively communicated with the n air guide chambers (110); A brush shaft is provided on the inner side surface of the stator outer end cover (101); the axis of the brush shaft coincides with the central axis of the annular air guide chamber (110); m brushes (112) arranged in sequence along its own axis are provided on the side surface of the brush shaft, m≥4; a stator electrical connector (113) is installed on the stator part; the m brushes (112) are electrically connected to the stator electrical connector (113); the control line of the bus-type hollow motor (2) is led out through the stator electrical connector (113); The rotor part includes a rotor pneumatic joint (106), an air guide channel (107), a rotor connector (108), a rotor body (109), a conductive ring (111) and a voltage regulating module; a central electrical transmission hole is provided on the end surface of the rotor body (109) facing the stator outer end cover (101); m conductive rings (111) arranged in sequence along its own axis are fixed in the central electrical transmission hole; the brush shaft extends into the central electrical transmission hole; the m brushes (112) are respectively in contact with the m conductive rings (111); a rotor connector (108) is fixed on the rotor body (109); the m conductive rings (111) are connected to the rotor connector (108); n voltage regulating modules and n rotor pneumatic joints (106) are provided on the rotor body (109); the air outlets of the n voltage regulating modules are respectively communicated with the n rotor pneumatic joints (106); n input air holes are provided on the outer side surface of the rotor body (109); the n input air holes are respectively communicated with the n air guide chambers (110) on the stator barrel (102); the n input air holes and the air inlets of the n voltage regulating modules are respectively communicated through the air guide channels (107); The described flexible bending arm (5) includes an outer jacket layer (52), and strip-shaped airbags and a wire conduit (53) wrapped within the outer jacket layer (52); n strip-shaped airbags surround the wire conduit (53); an electrical signal transmission line is arranged within the wire conduit (53); the rotor plug-in connector (108) of the previous flexible joint is electrically plugged and connected to the stator electrical plug-in connector (113) of the next flexible joint through the electrical signal transmission line; The inlet pipes of the n strip-shaped airbags are respectively connected to the n rotor pneumatic connectors (106) on the flexible joint where they are located; the ends of the outlet pipes of the n strip-shaped airbags are respectively connected to the n stator pneumatic connectors (103) of the next flexible joint.

2. A multi-degree-of-freedom flexible robotic arm according to claim 1, characterized in that: During the working process, in the direction from the inner end to the outer end of the multi-degree-of-freedom flexible robotic arm; the pressure working ranges of the strip-shaped airbags within each flexible joint do not intersect with each other and decrease gradually.

3. A multi-degree-of-freedom flexible robotic arm according to claim 1, characterized in that: The described pressure regulating module includes a pressure regulating valve core (115), a rotor end cover (116), a sealing elastic pad (117), a valve core spring (118), an electromagnet (119) and a sealing rubber pad (120); at the position on the rotor main body (109) where the pressure regulating module is installed, a first flow channel, a second flow channel and a third flow channel are provided; both the first flow channel and the third flow channel are communicated with the second flow channel; the inner end of the first flow channel is communicated with the corresponding air guiding flow channel (107); the outer end of the first flow channel is closed; the rotor pneumatic connector (106) is installed at the outer end of the third flow channel; a pressure regulating installation area is provided at the end of the second flow channel away from the first flow channel; the sealing elastic pad (117), the valve core spring (118) and the electromagnet (119) arranged in sequence from the outside to the inside are all installed in the pressure regulating installation area; the electromagnet (119) is fixed to the rotor main body (109); the edge of the sealing elastic pad (117) is fixed to the side wall of the pressure regulating installation area; both ends of the valve core spring (118) are respectively fixed to the opposite side surfaces of the sealing elastic pad (117) and the electromagnet (119); the inner end of the pressure regulating valve core (115) is fixedly sealed with the central hole of the sealing elastic pad (117); a throttle block is provided at the outer end of the pressure regulating valve core (115); the throttle block is located at the connection of the first flow channel and the second flow channel; the pressure regulating valve core (115) is entirely made of a permanent magnet or has a permanent magnet fixed to the inner end; during the working process, the electromagnet (119) exerts a repulsive force on the pressure regulating valve core (115), and by adjusting the magnitude of the current input to the electromagnet (119), the size of the gap between the throttle block and the end of the second flow channel is adjusted, thereby changing the gas pressure input to the second flow channel.

4. A multi-degree-of-freedom flexible robotic arm according to claim 1, characterized in that: An electronic gyroscope (7) is installed at the connection position of any two flexible joints.

5. A multi-degree-of-freedom flexible robotic arm according to claim 1, characterized in that: An end effector (6) is installed at the outer end of the last flexible joint; an electronic gyroscope (7) is installed on the end effector (6).

6. A multi - degree - of - freedom soft robotic arm according to claim 1, characterized in that: The outer side of the rotor body (109) is connected to the inner side of the stator barrel (102) by two single - row deep - groove ball bearings (104) arranged at intervals; the two single - row deep - groove ball bearings (104) are axially limited by the end faces of the stator outer end cover (101), the stator inner end cover (105), and the stepped surfaces on the stator barrel (102) and the rotor body (109).

7. A multi - degree - of - freedom soft robotic arm according to claim 1, characterized in that: n pressure - regulating modules are evenly distributed circumferentially along the central axis of the rotor body (109).

8. A multi - degree - of - freedom soft robotic arm according to claim 1, characterized in that: A bending strain gauge (54) is arranged inside the wire - passing tube (53).

9. A multi - degree - of - freedom soft robotic arm according to claim 1, characterized in that: The soft joint further includes a soft quick - connector (3) and a threaded joint (4); quick - connectors (3) are fixed at both the inner end and the outer end of the soft bending arm (5); threaded joints (4) are fixed at both the rotor part and the stator part of the pneumatic - electrical integrated slip ring (1); an internal thread is provided on the quick - connector (3); an external thread is provided on the threaded joint (4); the threaded joint (4) on the rotor part of the pneumatic - electrical integrated slip ring (1) is threadedly connected to the quick - connector (3) at the inner end of the soft bending arm (5); The quick - connector (3) at the outer end of the soft bending arm (5) in the previous soft joint is threadedly connected to the threaded joint (4) on the stator part of the next pneumatic - electrical integrated slip ring (1).

10. A multi - degree - of - freedom soft robotic arm according to claim 1, characterized in that: The rotor body (109) is in the shape of a stepped shaft and consists of a small - diameter shaft section and a large - diameter shaft section; the small - diameter shaft section of the rotor body (109) passes through the central relief hole of the stator inner end cover (105) and extends into the inner side of the stator barrel (102); there is a gap between the large - diameter shaft section of the rotor body (109) and the stator inner end cover (105); the bus - type hollow motor (2) is sleeved on the outer side of the small - diameter shaft section of the rotor body (109) and is located between the large - diameter shaft section of the rotor body (109) and the stator inner end cover (105).

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