A multi-segment nested soft robotic arm and its usage method

Abstract

This invention discloses a multi-section nested soft robotic arm and its usage method, comprising: at least two sets of robotic arm units nested sequentially from the outside to the inside; each robotic arm unit includes multiple circumferentially evenly spaced corrugated tubes, an arc-shaped limiting plate located between adjacent corrugated tubes, and a connecting plate connected to the top of the corrugated tubes; between adjacent robotic arm units, the corrugated tubes of the inner robotic arm unit are connected one-to-one with the arc-shaped limiting plates of the outer robotic arm unit. This invention achieves the extension, retraction, and bending of the robotic arm by adjusting the air pressure inside the corrugated tubes; the inner-outer nesting method ensures that the overall length of the robotic arm does not increase when the robotic arm units retract, thus simplifying the structure and achieving miniaturization; the extended robotic arm can operate in confined environments and withstand a certain load, allowing for precise control of the extension, retraction, and bending of different robotic arm units with high control accuracy.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to a multi-segment nested soft robot and its usage method. Background Technology

[0002] Traditional rigid robotic arms dominate the robot market, but these rigid robotic arms have problems such as high structural density and safety issues when interacting with the working environment; as the application of robots gradually increases, the operating environment they face is becoming more and more complex.

[0003] Compared to traditional rigid robotic arms, soft robotic arms are lighter, have better impact resistance, greater environmental adaptability, and a safer human-computer interaction environment. Soft robotic arms are primarily made from flexible materials with large deformation characteristics. Robotic arms made from these materials have greater deformability and elasticity, allowing them to deform in complex environments, making them more flexible. Even in the event of a collision with external objects, their flexibility provides a certain degree of cushioning, enabling safe interaction and smooth movement within confined spaces.

[0004] Currently, the main driving methods used in soft robotic arms include fluid drive, rope drive, magnetic field drive, and smart material electric drive. Fluid drive utilizes changes in air or hydraulic pressure to drive the deformation of the capsule, while rope drive uses a motor to drive a rope to provide driving force. Both methods have advantages such as fast response and large torque, but existing air / hydraulic and rope control systems are complex and bulky, making them unsuitable for operation in confined spaces. Magnetic field drive generally requires an external controllable magnetic field and also necessitates complex external equipment. Smart material electric drive refers to using changes in voltage or current to deform the smart material or structure itself, achieving motion drive. It has many advantages such as simple structure and miniaturization. Although it can operate in confined spaces, it also faces disadvantages such as small torque and low control precision. Summary of the Invention

[0005] The purpose of this invention is to provide a multi-segment nested soft robotic arm and a method of using it, so as to solve the problem that existing soft robotic arms are complex in structure, large in size and unable to work in narrow environments.

[0006] The technical solution of the present invention to solve the above-mentioned technical problems is as follows:

[0007] A multi-segment nested soft robotic arm includes: at least two sets of robotic arm units nested sequentially from the outside to the inside;

[0008] The robotic arm unit includes multiple circumferentially evenly spaced corrugated tubes, an arc-shaped limiting plate located between adjacent corrugated tubes, and a connecting plate connected to the top of the corrugated tubes. The top sidewall of the arc-shaped limiting plate is connected to the edge of the adjacent connecting plate.

[0009] Between adjacent robotic arm units, the bellows of the inner robotic arm unit and the arc-shaped limiting plate of the outer robotic arm unit are connected in a one-to-one correspondence; by adjusting the air pressure in the bellows, the robotic arm can extend, retract, and bend.

[0010] This invention utilizes robotic arm units, with each unit's bellows connected to an external air source and pressure sensor, enabling independent pneumatic control. By adjusting the air pressure within the bellows, the extension, retraction, and bending of the robotic arm are achieved. When the bellows extend, the fully extended length of the soft robotic arm increases. The inner and outer casing design ensures that retraction does not increase the overall length of the soft robotic arm, but only its radius. Therefore, the structure is simpler and achieves miniaturization, allowing operation in confined spaces and withstanding certain loads. It can precisely control the extension, retraction, and bending of different pneumatic modules, offering high control accuracy and convenient operation.

[0011] Furthermore, when the bellows of the inner robotic arm unit contracts, the top of the connecting plate of the inner robotic arm unit is not higher than the top of the connecting plate of the outer robotic arm unit.

[0012] The arrangement of this invention allows the inner robotic arm unit to retract into the outer robotic arm unit when adjacent robotic arm units retract, thus not increasing the overall length of the robotic arm and making it more convenient to use.

[0013] Furthermore, between adjacent robotic arm units, the inner wall of the bottom end of the arc-shaped limiting plate of the outer robotic arm unit is provided with a first fixing plate that connects to the bottom of the bellows of the inner robotic arm unit.

[0014] By setting the first fixed plate, the downward movement of the bellows can be restricted, thereby enabling different robotic arm units to achieve stepped extension and retraction, and allowing the robotic arm to be controlled in different postures.

[0015] Furthermore, within the same robotic arm unit, there is a gap between the arc-shaped limiting plate and the bellows.

[0016] Furthermore, all the connecting plates of the innermost robotic arm unit are integrally molded.

[0017] Furthermore, a base plate is provided at the bottom of the bellows of the outermost robotic arm unit.

[0018] Furthermore, the substrate includes a connecting ring and a plurality of second fixing plates circumferentially disposed on the inner side of the connecting ring and respectively connected to the bottom of the bellows of the outermost robotic arm unit.

[0019] Furthermore, all the second fixing plates are evenly distributed along the connecting ring.

[0020] Furthermore, the bellows of adjacent robotic arm units are staggered.

[0021] The corrugated pipes on adjacent robotic arm units are staggered, which maximizes the use of space within the robotic arm unit, allowing more robotic arm units to be set up in the same volume.

[0022] This invention also provides a method for using a multi-segment nested soft robotic arm, including the following adjustment methods:

[0023] Telescopic adjustment: The bellows of the same robotic arm unit extend or shorten synchronously to achieve the overall extension or shortening of the robotic arm;

[0024] Bending adjustment: The bellows of the same robotic arm unit extend or shorten asynchronously to achieve bending of the robotic arm.

[0025] The present invention has the following beneficial effects:

[0026] 1. This invention utilizes a robotic arm unit, with the bellows of the robotic arm unit connected to an external air source and an air pressure sensor, enabling independent pneumatic control. By adjusting the air pressure inside the bellows, the extension, retraction, and bending of the robotic arm can be achieved. When the bellows extends, the length of the fully extended soft robotic arm increases, allowing the robotic arm to adopt different postures.

[0027] 2. The bellows of this invention is made of elastic material. It can expand and elongate by being inflated by an external air source. When the air pressure applied inside the bellows is different, the robotic arm will adopt different postures. By actively adjusting the air pressure inside the bellows, the extension, retraction and bending of the robotic arm can be controlled, thus enabling operation in narrow environments and withstanding a certain load. It can accurately control the extension, retraction and bending of different pneumatic modules with high control precision.

[0028] 3. The present invention sets at least two sets of robotic arm units, and the adjacent robotic arm units are arranged in an inner and outer arrangement, so that the overall length of the robotic arm will not increase when the adjacent robotic arm units are retracted, but only the radius of the robotic arm will increase. Therefore, the structure is simpler and the purpose of miniaturization is achieved.

[0029] 4. By setting at least two sets of robotic arm units, the present invention can control the extension of different robotic arm units according to the needs of use, thereby enabling the robotic arm to extend to different lengths. Thus, the extension and bending of different robotic arm units can be controlled according to actual use requirements. Therefore, the robotic arm of the present invention can enter scenarios that traditional robotic arms cannot enter, and has a wide range of applications. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the extended state structure of a multi-segment nested soft robotic arm;

[0031] Figure 2 This is a structural diagram of the innermost robotic arm unit;

[0032] Figure 3 This is a schematic diagram of the robotic arm unit.

[0033] Figure 4 This is a schematic diagram of the outermost robotic arm unit and its substrate.

[0034] Figure 5 A schematic diagram of the robotic arm unit in a state where it is extended by two sections;

[0035] Figure 6 A schematic diagram of the structure of a robotic arm unit extended by one section;

[0036] Figure 7 This is a schematic diagram of the retracted state structure of a multi-segment nested soft robotic arm.

[0037] In the figure: 1. Robotic arm unit; 11. Corrugated pipe; 12. Arc-shaped limiting plate; 13. Connecting plate; 14. First fixing plate; 2. Base plate; 21. Connecting ring; 22. Second fixing plate. Detailed Implementation

[0038] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] like Figures 1 to 7 As shown, the present invention provides a multi-segment nested soft robotic arm, comprising: at least two sets of robotic arm units 1 nested sequentially from the outside to the inside; this embodiment takes 3 sets of robotic arm units 1 as an example. In other embodiments of the present invention, the robotic arm units 1 can be set to 4 sets, 5 sets, etc., depending on the actual use, and no specific limitation is made here.

[0040] The robotic arm unit 1 includes multiple circumferentially evenly spaced corrugated pipes 11, an arc-shaped limiting plate 12 located between adjacent corrugated pipes 11, and a connecting plate 13 connected to the top of the corrugated pipes 11. The top sidewall of the arc-shaped limiting plate 12 is connected to the edge of the adjacent connecting plate 13. Within the same robotic arm unit 1, there is a gap between the arc-shaped limiting plate 12 and the corrugated pipes 11, which allows the corrugated pipes 11 to have a certain amount of room to move during extension and retraction. In this embodiment, each corrugated pipe 11 can be connected to an external air source and a pressure sensor, enabling independent pressure control of each corrugated pipe 11, thereby achieving different postures of the robotic arm through pressure control. In this embodiment, the corrugated pipes 11 of adjacent robotic arm units 1 are staggered; each robotic arm unit 1 has 3 corrugated pipes 11, which are evenly spaced at 120° intervals circumferentially, and the corrugated pipes 11 on adjacent robotic arm units 1 are staggered at 60° intervals. In other embodiments of the present invention, the bellows 11 of each robotic arm unit 1 can be set to 4 or 5, etc., and the bellows 11 in the same robotic arm unit 1 are evenly spaced in the circumference, and the bellows 11 on adjacent robotic arm units 1 are staggered. Therefore, the space inside the robotic arm unit 1 can be maximized, so that more robotic arm units 1 can be set in the same volume.

[0041] Between adjacent robotic arm units 1, the bellows 11 of the inner robotic arm unit 1 are connected one-to-one with the arc-shaped limiting plate 12 of the outer robotic arm unit 1. The inner bottom wall of the arc-shaped limiting plate 12 of the outer robotic arm unit 1 is provided with a first fixing plate 14, which connects to the bottom of the bellows 11 of the inner robotic arm unit 1. The first fixing plate 14 is used to restrict the downward movement of the bellows 11. By adjusting the air pressure inside the bellows 11, the robotic arm can extend, retract, and bend. When all bellows 11 extend under pneumatic control, they extend in a stepped manner along the axial direction of the outermost robotic arm unit 1, thereby realizing the extension, retraction, and bending actions of different robotic arm units 1 and achieving different posture control. This provides high control precision, convenient operation, and ease of operation in confined environments.

[0042] When the bellows 11 of the inner robotic arm unit 1 retracts between adjacent robotic arm units 1, the top of the connecting plate 13 of the inner robotic arm unit 1 is not higher than the top of the connecting plate 13 of the outer robotic arm unit 1. This allows the inner robotic arm unit 1 to retract into the outer robotic arm unit 1, so that no matter how many robotic arm units 1 are designed, the overall length of the robotic arm will not increase, only the radius of the robotic arm will increase, thus achieving the purpose of miniaturization design.

[0043] like Figure 2 and Figure 4As shown, all connecting plates 13 of the innermost robotic arm unit 1 are integrally formed. A base plate 2 is provided at the bottom of the bellows 11 of the outermost robotic arm unit 1. The base plate 2 includes a connecting ring 21 and a plurality of second fixing plates 22 circumferentially disposed inside the connecting ring 21 and respectively connected to the bottom of the bellows 11 of the outermost robotic arm unit 1; all the second fixing plates 22 are evenly distributed along the connecting ring 21. The base plate 2 is used to limit the downward movement of the bellows 11 of the outermost robotic arm unit 1.

[0044] In this embodiment, the bellows 11 is made of an elastic material. The use of an elastic material ensures that, in addition to elongation due to structural deformation, the material itself can also be stretched under air pressure, further increasing the elongation rate of the bellows 11. By inflating the bellows 11 with an external air source, it expands and elongates. When the air pressure applied inside the bellows 11 in different robotic arm units 1 is different, the robotic arm will exhibit different postures. By actively adjusting the air pressure, the extension and bending of the robotic arm can be controlled, enabling operation in confined environments.

[0045] The present invention also provides a method for using a multi-segment nested soft robotic arm, including the following adjustment methods:

[0046] Telescopic adjustment: The bellows 11 of the same robotic arm unit 1 extend or shorten synchronously to achieve the overall extension or shortening of the robotic arm;

[0047] Bending adjustment: The bellows 11 of the same robotic arm unit 1 extend or shorten asynchronously to achieve bending of the robotic arm.

[0048] Specifically, the air pressure inside the bellows 11 of the outermost robotic arm unit 1 is adjusted to regulate the length of the bellows 11, thereby allowing the outermost robotic arm unit 1 to extend, retract, and bend. Further, the air pressure inside the bellows 11 of the inner robotic arm unit 1 is adjusted to regulate the length of the bellows 11, and the bellows 11 extends and retracts in a stepped manner along the axial direction of the outermost robotic arm unit 1, thus completing the extension, retraction, and bending of the robotic arm. When the air pressure inside the bellows 11 is adjusted and the bellows 11 retracts, the inner robotic arm unit 1 retracts into the outer robotic arm unit 1, and the top of the connecting plate 13 of the inner robotic arm unit 1 is flush with the top of the connecting plate 13 of the outer robotic arm unit 1.

[0049] When all the bellows 11 of the robotic arm unit 1 are extended, the length of the fully extended robotic arm increases exponentially. Furthermore, adjacent robotic arm units 1 are arranged in a nested manner from the inside out; when retracted, the overall length of the robotic arm is not increased, only its radius is increased, resulting in a simpler structure and achieving miniaturization. The extended robotic arm unit 1 extends in a stepped manner, with its diameter gradually decreasing from bottom to top, thus adapting to confined environments. Each robotic arm unit 1 can be independently pneumatically controlled and can withstand a certain load, allowing for precise control of the extension, retraction, and bending of different robotic arm units 1. Simultaneously, the extension of different robotic arm units 1 can be controlled according to usage needs, allowing the robotic arm to extend to different lengths. This enables control of the extension and bending of different robotic arm units 1 based on actual usage requirements, allowing access to scenarios where traditional robotic arms cannot, thus broadening its adaptability.

[0050] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A multi-joint nested soft robotic arm, characterized by, include: At least two sets of robotic arm units nested sequentially from the outside to the inside (1); The robotic arm unit (1) includes a plurality of circumferentially evenly spaced corrugated pipes (11), an arc-shaped limiting plate (12) located between adjacent corrugated pipes (11), and a connecting plate (13) connected to the top of the corrugated pipes (11). The top sidewall of the arc-shaped limiting plate (12) is connected to the edge of the adjacent connecting plate (13). Between adjacent robotic arm units (1), the bellows (11) of the inner robotic arm unit (1) is connected one-to-one with the arc-shaped limiting plate (12) of the outer robotic arm unit (1); by adjusting the air pressure in the bellows (11), the robotic arm can extend, retract and bend.

2. The multi-joint nested soft body arm of claim 1, wherein, When the bellows (11) of the inner robotic arm unit (1) contracts between adjacent robotic arm units (1), the top of the connecting plate (13) of the inner robotic arm unit (1) is not higher than the top of the connecting plate (13) of the outer robotic arm unit (1).

3. The multi-segment nested soft robotic arm according to claim 2, characterized in that, Between adjacent robotic arm units (1), the inner wall of the bottom end of the arc-shaped limiting plate (12) of the outer robotic arm unit (1) is provided with a first fixing plate (14) that is connected to the bottom of the bellows (11) of the inner robotic arm unit (1).

4. The multi-segment nested soft robotic arm according to claim 1, characterized in that, Within the same robotic arm unit (1), there is a gap between the arc-shaped limiting plate (12) and the bellows (11).

5. The multi-segment nested soft robotic arm according to claim 1, characterized in that, All connecting plates (13) of the innermost robotic arm unit (1) are integrally formed.

6. The multi-segment nested soft robotic arm according to any one of claims 1 to 5, characterized in that, The bottom of the bellows (11) of the outermost robotic arm unit (1) is provided with a base plate (2).

7. The multi-segment nested soft robotic arm according to claim 6, characterized in that, The base plate (2) includes a connecting ring (21) and a plurality of second fixing plates (22) arranged circumferentially on the inner side of the connecting ring (21) and respectively connected to the bottom of the bellows (11) of the outermost robotic arm unit (1).

8. The multi-segment nested soft robotic arm according to claim 7, characterized in that, All the second fixing plates (22) are evenly distributed along the connecting ring (21).

9. The multi-segment nested soft robotic arm according to claim 6, characterized in that, The bellows (11) of adjacent robotic arm units (1) are staggered.

10. A method for using a multi-segment nested soft robotic arm, characterized in that, The multi-segment nested soft robotic arm according to any one of claims 1 to 9 includes the following adjustment methods: Telescopic adjustment: The bellows (11) of the same robotic arm unit (1) extend or shorten synchronously to realize the overall extension or shortening of the robotic arm; Bending adjustment: The bellows (11) of the same robotic arm unit (1) extend or shorten asynchronously to achieve bending of the robotic arm.

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