A soft robot

Abstract

The present application discloses a soft robot, comprising a first motion unit, the first motion unit comprising a first support seat, a second support seat and a first support rod, the top end of the first support rod is movably connected to the first support seat, and the bottom end of the first support rod is movably connected to the second support seat; a second motion unit, the second motion unit comprising a third support seat, a fourth support seat and a second support rod, the top end of the second support rod is movably connected to the third support seat, and the bottom end of the second support rod is movably connected to the fourth support seat, the first support rod and the second support rod are both inclined, and the inclination directions of the first support rod and the second support rod are opposite; a driving component, the driving component can drive the relative movement between the first support seat, the second support seat, the third support seat and the fourth support seat, while maintaining structural stability, the soft robot can realize three basic movement forms of compression, bending and torsion, and has flexible movement ability.

Description

Technical Field

[0001] The present application is used in the field of robotics technology, and in particular relates to a soft robot. Background Art

[0002] At present, due to the limitations of materials and structural design, traditional soft robots are usually difficult to change their configuration or morphology once they are prepared, which makes them show certain limitations when facing diverse and complex task requirements. Summary of the invention

[0003] The purpose of the present application is to solve at least one of the technical problems existing in the prior art and to provide a soft robot that can realize three basic movement forms: compression, bending and torsion.

[0004] The technical solution adopted by this application to solve its technical problem is:

[0005] A soft robot comprising

[0006] A first motion unit, wherein the first motion unit comprises a first support seat, a second support seat and a first support rod, wherein a top end of the first support rod is movably connected to the first support seat, and a bottom end of the first support rod is movably connected to the second support seat;

[0007] A second motion unit, wherein the second motion unit comprises a third support seat, a fourth support seat and a second support rod, wherein the top end of the second support rod is movably connected to the third support seat, and the bottom end of the second support rod is movably connected to the fourth support seat, and the first support rod and the second support rod are both inclined, and the inclination directions of the first support rod and the second support rod are opposite;

[0008] A driving assembly, wherein the driving assembly can drive relative movement among the first supporting seat, the second supporting seat, the third supporting seat and the fourth supporting seat.

[0009] In certain embodiments of the present application, a first flexible support member is connected between the first support seat and the second support seat, and a plurality of first support rods are arranged at intervals along the periphery of the first flexible support member; a second flexible support member is connected between the third support seat and the fourth support seat, and a plurality of second support rods are arranged at intervals along the periphery of the second flexible support member.

[0010] In certain embodiments of the present application, the first flexible support member and the second flexible support member are both made of silicone material, a first inner cavity is provided in the first flexible support member, a second inner cavity is provided in the second flexible support member, and gas is provided in both the first inner cavity and the second inner cavity.

[0011] In certain embodiments of the present application, the first support seat and the second support seat are both annular structures, the first flexible support member is provided with a first edge on the top, and the first flexible support member is provided with a second edge on the bottom, the first edge is connected to the inner circumference of the first support seat by a thread, and the second edge is connected to the inner circumference of the second support seat by a thread.

[0012] In certain embodiments of the present application, a first ball head seat is provided on the first support seat and the second support seat, a first ball head that cooperates with the first ball head seat is provided at the end of the first support rod, a second ball head seat is provided on the third support seat and the fourth support seat, and a second ball head that cooperates with the second ball head seat is provided at the end of the second support rod.

[0013] In certain embodiments of the present application, the driving assembly is disposed at the bottom of the fourth support seat, and the driving assembly includes a rope, which passes through the fourth support seat, the third support seat and the second support seat in sequence and then is connected to the first support seat.

[0014] In certain embodiments of the present application, the drive assembly is provided in multiple groups, the first support seat is provided with a first through hole for passing the rope, and the plurality of first through holes are arranged at intervals along the outer circumference of the first support seat.

[0015] In certain embodiments of the present application, the driving assembly includes a turntable and a servo motor, the end of the rope is wound around the turntable, and the output shaft of the servo motor is connected to the turntable.

[0016] In certain embodiments of the present application, a base plate is provided below the second motion unit, and the servo motor is mounted on the base plate.

[0017] In certain embodiments of the present application, a fixing frame is provided on the bottom plate, and the fixing frame is provided between the servo motor and the fourth supporting seat.

[0018] One of the above technical solutions has at least one of the following advantages or beneficial effects: the soft robot realizes function expansion through the combination of the first motion unit and the second motion unit. Since the first support rod and the second support rod are provided and the inclination directions of the first support rod and the second support rod are opposite, when the driving component causes the first motion unit and the second motion unit to perform compression motion as a whole, the torsional motions of the two cancel each other out, thereby realizing the compression motion of the entire soft robot; when the driving component causes the motion unit and the second motion unit to perform compression motion only on the same side at the same time, the heights of other parts of the first motion unit and the second motion unit remain unchanged, and the soft robot generates bending motion; the driving component can also evacuate the first flexible support member, while causing the second flexible support member to be in a normal pressure state, and then change the state of the first flexible support member and the second flexible support member, at which time the soft robot realizes torsional motion without height change, so the soft robot can realize three basic motion forms of compression, bending and torsion, and realize multiple motion modes in a specific space through the modular design characteristics of the first motion unit and the second motion unit, which not only significantly reduces the manufacturing and maintenance costs of the robot system, but also improves the adaptability and versatility of the robot system, enabling it to better cope with the ever-changing working environment and task requirements.

[0019] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0021] Figure 1 It is one of the three-dimensional diagrams of an embodiment of the present application;

[0022] Figure 2 is a perspective view of an embodiment of a drive assembly in the present application;

[0023] Figure 3 is an exploded view of an embodiment of a drive assembly in the present application;

[0024] Figure 4 is an exploded view of an embodiment of the first motion unit in the present application;

[0025] Figure 5 is an exploded view of an embodiment of the second motion unit in the present application;

[0026] Figure 6 This is the second stereogram of an embodiment of the present application;

[0027] Figure 7This is the third stereogram of an embodiment of the present application. DETAILED DESCRIPTION

[0028] This section will describe in detail the specific embodiments of the present application. The preferred embodiments of the present application are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part of the specification with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present application, but it cannot be understood as a limitation on the scope of protection of the present application.

[0029] In the present application, if directions (up, down, left, right, front and back) are described, it is only for the convenience of describing the technical solution of the present application, and does not indicate or imply that the technical features referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, it cannot be understood as a limitation on the present application.

[0030] In this application, "several" means one or more, "multiple" means more than two, "greater than", "less than", "exceed" and the like are understood to exclude the number itself; "above", "below", "within" and the like are understood to include the number itself. In the description of this application, if there is a description of "first" or "second", it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0031] In this application, unless otherwise clearly defined, the words "set", "install", "connect" and the like should be understood in a broad sense, for example, they can be directly connected or indirectly connected through an intermediate medium; they can be fixedly connected, detachably connected, or integrally formed; they can be mechanically connected, electrically connected, or able to communicate with each other; they can be the internal connection of two elements or the interaction relationship between two elements. Those skilled in the art can reasonably determine the specific meanings of the above words in this application in combination with the specific content of the technical solution.

[0032] in, Figure 1 , Figure 6 and Figure 7 The reference direction coordinate system of the embodiment of the present application is given. Figure 1 , Figure 6 and Figure 7 The embodiment of the present application is described with reference to the direction shown.

[0033] The embodiment of the present application provides a soft robot, see Figures 1 to 7, including a first moving unit 100, a second moving unit 200 and a driving assembly 300, the first moving unit 100 includes a first support seat 110, a second support seat 120 and a first support rod 130, the top end of the first support rod 130 is movably connected to the first support seat 110, and the bottom end of the first support rod 130 is movably connected to the second support seat 120; the second moving unit 200 includes a third support seat 210, a fourth support seat 220 and a second support rod 230, the top end of the second support rod 230 is movably connected to the third support seat 210, and the bottom end of the second support rod 230 is movably connected to the fourth support seat 220, the first support rod 130 and the second support rod 230 are both inclined, and the inclination directions of the first support rod 130 and the second support rod 230 are opposite; the driving assembly 300 can drive the first support seat 110, the second support seat 120, the third support seat 210 and the fourth support seat 220 to move relative to each other.

[0034] The soft robot realizes the expansion of functions through the combination of the first motion unit 100 and the second motion unit 200. Since the first support rod 130 and the second support rod 230 are provided and the first support rod 130 and the second support rod 230 are inclined in opposite directions, when the driving component 300 causes the first motion unit 100 and the second motion unit 200 to perform a compression motion as a whole, the torsional motions of the two cancel each other out, thereby realizing the compression motion of the entire soft robot ( Figure 1 Change Figure 6 ); When the driving component 300 causes the motion unit 100 and the second motion unit 200 to perform compression motion only on the same side at the same time, the heights of other parts of the first motion unit 100 and the second motion unit 200 remain unchanged, and the soft robot generates bending motion ( Figure 1 Change Figure 7 ); the driving component 300 can also evacuate the first flexible support member 140, and at the same time make the second flexible support member 240 in a normal pressure state, and then change the state of the first flexible support member 140 and the second flexible support member 240. At this time, the soft robot realizes torsional movement without height change, so the soft robot can realize three basic forms of movement: compression, bending and torsion, and realize multiple movement modes in a specific space. It can be understood that the soft robot can also realize dynamic adjustment of the soft robot's task capability through the rapid disassembly and replacement of the first motion unit 100 and the second motion unit 200. Through the modular design characteristics of the first motion unit 100 and the second motion unit 200, not only the manufacturing and maintenance costs of the robot system are significantly reduced, but also the adaptability and versatility of the robot system are improved, so that it can better cope with the ever-changing working environment and task requirements.

[0035] In some embodiments, the first support rod 130 and the second support rod 230 are both rigid support rods, which can be made of metals with high strength and durability, such as steel, aluminum, etc., or can be made of carbon fiber with light weight and high strength, or glass fiber with good strength and corrosion resistance.

[0036] In some embodiments, a first flexible support member 140 is connected between the first support seat 110 and the second support seat 120, and a plurality of first support rods 130 are arranged at intervals along the periphery of the first flexible support member 140; a second flexible support member 240 is connected between the third support seat 210 and the fourth support seat 220, and a plurality of second support rods 230 are arranged at intervals along the periphery of the second flexible support member 240.

[0037] In some embodiments, the first flexible support member 140 and the second flexible support member 240 are both made of silicone material, a first inner cavity is provided in the first flexible support member 140, a second inner cavity is provided in the second flexible support member 240, gas is provided in the first inner cavity and the second inner cavity, the first flexible support member 140 and the second flexible support member 240 can generate left-handed torsional compression and right-handed torsional compression movements. It can be understood that the torsional direction of the first flexible support member 140 is the same as the movement direction of the first support rod 130, and the torsional direction of the second flexible support member 240 is the same as the movement direction of the second support rod 230.

[0038] The soft robot is an organic combination of a rigid tension structure (a first support rod 130 and a second support rod 230) and a flexible silicone structure, combining the rigidity advantages of the tension structure with the deformability of silicone. This enables the soft robot to have flexible movement capabilities while maintaining structural stability. This coupling design not only improves the robot's movement performance, but also expands its application scenarios.

[0039] In some embodiments, the first support seat 110 and the second support seat 120 are both annular structures, a first edge 141 is provided at the top of the first flexible support member 140, and a second edge 142 is provided at the bottom of the first flexible support member 140, the first edge 141 is connected to the inner periphery of the first support seat 110 by a thread, and the second edge 142 is connected to the inner periphery of the second support seat 120 by a thread.

[0040] It can be understood that a third edge 241 is provided at the top of the second flexible support member 240, and a fourth edge 242 is provided at the bottom of the second flexible support member 240. The third edge 241 is connected to the inner circumference of the third support seat 210 by a thread, and the fourth edge 242 is connected to the inner circumference of the fourth support seat 220 by a thread.

[0041] In some embodiments, a first ball head seat 150 is provided on the first support seat 110 and the second support seat 120, a first ball head 131 that cooperates with the first ball head seat 150 is provided at the end of the first support rod 130, a second ball head seat 250 is provided on the third support seat 210 and the fourth support seat 220, and a second ball head 231 that cooperates with the second ball head seat 250 is provided at the end of the second support rod 230.

[0042] In some embodiments, the driving assembly 300 is disposed at the bottom of the fourth support seat 220, and the driving assembly 300 includes a rope 310, which passes through the fourth support seat 220, the third support seat 210 and the second support seat 120 in sequence and then connects to the first support seat 110.

[0043] In some embodiments, the drive assembly 300 is provided with multiple groups, and the first support seat 110 is provided with a first through hole 111 for passing the rope 310, and the multiple first through holes 111 are arranged at intervals along the outer periphery of the first support seat 110. It can be understood that the second support seat 120 is provided with a second through hole 121 for passing the rope 310, the third support seat 210 is provided with a third through hole 211 for passing the rope 310, and the fourth support seat 220 is provided with a fourth through hole 221 for passing the rope 310.

[0044] In some embodiments, the driving assembly 300 includes a turntable 320 and a servo motor 330. The end of the rope 310 is wound around the turntable 320, and the output shaft of the servo motor 330 is connected to the turntable 320. Specifically, both ends of the rope 310 are fixed on the turntable 320. The servo motor 330 drives and controls the rope 310 to contract. When one of the servo motors 330 contracts the length of the corresponding rope 310, the length of the remaining ropes 310 does not change, which causes the soft robot to produce bending movement.

[0045] Specifically, the first motion unit 100 is right-handed, and the second motion unit 200 is left-handed. The first flexible support member 140 and the second flexible support member 240 are evacuated, and the first motion unit 100 and the second motion unit 200 respectively generate left-handed torsional compression and right-handed torsional compression motions. Due to the opposite chirality, the torsional motions between the first motion unit 100 and the second motion unit 200 are offset, that is, the soft robot realizes compression motion. ( Figure 1 become Figure 6 ); When the servo motor 330 causes the motion unit 100 and the second motion unit 200 to drive only one rope 310 to perform a compression motion, while the heights of the other ropes 310 do not change, the soft robot generates a bending motion ( Figure 1 become Figure 7); the first flexible support member 140 may also be evacuated, at which time the first motion unit 100 is compressed, and at the same time the second flexible support member 240 is in a normal pressure state, and then the states of the first flexible support member 140 and the second flexible support member 240 are changed, and the soft robot realizes a torsional movement without a height change, and at this time the length of the rope 310 does not change.

[0046] In some embodiments, a base plate 400 is disposed below the second motion unit 200 , and the servo motor 330 is mounted on the base plate 400 to enhance the stability of the overall structure of the soft robot.

[0047] In some embodiments, a fixing frame 410 is provided on the base plate 400, and the fixing frame 410 is arranged between the servo motor 330 and the fourth support seat 220. In other words, under the joint action of the fixing frame 410 and the base plate 400, the servo motor 330 is fixed, and the connection and assembly of the driving component 300 and the rigid-flexible coupling module (i.e., the first motion unit 100 and the second motion unit 200) are realized through the fixing frame 410.

[0048] A connecting frame 500 is provided between the first motion unit 100 and the second motion unit 200 . In other words, a connecting frame 500 is provided between the second support seat 120 and the third support seat 210 to ensure the overall stability of the soft robot.

[0049] In the description of this specification, the description with reference to the terms "example", "embodiment" or "some embodiments" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0050] Of course, the invention is not limited to the above-mentioned embodiments, and those skilled in the art may make equivalent modifications or substitutions without violating the spirit of the present application, and these equivalent modifications or substitutions are all included in the scope defined by the claims of the present application.

Claims

1. A soft robot, characterized in that: include The first moving unit comprises a first support seat, a second support seat and a first support rod, the top end of the first support rod is movably connected to the first support seat, the bottom end of the first support rod is movably connected to the second support seat, a first flexible support member is connected between the first support seat and the second support seat, a plurality of the first support rods are arranged at intervals along the outer periphery of the first flexible support member, the first support seat and the second support seat are both annular structures, the top of the first flexible support member is provided with a first edge, the bottom of the first flexible support member is provided with a second edge, the first edge is connected to the inner periphery of the first support seat by a thread, the second edge is connected to the inner periphery of the second support seat by a thread, the first support seat and the second support seat are both provided with a first ball head seat, and the end of the first support rod is provided with a first ball head that cooperates with the first ball head seat; The second moving unit, the second moving unit includes a third support seat, a fourth support seat and a second support rod, the top end of the second support rod is movably connected to the third support seat, and the bottom end of the second support rod is movably connected to the fourth support seat, the first support rod and the second support rod are both inclined, and the inclination directions of the first support rod and the second support rod are opposite. A second flexible support member is connected between the third support seat and the fourth support seat, and a plurality of second support rods are arranged at intervals along the outer periphery of the second flexible support member. The first flexible support member and the second flexible support member are both made of silicone material, a first inner cavity is provided in the first flexible support member, and a second inner cavity is provided in the second flexible support member, and gas is provided in the first inner cavity and the second inner cavity, and a second ball head seat is provided on the third support seat and the fourth support seat, and a second ball head is provided at the end of the second support rod to cooperate with the second ball head seat; A driving assembly, which can drive relative movement among the first support seat, the second support seat, the third support seat and the fourth support seat, and the driving assembly is arranged at the bottom of the fourth support seat. The driving assembly includes a rope, and the rope passes through the fourth support seat, the third support seat and the second support seat in sequence and then is connected to the first support seat.

2. The soft robot according to claim 1, characterized in that: The driving assembly is provided with a plurality of groups, the first supporting seat is provided with a first through hole for passing the rope, and the plurality of the first through holes are arranged at intervals along the outer circumference of the first supporting seat.

3. The soft robot according to claim 2, characterized in that: The driving assembly comprises a turntable and a servo motor, the end of the rope is wound around the turntable, and the output shaft of the servo motor is connected to the turntable.

4. The soft robot according to claim 3, characterized in that: A bottom plate is provided below the second motion unit, and the servo motor is mounted on the bottom plate.

5. The soft robot according to claim 4, characterized in that: A fixing frame is provided on the bottom plate, and the fixing frame is arranged between the servo motor and the fourth supporting seat.

Images