Motion mode switchable software driver

Abstract

The application provides a soft body driver with switchable motion modes, and relates to the technical field of soft body robots, which comprises a first elastic limiting layer, a second elastic limiting layer, a plurality of folded air bags, a plurality of first rigid limiting layers, a plurality of second rigid limiting layers and a plurality of transverse connecting joints; a plurality of first grooves are arranged on the first elastic limiting layer at equal intervals, and a plurality of second grooves are arranged on the second elastic limiting layer at equal intervals; the number of the first grooves, the second grooves, the folded air bags, the transverse connecting joints, the first rigid limiting layers and the second rigid limiting layers is equal; the first end of the transverse connecting joint is fixed with the first end of the first rigid limiting layer, and the second end of the first rigid limiting layer is sleeved on the first groove; the second end of the transverse connecting joint is fixed with the first end of the second rigid limiting layer, and the second end of the second rigid limiting layer is sleeved on the second groove. The application can quickly respond to and adapt to different operation requirements and environmental conditions.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of soft robot, in particular to a soft driver with switchable motion mode. BACKGROUND

[0002] In the field of soft robots, the driver as a core component directly affects the motion ability and application range of the robot. Currently, most of the soft drivers on the market adopt a single motion mode, which can achieve bending motion and adaptive grasping. However, due to the single motion mode, it can only achieve single-direction bending and cannot adapt to the grasping of targets of various sizes, limiting the adaptability and multifunctionality of soft robots in complex environments.

[0003] Traditional soft drivers are mostly made of single soft material, such as silicone structures driven by gas or hydraulic pressure. Although they have good flexibility and deformability, they are difficult to achieve diversified motion modes. In addition, some soft drivers attempt to achieve multi-mode motion through complex control strategies, but they are often limited by the complexity and cost of hardware design.

[0004] In order to improve the adaptability and functionality of soft drivers, researchers have begun to explore driver designs with multiple motion modes. However, existing multi-mode soft drivers often have problems such as insufficient flexibility in switching, slow response speed, or overly complex control algorithms, making it difficult to meet the needs of actual applications. SUMMARY

[0005] The purpose of the present application is to provide a soft driver with switchable motion mode, which can quickly respond and adapt to different operation requirements and environmental conditions.

[0006] A soft driver with switchable motion mode, comprising: a first elastic limiting layer, a second elastic limiting layer, a plurality of folded airbags, a plurality of first rigid limiting layers, a plurality of second rigid limiting layers, and a plurality of transverse connection joints.

[0007] A plurality of first grooves are arranged at equal intervals on the first elastic limiting layer, and a plurality of second grooves are arranged at equal intervals on the second elastic limiting layer.

[0008] The number of first grooves, second grooves, folded airbags, transverse connection joints, first rigid limiting layers, and second rigid limiting layers is equal.

[0009] The first elastic limiting layer and the second elastic limiting layer are parallel.

[0010] The first end of the transverse connection joint is fixed with the first end of the first rigid limiting layer, and the second end of the first rigid limiting layer is sleeved on the first groove.

[0011] The second end of the transverse connecting joint is fixed with the first end of the second rigid limiting layer, and the second end of the second rigid limiting layer is sleeved on the second groove;

[0012] The transverse joint is provided with a mounting groove, and the folding air bag is arranged in the mounting groove;

[0013] The soft driver realizes bending mode driving and spiral mode driving based on the transverse connecting joint, the first rigid limiting layer and the second rigid limiting layer of each folding air bag.

[0014] Optionally, the first rigid limiting layer comprises a first clamping type connecting piece and a first hinge;

[0015] The first end of the transverse connecting joint is connected with the first end of the first clamping type connecting piece through the first hinge, and the second end of the first clamping type connecting piece is sleeved on the first groove.

[0016] Optionally, the second rigid limiting layer comprises a second clamping type connecting piece and a second hinge;

[0017] The second end of the transverse connecting joint is connected with the first end of the second clamping type connecting piece through the second hinge, and the second end of the second clamping type connecting piece is sleeved on the second groove.

[0018] Optionally, the material of the first elastic limiting layer and the second elastic limiting layer is a 30-degree hardness silica gel.

[0019] Optionally, the material of the folding air bag is thermoplastic polyurethane.

[0020] Optionally, the angle between the first clamping type connecting piece and the transverse connecting joint is adjusted based on the first hinge, and the angle between the second clamping type connecting piece and the transverse connecting joint is adjusted based on the second hinge.

[0021] The angle between the first clamping type connecting piece and the transverse connecting joint is equal to the angle between the second clamping type connecting piece and the transverse connecting joint.

[0022] When the first clamping type connecting piece and the transverse connecting joint are parallel and the second clamping type connecting piece and the transverse connecting joint are parallel, each folding air bag is inflated with gas and realizes bending through elastic deformation, thereby realizing bending mode driving of the soft driver.

[0023] When the first clamping type connecting piece and the transverse connecting joint are not parallel and the second clamping type connecting piece and the transverse connecting joint are not parallel, each folding air bag is inflated to achieve spiral bending through elastic deformation, thereby achieving spiral mode driving of the soft actuator.

[0024] The effects of the present application are as follows:

[0025] The motion mode switchable soft actuator of the present application can achieve both bending mode driving and spiral mode driving by changing the angle between the first rigid restriction layer and the transverse connecting joint and changing the angle between the second rigid restriction layer and the transverse connecting joint, in combination with the folding air bag. It can be switched according to application requirements to adapt to different working environments and operating conditions. It has high adaptability and high flexibility, and can be widely used in robots, automation equipment and bionic machines, etc. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 is the overall structure schematic diagram of the motion mode switchable soft actuator of the present application when the first clamping type connecting piece and the transverse connecting joint are parallel and the second clamping type connecting piece and the transverse connecting joint are parallel;

[0027] Figure 2 is the overall structure schematic diagram of the motion mode switchable soft actuator of the present application when the first clamping type connecting piece and the transverse connecting joint are not parallel and the second clamping type connecting piece and the transverse connecting joint are not parallel;

[0028] Figure 3 is the top view of the first clamping type connecting piece, the second clamping type connecting piece and the transverse connecting joint of the present application;

[0029] Figure 4 is the front view of the first clamping type connecting piece, the second clamping type connecting piece and the transverse connecting joint of the present application;

[0030] Figure 5 is the schematic diagram of the first elastic restriction layer of the present application;

[0031] Figure 6 is the schematic diagram of the motion mode switchable soft actuator of the present application under bending mode driving;

[0032] Figure 7 is the schematic diagram of the motion mode switchable soft actuator of the present application under spiral mode driving.

[0033] Figure: 1, the first elastic limiting layer; 2, the second elastic limiting layer; 3, the folding air bag; 4, the first rigid limiting layer; 5, the second rigid limiting layer; 6, the transverse connecting joint; 7, the first groove; 8, the first clasp type connecting piece; 9, the first hinge; 10, the second clasp type connecting piece; 11, the second hinge; 12, the mounting groove. DETAILED DESCRIPTION

[0034] Hereinafter, the embodiments of the present application will be described with reference to the accompanying drawings.

[0035] Figure 1 is the overall structure schematic diagram of the soft actuator with switchable motion mode when the first clasp type connecting piece and the transverse connecting joint are parallel and the second clasp type connecting piece and the transverse connecting joint are parallel. Figure 2 is the overall structure schematic diagram of the soft actuator with switchable motion mode when the first clasp type connecting piece and the transverse connecting joint are not parallel and the second clasp type connecting piece and the transverse connecting joint are not parallel. Figure 1 and Figure 2 As shown in the drawings, the present application provides a soft actuator with switchable motion mode, which comprises: a first elastic limiting layer 1, a second elastic limiting layer 2, a plurality of folding air bags 3, a plurality of first rigid limiting layers 4, a plurality of second rigid limiting layers 5 and a plurality of transverse connecting joints 6.

[0036] A plurality of first grooves 7 are arranged at equal intervals on the first elastic limiting layer 1, as shown in Figure 5 A plurality of second grooves are arranged at equal intervals on the second elastic limiting layer 2. Preferably, the material of the first elastic limiting layer 1 and the second elastic limiting layer 2 is silicone with a hardness of 30 degrees. The silicone material not only provides excellent flexibility, but also ensures the elastic recovery ability under different motion states, ensuring that the soft actuator can still maintain its initial shape and size after repeated motion. The first elastic limiting layer 1 and the second elastic limiting layer 2 serve as structural members in the length direction of the soft actuator, providing the basic shape and size of the soft actuator, while ensuring the flexibility and compliance of the soft actuator.

[0037] The number of the first grooves 7, the second grooves, the folding air bags 3, the transverse connecting joints 6, the first rigid limiting layers 4 and the second rigid limiting layers 5 is equal.

[0038] The first elastic limiting layer 1 and the second elastic limiting layer 2 are parallel.

[0039] The first end of the transverse connecting joint 6 is fixed with the first end of the first rigid limiting layer 4, and the second end of the first rigid limiting layer 4 is sleeved on the first groove 7.

[0040] The second end of the transverse connecting joint 6 is fixed with the first end of the second rigid limiting layer 5, and the second end of the second rigid limiting layer 5 is sleeved on the second groove.

[0041] The transverse joint is provided with a mounting groove 12, and the folding air bag 3 is arranged in the mounting groove 12. Preferably, the material of the folding air bag 3 is thermoplastic polyurethane. The folding air bag 3 is a structure for realizing bending, and after being filled with gas, the overall bending is realized by the elastic deformation of the material, so as to realize the bending mode driving and the spiral mode driving of the soft actuator. The folding air bag 3 not only realizes the bending mode driving and the spiral mode driving of the soft actuator, but also ensures the stability and controllability of the soft actuator at different bending angles, so that the soft actuator can effectively move in a narrow or complex space.

[0042] The soft actuator realizes the bending mode driving and the spiral mode driving based on each transverse connecting joint 6, each first rigid limiting layer 4 and each second rigid limiting layer 5 of each folding air bag 3.

[0043] Specifically, as shown in Figure 3 and Figure 4 , the first rigid limiting layer 4 includes a first clamping type connecting piece 8 and a first hinge 9.

[0044] The first end of the transverse connecting joint 6 is connected with the first end of the first clamping type connecting piece 8 through the first hinge 9, and the second end of the first clamping type connecting piece 8 is sleeved on the first groove 7.

[0045] The second rigid limiting layer 5 includes a second clamping type connecting piece 10 and a second hinge 11.

[0046] The second end of the transverse connecting joint 6 is connected with the first end of the second clamping type connecting piece 10 through the second hinge 11, and the second end of the second clamping type connecting piece 10 is sleeved on the second groove.

[0047] The first clamping type connecting piece 8 and the second clamping type connecting piece 10 are two-side symmetrical structures, the wall thickness is 1mm, and they are manufactured by 3D printing technology, so as to ensure that they have good flexibility while maintaining sufficient strength.

[0048] The angle between the first clamping type connecting piece 8 and the transverse connecting joint 6 is adjusted based on the first hinge 9, and the angle between the second clamping type connecting piece 10 and the transverse connecting joint 6 is adjusted based on the second hinge 11.

[0049] The angle between the first clamping type connecting piece 8 and the transverse connecting joint 6 is equal to the angle between the second clamping type connecting piece 10 and the transverse connecting joint 6.

[0050] As shown in Figure 6As shown, when the first clamp-type connector 8 and the transverse connecting joint 6 are parallel, and the second clamp-type connector 10 and the transverse connecting joint 6 are also parallel, each foldable airbag 3 is inflated with gas and then bends through elastic deformation, thus achieving bending mode actuation of the soft actuator. Bending mode actuation is suitable for grasping objects with relatively regular shapes and moderate sizes, such as cylindrical, spherical, or rectangular objects. Under bending mode actuation, the soft actuator can closely conform to the object surface, achieving stable grasping.

[0051] like Figure 7 As shown, when the first clamp-type connector 8 and the transverse connecting joint 6 are not parallel, and the second clamp-type connector 10 and the transverse connecting joint 6 are also not parallel, each foldable airbag 3 is inflated with gas, and through elastic deformation, it achieves helical bending, thereby realizing the helical mode drive of the soft actuator. In helical mode drive, the soft actuator presents a helical shape, similar to a coiled spring. Helical mode drive is suitable for grasping objects that are longer or irregularly shaped, such as long tools, tubular objects, or wires. The helical shape can provide a larger contact area and adaptability, allowing the soft actuator to achieve effective grasping on uneven surfaces.

[0052] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A soft actuator switchable between modes of motion, characterized by It includes: A first elastic limiting layer, a second elastic limiting layer, a plurality of folding air bags, a plurality of first rigid limiting layers, a plurality of second rigid limiting layers, and a plurality of transverse connecting joints; A plurality of first grooves are arranged on the first elastic limiting layer at equal intervals, and a plurality of second grooves are arranged on the second elastic limiting layer at equal intervals; The number of the first grooves, the second grooves, the folding air bags, the transverse connecting joints, the first rigid limiting layers, and the second rigid limiting layers are equal; The first elastic limiting layer and the second elastic limiting layer are parallel; The first end of the transverse connecting joint is fixed with the first end of the first rigid limiting layer, and the second end of the first rigid limiting layer is sleeved on the first groove; The second end of the transverse connecting joint is fixed with the first end of the second rigid limiting layer, and the second end of the second rigid limiting layer is sleeved on the second groove; An installation groove is arranged on the transverse connecting joint, and the folding air bag is arranged in the installation groove; The soft driver realizes bending mode driving and spiral mode driving based on each of the folding air bags, each of the transverse connecting joints, each of the first rigid limiting layers, and each of the second rigid limiting layers.

2. The soft actuator according to claim 1, wherein The first rigid limiting layer includes a first clamp type connecting piece and a first hinge; The first end of the transverse connecting joint is connected with the first end of the first clamp type connecting piece through the first hinge, and the second end of the first clamp type connecting piece is sleeved on the first groove.

3. The soft actuator according to claim 2, wherein The second rigid limiting layer includes a second clamp type connecting piece and a second hinge; The second end of the transverse connecting joint is connected with the first end of the second clamp type connecting piece through the second hinge, and the second end of the second clamp type connecting piece is sleeved on the second groove.

4. The soft actuator according to claim 1, wherein The material of the first elastic limiting layer and the second elastic limiting layer is silica gel with a hardness of 30 degrees.

5. The soft actuator according to claim 1, wherein The material of the folding air bag is thermoplastic polyurethane.

6. The soft actuator of claim 3, wherein, The angle between the first clamp type connecting piece and the transverse connecting joint is adjusted based on the first hinge; The angle between the second clamp type connecting piece and the transverse connecting joint is adjusted based on the second hinge; The angle between the first clamp type connecting piece and the transverse connecting joint is equal to the angle between the second clamp type connecting piece and the transverse connecting joint; When the first clamp type connecting piece and the transverse connecting joint are parallel and the second clamp type connecting piece and the transverse connecting joint are parallel, each of the folding air bags is inflated and realizes bending through elastic deformation, thereby realizing bending mode driving of the soft driver; When the first clamp type connecting piece and the transverse connecting joint are not parallel and the second clamp type connecting piece and the transverse connecting joint are not parallel, each of the folding air bags is inflated and realizes spiral bending through elastic deformation, thereby realizing spiral mode driving of the soft driver.

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