Edge-face composite variable stiffness multi-body reconfigurable soft robot and control method thereof

Abstract

The application discloses a kind of edge face composite variable stiffness multi-body reconfiguration soft robot and its control method, comprising: multiple composite variable stiffness soft robots or multiple sponge driving modules;Composite variable stiffness soft robot includes: multiple sponge driving modules, multiple edge variable stiffness modules and multiple face variable stiffness modules;Each composite variable stiffness soft robot is arranged in the corresponding arrangement form according to preset reconfiguration mode, and face variable stiffness module or sponge driving module is connected to form multi-body reconfiguration soft robot.This application discloses multi-body reconfiguration soft robot, which is reconfigured into multiple different modes of soft robot by modularization of composite variable stiffness soft robot, and through the cooperative control of each module, accurate control and stiffness adjustment on multiple degrees of freedom are realized, so that the reconfigured software robot can adapt to different complex application scenarios based on large range of stiffness change, with high flexibility and adaptability.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of soft robot, and particularly relates to a side-surface composite variable stiffness multi-body reconfigurable soft robot and a control method thereof. BACKGROUND

[0002] The conventional modular soft robot has high coupling degree between modules due to the modular design, which affects the expandability of the soft robot, and the modular design may cause complex communication mode, which not only affects the maintainability of the whole robot system, but also increases the control difficulty of multiple degrees of freedom, so that the shape reconfiguration and behavior adjustment in a complex scene are difficult to realize, and the flexibility and adaptability in practical application are limited.

[0003] Therefore, the prior art needs further improvement. SUMMARY

[0004] In view of the deficiencies in the above related art, the purpose of the present application is to provide a side-surface composite variable stiffness multi-body reconfigurable soft robot and a control method thereof, which overcome the defects that the flexibility and stability of the soft robot in the prior art cannot meet the requirements in a complex scene.

[0005] The technical solutions adopted by the present application to solve the technical problems are as follows:

[0006] In a first aspect, the present application discloses a side-surface composite variable stiffness multi-body reconfigurable soft robot, wherein the multi-body reconfigurable soft robot comprises: a plurality of composite variable stiffness soft robots, or the multi-body reconfigurable soft robot comprises: a plurality of composite variable stiffness soft robots and a plurality of sponge driving modules.

[0007] The composite variable stiffness soft robot comprises: at least one sponge driving module, a side variable stiffness module and a surface variable stiffness module;

[0008] The sponge driving module is a polyhedral structure, the side variable stiffness module is arranged on the edge of the sponge driving module, and the surface variable stiffness module is attached to the surface of the sponge driving module.

[0009] The side variable stiffness module is controlled to stretch and contract to drive the sponge driving module to deform the corresponding edge;

[0010] The side variable stiffness module and / or the surface variable stiffness module are controlled to expand or contract to change the stiffness to conform to or prevent the corresponding edge and the corresponding surface of the sponge driving module from deforming;

[0011] Each composite variable stiffness soft robot is arranged in a preset reconfiguration mode to form a multi-body reconfigurable soft robot with the surface variable stiffness module as a connecting piece.

[0012] Alternatively, each composite variable stiffness soft robot is arranged in a preset reconfiguration mode corresponding arrangement form, and the surface variable stiffness module and the sponge driving module are connected to form a multi-body reconfiguration soft robot.

[0013] Optionally, the preset reconfiguration mode includes: foot shape reconfiguration mode, arm shape reconfiguration mode, claw shape reconfiguration mode and foot-arm composite shape reconfiguration mode; the foot shape reconfiguration mode corresponds to the foot shape arrangement form, the arm shape reconfiguration mode corresponds to the arm shape arrangement form, the claw shape reconfiguration mode corresponds to the claw shape arrangement form, and the foot-arm composite shape reconfiguration mode corresponds to the composite shape arrangement form of the foot and the arm.

[0014] Optionally, the number of composite variable stiffness soft robots contained in the multi-body reconfiguration soft robot corresponding to the foot shape reconfiguration mode is at least 4, and the number of sponge driving modules contained is at least 2; wherein the first composite variable stiffness soft robot and the second composite variable stiffness soft robot are respectively used as the front support part and the rear support part, the first sponge driving module is arranged on the upper surface of the first composite variable stiffness soft robot, the second sponge driving module is arranged on the second composite variable stiffness soft robot, the first sponge driving module is used as a connecting part, the third composite variable stiffness soft robot is connected to one side of the first sponge driving module, the second sponge driving module is used as a connecting part, the fourth composite variable stiffness soft robot is connected to one side of the second sponge driving module, and the opposite surface of the connection surface of the third composite variable stiffness soft robot and the first sponge driving module and the opposite surface of the connection surface of the fourth composite variable stiffness soft robot and the second sponge driving module are connected to form the multi-body reconfiguration soft robot corresponding to the foot shape reconfiguration mode.

[0015] Optionally, the multi-body reconfiguration soft robot corresponding to the arm shape reconfiguration mode contains a plurality of composite variable stiffness soft robots; wherein the surface variable stiffness module on the lower surface of the composite variable stiffness soft robot in the upper layer and the surface variable stiffness module on the upper surface of the composite variable stiffness soft robot in the lower layer are connected to form the multi-body reconfiguration soft robot corresponding to the arm shape reconfiguration mode, in which each composite variable stiffness soft robot is arranged in turn from top to bottom.

[0016] Optionally, the multi-body reconfiguration soft robot corresponding to the claw shape reconfiguration mode contains a plurality of composite variable stiffness soft robots; each composite variable stiffness soft robot is connected to the edge variable stiffness module on the adjacent edge to form the multi-body reconfiguration soft robot corresponding to the claw shape reconfiguration mode.

[0017] Optionally, the foot-arm compound reconfiguration mode corresponds to a multi-body reconfiguration soft robot comprising two groups of foot reconfiguration mode corresponding multi-body reconfiguration soft robots connected by the sponge driving module and a group of arm reconfiguration mode corresponding multi-body reconfiguration soft robots, and the arm reconfiguration mode corresponding multi-body reconfiguration soft robot is arranged above the foot reconfiguration mode corresponding multi-body reconfiguration soft robot.

[0018] Optionally, the sponge driving module comprises a first air bag filled with flexible material, and the first air bag is connected to a first gas pipeline to drive the sponge driving module to expand or shrink by inflating or deflating the first air bag through the first gas pipeline.

[0019] Optionally, the bellows structure and a second gas pipeline connected to the bellows structure are provided, and the bellows structure is driven to axially extend or contract by inflating or deflating the bellows structure through the second gas pipeline, so as to drive the corresponding edge of the sponge driving module to deform; wherein the bellows structure is used to prevent the edge stiffness module from expanding radially and to realize the axial extension and contraction of the edge stiffness module.

[0020] Optionally, the surface stiffness module comprises a second air bag filled with sandpaper and honeycomb sandwich board inside, and the sandpaper and honeycomb sandwich board are provided with pre-folding marks; the second air bag is connected to a third gas pipeline for inflating or deflating the second air bag to realize the bending stiffness enhancement or reduction of the surface stiffness module, and cooperate with the pre-folding marks to prevent or conform to the corresponding surface pre-deformation of the sponge driving module.

[0021] In a second aspect, the application discloses a control method of a side-surface composite variable stiffness multi-body reconfiguration soft robot, wherein the control method is applied to the side-surface composite variable stiffness multi-body reconfiguration soft robot.

[0022] Obtaining a shape control instruction of the multi-body reconfiguration soft robot;

[0023] According to the shape control instruction, the sponge driving module is controlled to expand or contract, the edge stiffness module and / or the surface stiffness module is controlled to change in stiffness, so that the side-surface composite variable stiffness multi-body reconfiguration soft robot performs deformation corresponding to the shape control instruction.

[0024] Advantages:

[0025] The embodiment discloses a side-face composite variable stiffness multi-body reconfigurable soft robot and a control method thereof. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 FIG. 1 is a structural schematic diagram of a side-face composite variable stiffness multi-body reconfigurable soft robot according to an embodiment of the present application;

[0027] Figure 2 FIG. 2 is a structural schematic diagram of a composite variable stiffness soft robot according to an embodiment of the present application;

[0028] Figure 3 FIG. 3 is a structural schematic diagram of a sponge driving module according to an embodiment of the present application;

[0029] Figure 4 FIG. 4 is an external structural schematic diagram of a side variable stiffness module according to an embodiment of the present application;

[0030] Figure 5a FIG. 5 is a structural schematic diagram of a first columnar inflatable air bag and a second multi-columnar inflatable air bag in a side variable stiffness module according to an embodiment of the present application;

[0031] Figure 5b FIG. 6 is a structural schematic diagram of a first columnar inflatable air bag and a second multi-columnar inflatable air bag in a side variable stiffness module according to an embodiment of the present application;

[0032] Figure 6 FIG. 7a is a three-dimensional structural schematic diagram of the first columnar inflatable air bag, and FIG. 7b is a side structural schematic diagram of the first columnar inflatable air bag according to an embodiment of the present application;

[0033] Figure 7 FIG. 8a is a three-dimensional structural schematic diagram of the second multi-columnar inflatable air bag from one side, and FIG. 8b is a side structural schematic diagram of the second multi-columnar inflatable air bag according to an embodiment of the present application;

[0034] Figure 8is a sectional view of the edge variable stiffness module in the embodiment of the present application;

[0035] Figure 9 is a sectional view of the edge variable stiffness module in the embodiment of the present application;

[0036] Figure 10 is a schematic diagram of the internal structure of the sealing cover in the embodiment of the present application;

[0037] Figure 11 is a schematic diagram of the surface variable stiffness module in the embodiment of the present application;

[0038] Figure 12 is a structural diagram of the robot in multiple deformation states in the embodiment of the present application;

[0039] Figure 13 is a deformation process diagram of the composite variable stiffness soft robot in the face variable stiffness restriction mode to perform a twisting action in the embodiment of the present application;

[0040] Figure 14 is a deformation process diagram of the composite variable stiffness soft robot in the edge variable stiffness structure restriction mode to perform a bending action in the embodiment of the present application;

[0041] Figure 15 is a deformation process diagram of the composite variable stiffness soft robot in the edge contraction structure restriction mode to perform a bending action in the embodiment of the present application;

[0042] Figure 16 is a schematic diagram of the foot-shaped reconfigurable robot in the embodiment of the present application;

[0043] Figure 17 is a schematic diagram of the arm-shaped reconfigurable robot in the embodiment of the present application;

[0044] Figure 18 is a schematic diagram of the claw-shaped reconfigurable robot in the embodiment of the present application;

[0045] Figure 19 is a schematic diagram of the foot-arm composite-shaped reconfigurable robot in the embodiment of the present application;

[0046] Figure 20 is a control method step flow chart of the composite variable stiffness soft robot in the embodiment of the present application;

[0047] Figure 21 is a control method step flow chart of the multi-body reconfigurable soft robot in the embodiment of the present application. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not to limit the present application.

[0049] A soft robot is a new type of soft robot, which has the characteristics of interactive safety, good adaptability and strong flexibility, and is widely used in medical treatment, agriculture, disaster relief and detection and other fields.

[0050] Traditional soft robots are mostly made of single material or structure, and are deformed by means of air pressure, hydraulic pressure or electric drive. However, these methods often lack effective control of local stiffness in the process of controlling the deformation of the robot, resulting in poor stability, operation precision and adaptability in complex environments. In order to improve the operation precision of soft robots in complex environments, researchers have begun to explore soft robots with variable stiffness characteristics. These soft robots introduce variable stiffness components into their structure to adjust the stiffness under different working conditions, thereby improving the flexibility and stability of soft robots.

[0051] Although existing soft robots can adjust the stiffness by inflating and deflating, the adjustment range is limited, and it is difficult to achieve large-scale stiffness changes, especially in scenarios that require rapid response. In addition, the multi-modular design increases the complexity of the control system, making accurate control of multiple degrees of freedom more difficult. For example, the synchronous control of multiple pneumatic drive units requires complex algorithms and control precision, increasing the difficulty of design and implementation. In addition, existing soft robots have difficulty in achieving rapid morphological reconstruction and behavior adjustment when facing complex environments, limiting their flexibility and adaptability in practical applications.

[0052] In order to overcome the defects in the prior art, the present application provides a side-face composite variable stiffness multi-body reconfigurable soft robot and a control method thereof. The soft robot comprises a sponge driving module, a side variable stiffness module and a face variable stiffness module. The structure of the sponge driving module is a polyhedral structure, the side variable stiffness module is arranged on the edge of the sponge driving module, and the face variable stiffness module is attached to the surface of the sponge driving module. On the one hand, the sponge driving module is controlled to expand or contract to provide a deformation driving force; on the other hand, the side variable stiffness module is controlled to expand or contract to drive the corresponding edge of the sponge driving module to deform. The side variable stiffness module and / or the face variable stiffness module are controlled to expand or contract to change the stiffness to conform to or prevent the corresponding edge and the corresponding face of the sponge driving module from deforming. The soft robot disclosed in the embodiment integrates the above-mentioned various types of modules to respectively respond to the deformation of each degree of freedom of the soft robot, thereby achieving fine control of the overall and local stiffness of the soft robot and improving the adaptability and robustness of the soft robot.

[0053] The edge-face composite variable stiffness multi-body reconfigurable soft robot and the control method thereof disclosed in the embodiment are further described below with reference to the drawings.

[0054] The embodiment provides an edge-face composite variable stiffness multi-body reconfigurable soft robot. Figure 1 As shown in the figure, the multi-body reconfigurable soft robot comprises a plurality of composite variable stiffness soft robots 1, or the multi-body reconfigurable soft robot comprises a plurality of composite variable stiffness soft robots 1 and a plurality of sponge driving modules 100.

[0055] The edge-face composite variable stiffness multi-body reconfigurable soft robot disclosed in the embodiment is obtained by modularly combining a plurality of composite variable stiffness soft robots 1, or is obtained by modularly arranging and combining a plurality of composite variable stiffness soft robots and sponge driving modules in a preset arrangement order. Figure 1 As shown in the figure, the foot-shaped reconfigurable soft robot is composed of four composite variable stiffness soft robots and two sponge driving modules.

[0056] As shown in the figures, Figure 2 , Figure 3 , Figure 4 and Figure 8 , the composite variable stiffness soft robot comprises at least one sponge driving module 100, an edge variable stiffness module 200 and a face variable stiffness module 300. The sponge driving module 100 is a polyhedral structure (for example, a cube, a regular octahedron and a regular dodecahedron), the edge variable stiffness module 200 is arranged on the edge of the sponge driving module 100, and the face variable stiffness module 300 is attached to the surface of the sponge driving module 100.

[0057] Air bags are arranged in the edge variable stiffness module and the face variable stiffness module, and the air bags are inflated and deflated to change the controlled stiffness of the edge variable stiffness module and the face variable stiffness module, so as to conform to or prevent the corresponding edge and the corresponding face of the sponge driving module from deforming.

[0058] Each composite variable stiffness soft robot is arranged in a preset arrangement form corresponding to a reconfiguration mode, and the face variable stiffness module is used as a connecting piece to form a multi-body reconfigurable soft robot, or each composite variable stiffness soft robot is arranged in a preset arrangement form corresponding to a reconfiguration mode, and the face variable stiffness module and the sponge driving module are used as connecting pieces to form a multi-body reconfigurable soft robot.

[0059] As shown in the figures, Figure 2As shown, the sponge driving module 100 is located in the middle position and has a cubic structure. The edge variable stiffness module 200 is arranged on the edge of the sponge driving module 100, and the surface variable stiffness module 300 is attached to the surface of the sponge driving module 100, so as to realize that the edge variable stiffness module enhances the stiffness by inflation and reduces the stiffness by deflation, and the surface variable stiffness module reduces the stiffness by inflation and enhances the stiffness by deflation to cope with the deformation of the sponge driving module. In detail, the sponge driving module is controlled to expand or shrink to provide a deformation driving force; the edge variable stiffness module is controlled to expand or shrink to cooperate with the deformation of the corresponding edge of the sponge driving module; and the surface variable stiffness module is controlled to expand or shrink to cooperate with the deformation of the corresponding surface of the sponge driving module.

[0060] In an implementation manner, the shape of the sponge driving module is set as a cube, the shape of the surface variable stiffness module is set as a square, and the surface variable stiffness module is attached to the upper surface and the lower surface of the sponge driving module. The shape of the edge variable stiffness module is a cylinder, which is arranged on four side edges of the sponge driving module, and each edge variable stiffness module is connected with the sponge driving module.

[0061] Specifically, the sponge driving module expands or shrinks by inflation or deflation to provide a deformation driving force. In the embodiment, the sponge driving module includes a first air bag, the first air bag is filled with a flexible material, and the first air bag is connected with a first gas pipeline to drive the sponge driving module to expand or shrink by inflation or deflation of the first air bag through the first gas pipeline.

[0062] In combination Figure 3 As shown, the sponge driving module includes a hollow first air bag 110, which is a thin film air bag. The first air bag is filled with a flexible material 120, which not only enables the sponge driving module to have good shock absorption, but also improves the sealing and anti-seepage of the sponge driving module, and the flexible material in the sponge driving module can fix the shape of the first air bag, support the outer wall and assist deformation, and can adapt to shape and size requirements in different scenarios. Specifically, the flexible material in the sponge driving module is a sponge.

[0063] In addition, in combination Figure 3As shown, the sponge driving module is further provided with a first gas pipeline 130, one end of which extends into the interior of the first gas bag, and the other end is outside the sponge driving module. By inputting gas into the gas pipeline outside the sponge driving module or by extracting gas in the first gas bag through the pipeline opening, the sponge driving module can be inflated and deflated. When the sponge driving module is inflated, it expands, and when it is deflated, it shrinks. Since the face variable stiffness module is attached to the surface of the sponge driving module and the edge variable stiffness module is attached to the edge of the sponge driving module, the expansion and contraction of the sponge driving module drives the face variable stiffness module and the edge variable stiffness module to deform synchronously. Similarly, the expansion and contraction of the edge variable stiffness module also drives the sponge driving module to deform.

[0064] Further, in order to realize the connection between the sponge driving module and the edge variable stiffness module and the face variable stiffness module, hooks and loops are provided on both ends of the first gas bag to establish a connection with the face variable stiffness module. In addition, the face variable stiffness module and the edge variable stiffness module can also be connected with the sponge driving module by gluing.

[0065] In combination Figure 4 to Figure 10 As shown, the edge variable stiffness module includes a bellows structure 210 and a second gas pipeline 232 connected to the bellows structure 210. The bellows structure is inflated or deflated through the second gas pipeline 232 to drive the bellows structure to expand or axially stretch, thereby driving the sponge driving module to deform corresponding to the edge. The bellows structure is used to prevent the edge variable stiffness module from expanding radially and to realize the axial stretching of the edge variable stiffness module.

[0066] Further, in order to obtain better stiffness enhancement or reduction effect, in combination Figure 5a and Figure 5b As shown, an inflatable gas bag is provided in the bellows structure, which includes a first multi-column inflatable gas bag 410 and a second multi-column inflatable gas bag 420. The first multi-column inflatable gas bag 410 and the second multi-column inflatable gas bag 420 are nested with each other, and the second multi-column inflatable gas bag 420 is embedded in the interior of the first multi-column inflatable gas bag 410. The first multi-column inflatable gas bag 410 is connected with a first gas delivery pipe 221, and the second multi-column inflatable gas bag 420 is connected with a second gas delivery pipe 231. The first multi-column inflatable gas bag 410 is inflated or deflated through the first gas delivery pipe 221, and the second multi-column inflatable gas bag 420 is inflated or deflated through the second gas delivery pipe 231, so that the first multi-column inflatable gas bag 410 and the second multi-column inflatable gas bag 420 expand or contract radially.

[0067] As Figure 4As shown in the figure, the bellows structure 210 is in the form of a cylinder, and the cylindrical surface of the cylinder is in the form of a bellows. The two ends of the cylinder are provided with sealing covers. The sealing cover on the right side of the bellows structure is a first sealing cover 220. One side of the first sealing cover 220 is connected to the first multi-column inflatable air bag. The sealing cover on the left side of the bellows structure is a second sealing cover. Figure 5a 、 Figure 5b 、 Figure 6 and Figure 7 As shown in the figure, the first multi-column inflatable air bag 410 and the second multi-column inflatable air bag 420 are respectively composed of a plurality of columnar and interconnected inflatable air bags. The second multi-column inflatable air bag 420 is located inside the first multi-column inflatable air bag 410, and the plurality of columnar inflatable air bags contained in the first multi-column inflatable air bag 410 and the second multi-column inflatable air bag 420 are arranged in a circular structure. In one embodiment, the plurality of columnar inflatable air bags in the first multi-column inflatable air bag 410 form two layers of inflatable air bags, and the plurality of columnar inflatable air bags in the second multi-column inflatable air bag 420 form two layers of inflatable air bags. The two layers of inflatable air bags of the second multi-column inflatable air bag 420 can be embedded in the two layers of inflatable air bags of the first multi-column inflatable air bag, forming a laminated design. In addition, the first multi-column inflatable air bag 410 is connected to a first gas delivery pipe 221, and the second multi-column inflatable air bag 420 is connected to a second gas delivery pipe 231. The first multi-column inflatable air bag 410 and the second multi-column inflatable air bag 420 are respectively inflated and deflated through the connected first gas delivery pipe 221 and the second gas delivery pipe 231, so as to achieve the edge variable stiffness module through the tubular blocking stiffness enhancement or reduction.

[0068] Specifically, as shown in the figure, Figure 8 、 Figure 9 and Figure 10 The inside of the first sealing cover 220 is provided with a first gas chamber 620 connected to the first multi-column inflatable air bag. The inside of the second sealing cover 222 is provided with a second gas chamber 223 connected to the second multi-column inflatable air bag. One end of the second gas pipe 232 is connected to the bellows structure, and the other end extends out of the bellows structure through the second sealing cover 222. The second gas chamber 223 is also connected to the second gas delivery pipe 231. Through the second gas delivery pipe 231, the columnar inflatable air bag 610 in the second multi-column inflatable air bag can be directly inflated or deflated, so as to achieve the edge variable stiffness module through the tubular blocking stiffness enhancement or reduction.

[0069] Similarly, the edge variable stiffness module and the sponge driving module are connected by gluing. The edge variable stiffness module is glued to the edge of the sponge driving module.

[0070] As Figure 11As shown, the face variable stiffness module disclosed in the present application comprises a second air bag 330 filled with sandpaper and honeycomb sandwich board inside, and a third gas pipeline 320 connected to the second air bag 330, so as to realize the stiffness change of the sponge driving module by inflating or deflating the second air bag 330 through the third gas pipeline 320; the sandpaper and honeycomb sandwich board are provided with pre-folds to cope with the pre-deformation of the face variable stiffness module.

[0071] The thin film air bag is filled with a layer of blocking variable stiffness material, and the layer of blocking variable stiffness material is used to realize the stiffness change of the face variable stiffness module. Specifically, the layer of blocking variable stiffness material is sandpaper and honeycomb sandwich board, which are pasted together to realize blocking and extrusion or flexible separation when the thin film air bag is inflated or deflated, so as to realize stiffness change. Meanwhile, the thin film air bag is also used to ensure air tightness, the honeycomb sandwich board inside the thin film air bag also provides a buffer protection and a load support structure, in addition, the sandpaper can also provide additional friction function, and the honeycomb sandwich board has the characteristics of light weight and high strength, and can play the performance of rigidity, sound insulation and heat insulation.

[0072] Specifically, the surface of the face variable stiffness module is provided with preset folds, the diagonal folds on the surface correspond to the torsional deformation of the sponge driving module, and the preset opposite edge folds on the surface correspond to the bending compression deformation of the sponge driving module.

[0073] In combination Figure 2 As shown, in one embodiment, the shape of the sponge driving module is designed as a cube, the shape of the face variable stiffness module is designed as a square, and the face variable stiffness module is pasted on the surface of the sponge driving module, the edge variable stiffness module is in the shape of a cylinder and is arranged on the four side edges of the sponge driving module.

[0074] In specific implementation, the face variable stiffness module and the sponge driving module are connected by locking; specifically, a hook and loop fastener connection can be used. The edge variable stiffness module and the sponge driving module are connected by gluing.

[0075] The following describes the multi-deformation control mode of the composite variable stiffness soft robot of the present application.

[0076] The sponge driving module is inflated or deflated to control the expansion or compression of the overall shape of the sponge driving module. The stretching, bending and twisting of the sponge driving module in different directions need to be realized by controlling the edge variable stiffness module and / or the face variable stiffness module.

[0077] Specifically, in combination Figure 12 to Figure 15As shown, the control edge variable stiffness module linearly expands in the axial direction, that is, the corrugated tube structure in the edge variable stiffness module is inflated or deflated, which can drive the sponge driving module to expand or bend in the up-down direction, the front-back direction or the left-right direction. The control edge variable stiffness module increases or decreases the bending stiffness, that is, the inflatable air bag in the edge variable stiffness module is inflated or deflated to prevent or conform to the corresponding edge deformation of the sponge driving module, so as to realize the expansion or bending of the sponge driving module in the up-down direction, the front-back direction or the left-right direction, or to realize the torsion of the sponge driving module in the clockwise direction or the counterclockwise direction. Further, by controlling the inflation and deflation of the air bag in the face variable stiffness module, the bending stiffness of the face variable stiffness module is increased or decreased, and the pre-fold is used to prevent or conform to the corresponding face pre-deformation of the sponge driving module, so as to realize the expansion or bending of the sponge driving module in the up-down direction, the front-back direction or the left-right direction, or to realize the torsion of the sponge driving module in the clockwise direction or the counterclockwise direction.

[0078] In combination Figure 12 As shown, by inflating or deflating the edge variable stiffness module and / or the face variable stiffness module on the composite variable stiffness soft robot, the edge variable stiffness module and / or the face variable stiffness module change in stiffness, the sponge contraction provides driving force, and the soft robot can realize the change of torsion, compression or bending, so as to realize the flexible adjustment of the soft robot in different degrees of freedom. As shown Figure 13 As shown, the pre-fold of the face variable stiffness module is a diagonal fold, and the edge variable stiffness module is inflated, so that the edge stiffness of the sponge driving module is increased. By applying negative pressure to the sponge driving module, the soft robot can make a torsion action. The greater the negative pressure of the sponge driving module, the greater the torsion action of the soft robot. As shown Figure 14 As shown, if the face variable stiffness module located on the upper surface and the lower surface of the sponge driving module is deflated, the stiffness of the upper surface and the lower surface of the sponge driving module is increased, and the internal air bag of a pair of adjacent side edges is inflated and the stiffness is increased. Deflation of the sponge driving module will cause the soft robot to make a bending deformation. The greater the stiffness, the more obvious the bending effect. As shown Figure 15 As shown, if the face variable stiffness module located on the upper surface and the lower surface is deflated, the internal air bag of a pair of adjacent side edges is inflated and the stiffness is increased, and the corrugated tube of another pair of adjacent side edges is deflated and expanded. This can cause the soft robot to make a bending deformation.

[0079] When using the above 1 sponge driving module, 4 edge variable stiffness modules and 2 face variable stiffness modules, a composite variable stiffness soft robot can be combined. A plurality of composite variable stiffness soft robots, or a plurality of composite variable stiffness soft robots and sponge driving modules can be combined to obtain the edge-face composite variable stiffness multi-body reconfigurable soft robot proposed in the application. Specifically, according to the arrangement form corresponding to the preset reconfiguration mode, the face variable stiffness module and the sponge driving module are used as connecting pieces to form a multi-body reconfigurable soft robot.

[0080] Further, the preset reconfiguration mode includes: foot shape reconfiguration mode, arm shape reconfiguration mode, claw shape reconfiguration mode and foot-arm composite shape reconfiguration mode; the foot shape reconfiguration mode corresponds to the foot shape arrangement form, the arm shape reconfiguration mode corresponds to the arm shape arrangement form, the claw shape reconfiguration mode corresponds to the claw shape arrangement form, and the foot-arm composite shape reconfiguration mode corresponds to the composite arrangement form of the foot and the arm.

[0081] In combination Figure 16 As shown, the number of composite variable stiffness soft robots in the multi-body reconfigurable soft robot corresponding to the foot shape reconfiguration mode is at least 4, and the number of sponge driving modules is at least 2; wherein the first composite variable stiffness soft robot 1311 and the second composite variable stiffness soft robot 1312 are respectively used as front support parts and rear support parts, a first sponge driving module 1313 is arranged on the upper surface of the first composite variable stiffness soft robot 1311, a second sponge driving module 1314 is arranged on the second composite variable stiffness soft robot 1312, the first sponge driving module 1313 is used as a connecting piece, a third composite variable stiffness soft robot 1315 is connected to one side surface of the first sponge driving module 1313, the second sponge driving module 1314 is used as a connecting piece, a fourth composite variable stiffness soft robot 1316 is connected to one side surface of the second sponge driving module 1314, and the opposite surfaces of the connection surfaces of the third composite variable stiffness soft robot 1315 and the first sponge driving module 1313 and the opposite surfaces of the connection surfaces of the fourth composite variable stiffness soft robot 1316 and the second sponge driving module 1314 are connected to form a multi-body reconfigurable soft robot corresponding to the foot shape reconfiguration mode.

[0082] In specific implementation, two composite variable stiffness multi-body reconfigurable soft robots can be first connected through face-edge stiffness modules, then two sponge driving modules are selected to adjust the hook and loop fastener positions originally on the upper and lower bottom surfaces to adjacent side surfaces, and are respectively connected to the front and rear of the two combined edge-face composite variable stiffness multi-body reconfigurable soft robots, and one composite variable stiffness multi-body reconfigurable soft robot is connected below each of the sponge driving modules with the adjusted hook and loop fastener positions, to finally form a foot shape reconfiguration robot.

[0083] As Figure 17As shown, the arm-shaped reconfiguration mode corresponds to a multi-body reconfiguration soft robot containing multiple composite variable stiffness soft robots; wherein the face variable stiffness module on the lower surface of the composite variable stiffness soft robot in the upper layer and the face variable stiffness module on the upper surface of the composite variable stiffness soft robot in the lower layer are connected to form a multi-body reconfiguration soft robot corresponding to the arm-shaped reconfiguration mode.

[0084] In one combination, two preset torsion edge face composite variable stiffness multi-body reconfiguration soft robots are first connected through face variable stiffness modules, then a preset compression two-edge face composite variable stiffness multi-body reconfiguration soft robot is connected to the right through face variable stiffness modules, and finally one preset compression edge face composite variable stiffness multi-body reconfiguration soft robot is connected through face variable stiffness modules, forming an arm-shaped reconfiguration robot.

[0085] As shown, Figure 18 The claw-shaped reconfiguration mode corresponds to a multi-body reconfiguration soft robot containing multiple composite variable stiffness soft robots; each composite variable stiffness soft robot is connected through the edge variable stiffness module on the adjacent edge to form a multi-body reconfiguration soft robot corresponding to the claw-shaped reconfiguration mode. In one implementation, the multi-body reconfiguration soft robot corresponding to the claw-shaped reconfiguration mode contains six composite variable stiffness soft robots, divided into three above and three below, wherein the three composite variable stiffness soft robots on the top are connected through the edge variable stiffness module, and the three composite variable stiffness soft robots on the bottom are connected through the face variable stiffness module with the composite variable stiffness soft robots above.

[0086] In one embodiment, three composite variable stiffness multi-body reconfiguration soft robots are first fixed in close proximity in a circular array, with an equilateral triangle gap in the middle; after fixing, the remaining three are connected through face variable stiffness modules to each of the composite variable stiffness multi-body reconfiguration soft robots below in close proximity in a circular array, finally forming a claw-shaped reconfiguration robot.

[0087] In combination Figure 19 As shown, the foot-arm composite reconfiguration mode corresponds to a multi-body reconfiguration soft robot containing two groups of foot-shaped reconfiguration mode corresponding multi-body reconfiguration soft robots connected through sponge driving modules (i.e. Figure 16 mid-foot-shaped reconfiguration robot 20 and another foot-shaped reconfiguration robot located behind and side by side with the foot-shaped reconfiguration robot), and one group of arm-shaped reconfiguration mode corresponding multi-body reconfiguration software robot 30, and the arm-shaped reconfiguration mode corresponding multi-body reconfiguration software robot 30 is arranged above the foot-shaped reconfiguration mode corresponding multi-body reconfiguration soft robot.

[0088] The number of the composite variable stiffness soft robots included in the soft robot corresponding to the foot-arm composite reconfiguration mode is at least 12, and the number of the sponge driving modules included is at least 6; wherein, 8 composite variable stiffness soft robots and 4 sponge driving modules constitute two groups of multi-body reconfiguration soft robots corresponding to the foot reconfiguration mode, and 4 composite variable stiffness soft robots constitute a multi-body reconfiguration soft robot corresponding to the arm reconfiguration mode. The two groups of multi-body composite variable stiffness soft robots corresponding to the foot reconfiguration mode are connected through the sponge driving modules, and the multi-body reconfiguration soft robot corresponding to the arm reconfiguration mode is arranged on any one of the sponge driving modules in the middle of the foot reconfiguration robot, and the soft robot corresponding to the foot-arm composite reconfiguration mode is obtained by combination.

[0089] In an embodiment, the eight composite variable stiffness multi-body reconfiguration soft robots can also be connected into a rectangle through the surface variable stiffness modules, and one variable stiffness multi-body reconfiguration soft robot is connected below each of the composite variable stiffness multi-body reconfiguration soft robots at the four corners to constitute a stable foot reconfiguration robot. The bottom surface of a preset torsion edge surface composite variable stiffness multi-body reconfiguration soft robot in the arm reconfiguration robot is connected to the middle of one side of the stable foot reconfiguration robot through the surface variable stiffness module, and finally a foot-arm composite reconfiguration robot is formed.

[0090] The edge surface composite variable stiffness multi-body reconfiguration soft robot provided in the embodiment can realize the stretching and bending of the soft robot in the up-down, left-right and front-back directions or the twisting in the clockwise and counterclockwise directions by controlling the inflation and contraction of the gas bags in the sponge driving modules, the edge variable stiffness modules and the surface variable stiffness modules of each composite variable stiffness soft robot and changing the stiffness of the edge variable stiffness modules and the surface variable stiffness modules, so as to adapt to the deformation in different degrees of freedom in different complex environments. The soft robot disclosed in the embodiment integrates various variable stiffness modules to realize the precise control and flexible stiffness adjustment of the robot in different complex environments, and improves the applicability and robustness of the robot operation.

[0091] The embodiment discloses the above-mentioned edge surface composite variable stiffness multi-body reconfiguration soft robot, and also proposes a control method of the composite variable stiffness soft robot, which is applied to the composite variable stiffness soft robot. Figure 20 As shown in the figure, the control method comprises:

[0092] Step S1, obtaining a shape control instruction for controlling the soft robot.

[0093] When the soft robot disclosed in the application is controlled, the shape control instruction for controlling the soft robot is first received, and then the corresponding shape control of the soft robot is further realized according to the shape control instruction.

[0094] Specifically, the device for issuing the shape control instruction of the soft robot can be a computer device or a controller or other intelligent device. The computer device can send a control signal of the shape control instruction to the driving system of the soft robot, so that the driving system of the soft robot makes corresponding shape control on the soft robot based on the received control signal.

[0095] In order to realize accurate control of the soft robot, the corresponding surfaces and edges of the soft robot are numbered respectively before the step of sending the shape control instruction. The information corresponding to the shape control instruction is the control information of the numbered surfaces or edges, so as to realize accurate control of the robot.

[0096] In an implementation manner, after the shape control instruction of the soft robot is acquired, the method further includes:

[0097] The shape control instruction is analyzed to acquire state control information of different numbered edges and numbered surfaces in the shape control instruction. The different numbered edges correspond to the numbers of four edges of the edge surface stiffness module in the soft robot. The different numbered surfaces correspond to the numbers of two surfaces of the sponge driving module and the surface variable stiffness module in the soft robot.

[0098] After the soft robot receives the shape control instruction, the shape control requirement in the shape control instruction for each numbered surface is analyzed, and then shape control is performed according to the shape control requirement of different numbered surfaces.

[0099] In step S2, the sponge driving model is controlled to expand or contract as a whole, the edge surface stiffness module is controlled to linearly stretch and contract along the axial direction, and the surface variable stiffness module is controlled to change stiffness, so as to realize deformation of the soft robot to a shape corresponding to the shape control instruction.

[0100] In this step, the edges and surfaces corresponding to the shape requirements are numbered and adjusted respectively, so as to realize deformation of the composite variable stiffness soft robot.

[0101] Specifically, the corrugated pipe structure is pumped by the second gas pipeline to input negative pressure of the external gas source, and the peripheral corrugated pipe structure is discharged to make the edge variable stiffness module contract. Alternatively, the inflatable air bag is inflated by the second gas pipeline, the external gas source is input with positive pressure, and the peripheral corrugated pipe structure is inflated to make the edge variable stiffness module elongate. The edge variable stiffness module linearly stretches and contracts along the axial direction, which can drive the sponge driving module to stretch and contract or bend along the up-down direction, the front-back direction or the left-right direction.

[0102] Specifically, the external air source inputs negative pressure, and the first and second multi-column communication inflatable air bags are deflated to shrink and relax, the bending stiffness of the edge variable stiffness module is reduced, and the corresponding edge deformation of the sponge driving module is conformed to; the external air source inputs positive pressure, and the first and second multi-column communication inflatable air bags are inflated to expand and extrude and block, the bending stiffness of the edge variable stiffness module is enhanced, and the corresponding edge deformation of the sponge driving module is prevented.

[0103] The bending stiffness of the edge variable stiffness module is controlled to be enhanced or reduced to prevent or conform to the corresponding edge deformation of the sponge driving module, so that the sponge driving module is stretched or bent in the up-down direction, the front-back direction or the left-right direction, or the sponge driving module is twisted in the clockwise direction or the counterclockwise direction.

[0104] In addition, the external air source inputs negative pressure, and the internally filled sandpaper and honeycomb sandwich board are extruded and blocked under vacuum to enhance the bending stiffness of the surface variable stiffness module, and the corresponding surface pre-deformation of the sponge driving module is prevented. The external air source inputs positive pressure, and the internally filled sandpaper and honeycomb sandwich board are relaxed to reduce the bending stiffness of the surface variable stiffness module, and the corresponding surface pre-deformation of the sponge driving module is conformed to. The bending stiffness of the surface variable stiffness module is controlled to be enhanced or reduced, and the pre-folding mark is used in combination to prevent or conform to the corresponding surface pre-deformation of the sponge driving module, so that the sponge driving module is stretched or bent in the up-down direction, the front-back direction or the left-right direction, or the sponge driving module is twisted in the clockwise direction or the counterclockwise direction.

[0105] On the premise of the above-mentioned edge-surface composite variable stiffness multi-body reconfigurable soft robot, the application further proposes a control method for the edge-surface composite variable stiffness multi-body reconfigurable soft robot, as shown in Figure 21 The control method comprises the following steps:

[0106] Step H1, obtaining a shape control instruction for the multi-body reconfigurable soft robot.

[0107] When the multi-body reconfigurable soft robot is controlled in shape, the corresponding control shape of the soft robot in the current scene needs to be determined first, and the shape control instruction to be issued is determined according to the corresponding control shape. For example: the control mode of the soft robot in the current scene is the control shape of the arm-shaped bending, in combination with the plurality of bending shapes shown in Figure 14 , the most suitable shape in the current scene is determined, and the corresponding shape control instruction is issued based on the determined control shape.

[0108] Step H2, controlling the sponge driving module to expand and shrink according to the shape control instruction, and the edge variable stiffness module and / or the surface variable stiffness module change in rigidity to realize the edge-surface composite variable stiffness multi-body reconfigurable soft robot to perform the shape change corresponding to the shape control instruction.

[0109] According to the shape control instruction received in the above steps, the composite variable stiffness soft robot involved in the corresponding multi-body reconfigurable soft robot is controlled to realize the corresponding shape change. Specifically, based on the required shape requirement, the edge variable stiffness module on the composite variable stiffness soft robot is controlled to stretch or shrink in the axial direction, or the sponge driving module is controlled to expand or shrink, or the edge variable stiffness module or the surface variable stiffness module is controlled to increase or decrease in rigidity, so that the shape of the entire multi-body reconfigurable soft robot after deformation is the same as the requirement corresponding to the shape control instruction.

[0110] The soft robot and the control method thereof disclosed in the present application integrate a plurality of composite variable stiffness soft robots and sponge driving modules to obtain a multi-body reconfigurable soft robot that can adapt to different modes of shapes, and control the surface variable stiffness module, the edge variable stiffness module and the sponge driving module on the composite variable stiffness soft robot, so that the modules work cooperatively to realize accurate control and rigidity adjustment of the soft robot in multiple degrees of freedom, improve the adaptability and robustness of the robot, and be suitable for medical surgery, industrial automation and exploration and rescue in various complex environments.

[0111] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description 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 N embodiments or examples in a suitable manner. In addition, the different embodiments or examples described in the present application and the features of the different embodiments or examples can be combined and combined by those skilled in the art without contradiction.

[0112] The above embodiments only express several embodiments of the present application, and the description is more specific and detailed, but it cannot be understood as a limitation on the scope of the patent. It should be noted that for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A side-surface composite variable-stiffness poly-body reconfigurable soft robot, characterized in that, The multi-body reconfigurable soft robot comprises a plurality of composite variable stiffness soft robots, or the multi-body reconfigurable soft robot comprises a plurality of composite variable stiffness soft robots and a plurality of sponge driving modules; The composite variable stiffness soft robot comprises at least one sponge driving module, an edge variable stiffness module and a surface variable stiffness module; The sponge driving module is a polyhedral structure, the edge variable stiffness module is arranged on the edge of the sponge driving module, and the surface variable stiffness module is attached to the surface of the sponge driving module; The edge variable stiffness module is controlled to stretch and contract to drive the sponge driving module to deform the corresponding edge; The edge variable stiffness module and / or the surface variable stiffness module are controlled to expand or contract to conform to or prevent the corresponding edge and surface of the sponge driving module from deforming; Each composite variable stiffness soft robot is arranged in a preset reconfiguration mode, and the surface variable stiffness module is used as a connecting piece to form a multi-body reconfigurable soft robot. Alternatively, each composite variable stiffness soft robot is arranged in a preset reconfiguration mode, and the surface variable stiffness module and the sponge driving module are used as connecting pieces to form a multi-body reconfigurable soft robot.

2. The edge-face composite variable-stiffness poly-body reconfigurable soft robot of claim 1, wherein, The preset reconfiguration mode comprises a foot shape reconfiguration mode, an arm shape reconfiguration mode, a claw shape reconfiguration mode and a foot-arm composite shape reconfiguration mode; the foot shape reconfiguration mode corresponds to a foot shape arrangement, the arm shape reconfiguration mode corresponds to an arm shape arrangement, the claw shape reconfiguration mode corresponds to a claw shape arrangement, and the foot-arm composite shape reconfiguration mode corresponds to a composite arrangement of a foot and an arm.

3. The edge-face composite variable-stiffness polybody reconfigurable soft robot of claim 2, wherein, The number of composite variable stiffness soft robots contained in the multi-body reconfigurable soft robot in the foot shape reconfiguration mode is at least 4, and the number of sponge driving modules contained is at least 2; wherein the first composite variable stiffness soft robot and the second composite variable stiffness soft robot are used as front and rear support parts respectively, a first sponge driving module is arranged on the upper surface of the first composite variable stiffness soft robot, a second sponge driving module is arranged on the second composite variable stiffness soft robot, the first sponge driving module is used as a connecting piece, a third composite variable stiffness soft robot is connected to one side of the first sponge driving module, the second sponge driving module is used as a connecting piece, a fourth composite variable stiffness soft robot is connected to one side of the second sponge driving module, and the opposite surfaces of the connection surfaces of the third composite variable stiffness soft robot and the first sponge driving module and the opposite surfaces of the connection surfaces of the fourth composite variable stiffness soft robot and the second sponge driving module are connected to form the multi-body reconfigurable soft robot in the foot shape reconfiguration mode.

4. The edge-face composite variable-stiffness poly-body reconfigurable soft robot of claim 2, wherein, The multi-body reconfigurable soft robot in the arm shape reconfiguration mode comprises a plurality of composite variable stiffness soft robots; wherein the surface variable stiffness module on the lower surface of the composite variable stiffness soft robot in the upper layer and the surface variable stiffness module on the upper surface of the composite variable stiffness soft robot in the lower layer are connected to form the multi-body reconfigurable soft robot in the arm shape reconfiguration mode, in which the composite variable stiffness soft robots are arranged from top to bottom.

5. The edge-face composite variable-stiffness poly-body reconfigurable soft robot of claim 2, wherein, The claw-shaped reconfiguration mode corresponds to a multi-body reconfiguration soft robot, which comprises a plurality of composite variable stiffness soft robots; each composite variable stiffness soft robot is connected with an edge variable stiffness module on the adjacent edge, and the combination obtains the multi-body reconfiguration soft robot corresponding to the claw-shaped reconfiguration mode.

6. The edge-face composite variable-stiffness poly-body reconfigurable soft robot of claim 2, wherein, The foot-arm composite reconfiguration mode corresponds to a multi-body reconfiguration soft robot, which comprises two groups of multi-body reconfiguration soft robots corresponding to the foot-shaped reconfiguration mode connected through the sponge driving module and a group of multi-body reconfiguration soft robots corresponding to the arm-shaped reconfiguration mode, and the multi-body reconfiguration soft robot corresponding to the arm-shaped reconfiguration mode is arranged above the multi-body reconfiguration soft robot corresponding to the foot-shaped reconfiguration mode.

7. The edge-face composite variable-stiffness polybody reconfigurable soft robot of claim 1, wherein, The sponge driving module comprises a first air bag, which is filled with a flexible material, and the first air bag is connected with a first gas pipeline to drive the sponge driving module to expand or shrink by inflating or deflating the first air bag through the first gas pipeline.

8. The edge-face composite variable-stiffness poly-body reconfigurable soft robot of claim 1, wherein, A bellows structure and a second gas pipeline connected with the bellows structure, the bellows structure is driven to axially stretch or shrink by inflating or deflating the bellows structure through the second gas pipeline, so as to drive the deformation of the corresponding edge of the sponge driving module; wherein the bellows structure is used to prevent the edge variable stiffness module from expanding radially and realize the axial stretching and shrinking of the edge variable stiffness module.

9. The edge-face composite variable-stiffness poly-body reconfigurable soft robot of claim 1, wherein, The surface variable stiffness module comprises a second air bag, which is filled with sandpaper and honeycomb sandwich board inside, and the sandpaper and honeycomb sandwich board are provided with pre-folding marks; the second air bag is connected with a third gas pipeline, which is used to inflate or deflate the second air bag to realize the bending stiffness enhancement or reduction of the surface variable stiffness module, and cooperate with the pre-folding marks to prevent or conform to the pre-deformation of the corresponding surface of the sponge driving module.

10. A control method of an edge-face complex variable-stiffness multibody reconfigurable soft robot, characterized in that, The edge-surface composite variable stiffness multi-body reconfiguration soft robot is applied to any one of claims 1-9; Obtaining a shape control instruction of the multi-body reconfiguration soft robot; According to the shape control instruction, the sponge driving module is controlled to expand or shrink, the edge variable stiffness module and / or the surface variable stiffness module is controlled to change the stiffness, so as to realize the deformation of the edge-surface composite variable stiffness multi-body reconfiguration soft robot corresponding to the shape control instruction.

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