Multi-mode pneumatic soft robot

Abstract

The invention discloses a multi-mode pneumatic soft robot, which belongs to the technical field of soft robots, and comprises a wheel leg structure, a control unit, an air source, an air path structure, a connecting part and a plurality of deformation units, every two adjacent deformation units are connected through a connecting part, each wheel leg structure is fixed to the edge of the corresponding deformation unit and comprises a supporting frame and two one-way wheels fixed to the supporting frame, the supporting frames are fixedly connected with the edges of the deformation units, and the air source is connected with the air path structure and used for supplying air to the air path structure. Each deformation unit is connected with a gas circuit structure, a pneumatic deformation body capable of deforming under the driving of gas is arranged in each deformation unit, the gas circuit structures are connected with the pneumatic deformation bodies in the deformation units and used for supplying gas to the pneumatic deformation bodies, and the control unit is connected with the gas circuit structures and controls the shapes of the deformation units through the gas circuit structures. The pneumatic deformable body is controlled by the control unit, so that movement such as obstacle crossing is realized; and the maneuverability and the environment adaptability are improved by introducing a wheel leg structure.

Description

Technical Field

[0001] The invention relates to a multi-modal pneumatic soft robot, belonging to the technical field of soft robots. Background Art

[0002] With the rapid development of science and technology and the continuous progress of social economy, robots have been widely used in many fields such as industrial production, logistics services, military exploration, etc., and have gradually expanded to emerging fields such as medical surgery, assisted rehabilitation, and daily services, becoming an important part of modern social production and life. Soft robots have become one of the hot spots in robotics research due to their excellent flexibility, adaptability and safety. Soft robots can move flexibly in narrow and unstructured spaces, and can provide higher security when interacting with humans, which greatly broadens their application scenarios. At present, there are many types of mobile soft robots designed based on bionic principles, and they can be divided into crawling, creeping, rolling, swimming and other modes according to different movement modes. However, in some application scenarios, robots are required to have a variety of movement modes and can flexibly switch movement modes according to different types of obstacles. However, soft robots in the prior art still cannot achieve a high degree of adaptability to the environment. Summary of the invention

[0003] The purpose of the present invention is to provide a multi-modal pneumatic soft robot that can achieve high adaptability to the environment.

[0004] To achieve the above objectives, the present invention is implemented by adopting the following technical solutions: The present invention provides a multi-modal pneumatic soft robot, comprising a wheel-leg structure, a control unit, an air source, an air path structure, a connecting part and a plurality of deformation units; Two adjacent deformation units are connected by a connecting part, and the wheel-leg structure is fixed on the edge of the deformation unit. The wheel-leg structure includes a support frame and two one-way wheels fixed on the support frame. The support frame and the edge of the deformation unit are fixedly connected. The air source is connected to the air path structure and is used to supply air to the air path structure. Each deformation unit is connected to an air path structure. The deformation unit is provided with a pneumatic deformation body that can be deformed under gas drive. The air path structure is connected to the pneumatic deformation body in the deformation unit and is used to supply air to the pneumatic deformation body. The control unit is connected to the air path structure and controls the shape of the deformation unit through the air path structure.

[0005] Furthermore, the deformation unit includes a Yoshimura origami structure, a pneumatic deformable body, a lower PCB board and an upper PCB board, the pneumatic deformable body is arranged inside the Yoshimura origami structure, the two ends of the Yoshimura origami structure are respectively connected to the lower PCB board and the upper PCB board, and the Yoshimura origami structure is used to constrain the shape of the pneumatic deformable body.

[0006] Furthermore, the support frame is fixedly connected to an edge of the lower PCB board.

[0007] Furthermore, the air path structure includes multiple solenoid valves, air distribution joints, multiple manifolds and air pipes, the air source is connected to each manifold through the air distribution joints and the air pipes, the manifold is connected to the pneumatic deformable body through the air pipe, the solenoid valve is arranged at the connection between the manifold and the pneumatic deformable body, and the solenoid valve is used to control the air supply and exhaust of the pneumatic deformable body.

[0008] Furthermore, the control unit is integrated on the lower PCB board.

[0009] Furthermore, it also includes an electromagnet, wherein the electromagnet is fixed on the support frame; The control unit comprises an electromagnet power supply module for supplying power to the electromagnet.

[0010] Furthermore, the control unit includes a microcontroller, a WIFI wireless module and a solenoid valve power supply module. The WIFI wireless module is used to receive control instructions sent by a host computer and send the control instructions to the microcontroller. The microcontroller controls the switch of the solenoid valve according to the control instructions to achieve control of the air supply and exhaust of the pneumatic deformable body. The solenoid valve power supply module is used to power the solenoid valve.

[0011] Furthermore, the one-way wheel includes a wheel and a one-way needle roller bearing, the wheel is sleeved on the one-way needle roller bearing, the one-way needle roller bearing is fixed on the support frame, and the outer ring of the one-way needle roller bearing is covered with a layer of latex material.

[0012] Furthermore, the pneumatic deformable body includes an trachea, two nylon cable ties, a corrugated braided tube, a latex tube and a plug, one end of the latex tube is sleeved on the plug, and the other end of the latex tube is sleeved on the trachea, the trachea, the latex tube and the plug constitute a first deformable body, the corrugated braided tube is sleeved on the outside of the first deformable body, and the two ends of the corrugated braided tube are respectively fixed by the two nylon cable ties.

[0013] Compared with the prior art, the beneficial effects achieved by the present invention are: A multimodal pneumatic soft robot provided by the present invention can realize the movement of the soft robot such as crossing obstacles by controlling the pneumatic deformable body by a control unit, thereby providing a basis for its autonomous movement; by introducing a wheel-leg structure, the excellent mobility of a wheeled robot and the outstanding adaptability of a legged robot are combined, thereby greatly improving the mobility and adaptability of the soft robot to the environment; the structure of the soft robot designed by the present invention supports multiple movement modes, such as creeping and flipping, etc., so that the soft robot can respond flexibly in complex environments, further enhancing its wide application and reliability.

[0014] The commonly used driving method is to connect multiple air pipelines externally, and realize the movement of the robot by inflating and deflating each pipeline, which generally requires carrying many pipelines. The integration of the control system in the robot body improves the independence of movement and only requires one air pipe.

[0015] The present invention uses the Yoshimura origami structure to limit the shape of the pneumatic deformable body, which is used to simplify the manufacturing process and improve the performance of the robot. Different from the traditional method of using silicone homemade molds, the Yoshimura origami structure is not only lighter and more foldable, but also less prone to damage, and the manufacturing process is simpler and more efficient. This structure significantly improves the durability and scope of application of the robot, allowing it to operate stably in various complex and harsh environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic structural diagram of a multi-modal pneumatic soft robot provided by an embodiment of the present invention; Figure 2 is a cross-sectional view of a multi-modal pneumatic soft robot provided by an embodiment of the present invention, Figure 2 The left side of the figure is the overall cross-sectional view, and the right side is the enlarged view of the cross-sectional view of the deformation unit; Figure 3 is a schematic structural diagram of a gas path structure provided by an embodiment of the present invention; Figure 4 is a cross-sectional view of a pneumatic deformable body provided by an embodiment of the present invention; Figure 5 It is a structural schematic diagram of the wheel-leg structure provided by an embodiment of the present invention.

[0017] In the figure: 1. electromagnet; 2. air path structure; 3. wheel leg structure; 4. Yoshimura origami structure; 5. column; 6. pneumatic deformable body; 7. lower PCB board; 8. upper PCB board; 9. solenoid valve; 10. air distribution joint; 11. manifold; 12. air pipe; 13. nylon cable tie; 14. corrugated braided tube; 15. latex tube; 16. plug; 17. one-way wheel; 18. support frame. DETAILED DESCRIPTION

[0018] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and are not intended to limit the protection scope of the present invention.

[0019] Example 1.

[0020] like Figure 1 As shown, the present invention provides a multi-modal pneumatic soft robot, including a wheel-leg structure 3, a control unit, an air source, an air path structure 2, a connecting part (i.e. Figure 1 The column 5) and a plurality of deformation units; Two adjacent deformation units are connected by a connecting part. The wheel-leg structure 3 is fixed on the edge of the deformation unit. The wheel-leg structure 3 includes a support frame 18 and two one-way wheels 17 fixed on the support frame 18. The support frame 18 is fixedly connected to the edge of the deformation unit. The air source is connected to the air path structure 2 and is used to supply air to the air path structure 2. Each deformation unit is connected to an air path structure 2. A pneumatic deformation body 6 that can be deformed under gas drive is provided in the deformation unit. The air path structure 2 is connected to the pneumatic deformation body 6 in the deformation unit and is used to supply air to the pneumatic deformation body 6. The control unit is connected to the air path structure 2 and controls the shape of the deformation unit through the air path structure 2.

[0021] The present invention can realize the movement of the soft robot crossing obstacles and the like by controlling the pneumatic deformable body 6 by the control unit, thus providing a basis for its autonomous movement; by introducing the wheel-leg structure 3, the excellent mobility of the wheeled robot and the outstanding adaptability of the legged robot are combined, thereby greatly improving the mobility and adaptability of the soft robot to the environment; the structure of the soft robot designed by the present invention supports multiple movement modes, such as creeping and flipping, etc., so that the soft robot can respond flexibly in complex environments, further enhancing its wide application and reliability.

[0022] Example 2.

[0023] like Figure 1 As shown, the present invention provides a multimodal pneumatic soft robot, including a wheel-leg structure 3, a control unit, an air source, an air path structure 2, a connecting part, two deformation units and four electromagnets 1.

[0024] like Figure 2As shown, the deformation unit includes a Yoshimura origami structure 4, four pneumatic deformable bodies 6, a lower PCB board 7 and an upper PCB board 8. Holes for fixing the Yoshimura origami structure 4 and the pneumatic deformable body 6 are reserved on the lower PCB board 7 and the upper PCB board 8. The bolt holes on the Yoshimura origami structure 4 correspond to the holes on the lower PCB board 7 and the upper PCB board 8, and are fixed by bolts. The plug 16 of the pneumatic deformable body 6 is stuck on the upper PCB board 8 through its own structure, and the air pipe 12 of the pneumatic deformable body 6 passes through the lower PCB board 7 and is connected to the air source. This design has the advantages of simple structure, low cost and good effect.

[0025] like Figure 1 , Figure 2 As shown, in order to realize the basic deformation movement of the robot, the multi-modal pneumatic soft robot of the present invention adopts a symmetrical module design. The overall structure is composed of two identical deformation units, which are connected by bolts through the column 5. The symmetrical design is conducive to the robot's ability to maintain a straight line during movement. After the deformation unit is inflated, it will produce deformation effects in all directions. When the lower PCB moves forward parallel to the upper PCB board 8, the robot stretches forward because the one-way wheel 17 can only rotate in one direction. When the deformation unit is deflated, the robot can only move forward due to the action of the one-way wheel 17, so the robot realizes the forward movement function.

[0026] like Figure 5 As shown, the wheel-leg structure 3 includes a support frame 18 and two one-way wheels 17 fixed on the support frame 18. The support frame 18 is fixedly connected to the edge of the lower PCB board 7 in the deformation unit (fixed by bolts). The one-way wheel 17 includes a wheel and a one-way needle roller bearing. The wheel is sleeved on the one-way needle roller bearing, and the one-way needle roller bearing is fixed on the support frame 18 to achieve the one-way rotation function. The outer ring of the one-way needle roller bearing is covered with a layer of latex material to generate the friction required for the robot to move. The invention design is easy to manufacture, and a simple structure is used to achieve the robot's movement function, while the production cost is also low.

[0027] like Figure 3 As shown, the gas path structure 2 includes a gas distribution connector 10, a solenoid valve 9 and a manifold 11. The gas distribution connector 10 connects the gas source and each manifold 11 through an air pipe to distribute the gas to each manifold 11. The manifold 11 is connected to the air pipe 12 in the pneumatic deformable body 6 to supply air to the pneumatic deformable body 6; the solenoid valve 9 is fixed to the manifold 11 by bolts, and the signal pin of the solenoid valve 9 is connected to the solenoid valve 9 power supply module on the lower PCB board 7. The microcontroller STM32 controls the inflation and deflation of the pneumatic deformable body 6.

[0028] STM32: A series of embedded microcontrollers.

[0029] like Figure 4As shown, the pneumatic deformable body 6 is composed of an air tube 12, two nylon cable ties 13, a corrugated braided tube 14, a latex tube 15 and a plug 16. One end of the latex tube 15 is sleeved on the plug 16, and the other end is sleeved on the air tube 12. Then, the corrugated braided tube 14 is sleeved on the outside of the structure (first deformable body) composed of the air tube 12, the latex tube 15 and the plug 16. The two ends of the corrugated braided tube 14 are respectively fixed by two nylon cable ties 13 to prevent leakage at the connection between the air tube 12 and the latex tube 15 and the connection between the plug 16 and the latex tube 15 after the air source inflates the latex tube 15. The corrugated braided tube 14 is used to limit the length of the latex tube 15 after inflation, so that the maximum elongation of the pneumatic deformable body 6 remains fixed.

[0030] The control unit is integrated on the lower PCB board 7, including a microcontroller, a WIFI wireless module, a power supply module for the electromagnet 1, a power supply module for the solenoid valve 9, etc. The upper computer sends control instructions to the WIFI wireless module on the lower PCB board 7 through wireless transmission, and then the microcontroller STM32 controls the switch of the solenoid valve 9 according to the control instructions. The gas source is connected to the two manifolds 11 of the gas path structure 2 through the gas distribution connector 10, and the four solenoid valves 9 control the switch of the gas supply to the four pneumatic deformable bodies 6 of the deformation unit.

[0031] Several motion modes of the soft robot provided in this embodiment are described below: Straight creeping mode: Figure 1 This is the initial state of the highly integrated multi-modal pneumatic soft robot of the present invention. The air source inflates two deformation units, a total of four manifolds 11. The upper computer sends a straight creeping instruction to the WIFI module on the lower PCB board 7 through wireless transmission, and then the microcontroller STM32 on the two lower PCB boards 7 controls the switches of the eight solenoid valves 9 to all be turned on. The air source flows through the solenoid valves 9 through the air pipe 12 to inflate the pneumatic deformable body 6. The straight creeping mode is to inflate the eight pneumatic deformable bodies 6 of the two deformation units at the same time (each deformation unit is composed of four pneumatic deformable bodies 6, and the robot contains two deformation units). Due to the limitation that the one-way wheel 17 can only rotate in one direction, the robot can only move in one direction, so the robot stretches forward. Afterwards, the microcontroller STM32 on the lower PCB board 7 closes the solenoid valve 9, and the eight pneumatic deformable bodies 6 are deflated. The lower PCB board 7 and the upper PCB board 8 of the deformation unit shrink in parallel, and the robot realizes a straight creeping gait.

[0032] Straight Flip Mode: Figure 1This is the initial state of the highly integrated multi-modal pneumatic soft robot of the present invention. The air source inflates two deformation units, a total of four manifolds 11. The upper computer sends a straight flip command to the WIFI module on the lower PCB board 7 through wireless transmission, and the microcontroller STM32 on the two lower PCB boards 7 controls the coordinated action of the solenoid valve 9 and the electromagnet 1 to achieve the straight flip movement. The straight creeping mode is to inflate the eight pneumatic deformable bodies 6 of the two deformation units at the same time (one deformation unit can achieve a maximum bending of 90° by inflating two adjacent pneumatic deformable bodies 6, and the maximum bending angle of the two deformation units after combination is 180°). The straight flipping mode is to inflate the pneumatic deformable bodies 6 on one side of the two deformation units close to the metal surface (a total of four pneumatic deformable bodies 6), so that the two deformation units are bent 90° downward at the same time, and the robot is in an arched shape; then the four electromagnets 1 on the two lower PCB boards 7 at both ends of the robot contact the metal surface, and the microcontroller STM32 on the lower PCB board 7 located in front of the robot energizes the two electromagnets 1, and the electromagnets 1 produce an adsorption effect, so that the robot is fixed on the metal surface; then the four solenoid valves 9 are closed, so that the four pneumatic deformable bodies 6 of the robot are deflated, and the robot returns to its original state; at the same time, the four pneumatic deformable bodies 6 far away from the metal plate surface are inflated to make the robot flip (the energized electromagnets 1 are at the rear); after this process, the robot completes a straight flipping gait.

[0033] The scenarios mentioned above for performing straight-ahead flipping on metal surfaces include: inspection of aircraft and spacecraft, maintenance of metal surfaces on offshore platforms, and exploration inside metal pipes, etc.

[0034] Multiple deformation modes: Through the different inflation combinations of the four pneumatic deformation bodies 6 in the deformation unit by the four solenoid valves 9, different deformation states of the deformation unit can be realized, such as extension, contraction, forward bending, backward bending, left bending, and right bending. The 180° bending of the two deformation units can realize a rich deformation combination, and the synergy of the deformation unit, the wheel leg structure 3, and the electromagnet 1 greatly broadens its movement mode.

[0035] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A multimodal pneumatic soft robot, characterized in that: It includes a wheel-leg structure, a control unit, an air source, an air path structure, a connecting part and a plurality of deformation units; Two adjacent deformation units are connected by a connecting part, and the wheel-leg structure is fixed on the edge of the deformation unit. The wheel-leg structure includes a support frame and two one-way wheels fixed on the support frame. The support frame and the edge of the deformation unit are fixedly connected. The air source is connected to the air path structure and is used to supply air to the air path structure. Each deformation unit is connected to an air path structure. The deformation unit is provided with a pneumatic deformation body that can be deformed under gas drive. The air path structure is connected to the pneumatic deformation body in the deformation unit and is used to supply air to the pneumatic deformation body. The control unit is connected to the air path structure and controls the shape of the deformation unit through the air path structure.

2. The multimodal pneumatic soft robot according to claim 1, characterized in that: The deformation unit includes a Yoshimura origami structure, a pneumatic deformable body, a lower PCB board and an upper PCB board. The pneumatic deformable body is arranged inside the Yoshimura origami structure. The two ends of the Yoshimura origami structure are respectively connected to the lower PCB board and the upper PCB board. The Yoshimura origami structure is used to constrain the shape of the pneumatic deformable body.

3. The multimodal pneumatic soft robot according to claim 2, characterized in that: The support frame is fixedly connected to the edge of the lower PCB board.

4. The multimodal pneumatic soft robot according to claim 1, characterized in that: The gas path structure includes multiple solenoid valves, gas distribution joints, multiple manifolds and air pipes. The gas source is connected to each manifold through the gas distribution joints and the air pipes. The manifold is connected to the pneumatic deformable body through the air pipe. The solenoid valve is arranged at the connection between the manifold and the pneumatic deformable body. The solenoid valve is used to control the air supply and exhaust of the pneumatic deformable body.

5. The multimodal pneumatic soft robot according to claim 1, characterized in that: The control unit is integrated on the lower PCB board.

6. The multimodal pneumatic soft robot according to claim 1, characterized in that: It also includes an electromagnet, which is fixed on the support frame; The control unit comprises an electromagnet power supply module for supplying power to the electromagnet.

7. The multimodal pneumatic soft robot according to claim 4, characterized in that: The control unit includes a microcontroller, a WIFI wireless module and a solenoid valve power supply module. The WIFI wireless module is used to receive control instructions sent by a host computer and send the control instructions to the microcontroller. The microcontroller controls the switch of the solenoid valve according to the control instructions to achieve control of the air supply and exhaust of the pneumatic deformable body. The solenoid valve power supply module is used to power the solenoid valve.

8. The multimodal pneumatic soft robot according to claim 1, characterized in that: The one-way wheel comprises a wheel and a one-way needle roller bearing, the wheel is sleeved on the one-way needle roller bearing, the one-way needle roller bearing is fixed on the support frame, and the outer ring of the one-way needle roller bearing is covered with a layer of latex material.

9. The multimodal pneumatic soft robot according to claim 1, characterized in that: The pneumatic deformable body includes an air pipe, two nylon cable ties, a corrugated braided tube, a latex tube and a plug. One end of the latex tube is sleeved on the plug, and the other end of the latex tube is sleeved on the air pipe. The air pipe, the latex tube and the plug constitute a first deformable body. The corrugated braided tube is sleeved on the outside of the first deformable body, and the two ends of the corrugated braided tube are respectively fixed by the two nylon cable ties.

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