High-degree-of-freedom pneumatic soft robot based on special air chamber arrangement, control method and flexible clamping jaw

Abstract

The invention belongs to the technical field of soft robots, and discloses a high-degree-of-freedom pneumatic soft robot based on special air chamber arrangement, a control method and a flexible clamping jaw. The pneumatic soft robot comprises a plurality of independent air chamber groups which are integrally enclosed to form a cylindrical structure, each air chamber group is formed by connecting a plurality of obliquely arranged air chambers in series through an internal air passage, the bottom of each air chamber group is connected with a fixed base, and the fixed base is integrated with an air path interface which is used for connecting an external air pump and a control valve group. The control method comprises a bending mode, an extension mode and a torsional deformation mode, and multi-degree-of-freedom movement is achieved through a combined inflation strategy. The flexible clamping jaw is formed by annularly arranging a plurality of soft robots and is independently controlled to meet different grabbing requirements. The manipulator has the advantages of high degree of freedom, high adaptability, compact structure and the like, and is suitable for industrial grabbing, medical assistance and other scenes.

Description

Technical Field

[0001] The present invention belongs to the technical field of soft robots, and in particular relates to a high-freedom pneumatic soft robot based on a special air chamber arrangement, a control method and a flexible gripper. Background Art

[0002] Current pneumatic soft robot deformation technology is mainly based on three strategies: first, the precise pasting of different stiffness and strain limiters is used to guide the overall configuration change by limiting the local deformation range; second, the temperature / current triggered phase change characteristics of shape memory materials are used to utilize their inherent shape recovery mechanism to achieve controllable deformation; third, the collaborative splicing method of functionally differentiated modules is adopted to comprehensively realize the dynamic reconstruction of complex spatial configurations by combining unit modules with specific mechanical properties and motion freedom.

[0003] These technologies mainly have the following technical problems: The deformation form is single, usually one structural design can only correspond to one deformation form; The clamping force that can be provided is relatively small and is applicable to a limited number of environments. Summary of the Invention

[0004] The purpose of the present invention is to provide a high-degree-of-freedom pneumatic soft robot, a control method and a flexible gripper based on a special air chamber arrangement to solve the above-mentioned technical problems.

[0005] To solve the above technical problems, the specific technical solutions of the present invention for a high-degree-of-freedom pneumatic soft robot based on a special air chamber arrangement, a control method, and a flexible gripper are as follows: A high-degree-of-freedom pneumatic soft robot based on a special air chamber arrangement includes multiple independent air chamber groups, which are enclosed in a cylindrical structure as a whole. Each air chamber group is composed of multiple obliquely arranged air chambers connected in series through internal airways. The bottom of the air chamber group is connected to a fixed base, and the fixed base is integrated with an air path interface, which is used to connect to an external air pump and a control valve group.

[0006] Furthermore, the number of the air chamber groups is 4, which are arranged in a mirror-symmetrical manner along the circumferential direction and together constitute a cylindrical main structure.

[0007] Furthermore, a single air chamber is an arc-shaped cavity structure, and its axis forms an angle θ with the central axis of the robot.

[0008] Furthermore, the angle θ has a value range of 0°<θ<90°.

[0009] Furthermore, when the angle θ=90°, only bending deformation occurs after the air chamber is inflated; as the angle θ decreases, the bending deformation trend weakens and the torsional deformation trend strengthens; when θ approaches 0°, torsional deformation mainly occurs.

[0010] Furthermore, the four air chamber groups are evenly distributed at 90° intervals, and the inclination directions of the air chambers in each group are symmetrically arranged.

[0011] A control method of the soft robot of the present invention includes the following control modes: Bending deformation mode: Inflate the two air chambers on the same side and use the asymmetric expansion characteristics of the inclined air chambers to achieve bending in the specified direction; Elongation deformation mode: All air chamber groups are inflated synchronously, and axial linear elongation is achieved by utilizing the radially restricted expansion characteristics; Torsional deformation mode: Inflate a single air chamber group and use the torque characteristics of the tilted air chamber to achieve torsional motion around the axial direction.

[0012] A flexible gripper device of the present invention comprises a plurality of soft robots, each of which is fixed to a support structure via a mounting ring. A wiring channel is provided on the top of the support, and each robot can be independently controlled to achieve grasping and releasing functions.

[0013] Furthermore, it comprises three of the soft robots arranged in a circular array.

[0014] The high-degree-of-freedom pneumatic soft robot, control method, and flexible gripper based on a special air chamber arrangement of the present invention have the following advantages: 1. High degree of freedom deformation capability Through the design of independent air chamber groups with special tilted arrangements, the soft robot can achieve multiple deformation modes such as bending, elongation and twisting, which significantly improves the freedom of movement and is suitable for diverse task requirements in complex environments.

[0015] 2. Flexible and controllable deformation mode By adjusting the combination of air chambers and the air pressure, the robot's deformation direction and magnitude can be precisely controlled. For example, inflating the same-side air chambers achieves bending, inflating all air chambers simultaneously achieves extension, and inflating a single air chamber group achieves twisting. Operation is simple and responsive.

[0016] 3. Optimized mechanical properties The design of the inclined air chamber enables the robot to produce asymmetric expansion when inflated, thereby enhancing the driving force for bending and twisting, overcoming the problem of insufficient clamping force of traditional soft robots and being suitable for a wider range of load scenarios.

[0017] 4. Modularity and scalability The flexible gripper is designed with a combination of multiple soft robots. Each robot is independently controlled and the number and layout can be adjusted according to actual needs. It can adapt to the grasping of objects of different shapes and sizes and has strong scalability.

[0018] 5. Compact structure and integration The fixed base integrates an air circuit interface, which simplifies the connection between the external air pump and the control valve group. The overall structure is compact and easy to install and maintain. At the same time, the hollow fixed bracket design on the top optimizes the wiring space.

[0019] 6. Wide adaptability By adjusting the angle θ between the air chamber axis and the central axis, the bending and torsional deformation tendencies can be flexibly balanced to meet the specific requirements of deformation characteristics in different application scenarios.

[0020] 7. High reliability The pneumatic drive mode eliminates the need for complex mechanical transmission components, reduces wear and failure risks, and improves the durability and reliability of the robot.

[0021] 8. Diversified application scenarios It is suitable for multiple fields such as industrial grasping, medical assistance, detection and exploration, and is especially suitable for scenarios that require gentle operation or complex deformation capabilities, such as grasping fragile objects and working in unstructured environments.

[0022] In summary, the present invention achieves a soft robot design with high degree of freedom, high flexibility and strong adaptability through innovative air chamber arrangement and control methods, significantly improving its practicality and performance in complex tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the structure of a high-degree-of-freedom pneumatic soft robot based on a special air chamber arrangement of the present invention; Figure 2 Schematic diagram of the air chamber group structure of the present invention; Figure 3 Schematic diagram of the internal structure of the pneumatic soft robot of the present invention; Figure 4 It is a schematic diagram of the air chambers and directions of the present invention; Figure 5 is a schematic diagram of the flexible clamping jaw of the present invention; Explanation of the marks in the figure: 1. Air chamber group; 11. Air chamber group one; 12. Air chamber group two; 13. Air chamber group three; 14. Air chamber group four; 2. Air chamber; 3. Fixed base; 4. Mounting ring; 5. Fixed bracket. DETAILED DESCRIPTION

[0024] In order to better understand the purpose, structure and function of the present invention, the following is a further detailed description of the high-degree-of-freedom pneumatic soft robot, control method and flexible gripper based on a special air chamber arrangement of the present invention in conjunction with the accompanying drawings.

[0025] like Figure 1-3As shown, the high-degree-of-freedom pneumatic soft robot based on a special air chamber arrangement of the present invention includes multiple independent air chamber groups 1, which are enclosed in a cylindrical shape. Preferably, the number of air chamber groups 1 is four, and the four air chamber groups 1 are arranged symmetrically along the circumference to form a cylindrical shape. Each air chamber group 1 is composed of several inclined air chambers 2 connected in series through internal airways. The bottom of the air chamber group 1 is connected to a fixed base 3, which integrates an air circuit interface, and the air circuit interface is connected to an external pump and a control valve group.

[0026] Each air chamber 2 is an arc-shaped cavity, with its axis forming an angle θ (0°<θ<90°) with the robot's central axis (A-axis). Air passages connect the air chambers, forming a continuous air path. When the angle is 90°, air chamber 2 will only deform during inflation. As the angle decreases, the bending deformation decreases and the torsional deformation increases, until it approaches 0°. Thus, as the angle increases from θ to 90°, bending is dominant, while as the angle decreases from θ to 0°, torsion is dominant.

[0027] The four air chamber groups 1 are evenly distributed at 90° intervals, and the tilt directions of the air chambers 2 in each group are symmetrical (e.g., air chamber group 1 is mirror-symmetrical to group 2, and group 1 is mirror-symmetrical to group 4).

[0028] The control method of the high-degree-of-freedom pneumatic soft robot based on a special air chamber arrangement of the present invention comprises the following steps: like Figure 4 As shown, the air chamber group 1 includes an air chamber group 11, an air chamber group 2 12, an air chamber group 3 13, and an air chamber group 4 14. The direction of the A-axis is the direction of the cylindrical axis of the soft robot, and its positive direction is the extension direction of the soft robot. The B-axis and the C-axis are located on the base surface. The B-axis is the symmetry axis of the projection of the air chamber group 11 and the air chamber group 2 12 on the base surface, and its positive direction is vertically upward as shown in the figure. The C-axis is the symmetry axis of the projection of the air chamber group 2 12 and the air chamber group 3 13 on the base surface, that is, perpendicular to the B-axis, and its positive direction is to the right as shown in the figure.

[0029] The air pressure of each air chamber group is adjusted by an external air pump and solenoid valve to achieve the following deformations (see Table 1): Bending deformation: When the two air chamber groups 1 on the same side (such as air chamber group 11 + air chamber group 2 12) are inflated, asymmetric expansion occurs due to the tilt of the air chamber group 1, causing bending along the C-axis.

[0030] Elongation deformation: All air chamber groups 1 are inflated synchronously, the radial expansion of air chamber group 1 is restricted, and it stretches linearly along the A axis.

[0031] Torsional deformation: A single air chamber group 1 (such as air chamber group 11) is inflated, and the air chamber group 1 is tilted to generate torque around the A axis to achieve counterclockwise torsion.

[0032]

[0033] Flexible Gripper Application Examples like Figure 5 As shown, three soft robots are fixed to a fixed bracket 5 via a mounting ring 4. The top of the fixed bracket 5 is hollowed out for easy wiring. Each robot is independently controlled and each soft robot is independently controlled. The grasping and releasing functions are achieved through deformation. The grasping process is as follows: Fitting stage: According to the shape of the object, control the deformation of each robot (such as bending + twisting) to maximize the contact area.

[0034] Clamping stage: Increase the air pressure and use the antagonism between the air chamber groups to enhance the clamping force.

[0035] Release phase: After the pressure is released, the soft robot returns to its original state.

[0036] It will be understood that the present invention is described by way of some embodiments, and it will be appreciated by those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are intended to be protected by the present invention.

Claims

1. A high-degree-of-freedom pneumatic soft robot based on a special air chamber arrangement, characterized in that: The invention comprises a plurality of independent air chamber groups (1), which are enclosed in a cylindrical shape as a whole. Each air chamber group (1) is composed of a plurality of tilted air chambers (2) connected in series through internal air passages. The bottom of the air chamber group (1) is connected to a fixed base (3). The fixed base (3) is integrated with an air path interface, and the air path interface is connected to an external pump and a control valve group.

2. The high-degree-of-freedom pneumatic soft robot based on a special air chamber arrangement according to claim 1, characterized in that: The number of the air chamber groups (1) is four, and the four air chamber groups (1) are arranged in a mirror-symmetrical manner along the circumference to form a cylindrical shape.

3. The high-degree-of-freedom pneumatic soft robot based on a special air chamber arrangement according to claim 1, characterized in that: The single air chamber (2) is an arc-shaped cavity, and its axis forms an angle θ with the central axis of the robot.

4. The high-degree-of-freedom pneumatic soft robot based on a special air chamber arrangement according to claim 3, characterized in that: The angle range is 0°<θ<90°.

5. The high-degree-of-freedom pneumatic soft robot based on a special air chamber arrangement according to claim 1, characterized in that: When the included angle is equal to 90°, the air chamber (2) will only produce bending deformation when inflated. As the included angle decreases, the bending deformation trend gradually decreases and the torsional deformation trend gradually increases until it is infinitely close to 0°.

6. The high-degree-of-freedom pneumatic soft robot based on a special air chamber arrangement according to claim 1, characterized in that: The four air chamber groups (1) are evenly distributed at 90° intervals, and the tilt direction of each air chamber group (2) is symmetrical.

7. A control method for a high-freedom pneumatic soft robot based on a special air chamber arrangement according to any one of claims 1 to 6, characterized in that: The steps include: The air chamber group (1) includes air chamber group 1 (11), air chamber group 2 (12), air chamber group 3 (13), and air chamber group 4 (14). It is assumed that the direction of the A axis is the direction of the cylindrical axis of the soft robot, and its positive direction is the extension direction of the soft robot. The B axis and the C axis are located on the base surface. The B axis is the symmetry axis of the projection of the air chamber group 1 (11) and the air chamber group 2 (12) on the base surface, and the C axis is the symmetry axis of the projection of the air chamber group 2 (12) and the air chamber group 3 (13) on the base surface, that is, perpendicular to the B axis. The air pressure of each air chamber group is adjusted by an external air pump and solenoid valve to achieve the following deformations: Bending deformation: When the two air chamber groups (1) on the same side are inflated, the air chamber groups (1) are tilted to produce asymmetric expansion and bend along the C axis; Elongation deformation: all the air chamber groups (1) are inflated synchronously, the radial expansion of the air chamber group (1) is restricted, and the air chamber group (1) is linearly elongated along the A axis; Torsion deformation: A single air chamber group (1) is inflated, and the tilted air chamber group (1) generates a torque around the A axis to achieve counterclockwise torsion.

8. A flexible clamping jaw, characterized in that: The invention comprises a plurality of soft robots according to any one of claims 1 to 6, wherein the plurality of soft robots are fixed on a fixed bracket (5) via a mounting ring (4), the top of the fixed bracket (5) is hollowed out for wiring, and each soft robot is independently controlled and realizes grasping and releasing functions through deformation.

9. The flexible clamping jaw according to claim 8, characterized in that: Includes 3 soft robots.

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