Soft structure and processing method thereof, soft robot

Abstract

The application provides a soft structure and a processing method thereof and a soft robot, and belongs to the technical field of growing robots, and comprises a main air chamber and at least two sub air chambers, the sub air chambers are distributed in a ring shape along the outer peripheral surface of the main air chamber and extend along the axial direction of the main air chamber; a plurality of extension turning parts are arranged in each sub air chamber, the extension turning part comprises a first buckle and a second buckle, and the first buckle and the second buckle are fixedly arranged on the inner wall of the sub air chamber; wherein, when the first buckle and the second buckle are buckled, a wrinkle part is formed in the sub air chamber; when the first buckle and the second buckle are separated, the wrinkle part can be unfolded; when the soft structure is stretched out, the corresponding sub air chamber is inflated, and the first buckle and the second buckle are automatically separated; an air nozzle, the air nozzle is communicated with the corresponding sub air chamber and is used for inflating the sub air chamber; the advantage is that when the soft structure is stretched out from the main air chamber, the corresponding sub air chamber is inflated, the cross-sectional size of the sub air chamber is changed, the first buckle and the second buckle are relatively displaced and separated, and the wrinkle part is unfolded as required.

Description

Technical Field

[0001] This invention belongs to the field of growth robot technology, and particularly relates to a soft structure, processing method, and soft robot. Background Technology

[0002] In modern engineering applications, soft robots and deformable structures have attracted widespread attention due to their superior adaptability and flexibility. While traditional rigid mechanical systems can provide powerful force output and precise control, their operational capabilities in complex environments are limited, especially when interacting with irregular surfaces or fragile objects. In contrast, soft structures can achieve more flexible and diverse motion modes through the flexibility of their materials and variations in their shape.

[0003] However, the design of existing software structures often faces several challenges: First, achieving controllable and stable steering is a key issue. Many designs either lack sufficient driving force to realize complex motion paths or are too complex for practical applications. Second, space utilization efficiency is also an important consideration. An ideal software structure should save as much space as possible when not in use, while being able to quickly expand and provide the necessary deformation capabilities when tasks need to be performed. Summary of the Invention

[0004] The purpose of this invention is to address the aforementioned problems in existing technologies by proposing a simple and stable soft structure.

[0005] The objective of this invention can be achieved through the following technical solution: a software structure, comprising: The main air chamber and at least two sub-air chambers are arranged in a ring along the outer peripheral surface of the main air chamber and extend along the axial direction of the main air chamber. Each of the sub-gas chambers is provided with multiple extended steering components, each of which includes a first latch and a second latch, the first latch and the second latch being fixedly disposed on the inner wall of the sub-gas chamber; When the first buckle and the second buckle are fastened together, a pleated portion is formed in the sub-air chamber; when the first buckle and the second buckle are disengaged, the pleated portion can be unfolded; when the soft structure extends, it inflates the corresponding sub-air chamber, and the first buckle and the second buckle automatically separate. An air nozzle, which is connected to a corresponding sub-air chamber, is used to fill the sub-air chamber with air.

[0006] In the aforementioned soft structure, the first fastener includes a first connecting portion fixedly disposed to the inner wall of the sub-gas chamber, and a first fastening portion integrally disposed on the first connecting portion, the first fastening portion being perpendicular to the first connecting portion; the second fastener includes a second connecting portion fixedly disposed to the inner wall of the sub-gas chamber, and a second fastening portion integrally disposed on the second connecting portion, the second fastening portion being perpendicular to the second connecting portion, the first fastening portion and the second fastening portion abutting against each other to achieve the fastening of the first fastener and the second fastener.

[0007] In the aforementioned soft structure, when the first buckle and the second buckle are fastened together, the air chamber wall of the sub-air chamber folds and is stored at the position of the first buckle along the axial extension direction of the sub-air chamber, forming a pleated portion.

[0008] In the aforementioned soft structure, the length of the first buckle is greater than the length of the second buckle, and the first buckle is positioned closer to the air nozzle than the second buckle.

[0009] In the aforementioned soft structure, the chamber wall of the sub-chamber is folded in a Z-shape and then stored below the first buckle to form a pleated section.

[0010] In the aforementioned soft structure, the two ends of the chamber wall of the sub-chamber are folded in a Z-shape and then stored below the first buckle to form a pleated section.

[0011] In the aforementioned soft structure, both the main air chamber and the sub-air chamber are made of flexible thin film material and are connected by a hot-pressing process.

[0012] A processing method includes the following steps: S1. Take a complete piece of flexible film material, and fold it along its length at fixed intervals to form folds; S2. Based on the number of sub-cells, preheat and press along the width direction of the flexible film material to form folds; S3. Fix the extended steering component onto the flexible film material, and fasten the first buckle and the second buckle together; S4. Take another complete piece of flexible film material, cover the new flexible film material with the above-processed flexible film material, and hot-press it along the length of the flexible film material to form a soft structure according to the number of sub-gas chambers.

[0013] A soft robot comprising the aforementioned soft structure.

[0014] In the aforementioned soft robot, a drive device is also included. The drive device has a receiving cavity, in which a soft roll and a drive motor are disposed. The soft roll and the drive motor are drivenly connected. The first end of the soft structure is disposed on the outer wall of the drive device, and the second end of the soft structure is disposed on a traction rope. The traction rope and the rest of the soft structure are all wound around the soft roll.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) When the soft structure extends out of the main air chamber, air is injected into the corresponding sub-air chamber to change the cross-sectional size of the sub-air chamber, so that the first buckle and the second buckle are displaced and disconnected, and the pleats are unfolded as needed. This gradual unfolding method ensures the smoothness and controllability of the steering action and avoids the instability of movement caused by sudden deformation. (2) By independently controlling the inflation volume of each sub-chamber, precise steering angle control can be achieved: the asymmetrical distribution of cross-sectional width caused by the difference in inflation volume provides a controllable steering driving force for the soft structure. (3) The snap-on pleated design maintains a compressed shape when not in use, saving a lot of space; when in use, it can be quickly unfolded, providing ample room for deformation. Attached Figure Description

[0016] Figure 1 This is a structural diagram of a soft robot; Figure 2 This is a three-dimensional structural diagram of the soft structure; Figure 3 This is a design diagram of the pleats as an alternative solution; Figure 4 This is a design schematic of the pleats as an alternative option; Figure 5 This is a diagram showing the separation of the first and second buckles; Figure 6 This is a processing plan for flexible thin film materials; Figure 7 This is a schematic diagram of the internal structure of the drive unit; Figure 8 This is a schematic diagram of the electromagnetic pneumatic control switch and other control modules.

[0017] In the diagram, 100 is the main air chamber; 101 is the sub-air chamber; 102 is the pleated part; 200 is the extended steering component; 201 is the first buckle; 202 is the second buckle; 203 is the first connecting part; 204 is the first fastening part; 205 is the second connecting part; 206 is the second fastening part; 300 is the driving device; 301 is the receiving cavity; 302 is the flexible reel; 303 is the drive motor; 304 is the traction rope; 305 is the electromagnetic air pressure control switch; 306 is the indicator light; 307 is the circuit board; 308 is the air pressure gauge; and 309 is the air inlet and outlet pipes. Detailed Implementation

[0018] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings to further illustrate the technical solutions of the present invention. However, the present invention is not limited to these embodiments.

[0019] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0020] Implementation, for example Figures 1-5 As shown, a software structure includes: The main air chamber 100 and at least two sub-air chambers 101 are arranged in a ring along the outer peripheral surface of the main air chamber 100 and extend along the axial direction of the main air chamber 100. Each sub-gas chamber 101 is provided with multiple extension and steering components 200. Each extension and steering component 200 includes a first buckle 201 and a second buckle 202, which are fixedly disposed on the inner wall of the sub-gas chamber 101. When the first buckle 201 and the second buckle 202 are fastened, a pleated portion 102 is formed in the sub-air chamber 101; when the first buckle 201 and the second buckle 202 are disengaged, the pleated portion 102 can be unfolded; when the soft structure extends, it inflates into the corresponding sub-air chamber 101, and the first buckle 201 and the second buckle 202 automatically separate. The air nozzle is connected to the corresponding sub-air chamber 101 and is used to fill the sub-air chamber 101 with air.

[0021] In this embodiment, when the soft structure extends from the main air chamber 100, air is injected into the corresponding sub-air chamber 101 to change the cross-sectional size of the sub-air chamber 101, causing the first buckle 201 and the second buckle 202 to disengage relative to each other, so that the pleated part 102 unfolds as needed. This gradual unfolding method ensures the smoothness and controllability of the steering action and avoids motion instability caused by sudden deformation.

[0022] By independently controlling the inflation volume of each sub-chamber 101, precise steering angle control can be achieved: the asymmetrical distribution of cross-sectional width caused by the difference in inflation volume provides a controllable steering driving force for the soft structure.

[0023] The snap-on pleated design maintains a compressed shape when not in use, saving a significant amount of space; when in use, it can be quickly unfolded, providing ample room for deformation.

[0024] Preferably, the first buckle 201 includes a first connecting portion 203 fixedly disposed to the inner wall of the sub-gas chamber 101, and a first fastening portion 204 integrally disposed on the first connecting portion 203, the first fastening portion 204 being perpendicular to the first connecting portion 203; the second buckle 202 includes a second connecting portion 205 fixedly disposed to the inner wall of the sub-gas chamber 101, and a second fastening portion 206 integrally disposed on the second connecting portion 205, the second fastening portion 206 being perpendicular to the second connecting portion 205, the first fastening portion 204 and the second fastening portion 206 abutting and connecting to realize the fastening of the first buckle 201 and the second buckle 202.

[0025] In this embodiment, both the first latch 201 and the second latch 202 extend along the axial direction of the main air chamber 100. As the soft structure located in the main air chamber 100 extends along the axial direction of the main air chamber 100, the first latch 201 and the second latch 202 will extend out of the main air chamber 100 in sequence. During the extension process, the first latch 201 and the second latch 202 will flip. When they are in the extended and flipped state, inflating the corresponding sub-air chamber 101 can disengage the two latches.

[0026] This design, through an axially extended latch structure and a sequential extension mechanism, enables the first latch 201 and the second latch 202 to generate a precise relative angle difference during the extension of the soft structure, achieving automatic and reliable separation. This mechanical triggering method eliminates the need for additional sensing elements, greatly improving the system's reliability and response speed. The timing of latch separation is directly related to the extension length of the soft structure. By controlling the inflation volume, the position of the turning point can be precisely controlled, realizing an intelligent motion sequence of "first straight extension and then directional turning," which is particularly suitable for application scenarios requiring precise path planning.

[0027] The vertically positioned fastening part provides stable connection strength under normal working conditions, ensuring the rigidity requirements of the soft structure in non-steering sections; while when steering is required, it can automatically separate through sequential flipping, allowing the pleated part 102 to unfold in time to meet the flexible steering requirements.

[0028] Preferably, when the first buckle 201 and the second buckle 202 are fastened together, the chamber wall of the sub-chamber 101 is folded and stored at the position of the first buckle 201 along the axial extension direction of the sub-chamber 101 to form a pleated portion 102.

[0029] More preferably, the length of the first buckle 201 is greater than the length of the second buckle 202, and the first buckle 201 is positioned closer to the air valve than the second buckle 202.

[0030] In this embodiment, since the pleated part 102 is located between the first buckle 201 and the inner wall of the sub-air chamber 101, in order to ensure that the pleats can be folded and stored in an orderly and tight manner when not in use, the first buckle 201 needs to have sufficient length to provide a stable fixing point, and sufficient length to provide sufficient support area for the wall of the sub-air chamber 101, so that the pleated part 102 can be effectively stored in a limited space, thereby maintaining the structural compactness.

[0031] When the turning operation is performed, the length of the first buckle 201 ensures that the pleated part 102 has enough space to unfold, which not only improves the smoothness of the unfolding process, but also ensures the structural stability after unfolding.

[0032] More preferably, the chamber wall of the sub-chamber 101 is folded in a Z-shape and stored below the first buckle 201 to form a pleated portion 102.

[0033] More preferably, the two ends of the chamber wall of the sub-chamber 101 are folded in a Z-shape and stored below the first buckle 201 to form a pleated portion 102.

[0034] In this embodiment, as Figure 4 As shown, as an optional solution, the chamber wall of the sub-chamber 101 is folded in a Z-shape and stored below the first latch 201 to form a pleated portion 102. The Z-shape folding allows the sub-chamber 101 wall to be neatly stored with a small space occupation. This method not only saves internal space of the soft structure, but also allows the chamber wall to unfold quickly and smoothly when turning, providing a greater change in cross-sectional width and thus generating a stronger steering torque. This greatly improves the response speed and efficiency of steering actions. Figure 3 As shown, as another alternative, the two ends of the air chamber wall of the sub-air chamber 101 are folded in a Z-shape and stored under the first buckle 201 to form a pleated portion 102. Compared with folding in a Z-shape on only one side, folding in a Z-shape on both ends at the same time can provide a more balanced bidirectional adjustment capability and a longer extendable length when inflated and unfolded.

[0035] Specifically, both the main air chamber 100 and the sub-air chamber 101 are made of flexible film material and are connected via a hot-pressing process. As an optional choice, PE film material can be used, which is known for its excellent flexibility and durability, making it ideal for soft robot designs that require frequent bending and stretching. This material allows for complex deformation of the soft parts while maintaining structural integrity; the hot-pressing process ensures a tight bond between the PE film materials, forming a highly reliable sealed structure. This is crucial for maintaining the required air pressure within the chambers, preventing gas leakage from affecting the robot's normal operation.

[0036] As an alternative, the choice of three sub-chambers 101 in this application is based on a balance between turning torque and flexibility, avoiding insufficient turning torque. While four sub-chambers 101 could further distribute gas pressure, their small cross-sectional width would further reduce the torque exerted on the soft body during inflation, limiting overall steering performance. A two-chamber design, although providing sufficient torque, would result in poor controllability during steering, potentially leading to insufficient maneuverability and failing to meet the demands of precise operations in complex environments. The three-chamber design achieves an optimal balance between circumferential distribution, torque magnitude, and flexibility. Each sub-chamber 101 provides sufficient torque when inflated, while ensuring high flexibility during steering, adapting to various complex operating scenarios.

[0037] In summary, as an alternative, along the axial direction of the main air chamber 100, the length of the pleated portion 102 is 1 cm, the diameter of the main air chamber 100 is 8 cm, the length of the sub-air chamber 101 is 1 / 3 of the circumference of the main air chamber 100, and the ratio of the diameter of the main air chamber 100 to the width of the sub-air chamber 101 to the length of the pleated portion 102 is 8:8:1.

[0038] like Figure 6 As shown, a processing method includes the following steps: S1. Take a complete piece of flexible film material, and fold it along its length at fixed intervals to form folds; S2. Based on the number of sub-gas chambers 101, preheat and press along the width direction of the flexible film material to form pleats 102; S3. The extended steering component 200 is fixed on the flexible film material, and the first buckle 201 and the second buckle 202 are fastened together; S4. Take another complete flexible film material, cover the new flexible film material with the above-processed flexible film material, and hot press it along the length extension direction of the flexible film material to form a soft structure according to the number of sub-gas chambers 101.

[0039] In step S2, after the flexible film material is folded to form the pleats 102, point-like thermal pre-pressing is performed according to the number of sub-cells 101, after spacing the width of each sub-cell 101, to prevent the pleats 102 from spreading out.

[0040] In step S3, the first buckle 201 and the second buckle 202 are glued to the inner wall of the sub-gas chamber 101.

[0041] like Figures 7-8 As shown, a soft robot includes the aforementioned soft structure and a drive device 300. The drive device 300 has a receiving cavity 301, and a soft roll 302 and a drive motor 303 are disposed in the receiving cavity 301. The soft roll 302 and the drive motor 303 are drivenly connected. The first end of the soft structure is disposed on the outer wall of the drive device 300, and the second end of the soft structure is disposed on a traction rope 304. The traction rope 304 and the rest of the soft structure are all wound around the soft roll 302.

[0042] In this embodiment, the first end of the soft structure is fixed to the flange on the outer wall of the drive device 300. The receiving cavity 301 inside the drive device 300 not only provides protection for key components but also optimizes space utilization. The drive connection between the drive motor 303 and the soft roll 302 ensures precise control over the extension and retraction process of the soft structure. Users can adjust the movement mode of the soft robot by adjusting the speed and direction of the drive motor 303 to achieve precise positioning and navigation.

[0043] It is worth mentioning that the drive unit 300 also includes a pressure gauge 308 for real-time monitoring of the inflation pressure. An electromagnetic pressure control switch 305, communicatively connected to the drive motor 303, is also installed outside the drive unit 300. The electromagnetic pressure control switch 305 is also equipped with an indicator light 306, a circuit board 307, and an inlet / outlet pipe 309 for coordinating the soft drive unit 300 and controlling the inflation and deflation of gas in the soft air chamber. The electromagnetic pressure control switch 305 is used to precisely adjust pressure changes, achieving precise drive and steering control of the soft structure; the indicator light 306 displays the system's operating status in real time, providing intuitive operational feedback; the circuit board 307 integrates a signal processing and control module for analyzing and processing sensor data and sending control commands to the drive system; the inlet / outlet pipe 309, through a flexible connection, works efficiently with the soft drive unit 300 to ensure the stability and reliability of gas flow, thereby improving the overall system's operating efficiency and control accuracy.

[0044] It should be noted that in this invention, the use of terms such as "first," "second," and "a" is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified. The terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two elements or the interaction between two elements, unless otherwise explicitly specified. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0045] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0046] The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of the invention or exceeding the scope defined by the appended claims.

Claims

1. A soft structure, characterized in that, include: The main air chamber and at least two sub-air chambers are arranged in a ring along the outer peripheral surface of the main air chamber and extend along the axial direction of the main air chamber. Each of the sub-gas chambers is provided with multiple extended steering components, each of which includes a first latch and a second latch, the first latch and the second latch being fixedly disposed on the inner wall of the sub-gas chamber; When the first and second fasteners are engaged, a pleated portion is formed inside the sub-air chamber; when the first and second fasteners are disengaged, the pleated portion unfolds; when the soft structure extends, it inflates the corresponding sub-air chamber, and the first and second fasteners automatically separate; the first fastener includes a first connecting portion fixedly disposed to the inner wall of the sub-air chamber, and a first fastening portion integrally disposed on the first connecting portion, the first fastening portion being perpendicular to the first connecting portion; the second fastener includes a second connecting portion fixedly disposed to the inner wall of the sub-air chamber, and a second fastening portion integrally disposed on the second connecting portion, the second fastening portion being perpendicular to the second connecting portion, the first fastening portion and the second fastening portion abutting against each other to achieve the engagement of the first and second fasteners; An air nozzle, which is connected to a corresponding sub-chamber, is used to fill the sub-chamber with air.

2. The soft structure according to claim 1, characterized in that, When the first buckle and the second buckle are fastened together, the chamber wall of the sub-chamber is folded and stored at the position of the first buckle along the axial extension direction of the sub-chamber, forming a pleated part.

3. A soft structure according to claim 1, characterized in that, The length of the first buckle is greater than the length of the second buckle, and the first buckle is positioned closer to the air valve than the second buckle.

4. A soft structure according to claim 1 or 2, characterized in that, The chamber wall of the sub-chamber is folded in a Z-shape and then stored below the first buckle to form a pleated section.

5. A soft structure according to claim 1 or 2, characterized in that, The two ends of the chamber wall of the sub-chamber are folded in a Z-shape and then stored under the first buckle to form a pleated section.

6. A soft structure according to claim 1, characterized in that, Both the main gas chamber and the sub-gas chamber are made of flexible thin film material and are connected by a hot-pressing process.

7. A processing method for preparing the soft structure according to any one of claims 1-6, characterized in that, Includes the following steps: S1. Take a complete piece of flexible film material, and fold it along its length at fixed intervals to form folds; S2. Based on the number of sub-cells, preheat and press along the width direction of the flexible film material to form folds; S3. Fix the extended steering component onto the flexible film material, and fasten the first buckle and the second buckle together; S4. Take another complete piece of flexible film material, cover the new flexible film material with the above-processed flexible film material, and hot-press it along the length of the flexible film material to form a soft structure according to the number of sub-gas chambers.

8. A soft robot, characterized in that, Includes the software structure described in any one of claims 1-6 above.

9. A soft robot according to claim 8, characterized in that, It also includes a drive device, which has a receiving cavity, and a soft roll and a drive motor are disposed in the receiving cavity. The soft roll and the drive motor are drivenly connected. The first end of the soft structure is disposed on the outer wall of the drive device, and the second end of the soft structure is disposed on a traction rope. The traction rope and the rest of the soft structure are all wound around the soft roll.

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