Pneumatic soft mechanical arm and mechanical arm control system

Abstract

The invention provides a pneumatic soft mechanical arm and a mechanical arm control system, and belongs to the technical field of mechanical arms, the pneumatic soft mechanical arm comprises an arm body, the arm body is provided with two driving cavities and two driving ports, the two driving cavities communicate with the outside through the two driving ports correspondingly, and the two driving cavities extend from one end of the arm body to the other end of the arm body; when the two driving cavities are both in an uninflated state, the arm body is in a linear state; when one driving cavity is in an inflated state and the other driving cavity is in a non-inflated state, the arm body is in a torsion bending state; and when the two driving cavities are both in an inflated state, the arm body is in a bent state. The mechanical arm has the beneficial effects that the two independently-controlled driving cavities are arranged, and different inflation combinations are combined, so that multiple motion states such as linear motion, bending motion and torsional bending motion of the mechanical arm are achieved, the flexibility and adaptability of the mechanical arm are greatly improved, and the operation requirement under the complex working condition is met.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of mechanical arms and relates to a pneumatic soft mechanical arm and a mechanical arm control system. BACKGROUND

[0002] Soft robots and soft actuators have been proven to have significant advantages in the application of precision grippers and manipulators due to their excellent compliance and the ability to achieve smooth and continuous configuration and motion, but most existing soft actuators can still only realize one or two deformation modes, which greatly limits their motion range and application scenarios.

[0003] For example, an application No. CN202310612596.X provides a soft driving unit and a modular soft mechanical arm with the same, the soft driving unit includes an elastic structure body with a hollow structure and at least one driving air bag arranged in the elastic structure body, the two ends of the driving air bag are fixed with the elastic structure body through fixed ends, and the elastic structure body is deformed to realize the driving deformation of the soft driving unit by changing the internal pressure of the driving air bag to make it deform.

[0004] In summary, although some existing technical solutions can realize multiple deformation modes, the structure is relatively complex, the production cost is high, and further assembly processing is required, and the precision after assembly is difficult to guarantee, so there is a great improvement space. SUMMARY

[0005] The application aims to solve the above problems existing in the prior art and provides a pneumatic soft mechanical arm and a mechanical arm control system.

[0006] The purpose of the application can be achieved by the following technical scheme: a pneumatic soft mechanical arm, comprising:

[0007] an arm body provided with two driving cavities and two driving ports, the two driving cavities are respectively communicated with the outside through the two driving ports, and the two driving cavities extend from one end of the arm body to the other end;

[0008] when the two driving cavities are in an uninflated state, the arm body is in a straight state;

[0009] when one of the driving cavities is in an inflated state and the other driving cavity is in an uninflated state, the arm body is in a twisted and bent state;

[0010] when the two driving cavities are in an inflated state, the arm body is in a bent state.

[0011] In the aforementioned pneumatic soft robotic arm, the drive cavity includes a bending cavity and a torsion cavity, the bending cavity and the torsion cavity are connected, and one of the bending cavity and the torsion cavity is connected to the drive port.

[0012] In the aforementioned pneumatic soft robotic arm, the two drive cavities are distributed in a mirror-symmetrical manner within the arm body.

[0013] In the aforementioned pneumatic soft robotic arm, the bending cavity has a straight structure, and the extending direction of the bending cavity is offset from the central axis of the arm body.

[0014] In the aforementioned pneumatic soft robotic arm, the torsion cavity has a spiral structure, and the extension direction of the bending cavity is consistent with the central axis of the arm body.

[0015] In the aforementioned pneumatic soft robotic arm, the arm body is made of silicone and is manufactured by injection molding.

[0016] Secondly, a robotic arm control system includes the aforementioned pneumatic soft robotic arm, and further includes: a pressure regulating valve, an air pump, and a power supply. The drive port is connected to the output port of the pressure regulating valve, the air pump is connected to the pressure regulating valve, and the power supply is electrically connected to the air pump. The power supply is used to supply power to the air pump, thereby causing the air pump to generate airflow, which is then regulated by the pressure regulating valve and enters the drive chamber through the drive port.

[0017] In the aforementioned robotic arm control system, a control valve is also included. The control valve is disposed between the arm body and the pressure regulating valve. The drive port is connected to the output port of the pressure regulating valve through the control valve. The control valve is used to control the gas flow between the drive port and the output port of the pressure regulating valve.

[0018] In the aforementioned robotic arm control system, a relay and a controller are also included. The control valve is configured as a solenoid valve. The controller is electrically connected to the relay, and the relay is electrically connected to the solenoid valve. The controller is used to control the operation of the solenoid valve through the relay.

[0019] In the above-mentioned robotic arm control system, a pressure sensor is also included. The pressure sensor is disposed between the arm body and the solenoid valve. The pressure sensor is electrically connected to the controller. The pressure sensor is used to detect the air pressure in the drive chamber and feed it back to the controller.

[0020] Compared with the prior art, the beneficial effects of this invention are as follows: By setting two independently controlled drive cavities and combining different inflation combinations, the robotic arm achieves various motion states such as linear, bending, and torsional bending, greatly improving the flexibility and adaptability of the robotic arm and meeting the operational needs under complex working conditions; by dividing the drive cavity into a bending cavity and a torsional cavity, which respectively undertake bending and torsional functions, and connecting one of the bending cavity and the torsional cavity to the drive port, it is possible to simultaneously complete both bending and torsional actions by inflating a single drive port; the two drive cavities are distributed in a mirror-symmetrical manner within the arm body, so the torsional cavities of the two drive cavities can interact with each other. The first type of bending chamber can cancel each other out when both drive chambers are under the same inflation conditions, so that the arm only bends and does not twist. The extension direction of the bending chamber is offset from the central axis of the arm. This design of the bending chamber off the central axis causes the arm to expand asymmetrically after inflation, thereby triggering the bending action. The structure is simple and the response is fast, making it suitable for scenarios with clear requirements for bending action. The extension direction of the bending chamber is consistent with the central axis of the arm. The spiral structure of the torsion chamber can trigger the spiral expansion of the arm when inflated, thereby achieving the overall torsion action. The structure is ingeniously designed and can achieve complex movements without additional drive components. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the external structure of the pneumatic soft robotic arm of the present invention.

[0022] Figure 2 This is a perspective view of the internal structure of the pneumatic soft robotic arm of the present invention.

[0023] Figure 3 This is a front perspective view of the pneumatic soft robotic arm of the present invention.

[0024] Figure 4 This is a top perspective view of the pneumatic soft robotic arm of the present invention.

[0025] Figure 5 This is a schematic diagram of the pneumatic soft robotic arm of the present invention, in which one drive chamber is in an inflated state and the other drive chamber is in an uninflated state.

[0026] Figure 6 This is a schematic diagram showing the two drive chambers in different inflation states of the pneumatic soft robotic arm of the present invention.

[0027] Figure 7 This is a schematic diagram showing that both drive chambers in the pneumatic soft robotic arm of the present invention are in the same inflation state.

[0028] Figure 8 This is a schematic diagram of the connection relationship of the robotic arm control system of the present invention.

[0029] In the diagram, 100 is the arm body; 110 is the drive chamber; 111 is the bending chamber; 112 is the torsion chamber; 120 is the drive port; 200 is the pressure regulating valve; 300 is the air pump; 400 is the power supply; 500 is the solenoid valve; 600 is the relay; 700 is the controller; and 800 is the air pressure sensor. Detailed Implementation

[0030] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0031] 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.

[0032] Furthermore, in this invention, descriptions involving terms such as "first," "second," and "a" are 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. Thus, 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.

[0033] In this invention, unless otherwise explicitly specified and limited, 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 components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0034] 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.

[0035] 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.

[0036] likeFigures 1-7 As shown, a pneumatic soft robotic arm includes: an arm body 100.

[0037] The arm body 100 is provided with two drive cavities 110 and two drive ports 120. The two drive cavities 110 are connected to the outside through the two drive ports 120 respectively, and the two drive cavities 110 extend from one end of the arm body 100 to the other end.

[0038] Specifically, when both drive cavities 110 are in an uninflated state, the arm 100 is in a straight line.

[0039] Specifically, when one of the drive chambers 110 is in an inflated state and the other drive chamber 110 is in an uninflated state, the arm body 100 is in a torsional bending state.

[0040] Specifically, when both drive cavities 110 are in an inflated state, the arm 100 is in a bent state.

[0041] In this embodiment, by setting two independently controlled drive cavities 110 and combining different inflation combinations, the robotic arm can achieve various motion states such as straight line, bending and torsional bending, which greatly improves the flexibility and adaptability of the robotic arm and meets the operational needs under complex working conditions.

[0042] like Figures 1-7 As shown, based on the above embodiment, the driving cavity 110 includes a bending cavity 111 and a torsion cavity 112. The bending cavity 111 and the torsion cavity 112 are connected, and one of the bending cavity 111 and the torsion cavity 112 is connected to the driving port 120.

[0043] Specifically, one end of the torsion cavity 112 can be connected to one end of the bending cavity 111 and the other end of the torsion cavity 112 can be connected to the drive port 120, while the other end of the bending cavity 111 is blocked; or one end of the bending cavity 111 can be connected to one end of the torsion cavity 112 and the other end of the bending cavity 111 can be connected to the drive port 120, while the other end of the torsion cavity 112 is blocked.

[0044] In this embodiment, by dividing the drive cavity 110 into a bending cavity 111 and a torsion cavity 112, which respectively undertake the bending and torsion functions, and by connecting one of the bending cavity 111 and the torsion cavity 112 to the drive port 120, the bending and torsion actions can be completed simultaneously by inflating a single drive port 120.

[0045] like Figures 1-7 As shown, based on the above embodiment, the two drive cavities 110 are distributed in a mirror-symmetrical manner within the arm body 100.

[0046] In this embodiment, the two drive chambers 110 are distributed in a mirror symmetrical manner within the arm body 100. Therefore, the torsion chambers 112 of the two drive chambers 110 can counteract each other. When the two drive chambers 110 are under the same inflation conditions, the torsion can cancel each other out, so that the arm body 100 only bends and does not twist.

[0047] In addition, the mirror-symmetric structure design is beneficial to the uniformity of air pressure distribution, reduces the asymmetry of structural deformation, improves the stability and repeatability of the robotic arm's movement, and facilitates the simplification and optimization of the control algorithm.

[0048] like Figures 1-7 As shown, based on the above embodiment, the bending cavity 111 has a straight structure, and the extending direction of the bending cavity 111 is offset from the central axis of the arm body 100.

[0049] In this embodiment, the extension direction of the bending cavity 111 is offset from the central axis of the arm body 100. This design of the bending cavity 111 being off-center from the central axis causes the arm body 100 to expand asymmetrically after inflation, thereby triggering a bending action. The structure is simple and the response is rapid, making it suitable for scenarios with clear requirements for bending actions.

[0050] like Figures 1-7 As shown, based on the above embodiment, the torsion cavity 112 has a spiral structure, and the extension direction of the bending cavity 111 is consistent with the central axis of the arm body 100.

[0051] In this embodiment, the extension direction of the bending cavity 111 is consistent with the central axis of the arm body 100. The spiral structure of the torsion cavity 112 can induce the spiral expansion of the arm body 100 when inflated, thereby realizing the overall torsion action. The structure is ingeniously designed and can achieve complex movements without additional driving components.

[0052] like Figures 1-7 As shown, based on the above embodiments, the arm body 100 is a silicone part, and the arm body 100 is manufactured by injection molding.

[0053] In this embodiment, silicone material has good flexibility, airtightness and biocompatibility, which is suitable for the application requirements of soft robotic arms; injection molding process is conducive to mass production, high structural consistency and easy realization of complex cavity structures.

[0054] like Figures 1-7 As shown, in terms of the overall working principle:

[0055] like Figure 1 As shown, when both drive chambers 110 are in an uninflated state, the arm body 100 is in a straight line.

[0056] like Figure 5 As shown, when the two drive chambers 110 are in different inflation states, the arm body 100 is in a torsional bending state.

[0057] like Figure 6 As shown, when one of the drive chambers 110 is in an inflated state and the other drive chamber 110 is in an uninflated state, the arm body 100 is in a torsional bending state.

[0058] like Figure 7 As shown, when the two drive chambers 110 are in the same inflation state, the arm body 100 is in a bent state.

[0059] like Figures 1-8 As shown, a robotic arm control system includes a pneumatic soft robotic arm, and further includes a pressure regulating valve 200, an air pump 300, and a power supply 400. The drive port 120 is connected to the output port of the pressure regulating valve 200, the air pump 300 is connected to the pressure regulating valve 200, and the power supply 400 is electrically connected to the air pump 300. The power supply 400 is used to supply power to the air pump 300, thereby causing the air pump 300 to generate airflow, which is then regulated by the pressure regulating valve 200 and enters the drive chamber 110 through the drive port 120.

[0060] In this embodiment, the power supply 400 can supply power to the air pump 300, thereby generating airflow. After the airflow is regulated by the pressure regulating valve 200, it enters the drive chamber 110 through the drive port 120, thus supplying air to the two drive chambers 110 respectively and controlling the air pressure. This air supply system, which consists of the air pump 300 and the pressure regulating valve 200, can achieve precise control of the air pressure in the drive chamber 110, thereby achieving precise adjustment of the robotic arm's movements and improving the system's automation level and control accuracy.

[0061] like Figures 1-8 As shown, based on the above embodiment, a control valve is also included. The control valve is disposed between the arm body 100 and the pressure regulating valve 200. The drive port 120 is connected to the output port of the pressure regulating valve 200 through the control valve. The control valve is used to control the gas flow between the drive port 120 and the output port of the pressure regulating valve 200.

[0062] In this embodiment, the control valve can control the gas flow at the output ports of the drive port 120 and the pressure regulating valve 200. The control valve enables independent control of the gas supply to the two drive chambers 110, enhancing the flexibility and response speed of the robotic arm's movements, and enabling adjustment and switching between straight, torsional bending and bending states.

[0063] like Figures 1-8As shown, based on the above embodiment, it also includes a relay 600 and a controller 700. The control valve is configured as a solenoid valve 500. The controller 700 is electrically connected to the relay 600, and the relay 600 is electrically connected to the solenoid valve 500. The controller 700 is used to control the operation of the solenoid valve 500 through the relay 600.

[0064] Specifically, the controller 700 can be a simulator.

[0065] In this embodiment, the controller 700 is used to control the operation of the solenoid valve 500 through the relay 600. By combining the solenoid valve 500 with the controller 700, the programmable control of the robotic arm's movements is realized, improving the system's intelligence level and facilitating integration with a host computer or robot control system.

[0066] like Figures 1-8 As shown, based on the above embodiment, a pressure sensor 800 is also included. The pressure sensor 800 is disposed between the arm body 100 and the solenoid valve 500. The pressure sensor 800 is electrically connected to the controller 700. The pressure sensor 800 is used to detect the air pressure in the drive cavity 110 and feed it back to the controller 700.

[0067] In this embodiment, the introduction of the pressure sensor 800 enables real-time monitoring of the internal pressure of the drive cavity 110, forming a closed-loop feedback control, which improves the stability and reliability of the robotic arm's movements, prevents overpressure damage, and enhances the system's safety and control accuracy.

[0068] like Figures 1-8 As shown, in terms of the overall working principle: the power supply 400 can supply power to the air pump 300, thereby causing the air pump 300 to generate airflow. After the airflow is regulated by the pressure regulating valve 200, it enters the drive chamber 110 through the drive port 120 via the solenoid valve 500 controlled by the relay 600. The air pressure in the drive chamber 110 is detected by the air pressure sensor 800 set between the solenoid valve 500 and the drive port 120, and the air pressure is fed back to the controller 700, thereby realizing closed-loop control.

Claims

1. A pneumatic soft robotic arm, characterized in that, include: The arm body is provided with two drive cavities and two drive ports. The two drive cavities are respectively connected to the outside through the two drive ports. The two drive cavities extend from one end of the arm body to the other end. When both drive chambers are in an uninflated state, the arm body is in a straight line. When one of the drive chambers is in an inflated state and the other drive chamber is in an uninflated state, the arm body is in a torsional bending state; When both drive cavities are inflated, the arm body is in a bent state.

2. The pneumatic soft robotic arm as described in claim 1, characterized in that: The drive cavity includes a bending cavity and a torsion cavity, the bending cavity and the torsion cavity are connected, and one of the bending cavity and the torsion cavity is connected to the drive port.

3. A pneumatic soft robotic arm as described in claim 2, characterized in that: The two drive cavities are distributed in a mirror-symmetric manner within the arm body.

4. A pneumatic soft robotic arm as described in claim 3, characterized in that: The curved cavity has a straight structure, and the extension direction of the curved cavity is offset from the central axis of the arm body.

5. A pneumatic soft robotic arm as described in claim 3, characterized in that: The torsion cavity has a spiral structure, and the extension direction of the bending cavity is consistent with the central axis of the arm body.

6. A pneumatic soft robotic arm as described in claim 1, characterized in that: The arm body is made of silicone and is manufactured by injection molding.

7. A robotic arm control system, characterized in that, The pneumatic soft robotic arm, as described in any one of claims 1-6, further includes: a pressure regulating valve, an air pump, and a power supply. The drive port is connected to the output port of the pressure regulating valve, the air pump is connected to the pressure regulating valve, and the power supply is electrically connected to the air pump. The power supply is used to supply power to the air pump, thereby causing the air pump to generate airflow, which is then regulated by the pressure regulating valve and enters the drive chamber through the drive port.

8. A robotic arm control system as described in claim 7, characterized in that: It also includes a control valve, which is disposed between the arm body and the pressure regulating valve. The drive port is connected to the output port of the pressure regulating valve through the control valve. The control valve is used to control the gas flow between the drive port and the output port of the pressure regulating valve.

9. A robotic arm control system as described in claim 8, characterized in that: It also includes a relay and a controller. The control valve is configured as a solenoid valve. The controller is electrically connected to the relay, and the relay is electrically connected to the solenoid valve. The controller is used to control the operation of the solenoid valve through the relay.

10. A robotic arm control system as described in claim 9, characterized in that: It also includes a pressure sensor, which is disposed between the arm and the solenoid valve. The pressure sensor is electrically connected to the controller and is used to detect the air pressure in the drive chamber and feed it back to the controller.

Images