Enveloping actuator based on self-growth and robot system

Abstract

The invention discloses an envelope type actuator based on self-growth and a robot system, and relates to the technical field of robots. The envelope type actuator based on self-growth comprises a self-growth body, a catheter set, a tendon and a tendon driving module. The self-growing main body can be turned outwards in the first direction for self-growing, and the catheter group can be arranged in the first direction along with the self-growing main body; the catheter group comprises a channel for a tendon to pass through, and the channel comprises a plurality of bent sections; one end of the tendon is fixed, the other end of the tendon penetrates through the catheter set, the other end of the tendon reversely extends to be connected with the tendon driving module after passing through the tail end position of the catheter set arranged in the first direction, and the tendon driving module pulls the tendon so that the self-growing body can be bent and steered at the tail end position of the catheter set arranged in the first direction. The bending direction and position of the tail end of the self-growing body can be accurately controlled, the operation range, the grabbing range and the flexibility are improved, and the device is suitable for executing operation in a three-dimensional scene.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a self-growing envelope actuator and robot system. Background Technology

[0002] Soft self-growing robots, as a novel type of biomimetic robot, can extend their length by turning over materials. However, their ability to adjust their shape and control steering is limited, and their ability to perform operations in three-dimensional scenes is also limited. Current technologies primarily apply them to two-dimensional scenes. Therefore, those skilled in the art urgently need an envelope-type actuator and robot system based on self-growth. Summary of the Invention

[0003] The purpose of this invention is to provide a self-growing envelope actuator and robot system to solve the problems existing in the prior art. It can achieve precise control over the bending direction and position of the end of the self-growing body, improve the operating range, grasping range and flexibility, and is suitable for performing operations in three-dimensional scenes.

[0004] To achieve the above objectives, the present invention provides the following solution: This invention provides a self-growing envelope actuator, comprising a self-growing body, a conduit assembly, a tendon, and a tendon drive module. The conduit assembly is disposed on the inner side of the self-growing body. The self-growing body is capable of self-growing outward along a first direction, and the conduit assembly is arranged accordingly along the first direction. The conduit assembly includes a channel through which the tendon passes, and the channel includes multiple curved segments. One end of the tendon is fixed, and the other end passes through the conduit assembly. After passing the end position of the conduit assembly arranged along the first direction, the other end of the tendon extends in the opposite direction to connect with the tendon drive module. The tendon drive module pulls the tendon, causing the self-growing body to bend and turn at the end position of the conduit assembly arranged along the first direction.

[0005] Preferably, the conduit group includes a plurality of wave conduits arranged at intervals along a first direction as the self-growing body grows, and the channel of each wave conduit includes a plurality of the curved sections; the other end of the tendon passes through the plurality of wave conduits in sequence, and the tendon extends in the opposite direction to connect with the tendon drive module after passing through the wave conduit located at the end position along the first direction.

[0006] Preferably, the channel of the waveguide includes an input section, an output section, and a curved section; the curved section is located between the input section and the output section, and both ends of the curved section are smoothly connected to the corresponding input section and the output section, respectively; the input section of one waveguide and the output section of the other waveguide are spaced apart relative to each other along a first direction, and the curved sections of the two adjacent waveguides have opposite bending directions; the tendon passes sequentially through the output section, the curved section, and the input section of each waveguide from the fixed end.

[0007] Preferably, it further includes a composite adsorption structure; the outer surface of the self-growing host is provided with the composite adsorption structure, and at least a portion of the composite adsorption structure can extend along a first direction as the self-growing host grows; the composite adsorption structure includes an electrode layer, a substrate layer and a micro-wedge structure layer stacked together, the electrode layer is provided on the inner side of the substrate layer and the micro-wedge structure layer is provided on the outer side, and the electrode layer can electrostatically adsorb the target object when energized.

[0008] Preferably, the tendon drive module includes a first drive motor, a first coupling, a winding shaft, and a force sensor; the output shaft of the first drive motor is connected to the winding shaft via the first coupling, the other end of the tendon is wound around the winding shaft, and the first drive motor drives the winding shaft to rotate, which can pull the tendon; the force sensor is provided on the tendon.

[0009] Preferably, the assembly further includes a housing, a second drive motor, a second coupling, and a material reel. The housing is provided with an inflation port, an outlet plug, and a tendon conduit. The output shaft of the second drive motor is connected to the material reel via the second coupling. The fixed end of the tendon and one end of the self-growing body are both connected and fixed to the outlet plug. The other end of the self-growing body is turned inward and passes through itself and is wound around the material reel. The self-growing body can turn outward and grow under inflation. The tendon passes through the tendon conduit and is connected to the tendon drive module.

[0010] Preferably, the inner surface of the self-growing body is provided with two sets of the duct groups, and the two sets of the duct groups are symmetrically arranged about the central axis of the self-growing body.

[0011] Preferably, the self-growing body bends at the end of the duct group arranged along the first direction and extends along the second direction, and the angle between the second direction and the first direction increases as the displacement of the tendon pulled by the tendon drive module increases.

[0012] Preferably, the ratio of the diameter of the tendon to the inner diameter of the waveguide is 1:2, and the ratio of the outer diameter to the inner diameter of the waveguide is 2:1; the angle between the side of the curved section near the input section and the input section is 20°, and the angle between the side of the curved section near the output section and the output section is 20°.

[0013] The present invention also provides a robot system, including the above-described self-growing envelope actuator and robotic arm; the self-growing envelope actuator is connected and fixed to the end flange of the robotic arm.

[0014] The present invention achieves the following technical effects compared to the prior art: The self-growing envelope actuator and robot system of the present invention has a conduit group on the inner surface of the self-growing body. During the self-growing process of the self-growing body along a first direction, the conduit group can be arranged along the first direction on the inner wall of the self-growing body. One end of the tendon is fixed and the other end passes through the conduit group and extends in the opposite direction to connect with the tendon drive module. Since the conduit group includes multiple curved sections, the tendon is subjected to enhanced frictional torque during the process of passing through multiple curved sections. The tension torque on the self-growing body is the largest at the end of the conduit group along the first direction. The tension torque gradually decreases after the tendon passes through multiple curved sections. The tension torque on the self-growing body is the smallest at the beginning of the conduit group along the first direction. The self-growing body bends and turns at the position with the largest tension torque, i.e., the end of the conduit group along the first direction. Thus, the present invention, by setting a conduit group including multiple curved sections, based on the frictional hysteresis effect and by pulling the tendon, can effectively achieve precise control of the bending direction and position of the end of the self-growing body, improve the operating range, grasping range and flexibility, and is suitable for performing operations in three-dimensional scenes. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is one of the structural schematic diagrams of a self-growing envelope actuator in some embodiments of the present invention; Figure 2 This is a second schematic diagram of the structure of a self-growing envelope actuator in some embodiments of the present invention; Figure 3 This is a schematic diagram of the tendon drive module in some embodiments of the present invention; Figure 4This is one of the structural schematic diagrams of the waveguide in some embodiments of the present invention; Figure 5 This is a second schematic diagram of the structure of the waveguide in some embodiments of the present invention; Figure 6 This is one of the schematic diagrams of the composite adsorption structure in some embodiments of the present invention; Figure 7 This is a second schematic diagram of the composite adsorption structure in some embodiments of the present invention; Figure 8 This is a schematic diagram illustrating how a tendon drives the self-growing body to bend and turn in some embodiments of the present invention. Figure 9 This is a schematic diagram illustrating the direct adsorption of a target object by a self-growing robot in some embodiments of the present invention; Figure 10 This is a schematic diagram illustrating the sidewall adsorption of a self-growing robot on a target object in some embodiments of the present invention; Figure 11 This is a schematic diagram of the robot system in some embodiments of the present invention; Figure 12 This is one of the schematic diagrams of the grasping operation of the robot system in some embodiments of the present invention; Figure 13 This is a second schematic diagram of the grasping operation of the robot system in some embodiments of the present invention; Figure 14 This is the third schematic diagram of the grasping operation of the robot system in some embodiments of the present invention; Figure 15 This is the fourth schematic diagram of the grasping operation of the robot system in some embodiments of the present invention; In the diagram: 1 - Self-growing host; 2-Catheter assembly; 21-Wave guide tube; 211-Bend section; 212-Inlet section; 213-Outlet section; 3-Tendon; 4-Tendon drive module; 41-First drive motor; 42-First coupling; 43-Winding shaft; 44-Motor bracket; 45-Force sensor; 46-Base plate; 5-Drive storage mechanism; 51-Housing; 52-Second drive motor; 53-Second coupling; 54-Material reel; 55-Inflation port; 56-Outlet plug; 57-Flange; 58-Tendon conduit; 59-Motor cover; 6- Composite adsorption structure; 61- Substrate layer; 62- Electrode layer; 63- Micro-wedge structure layer; 621- Positive electrode; 622- Negative electrode; 7 - Robotic arm; 8 - Target object. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] The purpose of this invention is to provide a self-growing envelope actuator and robot system to solve the problems existing in the prior art. It can achieve precise control over the bending direction and position of the end of the self-growing body, improve the operating range, grasping range and flexibility, and is suitable for performing operations in three-dimensional scenes.

[0019] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0020] Example 1 This embodiment provides a self-growing envelope actuator, such as... Figures 1 to 15 As shown, the device includes a self-growing robot and a tendon-driven module 4. The self-growing robot includes a self-growing body 1, a conduit group 2, and a tendon 3. The conduit group 2 is provided on the inner side of the self-growing body 1. The self-growing body 1 can be everted and self-grown in a first direction, and the conduit group 2 can be arranged in the first direction accordingly. The conduit group 2 includes a channel for the tendon 3 to pass through, and the channel includes multiple curved segments 211. One end of the tendon 3 is fixed and the other end passes through the conduit group 2. After passing the end position of the conduit group 2 arranged in the first direction, the tendon 3 extends in the opposite direction to connect with the tendon-driven module 4. The tendon-driven module 4 can pull the tendon 3 to make the self-growing body 1 bend and turn at the end position of the conduit group 2 arranged in the first direction.

[0021] It should be noted that the self-growing main body 1 of the present invention is a tubular film, preferably a polyethylene plastic film. The tendon 3 can be made of steel wire rope. The tubular polyethylene plastic film folds outward under the action of air to achieve self-growth. The direction of the self-growing main body 1 is the first direction of self-growth elongation. Figure 1The direction indicated by the middle arrow is the first direction; a conduit group 2 is provided on the inner surface of the self-growing body 1. During the growth of the self-growing body 1 along the first direction, the conduit group 2 located on the inner surface of the self-growing body 1 gradually arranges itself along the first direction as the self-growing body 1 folds outward. The conduit group 2 is arranged along the first direction from the starting end to the ending end. Furthermore, the conduit group 2 includes multiple curved segments 211. The tendon 3 passes through multiple curved segments 211 during its passage through the conduit group 2. The arrangement of multiple curved segments 211 increases the friction between the conduit group 2 and the tendon 3. At this time, the torque experienced by the self-growing body 1 is dominated by frictional torque, based on friction. Due to the hysteresis effect, the self-growing body 1 experiences the greatest tensile torque at the end of the conduit group 2 along the first direction, while the self-growing body 1 experiences the greatest frictional torque and the smallest tensile torque at the beginning of the conduit group 2 along the first direction. Therefore, when the tendon 3 is pulled, the self-growing body 1 bends at the end of the conduit group 2 along the first direction. The bend direction of the self-growing body 1 can be determined based on the setting position of the conduit group 2 on the inner surface of the self-growing body 1 and the pulling of the tendon 3. Thus, the present invention can achieve precise control over the bending direction and position of the self-growing body 1, improve the operating range, grasping range and flexibility, and is suitable for performing operations in three-dimensional scenes.

[0022] In some implementations, such as Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, the conduit group 2 includes a plurality of wave conduits 21 arranged at intervals along a first direction as the self-growing body 1 grows. The channel of each wave conduit 21 includes several curved sections 211. The other end of the tendon 3 passes through the plurality of wave conduits 21 in sequence, and the tendon 3 extends in the opposite direction to connect with the tendon drive module 4 after passing through the wave conduit 21 located at the end along the first direction.

[0023] It should be noted that the multiple waveguides 21 of the present invention are spaced apart and arranged in a strip on the inner wall of the self-growing body 1. The multiple waveguides 21 and the self-growing body 1 can be fixed by adhesive bonding or other fixing methods. In addition, the curved section 211 in this embodiment has an arched structure. Those skilled in the art can set the shape and structure of the curved section 211 according to the actual situation. The multiple waveguides 21 are spaced apart, which can reduce the processing difficulty and cost, and reduce the rigidity of the guide tube group 2, so as to avoid affecting the growth of the self-growing body 1. For example, the multiple waveguides 21 can be arranged at equal intervals.

[0024] In some implementations, such as Figure 4As shown, the channel of the waveguide 21 includes an input section 212, an output section 213, and a curved section 211; the curved section 211 is located between the input section 212 and the output section 213, and both ends of the curved section 211 are smoothly connected to the corresponding input section 212 and the output section 213, respectively; the input section 212 of one waveguide 21 and the output section 213 of the other waveguide 21 are arranged relatively spaced along a first direction, and the bending directions of the curved sections 211 of the two adjacent waveguides 21 are opposite; the tendon 3 passes through the output section 213, the curved section 211, and the input section 212 of each waveguide 21 sequentially from the fixed end.

[0025] It should be noted that the tension formula for the winch is: In the formula, T out For the tension at the output end, T in Let μ be the tension at the input end, μ be the friction factor, and θ be the friction angle of the winch. According to the tension formula of the winch, along the tension of the tendon 3, the pulling force gradually decreases, and the pulling torque also gradually decreases. That is to say, due to the action of friction torque, the pulling force of the tendon 3 at the input end of the input section 212 of the waveguide 21 is greater than the pulling force of the tendon 3 at the output end of the output section 213 of the waveguide 21. Therefore, the friction torque experienced by the self-growing body 1 at the starting end of the waveguide 21 along the first direction is the largest, and the corresponding pulling torque is the smallest. The pulling torque experienced by the self-growing body 1 at the end of the waveguide 21 along the first direction is the largest. Therefore, when the tendon 3 is pulled, the buckling of the self-growing body 1 occurs at the end position of the waveguide 21 along the first direction.

[0026] In some implementations, such as Figure 6 and Figure 7 As shown, it also includes a composite adsorption structure 6. The outer surface of the self-growing body 1 is provided with the composite adsorption structure 6, and at least a portion of the composite adsorption structure 6 can extend along the first direction as the self-growing body 1 grows. The composite adsorption structure 6 includes an electrode layer 62, a base layer 61 and a micro-wedge structure layer 63 stacked together. The electrode layer 62 is provided on the inner side of the base layer 61 and the micro-wedge structure layer 63 is provided on the outer side. The electrode layer 62 can electrostatically adsorb the target object 8 when energized.

[0027] It should be noted that the composite adsorption structure 6 of the present invention can be adhered to the outer surface of the self-grown host 1 by adhesive bonding, playing the role of electrostatic adsorption and friction enhancement. The composite adsorption structure 6 includes a micro-wedge structure layer 63, a polyimide layer and an electrode layer 62, presenting a sandwich structure. Among them, the polyimide layer serves as the base layer 61 and can also prevent electrostatic penetration. The micro-wedge structure layer 63, as the outermost layer, directly contacts the target object 8 during the actuator operation, playing the role of friction enhancement. This layer is made of silicone and is attached to the surface of the polyimide layer by casting. The micro-wedge structure layer 63 can be a wedge-shaped uneven structure. The electrode layer 62 is printed on the other side of the polyimide layer. It is mainly composed of comb-shaped electrodes, including a positive electrode 621 and a negative electrode 622. When the robot performs the grasping operation, a high voltage of 3~5KV is applied between the positive electrode 621 and the negative electrode 622 to generate an electrostatic field. The electrostatic field generates an adsorption force, ultimately realizing the grasping operation of the target object 8.

[0028] In some implementations, such as Figure 3 As shown, the tendon drive module 4 includes a first drive motor 41, a first coupling 42, a winding shaft 43, and a force sensor 45. The output shaft of the first drive motor 41 is connected to the winding shaft 43 via the first coupling 42. The other end of the tendon 3 is wound around the winding shaft 43. The first drive motor 41 drives the winding shaft 43 to rotate, which can pull the tendon 3. The force sensor 45 is provided on the tendon 3.

[0029] It should be noted that the first drive motor 41 of the present invention is fixed on the base plate 46 by the motor bracket 44. The first drive motor 41 is connected to the winding shaft 43 through the first coupling 42. The tendon 3 is wound on the winding shaft 43. The force sensor 45 is connected to the driving tendon 3 to detect the tension and tightness of the tendon 3. When two conduit groups 2 are symmetrically arranged on the inner surface of the self-growing body 1, two sets of tendon driving modules 4 are correspondingly arranged on the base plate 46. The two tendons 3 pass through the corresponding conduit groups 2 and are connected to the corresponding tendon driving modules 4. The two sets of tendon driving modules 4 are spaced a certain distance apart and are arranged in an alternating manner.

[0030] In some implementations, such as Figure 1 and Figure 2As shown, it also includes a drive storage mechanism 5; the drive storage mechanism 5 includes a housing 51, a second drive motor 52, a second coupling 53, and a material reel 54. The housing 51 is provided with an air inlet 55, an outlet plug 56, and a tendon conduit 58; the output shaft of the second drive motor 52 is connected to the material reel 54 via the second coupling 53; the fixed end of the tendon 3 and one end of the self-growing body 1 are both connected and fixed to the outlet plug 56, and the other end of the self-growing body 1 is turned inward through itself and wrapped around the material reel 54. The self-growing body 1 can turn outward and grow under the action of air; the tendon 3 passes through the tendon conduit 58 and is connected to the tendon drive module 4.

[0031] It should be noted that the air inlet 55 of the present invention is located on the housing 51 and connected to an external positive pressure air source. High-pressure gas is injected from this point to drive the self-growing body 1 to perform self-growth. The second drive motor 52 is fixed to the top of the housing 51 by fasteners. The output shaft of the second drive motor 52 is connected to the material roll 54 through the second coupling 53, wherein the film material is wound on the material roll 54. When the self-growing body 1 needs to perform self-growth, the second drive motor 52 rotates in the forward direction, driving the material roll 54 to release the film material. At the same time, the compressed gas injected through the air inlet 55 drives the film material to turn outward, thereby increasing the length of the self-growing body 1. When the length of the self-growing body 1 needs to be reduced, the second drive motor 52... The reverse rotation drives the material reel 54 to recycle the film material. To prevent buckling or excessive wrinkling during recycling, a low-pressure gas is introduced through the air inlet 55 to reduce the length of the self-growing body 1. The growth rate can be controlled by adjusting the rotation speed of the second drive motor 52. The motor cover 59 is mounted on the outside of the second drive motor 52 and fixed to the housing 51, ensuring the airtightness of the entire system. The outlet plug 56 is located on one side of the housing 51 and fixed to it, used to secure the outwardly folded film material and tendon 3. The flange 57 is fixed to the other side of the housing 51 for connection with the robotic arm 7. The tendon conduit 58 is made of rubber or silicone material, such as... Figure 2 As shown, there are two tendon conduits 58, which are fixed on the housing 51. The ratio of the inner diameter of the tendon conduit 58 to the diameter of the tendon 3 is preferably 5:4. This ensures that the tendon 3 can pass smoothly through the tendon conduit 58 without generating too much friction. At the same time, due to the small opening, it has little impact on the overall airtightness of the housing 51. Those skilled in the art can set the ratio of the inner diameter of the tendon conduit 58 to the diameter of the tendon 3 according to the actual situation.

[0032] In some implementations, such as Figure 1 and Figure 2As shown, two sets of conduit groups 2 are provided on the inner surface of the self-growing body 1, and the two sets of conduit groups 2 are symmetrically arranged about the central axis of the self-growing body 1. Each set of conduit groups 2 of the present invention is connected by a corresponding tendon 3 and pulled. By using the two symmetrically arranged sets of conduit groups 2 and controlling the relaxation and tension of the corresponding tendons 3, the bending direction of the self-growing body 1 can be controlled.

[0033] In some embodiments, the self-growing body 1 bends at the end of the conduit group 2 arranged along the first direction and extends along the second direction. The angle between the second direction and the first direction increases as the displacement of the tendon pulled by the tendon drive module increases. In other words, the angle between the second direction and the first direction is positively correlated with the displacement of the tendon 3 pulled by the tendon drive module 4.

[0034] It should be noted that, as Figure 8 As shown, when Figure 8 When the tendon 3 on the lower side of the two tendons 3 is in a tense state and the tendon 3 on the upper side is in a relaxed state, it bends downward from the end of the growth body 1. The displacement of both tendons 3 is l, the cylindrical radius of the growth body 1 is r, and the rotation angle of the end of the growth body 1 is β. The relationship between the displacement of tendon 3 and the rotation angle of the growth body 1 can be approximately described by the relationship of equal curvature: It is understandable that as the displacement of tendon 3 increases, the angle between the second direction and the first direction also increases.

[0035] In some implementations, such as Figure 4 and Figure 5 As shown, the length of the waveguide 21 is l1, the distance between the curved section 211 and the output section 213 along the first direction is l2, the inner diameter is d, and the outer diameter is D; the ratio of the diameter d1 of the tendon 3 to the inner diameter d of the waveguide 21 is 1:2; the angle α between the side of the curved section 211 near the input section 212 and the input section 212 is 15°~25°, preferably 20°; the angle between the side of the curved section 211 near the output section 213 and the output section 213 is 15°~25°, preferably 20°.

[0036] By limiting the ratio of the tendon 3 diameter to the inner diameter of the waveguide 21 and the angle between the curved section 211 and the input section 212 and the output section 213, this invention can ensure that there is appropriate friction between the inner side of the waveguide 21 and the tendon 3, so that there is neither insufficient friction that makes it difficult to achieve drive steering, nor excessive friction that makes it difficult for the tendon 3 to move. Furthermore, those skilled in the art can specifically set the ratio of the tendon 3 diameter to the inner diameter of the waveguide 21, the angle between the curved section 211 and the input section 212, and the angle between the curved section 211 and the output section 213 according to the actual situation.

[0037] In some embodiments, the ratio of the outer diameter D to the inner diameter d of the waveguide 21 is 2:1. By limiting the ratio of the inner and outer diameters of the waveguide 21, the present invention can ensure that the internal channels are not blocked during the processing and can also ensure its own flexibility; it can also ensure that the structural strength is not low due to the outer wall being too thin, and at the same time, it can minimize its impact on the outward growth process of the self-growing robot; and those skilled in the art can specifically set the ratio of the inner diameter to the outer diameter of the waveguide 21 according to the actual situation.

[0038] The self-growing envelope actuator of this invention has two operating modes. The first operating mode is direct adsorption, such as... Figure 9 As shown, the target object 8 is located directly in front of the growth path of the self-growing body 1. At this time, the self-growing body 1 is driven to grow, and the target object 8 is grasped by the dual action of electrostatic adsorption force and friction force. The target object 8 is then stored in the internal channel of the self-growing body 1 by retraction.

[0039] The second working mode is sidewall adsorption, such as Figure 10 As shown, target object 8 is located to the left of the growth path of the self-growing main body 1. At this time, it is difficult to grasp target object 8 by growth alone, as... Figure 10 As shown in (c), the end posture of the self-growing body 1 can be adjusted by driving the tendon 3, and then the sidewall of the self-growing body 1 can be used to approach the target object 8, and the target object 8 can be adsorbed by electrostatic force. On this basis, the shape of the self-growing body 1 can be adjusted by the tendon 3 to return to its original position. Figure 10 (d) form, and by retraction, the target object 8 is housed in the internal channel of the self-growing main body 1.

[0040] Example 2 This embodiment provides a robot system, including the self-growing envelope actuator and robotic arm 7 from Embodiment 1; as shown... Figure 11 As shown, the self-growing envelope actuator can be connected to the end flange of the robotic arm 7 via flange 57, serving as the end effector of the robotic arm 7; as Figure 12 As shown, this can effectively expand the effective operating range of the robotic arm 7.

[0041] The overall process of the robot system operating to grasp the target object 8 is as follows: Figure 13 As shown, in Figure 13 In (a), the robotic arm 7 is in the initial pose, and the target object is located at the initial point A. First, adjust the position of the robotic arm 7 so that the self-grown main body 1 is close to the target object 8, such as... Figure 13 As shown in (b); based on this, the length of the self-growing main body 1 is increased, and the target object 8 is grasped by means of inclusion, such as Figure 13(c); Subsequently, the retraction command is executed, and the target object 8 is stored in the internal channel of the self-growing main body 1, as follows. Figure 13 As shown in (d); then the position of the robotic arm 7 is adjusted so that the end of the robotic arm 7 approaches the target point B. Based on this, the self-growing body 1 is controlled to grow. At this time, the target object 8 will slide out from the internal channel and reach the target position B.

[0042] Compared to traditional robotic arm grasping methods, self-growing-based grasping can fully utilize the compliant characteristics of self-growing robots, enabling them to access confined spaces that are difficult for traditional robotic arms to reach; for example... Figure 14 As shown, in a cluttered scene with multiple objects, the self-growing envelope actuator of this invention can enter a narrow space to grasp the target object 8; at the same time, due to the compliance of the self-growing robot, there is no need to worry about the actuator colliding with the environment, effectively expanding the range of grasping operations while ensuring the safety of the grasping operation.

[0043] Furthermore, due to the size limitations of the self-growing robot itself, a single self-growing envelope actuator can hardly grasp a large target object 8. Therefore, as Figure 15 As shown, multiple robotic arms can be used in a coordinated manner, with each actuator adsorbing a position of the target object 8, thereby achieving the grasping of large-sized target objects through a collaborative approach.

[0044] This invention employs a flexible envelope actuator at the end of the robot system, using an integrated structure combined with a composite adsorption structure 6. This effectively enables envelope-type grasping of the target object 8, improving the flexibility and stability of the grasping process. At the same time, it maximizes the compliance of the self-growing robot, enhancing its working ability in confined environments.

[0045] Furthermore, the present invention employs multiple waveguides 21, and through the frictional hysteresis effect between the waveguides 21 and the tendon 3, it can accurately achieve morphological control of the end effector of the self-growing robot.

[0046] Furthermore, based on a self-growing envelope actuator, this invention can not only perform end-effector grasping operations, but also, combined with the composite adsorption structure 6, achieve adsorption-type grasping of the robot's sidewalls, effectively improving the actuator's operating range and flexibility.

[0047] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A self-growing envelope actuator, characterized in that, Includes a self-growing main body, duct assembly, tendon, and tendon drive module; The self-growing body is provided with the conduit group on its inner side. The self-growing body can be everted and self-grown in a first direction, and the conduit group can be arranged in the first direction accordingly. The conduit group includes a channel for the tendon to pass through, and the channel includes multiple curved segments. One end of the tendon is fixed and the other end passes through the conduit group. The other end of the tendon extends in the opposite direction after passing the end position of the conduit group arranged in the first direction to connect with the tendon driving module. The tendon driving module pulls the tendon so that the self-growing body bends and turns at the end position of the conduit group arranged in the first direction.

2. The self-growing envelope actuator according to claim 1, characterized in that, The conduit group includes a plurality of wave-shaped conduits arranged at intervals along a first direction as the self-growing body grows, and the channel of each wave-shaped conduit includes a plurality of the curved sections. The other end of the tendon passes through a plurality of waveguides in sequence, and the tendon extends in the opposite direction to connect with the tendon drive module after passing through the waveguides located at the end position along the first direction.

3. The self-growing envelope actuator according to claim 2, characterized in that, The waveguide channel includes an input section, an output section, and the curved section; The curved section is located between the input section and the output section, and both ends of the curved section are smoothly connected to the corresponding input section and the output section, respectively. The input section of one of two adjacent waveguides and the output section of the other waveguide are spaced apart relative to each other along a first direction, and the bending directions of the bending sections of the two adjacent waveguides are opposite. The tendon passes sequentially from the fixed end through the output section, the curved section, and the input section of each of the waveguides.

4. The self-growing envelope actuator according to claim 1, characterized in that, It also includes composite adsorption structures; The outer surface of the self-growing body is provided with the composite adsorption structure, and at least a portion of the composite adsorption structure can extend along the first direction as the self-growing body grows. The composite adsorption structure includes an electrode layer, a substrate layer, and a micro-wedge structure layer stacked together. The electrode layer is disposed on the inner side of the substrate layer and the micro-wedge structure layer is disposed on the outer side. The electrode layer can electrostatically adsorb the target substance when energized.

5. The self-growing envelope actuator according to claim 1, characterized in that, The tendon drive module includes a first drive motor, a first coupling, a winding shaft, and a force sensor; The output shaft of the first drive motor is connected to the winding shaft via the first coupling. The other end of the tendon is wound around the winding shaft. The first drive motor drives the winding shaft to rotate, which can pull the tendon. The force sensor is installed on the tendon.

6. The self-growing envelope actuator according to claim 1, characterized in that, It also includes a housing, a second drive motor, a second coupling, and a material reel, wherein the housing is provided with an air inlet, an outlet plug, and a tendon conduit; The output shaft of the second drive motor is connected to the material reel via the second coupling. The fixed end of the tendon and one end of the self-growing body are both connected and fixed to the outlet plug. The other end of the self-growing body is turned inward and passes through itself and is wrapped around the material roll. The self-growing body can turn outward and grow on its own under the action of air. The tendon passes through the tendon conduit and is connected to the tendon drive module.

7. The self-growing envelope actuator according to claim 1, characterized in that, The inner surface of the self-growing body is provided with two sets of the aforementioned conduit groups, which are symmetrically arranged about the central axis of the self-growing body.

8. The self-growing envelope actuator according to claim 1, characterized in that, The self-growing main body bends at the end of the duct group arranged along the first direction and extends along the second direction. The angle between the second direction and the first direction increases as the tendon drive module pulls the tendon by increasing displacement.

9. The self-growing envelope actuator according to claim 3, characterized in that, The ratio of the diameter of the tendon to the inner diameter of the waveguide is 1:2, and the ratio of the outer diameter to the inner diameter of the waveguide is 2:

1. The angle between the side of the curved section closest to the input section and the input section is 20°, and the angle between the side of the curved section closest to the output section and the output section is 20°.

10. A robot system, characterized in that, Includes the self-growing envelope actuator and robotic arm as described in any one of claims 1-9; The self-growing envelope actuator is connected and fixed to the end flange of the robotic arm.

Images