Pneumatic type worm-imitating organism soft driver

Abstract

The utility model belongs to the field of key parts of soft robots, and particularly relates to a pneumatic type worm-like organism simulation soft driver which comprises an inner-layer structure center base body and an outer-layer structure rectangular cavity, the inner-layer structure center base body is a hollow non-telescopic regular triangular silica gel column, and the rectangular cavity is composed of a plurality of air cavity structures. The side face of the center base body of the inner layer structure is connected with the bottom face of the rectangular cavity through soft silica gel, the end face of the rectangular cavity is provided with a miniature air hole channel, and the miniature air hole channels act together to complete multiple motion modes of the soft driver. According to the utility model, the three elastic cavities are utilized, and the motion modes of expansion creeping and flexion-extension motion are realized through the structural design of the internal air chamber; the number of the elastic cavities is reduced, the internal structure is optimized, and the mold can adapt to various working environments; the hollow design of the inner layer structure is adopted, space is reserved for a power source of the driver, and the integrated design of a driver product is improved.

Description

Technical Field

[0001] The utility model belongs to the field of key components of soft robots, in particular to a pneumatic soft driver imitating worm-like organisms. Background Art

[0002] With the rapid development of soft robotics technology, more and more soft actuators are being designed and applied in various industries, such as medical, chemical, emergency rescue, etc.

[0003] In recent years, soft actuators have been widely used in the field of pipeline detection and maintenance, which has brought new requirements for the flexibility and diversity of motion modes of soft actuators. Currently, soft actuators that can achieve multiple motion modes usually use pneumatic group actuators, which are composed of multiple independently closed elastic cavities. By controlling the air pressure in each cavity, multiple motion modes can be achieved. This type of actuator usually consists of 6 or more elastic cavities, which takes up a large space and cannot meet the needs of the actuator being put into some non-structural working environments with small spaces.

[0004] Therefore, it is necessary to design a soft driver that can meet multiple motion modes, occupy a small space and have high flexibility. Summary of the invention

[0005] The utility model aims to provide a pneumatic soft drive for worm-like organisms, which can realize the flexion and extension movement of inchworm larvae and the peristaltic movement of earthworms to adapt to different working environments through the design of the internal air chamber in the outer structure.

[0006] The purpose of this utility model is achieved through the following technical solutions:

[0007] The utility model of the pneumatic worm-like biological soft actuator is characterized by comprising an inner layer structure and an outer layer structure from the inside to the outside,

[0008] The inner layer structure is a hollow regular triangular silica gel column, and the sides of the inner layer structure are the first side, the second side and the third side in clockwise order.

[0009] The outer layer structure includes three independently closed rectangular cavities, which are the first cavity, the second cavity and the third cavity in clockwise order. Each cavity has a micro air channel to divide the cavity into 11 working air chambers and 11 auxiliary air chambers. The micro air channel includes the first cavity working air chamber, the first cavity auxiliary air chamber, the second cavity working air chamber, the second cavity auxiliary air chamber, the third cavity working air chamber and the third cavity auxiliary air chamber. The internal structures of the corresponding air chambers of each cavity are the same.

[0010] The inner layer structure and the outer layer structure are fixedly connected, and the connection between the two layers is a solid area. The first cavity working air chamber, the first cavity auxiliary air chamber, the second cavity working air chamber, the second cavity auxiliary air chamber, the third cavity working air chamber, and the third cavity auxiliary air chamber correspond one by one to the three side surfaces of the inner layer structure.

[0011] The radial height of the working air chambers of the three rectangular cavities is greater than three times the height of the corresponding auxiliary air chambers.

[0012] The lengths of the working air chambers of the three rectangular cavities are smaller than the lengths of the corresponding auxiliary air chambers.

[0013] The wall thickness of the working air chambers of the three rectangular cavities in the height direction is smaller than the wall thickness of the corresponding auxiliary air chambers in the height direction.

[0014] The thickness of the left end cover of the working air chamber of the three rectangular cavities is the same as that of the right end cover of the working air chamber, and is greater than the length between two adjacent working air chambers.

[0015] The micro air channels on the left end faces of the three rectangular cavities are cylindrical air channels, and the diameters thereof are equal to the lengths of the working air chambers.

[0016] The inner layer structure and the outer layer structure are made of platinum silicone rubber.

[0017] Advantages of the utility model:

[0018] (1) The pneumatic worm-like soft actuator of the utility model utilizes three elastic cavities and realizes the movement modes of expansion peristalsis and flexion-extension movement through the structural design of the internal air chamber;

[0019] (2) The pneumatic worm-like soft actuator of the utility model reduces the number of elastic cavities, optimizes the internal structure, and can adapt to a variety of working environments;

[0020] (3) The pneumatic worm-like soft actuator of the utility model adopts a hollow inner structure design, which leaves space for the power source of the actuator and improves the integrated design of the actuator product. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of the utility model.

[0022] Figure 2 It is a schematic diagram of the inner layer structure of the utility model.

[0023] Figure 3 It is a schematic diagram of the outer structure of the utility model.

[0024] Figure 4 For this utility model Figure 3AA view of the .

[0025] Figure 5 It is a schematic diagram of the flexion-extension movement of the utility model. DETAILED DESCRIPTION

[0026] The specific implementation of the present utility model is further described below in conjunction with the accompanying drawings.

[0027] like Figure 1-5 As shown, the utility model is a pneumatic worm-like biological soft actuator, characterized by comprising an inner layer structure 1 and an outer layer structure 2 from inside to outside;

[0028] The inner layer structure 1 is a hollow and non-retractable regular triangular silica gel column, and the side surfaces of the inner layer structure 1 are a first side surface 1-1, a second side surface 1-2 and a third side surface 1-3 in clockwise order.

[0029] The outer layer structure 2 includes three identical rectangular cavities with mutually independent internal closures. The three rectangular cavities are the first cavity 2-1, the second cavity 2-2 and the third cavity 2-3 in clockwise order. Each cavity has a micro air channel that divides the cavity into 11 working air chambers and 11 auxiliary air chambers. The micro air channel includes the first cavity working air chamber, the first cavity auxiliary air chamber, the second cavity working air chamber, the second cavity auxiliary air chamber, the third cavity working air chamber 2-3-1 and the third cavity auxiliary air chamber 2-3-2. The internal structures of the corresponding air chambers of each cavity are the same.

[0030] The inner layer structure 1 and the outer layer structure 2 are fixedly connected, and the connection between the two layers is a solid area. The first cavity working air chamber, the first cavity auxiliary air chamber, the second cavity working air chamber, the second cavity auxiliary air chamber, the third cavity working air chamber 2-3-1, and the third cavity auxiliary air chamber 2-3-2 are fitted one by one with the three side surfaces of the inner layer structure 1.

[0031] The radial height of the working air chambers of the three rectangular cavities is greater than three times the height of the corresponding auxiliary air chambers.

[0032] The lengths of the working air chambers of the three rectangular cavities are smaller than the lengths of the corresponding auxiliary air chambers.

[0033] The wall thickness of the working air chambers of the three rectangular cavities in the height direction is smaller than the wall thickness of the corresponding auxiliary air chambers in the height direction.

[0034] The thickness of the left end cover of the working air chamber of the three rectangular cavities is the same as that of the right end cover of the working air chamber, and is greater than the length between two adjacent working air chambers.

[0035] The micro air channels on the left end faces of the three rectangular cavities are cylindrical air channels, and the diameters thereof are equal to the lengths of the working air chambers.

[0036] The soft actuator is flexible, and controls the internal pressure of each cavity by filling and releasing air into the working air chamber and auxiliary air chamber of the outer layer structure 2, namely, the first cavity working air chamber, the first cavity auxiliary air chamber, the second cavity working air chamber, the second cavity auxiliary air chamber, the third cavity working air chamber 2-3-1, and the third cavity auxiliary air chamber 2-3-2, to achieve expansion creep and flexion and extension movements. The soft actuator can achieve flexion and extension movements. When the amount of gas introduced into the first cavity 2-1 and the second cavity 2-2 is the same, and the amount of gas introduced into the third cavity 2-3 is greater than that of the above two cavities, the following can be achieved: Figure 5 The flexion and extension movement shown; the soft driver can realize expansion creep. When the amount of gas introduced into the first cavity 2-1, the second cavity 2-2, and the third cavity 2-3 is the same, the deformation degree of each cavity of the soft driver is the same, the driver will not bend but will increase the overall radial size, thereby realizing the expansion creep movement mode.

[0037] The software driver is formed by printing a mold with a 3D printer and casting AB platinum silicone rubber.

[0038] The pneumatic worm-like soft actuator of the utility model utilizes three elastic cavities and realizes the movement modes of expansion peristalsis and flexion and extension through the structural design of the internal air chamber; the number of elastic cavities is reduced, the internal structure is optimized, and it can adapt to a variety of working environments; the inner layer structure is hollow designed to leave space for the power source of the actuator, thereby improving the integrated design of the actuator product.

Claims

1. A pneumatic worm-like soft actuator, characterized in that: Including the inner and outer structures from the inside to the outside, The inner layer structure is a hollow regular triangular silica gel column, and the sides of the inner layer structure are the first side, the second side and the third side in clockwise order. The outer layer structure includes three independently closed rectangular cavities, which are the first cavity, the second cavity and the third cavity in clockwise order. Each cavity has a micro air channel to divide the cavity into 11 working air chambers and 11 auxiliary air chambers. The micro air channel includes the first cavity working air chamber, the first cavity auxiliary air chamber, the second cavity working air chamber, the second cavity auxiliary air chamber, the third cavity working air chamber and the third cavity auxiliary air chamber. The internal structures of the corresponding air chambers of each cavity are the same. The inner layer structure and the outer layer structure are fixedly connected, and the connection between the two layers is a solid area. The first cavity working air chamber, the first cavity auxiliary air chamber, the second cavity working air chamber, the second cavity auxiliary air chamber, the third cavity working air chamber, and the third cavity auxiliary air chamber correspond one by one to the three side surfaces of the inner layer structure.

2. The pneumatic worm-like soft actuator according to claim 1, characterized in that: The radial height of the working air chambers of the three rectangular cavities is greater than three times the height of the corresponding auxiliary air chambers. The lengths of the working air chambers of the three rectangular cavities are smaller than the lengths of the corresponding auxiliary air chambers. The wall thickness of the working air chambers of the three rectangular cavities in the height direction is smaller than the wall thickness of the corresponding auxiliary air chambers in the height direction. The thickness of the left end cover of the working air chamber of the three rectangular cavities is the same as that of the right end cover of the working air chamber, and is greater than the length between two adjacent working air chambers. The micro air channels on the left end faces of the three rectangular cavities are cylindrical air channels, and the diameters thereof are equal to the lengths of the working air chambers.

3. The pneumatic worm-like soft actuator according to claim 1, characterized in that: The inner layer structure and the outer layer structure are made of platinum silicone rubber.

Images