Modularized software deformation actuator and inchworm motion imitating software robot

Abstract

The utility model relates to the technical field of robots, in particular to a modularized soft deformation actuator and a soft robot simulating inchworm biological motion. The modularized soft deformation actuator comprises a deformation module and a connecting piece, one end of the deformation module is of a closed structure, the other end of the deformation module is of an open structure, and the connecting piece is installed at the end of the open structure of the deformation module. The deformation module is of a soft body structure and comprises a non-limited deformation layer on the outer side and an internal limited strain layer, and the non-limited deformation layer is in a hollow wrinkle shape; the limited strain layer is arranged in the non-limited deformation layer, and the interior of the non-limited deformation layer is divided into a plurality of cavities. Through the deformation modules and the connecting pieces, deformation, bending, torsion and the like of the deformation modules are accurately controlled.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a modular soft deformation actuator and a soft robot that imitates the movement of an inchworm. Background Art

[0002] Traditional robots are rigid robots made of hard materials. They have high output power, high speed and high precision, but their complex structure and poor flexibility make them unable to pass through narrow spaces or adapt to channels with complex shapes. Since these shortcomings cannot meet the special needs of humans, more and more researchers have developed soft robots and made great progress. Most soft robots are mainly made of flexible materials, with lighter weight, more flexible movement, good environmental adaptability and human-computer interaction capabilities. At the same time, the surface of soft robots has strong flexibility, and can better adapt to terrains of different shapes by deforming, thereby achieving movement in narrow or complex environments with many obstacles. It has broad application prospects in the fields of medicine, military, exploration, search and rescue, etc.

[0003] The inchworm is a common mollusk with strong climbing and obstacle-crossing capabilities, and is a popular robot bionic object. There are many existing robot studies based on inchworm bionics, which control the bending of the trunk through master and slave airbags and connectors. However, the existing structure controls the bending deformation angle at a small angle and cannot meet the requirements of high precision and the need to splice multiple soft structures. At the same time, the installation of the existing structure is complicated and there are many parts, which makes it less versatile. Utility Model Content

[0004] The utility model designs a modular and universal soft actuator based on the basic principle of air pressure-driven silicone soft deformation, and combines it with the inchworm bionic principle to manufacture a soft crawling robot.

[0005] The modular soft deformation actuator of the utility model comprises a deformation module and a connecting piece, wherein one end of the deformation module is a closed structure and the other end is an open structure, and the connecting piece is installed at the open structure end of the deformation module; the deformation module is a soft structure, comprising an outer non-restrictive deformation layer and an inner restricted strain layer, and the non-restrictive deformation layer is hollow and wrinkled; the restricted strain layer is placed inside the non-restrictive deformation layer, dividing the inside of the non-restrictive deformation layer into a plurality of chambers.

[0006] Preferably, the connecting member includes an air inlet and an air port, the air inlet is arranged on the side wall of the connecting member, and the air port is arranged on the inner side of one end of the connecting member, corresponding to the cavity of the deformation module; the air inlet and the air port are connected.

[0007] Preferably, the limiting deformation layer is in the shape of a cross that intersects horizontally and vertically, dividing the internal space of the deformation module into four chambers; the side wall of the connecting member is provided with four air inlets, each air inlet corresponds to a through air port, and each air port corresponds to a chamber inside the deformation module.

[0008] Preferably, mounting surfaces are provided on both sides of the connecting piece, and the end face diameter of the mounting surface is smaller than the outer diameter of the surface where the air inlet is located. The air inlet is provided in the mounting surface on one side of the connecting piece and is connected with the air inlet, so that the mounting surface on one side of the air inlet extends into the inner cavity of the deformation module, thereby realizing the sealed installation of the connecting piece and the deformation module; the mounting surface on the other side of the connecting piece is connected to another deformation module, thereby realizing the installation of multiple deformation modules.

[0009] Preferably, the connecting piece and the deformation module are bonded together by special silicone glue.

[0010] A soft robot that imitates inchworm movement comprises the modular soft deformation actuator; the modular soft deformation actuator is composed of a plurality of connectors and deformation modules, both ends of the modular soft deformation actuator are connectors, and adsorption devices are respectively installed on the connectors at both ends.

[0011] Preferably, the adsorption device comprises a fixed end part, on which a suction cup is mounted.

[0012] Preferably, mounting threaded holes are provided on the connecting pieces at both ends, and the fixed end parts are mounted on the connecting pieces by connecting screws.

[0013] The modular soft deformation actuator of the utility model can adjust the number of installations through the installation of deformation modules and connectors to meet the use requirements of different scenarios; through the soft structure of the deformation module and the setting of the limiting strain layer, the deformation module is divided into multiple chambers, and different pressure gases are filled in different chambers to accurately control the deformation, bending, torsion, etc. of the deformation module. The utility model also provides a soft robot that imitates the movement of an inchworm, which controls the bending deformation angle and accurately controls the movement mode and path of the robot through the installation of multiple deformation modules and connectors. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the interior of the modular software deformation actuator described in the present utility model.

[0015] Figure 2 This is a schematic diagram of the modular software deformation actuator described in the present utility model.

[0016] Figure 3 This is a schematic diagram of the connecting piece described in the utility model.

[0017] Figure 4 It is a partial cross-sectional view of the connecting piece described in the utility model.

[0018] Figure 5 It is a deformation schematic diagram of the modular software deformation actuator described in the present utility model.

[0019] Figure 6 This is a schematic diagram of the inchworm-like motion software robot described in the utility model.

[0020] Figure 7 This is a schematic diagram of the crawling of the inchworm-like motion software robot described in the utility model.

[0021] Wherein: 1-deformation module, 2-connecting piece, 11-unrestricted deformation layer, 12-restricted deformation layer, 13-first chamber, 14-second chamber, 15-third chamber, 16-fourth chamber, 21-installation threaded hole, 22-air inlet, 23-air port, 3-connecting screw, 4-fixed end part, 5-suction cup, 10-adsorption device, 20-modular soft deformation actuator, A-soft robot head, B-soft robot tail. DETAILED DESCRIPTION

[0022] The technical solutions of the embodiments of the utility model are clearly and completely described below in conjunction with the accompanying drawings.

[0023] like Figure 1-4 As shown, the utility model provides a modular soft deformation actuator, including a deformation module 1 and a connecting member 2, wherein one end of the deformation module 1 is a closed structure and the other end is an open structure, and the connecting member 2 is installed at the open structure end of the deformation module 1. The deformation module 1 is a soft structure, and pressure gas is filled into the deformation module 1 through the connecting member 2 so that the deformation module 1 is deformed.

[0024] The deformation module 1 includes an outer non-restricted deformation layer 11 and an inner restricted strain layer 12. The non-restricted deformation layer 11 is hollow and folded, and the folds are more convenient for deformation, bending, twisting, etc. of the deformation module 1, thereby increasing the bending control accuracy of the modular soft deformation actuator; the restricted strain layer 12 is placed inside the non-restricted deformation layer 11, and the restricted deformation layer 12 divides the inside of the non-restricted deformation layer 11 into multiple chambers. By filling the multiple chambers with gases of different pressures, the deformation and bending of the deformation module 1 at different angles can be accurately controlled. The connector 2 includes an air inlet 22 and an air port 23. The air inlet 22 is arranged on the side wall of the connector 2, and the air port 23 is arranged on the inner side of the connector 2, corresponding to the chamber of the deformation module 1. The air inlet 22 and the air port 23 are connected, and the external pressure gas enters the chamber of the deformation module 1 through the air inlet 22 and the air port 23, so that different chambers are controlled by the gases of different pressures filled to form deformation.

[0025] In such Figure 1In the embodiment shown, the limiting deformation layer 12 is in the shape of a cross that intersects horizontally and vertically, dividing the internal space of the deformation module 1 into four chambers, namely the first chamber 13, the second chamber 14, the third chamber 15 and the fourth chamber 16; the side wall of the connecting member 2 is provided with four air inlets 22, each of which corresponds to a through air port 23, and each air port 23 corresponds to a chamber inside the deformation module 1. When compressed gas is introduced into the four chambers through the air inlets 22 and the air ports 23, the modular soft deformation actuator can produce different types of deformations, such as Figure 5 As shown, they are respectively the elongated state Ⅰ, the original state Ⅱ, the deformation to the plane bending state Ⅲ, and the space bending state Ⅳ.

[0026] The same positive pressure gas is introduced into the first chamber 13 and the fourth chamber 16, and the same negative pressure is connected to the second chamber 14 and the third chamber 15. The first chamber 13 and the fourth chamber 16 expand, and the wrinkles of the non-restricted deformation layer 11 stretch, resulting in a larger deformation. At the same time, the second chamber 14 and the third chamber 15 contract, and the wrinkles of the non-restricted deformation layer 11 gather. Therefore, the entire modular soft deformation actuator produces a downward bending deformation, such as Figure 5 Similarly, ventilation in chambers on different sides can produce bending deformation upward and to both sides. The same positive pressure gas is introduced into chambers 13-16, and all chambers expand to the same extent. The modular soft deformation actuator produces stretching deformation, such as Figure 5 Adjusting the gas pressure in the four chambers can also produce bending deformation in space, such as Figure 5 As shown in the IV state.

[0027] The connector 2 is provided with mounting surfaces on both sides, and the end surface diameter of the mounting surface is smaller than the outer diameter of the surface where the air inlet 22 is located. The air inlet 23 is provided in the mounting surface on one side of the connector 2 and penetrates the air inlet 22, so that the mounting surface on one side of the air inlet 23 extends into the inner cavity of the deformation module 1, so as to realize the sealing installation of the connector 2 and the deformation module 1 and avoid gas leakage. The connector 2 and the deformation module 1 can be bonded by special silicone glue. The mounting surface on the other side of the connector 2 is connected to another deformation module 1, so as to realize the installation of multiple deformation modules 1; at the same time, according to actual use requirements, multiple connectors 2 and deformation modules 1 can be connected.

[0028] like Figure 6-7 As shown, the utility model also provides a soft robot imitating inchworm movement, including the above-mentioned modular soft deformation actuator 20 and the adsorption device 10, the modular soft deformation actuator 20 is composed of a plurality of connectors 2 and a deformation module 1, and the two ends of the modular soft deformation actuator 20 are connectors 2, and the connectors 2 at the two ends are respectively installed on the adsorption device 10.

[0029] like Figure 6In the illustrated embodiment, the modular soft deformation actuator 20 is used to make a soft robot that simulates inchworm motion. Four modular soft deformation actuators are used, which are connected end to end through connectors 2, and adsorption devices 10 are installed on the connectors 2 at both ends. The adsorption device 10 includes a fixed end part 4, on which a suction cup 5 is installed. Specifically, mounting threaded holes 21 are provided on the connectors 2 at both ends, and the fixed end parts 4 are installed on the connectors 2 by connecting screws 3. The soft robot that simulates inchworm motion is set to have one end as the head (i.e., end A), the other end as the tail (i.e., end B), and the rest as the torso of the soft robot that simulates inchworm motion. By controlling the deformation effect of each section of the modular soft deformation actuator, the crawling motion of the inchworm can be imitated.

[0030] Combination Figure 7 The figure shows the crawling motion of a soft robot that imitates the motion of an inchworm. In the initial state, the trunk of the soft robot that imitates the motion of an inchworm is arched in the shape of a "J", and the suction cups of the head and tail are sucked to the ground. During the linear crawling motion, the action sequence is as follows: (1) The suction cup of the head is connected to the atmosphere and the adsorption state is released; (2) The same pressure gas is introduced into the air inlet 22 and the air outlet 23 on all the connecting parts 2 on the robot, so that the trunk of the soft deformation actuator is extended; (3) The suction cup of the head is connected to the negative pressure and sucks the ground, and the suction cup of the tail is connected to the atmosphere and the adsorption state is released; (4) The soft deformation actuator is controlled to make the trunk arch again, and the suction cup of the tail is connected to the negative pressure and sucks the ground; and one forward crawling is completed.

[0031] Using the same principle, a soft robot that imitates the movement of an inchworm can be controlled to turn and climb slopes on a plane.

[0032] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the utility model involved in the present application is not limited to the technical solution formed by a specific combination of the above-mentioned technical features, but should also cover other technical solutions formed by any combination of the above-mentioned technical features or their equivalent features without departing from the concept of the utility model.

Claims

1. A modular soft deformation actuator, characterized in that: It includes a deformation module and a connecting piece, wherein one end of the deformation module is a closed structure and the other end is an open structure, and the connecting piece is installed at the open structure end of the deformation module; the deformation module is a soft structure, including an outer non-restrictive deformation layer and an inner restricted strain layer, and the non-restrictive deformation layer is hollow and folded; the restricted strain layer is placed inside the non-restrictive deformation layer, and the inside of the non-restrictive deformation layer is divided into a plurality of chambers.

2. The modular soft deformation actuator according to claim 1, characterized in that: The connecting member includes an air inlet and an air port. The air inlet is arranged on the side wall of the connecting member, and the air port is arranged on the inner side of one end of the connecting member, corresponding to the cavity of the deformation module; the air inlet and the air port are connected.

3. The modular soft deformation actuator according to claim 2, characterized in that: The limiting deformation layer is in the shape of a cross that intersects horizontally and vertically, dividing the internal space of the deformation module into four chambers; the side wall of the connecting piece is provided with four air inlets, each of which corresponds to a through air port, and each air port corresponds to a chamber inside the deformation module.

4. The modular soft deformation actuator according to claim 2, characterized in that: Mounting surfaces are arranged on both sides of the connecting piece, and the end face diameter of the mounting surface is smaller than the outer diameter of the surface where the air inlet is located. The air inlet is arranged in the mounting surface on one side of the connecting piece and is connected with the air inlet, so that the mounting surface on one side of the air inlet extends into the inner cavity of the deformation module, thereby realizing the sealed installation of the connecting piece and the deformation module; the mounting surface on the other side of the connecting piece is connected to another deformation module, thereby realizing the installation of multiple deformation modules.

5. The modular soft deformation actuator according to claim 1, characterized in that: The connecting piece and the deformation module are bonded together by special silicone glue.

6. A soft robot imitating the movement of an inchworm, characterized in that: It includes the modular soft deformation actuator described in any one of claims 1-5 above; the modular soft deformation actuator is composed of multiple connecting parts and deformation modules, and the two ends of the modular soft deformation actuator are connecting parts, and the connecting parts at both ends are respectively installed with adsorption devices.

7. The inchworm-like motion software robot according to claim 6, characterized in that: The adsorption device comprises a fixed end part, on which a suction cup is mounted.

8. The inchworm-like motion software robot according to claim 7, characterized in that: The connecting pieces at both ends are provided with mounting threaded holes, and the fixed end parts are mounted on the connecting pieces by connecting screws.

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