Pneumatic soft body actuator and measurement experiment system

Abstract

The utility model provides a pneumatic soft body actuator and a measurement experiment system, and belongs to the technical field of exoskeletons. A pneumatic module of the pneumatic soft body actuator comprises a flexible connecting plate and a plurality of air bags arranged on the flexible connecting plate, one end of each air bag is arranged on the flexible connecting plate, the distance between the arrangement positions of every two adjacent air bags is equal to a preset value, and each air bag is provided with an air hole. According to the pneumatic soft body actuator, the pneumatic module can generate high torque to actuate in the inflated state, the size of the pneumatic module can be greatly reduced after deflation, only a small space is occupied, the size of the wearable robot exoskeleton is greatly reduced, and therefore the flexibility, comfort and portability of the pneumatic soft body actuator are improved.

Description

Technical Field

[0001] This utility model relates to the field of exoskeleton technology, and more specifically, to a pneumatic soft actuator and a measurement and experimental system. Background Technology

[0002] Wearable robotic exoskeletons are revolutionizing human capabilities, with applications ranging from enhancing strength and endurance to assisting rehabilitation and improving daily activities. These devices are particularly effective in reducing physical fatigue, increasing load-bearing capacity, and helping individuals with disabilities regain mobility and live independently.

[0003] However, current wearable robotic exoskeletons are typically large, resulting in poor flexibility, comfort, and portability. Utility Model Content

[0004] The purpose of this invention is to provide a pneumatic soft actuator and a measurement and experimental system, which effectively reduces the volume of wearable robot exoskeletons and greatly improves flexibility, comfort and portability.

[0005] The embodiments of this utility model can be implemented as follows:

[0006] In a first aspect, this utility model provides a pneumatic soft actuator, including a pneumatic module, wherein the pneumatic module includes a flexible connecting plate and a plurality of airbags disposed on the flexible connecting plate;

[0007] One end of the airbag is disposed on the flexible connecting plate, and the distance between any two adjacent airbags is equal to a preset value.

[0008] Each of the airbags is provided with an air hole.

[0009] Optionally, the airbag includes a first base fabric and a second base fabric, the edges of the first base fabric and the edges of the second base fabric are connected by heat fusion, and the hollow area formed between the first base fabric and the second base fabric is an inflation cavity.

[0010] Optionally, the pneumatic soft actuator further includes a wearable part disposed on the flexible connecting plate.

[0011] Optionally, the wearable part includes an elastic bandage, both ends of which are disposed on the flexible connecting plate, and the area formed between the elastic bandage and the flexible connecting plate is the wearable area.

[0012] Optionally, the pneumatic soft actuator further includes an air pump module and a control module;

[0013] The air pump module includes an air pump, an air pipe, and a solenoid valve; the control module includes a microprocessor.

[0014] The air pump is connected to the air vent of the airbag through the air pipe, and the solenoid valve is disposed on the air pipe;

[0015] The microprocessor is communicatively connected to both the air pump and the solenoid valve.

[0016] Optionally, the pneumatic soft actuator further includes a detection module;

[0017] The detection module includes an angle sensor and a torque sensor;

[0018] Both the angle sensor and the torque sensor are mounted on the pneumatic module, and the microprocessor is communicatively connected to both the angle sensor and the torque sensor.

[0019] Optionally, the airbag may be made of TPU-coated nylon.

[0020] In a second aspect, this utility model provides a measurement experiment system, including an experiment auxiliary module and a pneumatic soft actuator as described in the first aspect.

[0021] The experimental support module includes a support platform, adjustment components, and levers;

[0022] One end of the lever is hinged to the support platform, and the pneumatic module of the pneumatic soft actuator is disposed between the support platform and the lever;

[0023] The adjustment component is connected to the lever, and the adjustment component is used to drive the lever to rotate in order to adjust the bending angle of the pneumatic module.

[0024] Optionally, the adjustment assembly includes a movable column, a tensioning wheel, and a flexible rope;

[0025] The movable column is provided with a slide rail, the tensioning wheel is provided on the movable column, and the tensioning wheel is slidably engaged with the slide rail;

[0026] One end of the soft rope is wound around the tensioning wheel, and the other end of the soft rope away from the tensioning wheel is positioned on the lever.

[0027] Optionally, the experimental auxiliary module further includes a first angle meter, a second angle meter, a tension meter, an air flow sensor, a pressure sensor, a barometer, and a thermometer;

[0028] The pneumatic soft actuator also includes a control module and an air pump module. The air pump module includes an air pump, an air tube, and a solenoid valve. The control module includes a microprocessor. The air pump is connected to the air vent of the airbag through the air tube. The solenoid valve is disposed on the air tube.

[0029] The first angle gauge and the tension gauge are mounted on the soft rope, and the second angle gauge is mounted on the lever;

[0030] The air flow sensor and the pressure sensor are mounted on the air pipe and located between the pneumatic module and the solenoid valve.

[0031] The control module is communicatively connected to the air pump, the solenoid valve, the air flow sensor, the pressure sensor, the barometer, and the thermometer.

[0032] The pneumatic soft actuator and measurement experimental system provided in this embodiment of the utility model constitute the pneumatic module of the pneumatic soft actuator by integrating multiple airbags on a flexible connecting plate.

[0033] Therefore, it has at least the following beneficial effects:

[0034] (i) This enables the pneumatic module to generate high torque for actuation when inflated, and its volume can be greatly reduced after deflation, occupying only a small space, thereby greatly reducing the volume of the wearable robot exoskeleton.

[0035] (ii) The inflated airbag has low pressure and is flexible, thereby minimizing the wearer's discomfort and improving comfort.

[0036] (iii) The pneumatic module can brake at any angle and torque, which greatly improves the flexibility of the pneumatic module. Attached Figure Description

[0037] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is one of the structural schematic diagrams of the pneumatic module of the pneumatic soft actuator provided in this embodiment.

[0039] Figure 2 This is the second schematic diagram of the pneumatic module provided in this embodiment.

[0040] Figure 3 This is a schematic diagram illustrating the application of the pneumatic soft actuator provided in this embodiment.

[0041] Figure 4 This is the third schematic diagram of the pneumatic soft actuator provided in this embodiment.

[0042] Figure 5 This is one of the structural schematic diagrams of the measurement experimental system provided in this embodiment.

[0043] Figure 6 This is the second schematic diagram of the measurement experiment system provided in this embodiment.

[0044] Figure 7 This is the third schematic diagram of the measurement experiment system provided in this embodiment.

[0045] Explanation of reference numerals in the attached diagram: 1-Pneumatic module; 11-Flexible connecting plate; 12-Airbag; 2-Air pipe connector; 3-Air pump; 31-Air pipe; 4-Solenoid valve; 41-Vacuum solenoid valve; 42-Pressure solenoid valve; 5-Microprocessor; 6-Support platform; 7-Adjusting component; 71-Moving column; 711-Slide rail; 72-Tensioning wheel; 73-Soft rope; 8-Lever; 9-First angle gauge; 10-Second angle gauge; 101-Tension meter; 102-Air flow sensor; 13-Pressure sensor; 14-Barometer; 15-Thermometer; 16-PC terminal. Detailed Implementation

[0046] Currently, actuators in wearable robotic exoskeletons typically have complex structures, resulting in large weight and size, which leads to poor mobility, comfort, and portability. At the same time, they limit force output and bring the risk of mechanical and electronic failures.

[0047] To address the aforementioned problems, this invention provides a pneumatic soft actuator that is small in size and lightweight, and can achieve high torque output while maintaining flexibility, comfort, and portability, thereby improving the above-mentioned issues.

[0048] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0049] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0050] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0051] In the description of this utility model, it should be noted that if terms such as "upper," "lower," "inner," or "outer" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the utility model product is usually placed during use, they are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0052] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0053] It should be noted that, where there is no conflict, the features in the embodiments of this utility model can be combined with each other.

[0054] The overall structure, working principle, and technical effects of the pneumatic soft actuator provided by this utility model are described in detail below with reference to the accompanying drawings.

[0055] Reference Figure 1 This utility model provides a pneumatic soft actuator, including a pneumatic module 1, which includes a flexible connecting plate 11 and a plurality of airbags 12 disposed on the flexible connecting plate 11.

[0056] One end of the airbag 12 is disposed on the flexible connecting plate 11, and the distance between the placement positions of every two adjacent airbags 12 is equal to a preset value.

[0057] Each airbag 12 is provided with an air hole. The air hole is used to inflate or deflate the airbag 12.

[0058] Multiple airbags 12 are neatly arranged and strictly aligned on the flexible connecting plate 11, with the spacing between any two adjacent airbags 12 being less than the thickness of the airbag 12 when fully inflated. This improves the problem of excessive contact area and small bending angle (i.e., output torque) caused by misalignment during inflation, which results in gaps between adjacent airbags 12. It ensures that the contact area between adjacent aligned airbags 12 is optimal under different inflation volumes, achieving the maximum bending angle (i.e., maximum torque) at the current inflation volume. The airbags 12 can be fixed to the flexible connecting plate 11 by stitching or by heat fusion; the fixing method is unrestricted.

[0059] All the airbags 12 described above have the same shape, size, and volume, and their shape can be flexibly selected. For example, in the uninflated state, the airbag 12 can be... Figure 1 The rectangle shown can also be any regular or irregular geometric shape, such as a square or a circle.

[0060] Similarly, the shape of the flexible connecting plate 11 can be flexibly set; for example, it can be rectangular, circular, or any regular or irregular geometric shape. Furthermore, to improve the wearing comfort and reduce the cost of the pneumatic soft actuator, the flexible connecting plate 11 can be made of cotton or any other fabric, and the choice of material is unrestricted.

[0061] Based on the above structure, in the uninflated state, the multiple airbags 12 stacked together occupy only a small space. (Refer to...) Figure 2 In the inflated state, the injected compressed air causes each airbag 12 to expand. The airbag 12 expands significantly in the thickness direction and contracts slightly in the width direction, thereby causing the airbags 12 to compress each other and generate an outward thrust. That is, several stacked airbags 12, due to alignment and inflation, generate a large interaction force with the largest possible contact area, thus forming a large bending angle and output torque.

[0062] As the volume of the airbags 12 gradually increases, the interaction force between the airbags 12 becomes greater and greater, and the output torque and bending angle of the pneumatic module 1 (i.e. the entire pneumatic soft actuator) also become greater and greater.

[0063] Taking six airbags (12 in total) as an example, and with the pneumatic module 1 of the pneumatic soft actuator installed at the ankle and knee joints of the human body in the uninflated state, the shape of the pneumatic module 1 is as follows: Figure 3 As shown in (a), the pneumatic modules 1 at the knee and ankle joints hang naturally with extremely small volumes. In the inflated state, the shape of the pneumatic module 1 is as follows: Figure 3 As shown in (b), the pneumatic modules 1 at the knee and ankle joints have been expanded to form a certain bending angle to support the opening of the knee and ankle joints.

[0064] Thus, the aforementioned pneumatic soft actuator is small in size and achieves high torque output while possessing characteristics such as flexibility, comfort, and portability.

[0065] To facilitate inflation of the airbag 12 and prevent air leakage, an air duct connector 2 can be provided on the air vent of the airbag 12, and the air duct connector 2 is fixed to the airbag 12 with TPU adhesive. In this way, the air duct 31 interface can be stably fixed, and air leakage between the air vent of the airbag 12 and the air duct connector 2 can be prevented.

[0066] The airbag 12 provided above can be formed by aligning and sewing the same piece of airbag 12 fabric together, or it can be obtained by any other manufacturing method.

[0067] To increase the interaction force between adjacent airbags 12 and thus increase the output torque of the pneumatic module 1, the airbag 12 includes a first base fabric and a second base fabric. The edges of the first base fabric and the second base fabric are joined by heat fusion. The hollow area formed between the first base fabric and the second base fabric is an inflation cavity.

[0068] Thus, through the above structure, all edges of the airbag 12 are constrained, so that after compressed air is injected into the airbag 12, the inflated airbag 12 expands in the thickness direction and contracts in the width direction due to the constraint of the edges, so that the interaction force between adjacent airbags 12 is maximized at any inflation level, so that the pneumatic module 1 can provide the highest possible output torque.

[0069] The material of the airbag 12 (i.e., the first base fabric and the second basic material) can be flexibly selected. For example, it can be a fabric made of polyamide fiber and polyester fiber, or any other material with lightweight, high strength and tear resistance properties. The choice of material is not limited.

[0070] To reduce costs, the airbag 12 can be made of TPU-coated nylon, meaning the first base fabric and the second base fabric can be made of TPU-coated nylon.

[0071] In addition, for ease of wearing, the flexible connecting plate 11 can also form a wearable part, that is, the flexible connecting plate 11 itself is a wearable part.

[0072] To facilitate wearing without affecting the actuation function of the pneumatic module 1, the pneumatic soft actuator also includes a wearable part, which is disposed on the flexible connecting plate 11.

[0073] In this way, the pneumatic module 1 is worn through the wearable part, and the wearable part and the flexible connecting plate 11 are set independently to reduce the impact of the wearable part on the actuation of the airbag 12.

[0074] The structure of the wearable part can be flexibly configured. For example, the wearable part may include a restraint strap, as well as a locking buckle and a locking tongue. One end of the restraint strap is disposed on the flexible connecting plate 11, the locking tongue is disposed on the restraint strap, and the locking buckle is disposed on the flexible connecting plate 11, so that the locking buckle and the locking tongue lock together, and a wearable area is formed between the restraint strap and the flexible connecting plate 11.

[0075] In order to adapt to wearable objects of different sizes and to be securely fixed to any part of the wearable object, the wearable part includes an elastic bandage, both ends of which are disposed on the flexible connecting plate 11, and the area formed between the elastic bandage and the flexible connecting plate 11 is the wearable area.

[0076] The elastic bandage can be adapted to any size of wearable object, and at the same time, it can fix the pneumatic module 1 to the wearable part.

[0077] It should be noted that the above two structures of wearable parts are merely examples, and in actual production applications, the structure of wearable parts is not limited.

[0078] In the pneumatic module 1 provided above, the airbag 12 can be inflated or deflated manually, or it can be inflated or deflated automatically.

[0079] To reduce human intervention and improve ease of use, the aforementioned pneumatic software actuator incorporates a concept for automatically charging and deflating the pneumatic module 1. (Refer to...) Figure 4 The pneumatic soft actuator also includes an air pump module and a control module.

[0080] The air pump module includes an air pump 3, an air pipe 31, and a solenoid valve 4, while the control module includes a microprocessor 5.

[0081] The air pump 3 is connected to the air hole of the airbag 12 through the air pipe 31, and the solenoid valve 4 is installed on the air pipe 31.

[0082] The microprocessor 5 is communicatively connected to the air pump 3 and the solenoid valve 4, respectively.

[0083] The microprocessor 5 can send control commands to the air pump 3 to control the opening and closing of the air pump 3, as well as its operating mode (such as inflation volume, inflation time, inflation pressure, etc.). Similarly, the microprocessor 5 can send control commands to the solenoid valve 4 to adjust the opening degree of the solenoid valve 4, thereby adjusting the inflation rate and inflation / deflation of the airbag 12.

[0084] For further details, please refer to [link / reference]. Figure 4 The solenoid valve 4 may include a pressure solenoid valve 42 and a vacuum solenoid valve 41. The air pipe 31 includes a first air pipe 31, a second air pipe 31 and a main air pipe 31. One end of the first air pipe 31 and one end of the second air pipe 31 are respectively connected to the air pump 3. The other end of the first air pipe 31 and the other end of the second air pipe 31 are both connected to one end of the main air pipe 31. The other end of the main air pipe 31 is connected to the air guide pipe connector 2 on each airbag 12. The pressure solenoid valve 42 is disposed on the first air pipe 31 and the vacuum solenoid valve 41 is disposed on the second air pipe 31.

[0085] The gas pressure, airflow direction, and gas volume injected into the pneumatic module 1 are controlled by the first air pipe 31 and the pressure solenoid valve 42, and the pneumatic module 1 is vacuumed by the second air pipe 31 and the vacuum solenoid valve 41.

[0086] To facilitate the control of the inflation and deflation states of the pneumatic module 1, and to more precisely control the output torque and / or bending angle of the pneumatic module 1, a concept for detecting the actuation amount of the pneumatic module 1 is introduced. Specifically, the pneumatic soft actuator also includes a detection module.

[0087] The detection module includes an angle sensor and a torque sensor.

[0088] Both the angle sensor and the torque sensor are mounted on the pneumatic module 1, and the microprocessor 5 is connected to the angle sensor and the torque sensor for communication.

[0089] The microprocessor 5 can adjust the opening of the solenoid valve 4 based on the angle detected by the angle sensor and the output torque detected by the torque sensor, thereby adjusting the amount of air injected into the pneumatic module 1 to adjust the bending angle and / or torque of the pneumatic module 1.

[0090] It should be noted that the aforementioned angle sensor and torque sensor can also be replaced by a pressure sensor 13 and an air flow rate sensor installed on the air pipe 31 between the solenoid valve 4 and the pneumatic module 1. In this case, the microprocessor 5 can adjust the opening of the solenoid valve 4 according to the gas pressure detected by the pressure sensor 13 and the gas flow rate detected by the air flow rate sensor 102, thereby adjusting the amount of air injected into the pneumatic module 1 to adjust the bending angle and / or torque of the pneumatic module 1.

[0091] To further improve the comfort and flexibility of the pneumatic soft actuator, there are multiple air pump modules, and each air pump module corresponds to a pneumatic module 1. The air pump 3 of each air pump module is connected to the air guide pipe connector 2 of the corresponding solenoid valve 4 through the air pipe 31.

[0092] In this way, the microprocessor 5 can control each airbag 12 individually according to the needs based on data such as the air pressure in each airbag 12. For example, in practical applications, the airbag 12 that is in direct contact with the limb can be used as a soft cushioning element, and the air pressure and stiffness in the airbag 12 can be appropriately reduced to give the airbag 12 a larger contact area with the limb, making the contact feel of the limb skin more comfortable.

[0093] For aesthetic and comfort purposes, additional components can be added to the pneumatic soft actuator described above. For example, the pneumatic module 1 may also include a housing for enclosing the pneumatic module 1, and the housing may be made of any soft material with patterns or decorations.

[0094] To facilitate experiments on pneumatic soft actuators, and to verify the performance of the actuators based on experimental data, or to construct control models (such as angle estimation models, torque estimation models, etc.) for the pneumatic soft actuators based on experimental data, this embodiment of the invention also provides a measurement experiment system based on the same concept as the aforementioned pneumatic soft brake. (Refer to...) Figure 5 It includes experimental auxiliary modules and pneumatic soft actuators as described above.

[0095] The experimental auxiliary module includes a support platform 6, an adjustment component 7, and a lever 8.

[0096] One end of lever 8 is hinged to support platform 6, and pneumatic module 1 of pneumatic soft actuator is located between support platform 6 and lever 8.

[0097] The adjusting component 7 is connected to the lever 8, and the adjusting component 7 is used to drive the lever 8 to rotate in order to adjust the bending angle of the pneumatic module 1.

[0098] It should be understood that during the process of adjusting the bending angle of the pneumatic module 1 by driving the lever 8 to rotate, the adjusting component 7 also applies different forces to the pneumatic module 1.

[0099] With the above structure, experiments can be completed by a single person, reducing the complexity of the experiments and facilitating experiments on pneumatic soft actuators under different air injection volumes, different bending angles and different forces, while reducing experimental costs and labor costs.

[0100] To facilitate adjustment of the angle of lever 8, refer to... Figure 6 and Figure 7 The adjustment assembly 7 includes a movable column 71, a tensioning wheel 72, and a soft rope 73.

[0101] The movable column 71 is provided with a slide rail 711, and the tensioning wheel 72 is provided on the movable column 71, and the tensioning wheel 72 slides in cooperation with the slide rail 711.

[0102] One end of the soft rope 73 is wound around the tension wheel 72, and the other end of the soft rope 73 away from the tension wheel 72 is set on the lever 8.

[0103] Among them, the tensioning wheel 72 can be a hand-cranked tensioning wheel 72.

[0104] Thus, after the microprocessor 5 of the pneumatic soft actuator controls the operation of the air pump 3 and the opening of the solenoid valve 4, the air pump 3 injects gas into the pneumatic module 1, causing the pneumatic module 1 to expand and produce a bending angle and output torque. At this time, by keeping the movable column 71 stationary and only adjusting the position of the tension wheel 72 on the slide rail 711, a force can be applied to the pneumatic module 1 through the lever 8, keeping the pneumatic module 1 at any bending angle between 0° and 90°. Then, the air pump 3 continues to inject gas into the pneumatic module 1, and the pneumatic module 1 continues to expand. By keeping the position of the tension wheel 72 stationary and only adjusting the position of the movable column 71, the force applied to the pneumatic module 1 by the lever 8 can be changed, and the bending angle of the pneumatic module 1 can be adjusted to be between 90° and 180°.

[0105] For example, such as Figure 6 As shown, when the lever 8 rotates from angle θ1 to θ2, the tension wheel 72 moves from position a to position b on the column to ensure that the tensioning rope's tension direction is perpendicular to the lever 8. When the angle between the lever 8 and the support platform 6 is greater than 90°, the tension wheel 72 is fixed at position b on the column, and the column moves horizontally from position A to position B to ensure that the tensioning rope's tension direction is perpendicular to the lever 8. When the lever 8 angle changes from θ2 to θ3, the movable column 71 moves from position A to position B.

[0106] Furthermore, the aforementioned adjusting component 7 may also include a cylinder. In this case, one end of the cylinder is hinged to the support platform 6, and the output shaft of the cylinder is hinged to the lever 8, thereby allowing the angle of the lever 8 to be adjusted via the cylinder. It should be noted that the aforementioned cylinder can also be replaced with an electric cylinder or any other type of driving component, and the specific structure of the adjusting component 7 is not limited.

[0107] To facilitate the measurement of relevant data affecting the expansion of pneumatic module 1 during the experiment (i.e., output torque and bending angle), and to facilitate the acquisition of data such as the angle of lever 8 (which is also equal to the bending angle of pneumatic module 1) and the force exerted on lever 8 (i.e., the output torque of pneumatic module 1), the experimental auxiliary module also includes a first angle meter 9, a second angle meter 10, a tension meter 101, an air flow sensor 102, a pressure sensor 13, an atmospheric barometer 14, and a thermometer 15, as shown in the figure.

[0108] The pneumatic soft actuator also includes a control module and an air pump module. The air pump module includes an air pump 3, an air pipe 31, and a solenoid valve 4. The control module includes a microprocessor 5. The air pump 3 is connected to the air hole of the airbag 12 through the air pipe 31, and the solenoid valve 4 is located on the air pipe 31.

[0109] The first angle gauge 9 and the tension gauge 101 are mounted on the soft rope 73, and the second angle gauge 10 is mounted on the lever 8.

[0110] Air flow sensor 102 and pressure sensor 13 are mounted on air pipe 31 and located between pneumatic module 1 and solenoid valve 4.

[0111] The control module is communicatively connected to the air pump 3, solenoid valve 4, air flow sensor 102, pressure sensor 13, barometer 14 and thermometer 15 respectively.

[0112] The tension meter 101 is mounted on the flexible rope 73. The first angle meter 9 is mounted on the tension meter 101 and is parallel to the direction of the tension in the flexible rope 73.

[0113] In the above structure, the torque of the pneumatic module 1 is measured and recorded by the tension meter 101, the bending angle of the pneumatic module 1 is measured and recorded by the second angle meter 10, the angle measured by the first angle meter 9 is used to determine whether the tension direction of the soft rope 73 is perpendicular to the lever 8, the current atmospheric pressure is measured by the barometer 14, the current room temperature is measured by the thermometer 15, the gas flow rate injected into the pneumatic module 1 is measured by the air flow sensor 102, and the gas pressure of the pneumatic module 1 is measured by the pressure sensor 13.

[0114] Therefore, by using the above-mentioned measurement and experimental system, a single experimenter can quickly conduct experiments on pneumatic soft actuators and obtain multiple sets of experimental data (each set of experimental data includes bending angle, torque, gas flow rate, gas pressure, room temperature, atmospheric pressure, etc.), which greatly simplifies the complexity of the experiment.

[0115] Furthermore, to facilitate data analysis, the microprocessor 5 can also communicate with the PC 16, so that when the microprocessor 5 acquires the experimental data uploaded by each sensor, it can report the experimental data to the PC 16 so that the PC 16 or the experimenters can process and analyze the experimental data.

[0116] In summary, the pneumatic soft actuator and measurement experimental system provided by this utility model embodiment have at least the following beneficial effects:

[0117] (1) In any inflation state, each air bladder of the pneumatic module generates a large interaction force with the largest possible contact area to ensure high output torque.

[0118] (2) The pneumatic module is small in size and has flexibility, comfort and portability;

[0119] (3) The measurement experiment system greatly reduces the experimental complexity of pneumatic soft actuators and facilitates rapid experimental verification.

[0120] The above description is only a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model.

Claims

1. A pneumatic soft actuator, characterized in that, It includes a pneumatic module, which includes a flexible connecting plate and a plurality of airbags disposed on the flexible connecting plate; One end of the airbag is disposed on the flexible connecting plate, and the distance between any two adjacent airbags is equal to a preset value. Each of the airbags is provided with an air hole.

2. The pneumatic soft actuator according to claim 1, characterized in that, The airbag includes a first base fabric and a second base fabric, the edges of the first base fabric and the edges of the second base fabric are connected by heat fusion, and the hollow area formed between the first base fabric and the second base fabric is an inflation cavity.

3. The pneumatic soft actuator according to claim 1 or 2, characterized in that, The pneumatic soft actuator also includes a wearable part, which is disposed on the flexible connecting plate.

4. The pneumatic soft actuator according to claim 3, characterized in that, The wearable part includes an elastic bandage, both ends of which are disposed on the flexible connecting plate, and the area formed between the elastic bandage and the flexible connecting plate is the wearable area.

5. The pneumatic soft actuator according to claim 1 or 2, characterized in that, The pneumatic soft actuator also includes an air pump module and a control module; The air pump module includes an air pump, an air pipe, and a solenoid valve; the control module includes a microprocessor. The air pump is connected to the air vent of the airbag through the air pipe, and the solenoid valve is disposed on the air pipe; The microprocessor is communicatively connected to both the air pump and the solenoid valve.

6. The pneumatic soft actuator according to claim 5, characterized in that, The pneumatic soft actuator also includes a detection module; The detection module includes an angle sensor and a torque sensor; Both the angle sensor and the torque sensor are mounted on the pneumatic module, and the microprocessor is communicatively connected to both the angle sensor and the torque sensor.

7. The pneumatic soft actuator according to claim 1 or 2, characterized in that, The airbag is made of TPU-coated nylon.

8. A measurement experiment system, characterized in that, Includes an experimental support module and a pneumatic soft actuator as described in any one of claims 1 to 7; The experimental support module includes a support platform, adjustment components, and levers; One end of the lever is hinged to the support platform, and the pneumatic module of the pneumatic soft actuator is disposed between the support platform and the lever; The adjustment component is connected to the lever, and the adjustment component is used to drive the lever to rotate in order to adjust the bending angle of the pneumatic module.

9. The measurement experimental system according to claim 8, characterized in that, The adjustment assembly includes a movable column, a tension wheel, and a soft rope; The movable column is provided with a slide rail, the tensioning wheel is provided on the movable column, and the tensioning wheel is slidably engaged with the slide rail; One end of the soft rope is wound around the tensioning wheel, and the other end of the soft rope away from the tensioning wheel is positioned on the lever.

10. The measurement experimental system according to claim 9, characterized in that, The experimental auxiliary module also includes a first angle meter, a second angle meter, a tension meter, an air flow sensor, a pressure sensor, a barometer, and a thermometer; The pneumatic soft actuator also includes a control module and an air pump module. The air pump module includes an air pump, an air tube, and a solenoid valve. The control module includes a microprocessor. The air pump is connected to the air vent of the airbag through the air tube. The solenoid valve is disposed on the air tube. The first angle gauge and the tension gauge are mounted on the soft rope, and the second angle gauge is mounted on the lever; The air flow sensor and the pressure sensor are mounted on the air pipe and located between the pneumatic module and the solenoid valve. The control module is communicatively connected to the air pump, the solenoid valve, the air flow sensor, the pressure sensor, the barometer, and the thermometer.

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