Twistable pneumatic soft mechanical arm and flexible intelligent pneumatic manipulator

Abstract

The utility model relates to a twistable pneumatic soft mechanical arm and a flexible intelligent pneumatic manipulator, and solves the technical problems that an existing pneumatic soft mechanical arm is low in response speed, the movement stability needs to be improved, the load capacity needs to be improved, the pneumatic soft mechanical arm is only basically bent in a two-dimensional plane, and three-dimensional space bending cannot be achieved. The air filter comprises an inner side body, a corrugated outer side body and a connector, the left side of the inner side body is provided with a plurality of obliquely-arranged left side corrugated parts, the right side of the inner side body is provided with a plurality of obliquely-arranged right side corrugated parts, and the top of the corrugated outer side body is provided with an air channel; the corrugated outer side body is provided with a plurality of circular-arc-shaped corrugated parts which are obliquely arranged, and the corrugated outer side body is provided with a plurality of semicircular deformation air chambers which are obliquely arranged. The manipulator can be widely applied to grabbing objects.

Description

TECHNICAL FIELD

[0001] The utility model relates to soft body mechanical arm technical field, specifically, relate to a kind of twistable pneumatic soft body mechanical arm and flexible intelligent pneumatic manipulator. BACKGROUND

[0002] Mechanical arm as the product of many modern sciences such as mechanism, cybernetics, electronic technology and computer, has been the research hotspot of engineering and scientific community. At the same time, mechanical arm is a very complex dynamic system, and its dynamic equation has the characteristics of nonlinearity, strong coupling and real variation, so the research on mechanical arm has always been a big challenge, and the design scheme of mechanical arm is endless for different application scenarios.

[0003] Traditional rigid mechanical arm has high carrying capacity and control precision, and is widely used in manufacturing, industrial production, medical rehabilitation and other fields. The factory moves, classifies goods, and surgical knives used in surgical operations begin to use the assistance of mechanical arm. These application scenarios have higher requirements for the flexibility and safety of mechanical arm. However, for complex space and narrow environment, rigid mechanical arm has the disadvantages of poor adaptability and limited flexibility, while soft body mechanical arm is different from traditional rigid mechanical arm in material composition, which is made of soft material and has the characteristics of high degree of freedom and strong adaptability.

[0004] As a kind of soft body mechanical arm, pneumatic soft body mechanical arm has large shape deformation capacity and can adapt to the change of environment, so it has broad application prospect. The structure of the common pneumatic soft body mechanical arm in the prior art can refer to the utility model patent with the patent name of "variable-distance pneumatic inclined cavity soft manipulator" and the authorization announcement number CN222079306U. However, the common pneumatic soft body mechanical arm mainly has the following technical defects: (1) when square cavity is pumped into gas, the gas cannot fill the whole cavity smoothly, so that the response of mechanical arm has certain delay and the response speed is slow; (2) the motion stability of mechanical arm needs to be improved; (3) the load capacity needs to be improved; (4) it is limited to two-dimensional plane bending and cannot realize three-dimensional space bending. SUMMARY

[0005] The utility model is just to solve the technical problems that the existing pneumatic soft body mechanical arm has slow response speed, the motion stability needs to be improved, the load capacity needs to be improved, and it is limited to two-dimensional plane bending and cannot realize three-dimensional space bending, and provides a twistable pneumatic soft body mechanical arm and flexible intelligent pneumatic manipulator with fast response speed, higher motion stability and load capacity.

[0006] The utility model provides a kind of twistable pneumatic soft mechanical arm, including inside body, corrugated outside body and joint;The left side of inside body is equipped with several left side corrugated parts, left side corrugated part is arranged obliquely, the right side of inside body is equipped with several right side corrugated parts, right side corrugated part is arranged obliquely, left side corrugated part and right side corrugated part are oppositely arranged, the width of inside body gradually becomes smaller from its rear end to front end;

[0007] The top of corrugated outside body is equipped with gas passage, gas passage is distributed along the length direction of corrugated outside body, corrugated outside body is equipped with several circular-arc corrugated parts, several circular-arc corrugated parts are arranged in line along the length direction of corrugated outside body, the included angle α between circular-arc corrugated part and the axis of corrugated outside body is: 0 ° < α < 90 °;Corrugated outside body is equipped with several semicircular deformation gas chambers, several semicircular deformation gas chambers are arranged in line along the length direction of corrugated outside body, the included angle β between semicircular deformation gas chamber and the axis of corrugated outside body is: 0 ° < β < 90 °, and included angle β is equal to included angle α;The number of semicircular deformation gas chamber is same with the number of circular-arc corrugated part, one semicircular deformation gas chamber corresponds to one circular-arc corrugated part, semicircular deformation gas chamber extends from the top of corrugated outside body to circular-arc corrugated part, and several semicircular deformation gas chambers are all communicated with gas passage;From the rear end to front end of corrugated outside body, the width of several circular-arc corrugated parts gradually becomes smaller, the thickness of corrugated outside body gradually becomes smaller, the width of several semicircular deformation gas chambers gradually becomes smaller, and the depth of several semicircular deformation gas chambers gradually becomes smaller;

[0008] Joint is connected with the rear end of corrugated outside body, and joint is communicated with gas passage;

[0009] Inside body is connected with the top of corrugated outside body, the left side corrugated part of inside body corresponds to the left side of circular-arc corrugated part of corrugated outside body, and the right side corrugated part corresponds to the right side of circular-arc corrugated part of corrugated outside body;

[0010] The material of inside body is flexible material, and the material of corrugated outside body is flexible material.

[0011] Preferably, the joint is a luer joint.

[0012] Preferably, the material of inside body is silica gel, and the material of corrugated outside body is silica gel.

[0013] Preferably, the width of gas passage gradually becomes larger from the rear end to front end of corrugated outside body.

[0014] Preferably, the included angle α is: 30 ° < α < 80 °, and the included angle β is preferably: 30 ° < α < 80 °.

[0015] Preferably, the rear end of the corrugated outer body is provided with a vertical circular-arc corrugated part, which is perpendicular to the axis of the corrugated outer body, and is located behind a first circular-arc corrugated part among the plurality of circular-arc corrugated parts.

[0016] The rear end of the corrugated outer body is provided with a vertical semi-circular deformation air chamber, which is perpendicular to the axis of the corrugated outer body, and is located behind a first semi-circular deformation air chamber among the plurality of semi-circular deformation air chambers, and matches the vertical circular-arc corrugated part; the vertical semi-circular deformation air chamber is in communication with the gas passage.

[0017] The rear end of the inner body is provided with a vertical left-side corrugated part and a vertical right-side corrugated part, the vertical left-side corrugated part is located behind a first left-side corrugated part among the plurality of left-side corrugated parts, and the vertical right-side corrugated part is located behind a first right-side corrugated part among the plurality of right-side corrugated parts; the vertical left-side corrugated part matches the left side of the vertical circular-arc corrugated part in correspondence, and the vertical right-side corrugated part matches the right side of the vertical circular-arc corrugated part in correspondence.

[0018] Preferably, the joint is embedded in the rear end of the corrugated outer body.

[0019] Preferably, the inner body and the top of the corrugated outer body are connected by an integral molding mode.

[0020] The utility model also provides a kind of flexible intelligent pneumatic manipulator, including support and at least two above-mentioned any one twistable pneumatic soft body manipulator, at least two twistable pneumatic soft body manipulators are connected on support.

[0021] Preferably, the number of twistable pneumatic soft body manipulators is three.

[0022] The utility model has the advantages that three-dimensional space bending and torsion coupling motion can be realized, dexterity is improved, more application scenarios are adapted, response speed is fast, load capacity is strong, and air tightness is better.

[0023] Pneumatic soft body manipulator can produce certain distortion in bending process, further improve gripping force and load capacity.

[0024] The structure of the semicircular deformation gas chamber makes the gas inflow more smooth, and the gas can fill the entire cavity faster, so that the response speed is faster. The width of the plurality of arc-shaped corrugated portions gradually decreases, the width of the plurality of semicircular deformation gas chambers gradually decreases, the depth of the plurality of semicircular deformation gas chambers gradually decreases, and the thickness of the corrugated outer body gradually decreases. The gas inflow design from wide to narrow can make the gas flow into each cavity more quickly and uniformly, so that the gas fills each semicircular deformation gas chamber faster, and the response speed of the mechanical arm is further improved, the motion stability is further improved, and better control requirements are achieved.

[0025] Further features and aspects of the present utility model will be made clear in the following description of specific embodiments with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 is a structural schematic diagram of a twistable pneumatic soft body mechanical arm;

[0027] Figure 2 is Figure 1 is a bottom view of the twistable pneumatic soft body mechanical arm shown in figure 1;

[0028] Figure 3 is Figure 1 is a sectional view of the twistable pneumatic soft body mechanical arm shown in figure 1;

[0029] Figure 4 is an axonometric view of the inner body;

[0030] Figure 5 is Figure 4 is a top view of the inner body shown in figure 1;

[0031] Figure 6 is Figure 1 is a structural schematic diagram of a corrugated outer body in the twistable pneumatic soft body mechanical arm shown in figure 1;

[0032] Figure 7 is Figure 6 is a top view of the structure shown in figure 2;

[0033] Figure 8 is a structural schematic diagram of a flexible intelligent pneumatic manipulator in embodiment 2.

[0034] Explanation of symbols in the drawings:

[0035] 1. Inner body, 1-1. Left corrugated portion, 1-2. Right corrugated portion, 1-3. Vertical left corrugated portion, 1-4. Vertical right corrugated portion; 2. Corrugated outer body, 2-1. Arc-shaped corrugated portion, 2-2. Semicircular deformation gas chamber, 2-3. Gas passage, 2-4. Vertical arc-shaped corrugated portion, 2-5. Vertical semicircular deformation gas chamber; 3. Luer joint. DETAILED DESCRIPTION

[0036] The utility model will be further explained in detail with specific examples below with reference to the drawings.

[0037] Embodiment 1

[0038] As shown in Figure 1 and 2 , the twistable pneumatic soft robot arm comprises an inner body 1, a corrugated outer body 2 and a luer joint 3, the inner body 1 is connected with the corrugated outer body 2, and the luer joint 3 is connected with the rear end of the corrugated outer body 2. The front end of the corrugated outer body 2 and the front end of the inner body 1 jointly constitute the free end of the pneumatic soft robot arm.

[0039] The material of the inner body 1 is a flexible material, and the material of the corrugated outer body 2 is a flexible material.

[0040] As shown in Figure 4 and 5 , the left side of the inner body 1 is provided with a plurality of left corrugated portions 1-1, and the left corrugated portions 1-1 are arranged obliquely. The right side of the inner body 1 is provided with a plurality of right corrugated portions 1-2, and the right corrugated portions 1-2 are arranged obliquely. One left corrugated portion 1-1 is arranged opposite to one right corrugated portion 1-2. As shown in Figure 5 , the left end of the inner body 1 is the front end of the inner body 1, and the right end of the inner body 1 is the rear end thereof. As can be seen from the figure, the width of the inner body 1 gradually decreases from the rear end to the front end.

[0041] As shown in Figure 6 and 7As shown, the top of the corrugated outer body 2 is provided with gas passages 2-3 which are distributed along the length direction of the corrugated outer body 2. The corrugated outer body 2 is provided with a plurality of circular-arc corrugated portions 2-1 which are arranged in line along the length direction of the corrugated outer body 2, and the circular-arc corrugated portions 2-1 are arranged obliquely, that is, the included angle a between the circular-arc corrugated portions 2-1 and the axis of the corrugated outer body 2 is greater than 0° and less than 90° (0°<a<90°); preferably, 30°<a<80°. The corrugated outer body 2 is further provided with a plurality of semicircular deformation air chambers 2-2, the number of the semicircular deformation air chambers 2-2 is the same as that of the circular-arc corrugated portions 2-1, one semicircular deformation air chamber 2-2 corresponds to one circular-arc corrugated portion 2-1, and the semicircular deformation air chamber 2-2 extends downward from the top of the corrugated outer body 2 to the circular-arc corrugated portion 2-1, and a plurality of semicircular deformation air chambers 2-2 are arranged in line along the length direction of the corrugated outer body 2. The semicircular deformation air chamber 2-2 is also arranged obliquely, that is, the included angle β between the semicircular deformation air chamber 2-2 and the axis of the corrugated outer body 2 is greater than 0° and less than 90° (0°<β<90°); preferably, 30°<β<80°; and the included angle β is equal to the included angle a. The gas passage 2-3 is in communication with each semicircular deformation air chamber 2-2. As can be seen from the figure, from the rear end to the front end, the width of the corrugated outer body 2 gradually decreases, that is, the width of the circular-arc corrugated portions 2-1 gradually decreases, and since the semicircular deformation air chamber 2-2 matches the circular-arc corrugated portion 2-1, the width of the semicircular deformation air chamber 2-2 also gradually decreases; in addition, from the rear end to the front end, the thickness of the corrugated outer body 2 gradually decreases; since the thickness of the corrugated outer body 2 gradually decreases, the depth of the semicircular deformation air chamber 2-2 gradually decreases.

[0042] The Luer joint 3 is connected to the rear end of the corrugated outer body 2, and the Luer joint 3 is in communication with the gas passage 2-3.

[0043] Reference Figure 1 、 2 and 8, the inner body 1 is connected to the top of the corrugated outer body 2, the left corrugated portion 1-1 of the inner body 1 corresponds to the left side of the circular-arc corrugated portion 2-1 of the corrugated outer body 2, and the right corrugated portion 1-2 corresponds to the right side of the circular-arc corrugated portion 2-1 of the corrugated outer body 2. That is, a group of the left corrugated portion 1-1 and the right corrugated portion 1-2 corresponds to one circular-arc corrugated portion 2-1.

[0044] It should be noted that the Luer joint 3 is a preferred mode, and other known or capable of achieving aeration joints can also be used.

[0045] When the gas channel 2-3 is filled with gas through the luer joint 3, the gas in the gas channel 2-3 enters each semicircular deformation chamber 2-2, thereby making the semicircular deformation chamber 2-2 expand and deform, and the expansion and deformation of each semicircular deformation chamber 2-2 can make the entire corrugated outer body 2 bend and deform towards the inner body 1, and finally the inner body 1 bends and deforms. Since the circular-arc corrugated part 2-1 and the semicircular deformation chamber 2-2 are both inclined, the entire twistable pneumatic soft robotic arm will produce a certain twist during bending, and the entire twistable pneumatic soft robotic arm can perform coupled bending and twisting motion in three-dimensional space.

[0046] The manufacturing method of the above twistable pneumatic soft robotic arm is described below:

[0047] Firstly, the luer joint 3 is placed in the first mold for manufacturing the corrugated outer body 2, and the silicone raw liquid is poured into the first mold, and then a series of fine processing such as bubble extraction and shrinkage compensation is performed, and after waiting for natural forming, the integrally formed corrugated outer body 2 is manufactured, and the luer joint 3 is embedded in the end of the corrugated outer body 2. Secondly, the silicone raw liquid is poured into the second mold for manufacturing the inner body 1, and the same fine processing is performed. Then, the shaped corrugated outer body 2 which has not been demolded is inverted on the second mold containing unshaped silicone, and the unshaped silicone in the second mold is required to be closely attached to the shaped silicone in the first mold, and the left corrugated part 1-1 and the right corrugated part 1-2 of the inner body 1 correspond to and match the circular-arc corrugated part 2-1. Finally, after waiting for natural forming, demolding is performed, and the entire pneumatic soft robotic arm can be prepared, while ensuring that its airtightness meets the requirements.

[0048] The above manufacturing process integrates the luer joint 3 and the internal cavity of the soft robotic arm. In terms of the connection between the inner body 1 and the corrugated outer body 2, compared with the traditional method of separately manufacturing the cavity and the limiting layer and then connecting them with glue, the present method of directly connecting the cavity with the limiting layer on the basis of cavity forming not only simplifies the manufacturing steps, but also enables the driver to have better airtightness.

[0049] The working process of using the above pneumatic soft robotic arm is described below:

[0050] With the above twistable pneumatic soft mechanical arm, some simple shape objects such as apples, bananas, water cups and other small volume and light weight objects can be grasped. The specific operation process is as follows. First, the position of the existing object is determined, the twistable pneumatic soft mechanical arm is moved to the side of the target object, and the inner body 1 is aligned with the position on the target object which needs to be grasped; then the inflation device is used to inflate the inside of the twistable pneumatic soft mechanical arm through the luer joint 3, the gas can be filled into each semicircular deformation gas chamber 2-2 through the gas channel 2-3, so that the semicircular deformation gas chamber 2-2 is inflated and deformed, and the corrugated outer body 2 is bent and deformed and twisted towards the inner body 1 due to the deformation of the semicircular deformation gas chamber 2-2, and the degree of bending deformation increases with the increase of the volume of the filled gas; finally, the filled gas makes the inner body 1 form a bending and twisting that can wrap the position on the target object which needs to be grasped, and contacts and wraps the target object, thereby completing the grasping of the target object.

[0051] It can be seen that the twistable pneumatic soft mechanical arm can more gently realize the grasping of the object, and basically will not cause damage to the object; and has strong load capacity.

[0052] It should be noted that the length of the gas channel 2-3 and the number of the semicircular deformation gas chamber 2-2 are not limited to the length and number in the drawings, and the specific number can be set according to the actual application situation.

[0053] It can be seen that the twistable pneumatic soft mechanical arm disclosed by the utility model has the semicircular deformation gas chamber 2-2 which is semicircular, so that the inflow of the gas is more smooth, the gas can fill the entire cavity more quickly, and the response speed is faster.

[0054] The design is that the widths of the plurality of arc-shaped corrugated portions 2-1 gradually decrease, the widths of the plurality of semicircular deformation gas chambers 2-2 gradually decrease, the depths of the plurality of semicircular deformation gas chambers 2-2 gradually decrease, and the thickness of the corrugated outer body 2 gradually decreases, so that the gas can flow into each cavity more quickly and uniformly from the wide to narrow gas path design, the gas can fill each semicircular deformation gas chamber 2-2 more quickly, and the response speed of the mechanical arm is further improved, so that better control requirements are achieved. The stability of the movement of the mechanical arm is further improved.

[0055] It should be noted that the width of the gas channel 2-3 gradually increases from right to left, which is a preferred means and is not limited thereto. Figure 7 It can be seen that the width of the gas channel 2-3 gradually increases from right to left, which is a preferred means and is not limited thereto. Figure 6 and 7From right to left, the first semicircular deformation chamber 2-2, the second semicircular deformation chamber 2-2, the third semicircular deformation chamber 2-2, the ninth semicircular deformation chamber 2-2 are arranged in sequence, and since the gas input from the luer connector 3 enters the first semicircular deformation chamber 2-2, the second semicircular deformation chamber 2-2, the third semicircular deformation chamber 2-2, the ninth semicircular deformation chamber 2-2 in sequence, the first semicircular deformation chamber 2-2 expands and deforms first, then the second semicircular deformation chamber 2-2 expands and deforms, and so on until the ninth semicircular deformation chamber expands and deforms; that is, the gas first gathers in the front semicircular deformation chambers. In order to avoid the fact that the deformation of the rear semicircular deformation chambers is small due to the small amount of gas, and to ensure the overall deformation of the corrugated outer body 2, the gas channel 2-3 is designed to be "the width gradually increases from right to left", so that the other semicircular deformation chambers are reached as soon as possible.

[0056] It should be noted that a vertical circular-arc corrugated portion 2-4 perpendicular to the axis of the corrugated outer body 2 can be added, as shown in Figure 6 and 7 and 2, the vertical circular-arc corrugated portion 2-4 is arranged at the rear end of the corrugated outer body 2, and the vertical circular-arc corrugated portion 2-4 is located behind the first circular-arc corrugated portion 2-1. Correspondingly, a vertical semicircular deformation chamber 2-5 is arranged at the rear end of the corrugated outer body 2, the vertical semicircular deformation chamber 2-5 is perpendicular to the axis of the corrugated outer body 2, the vertical semicircular deformation chamber 2-5 is located behind the first semicircular deformation chamber 2-2, and the vertical semicircular deformation chamber 2-5 matches the vertical circular-arc corrugated portion 2-4. The vertical semicircular deformation chamber 2-5 communicates with the gas channel 2-3. Correspondingly, as shown in Figure 5 , vertical left corrugated portions 1-3 and vertical right corrugated portions 1-4 are arranged at the rear end of the inner body 1, and the vertical left corrugated portions 1-3 and the vertical right corrugated portions 1-4 are located behind the first left corrugated portion 1-1 and the right corrugated portion 1-2. The vertical left corrugated portion 1-3 corresponds to the left side of the vertical circular-arc corrugated portion 2-4, and the vertical right corrugated portion 1-4 corresponds to the right side of the vertical circular-arc corrugated portion 2-4.

[0057] Example 2

[0058] This embodiment is a twistable pneumatic soft robot arm using the twistable pneumatic soft robot arm in the foregoing embodiment 1, which adopts a multi-parallel design in structure. As shown in Figure 8 , three twistable pneumatic soft robot arms are used to constitute a flexible intelligent pneumatic manipulator, the three twistable pneumatic soft robot arms are installed on a support, and the flexible intelligent pneumatic manipulator can grasp irregular objects with complex shapes, large volumes and heavy weights, such as stones, dolls, etc.

[0059] The specific operation is as follows: first, the three twistable pneumatic soft body mechanical arms are fixed so that the included angle between each two adjacent units in the plane is 120° (i.e., the three twistable pneumatic soft body mechanical arms are uniformly distributed in the circumferential direction), facilitating stable grasping of the target object. Subsequently, the luer connectors 3 of the three twistable pneumatic soft body mechanical arms are respectively connected to three independent inflation devices, and the bending movement of each twistable pneumatic soft body mechanical arm can be individually adjusted by controlling the inflation devices, thereby realizing synchronous or non-synchronous bending of the three twistable pneumatic soft body mechanical arms. The bending process of a single twistable pneumatic soft body mechanical arm is the same as that of Embodiment 1, and by inflating the inside, the corrugated outside body 2 is twisted and expanded, thereby driving the twistable pneumatic soft body mechanical arm to bend and deform towards the inside body 1. Finally, according to the shape and mass of the target object, the required inflation amount of the twistable pneumatic soft body mechanical arm is calculated, and stable grasping of the object is realized by adjusting the inflation device.

[0060] It should be noted that the parallel number of the twistable pneumatic soft body mechanical arms is not limited to three, and the included angle between adjacent units is not limited to 120°. The specific parameters can be flexibly adjusted according to the actual use requirements to meet the requirements of different grasping scenes.

[0061] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can be variously changed and modified. Any modification, equivalent replacement, improvement, etc. made within the scope defined by the claims of the present application shall be within the scope of protection of the present application.

Claims

1. A twistable pneumatic soft robotic arm, characterized by, The utility model provides a kind of gas distribution device, including inner body, corrugated outer body and joint;The left side of the inner body is equipped with several left corrugated parts, the left corrugated part is arranged obliquely, the right side of the inner body is equipped with several right corrugated parts, the right corrugated part is arranged obliquely, the left corrugated part is oppositely arranged with the right corrugated part, and the width of the inner body gradually decreases from its rear end to front end; The top of the corrugated outer body is provided with a gas channel, which is distributed along the length direction of the corrugated outer body, the corrugated outer body is provided with a plurality of circular-arc corrugated parts, and the plurality of circular-arc corrugated parts are arranged in a straight line along the length direction of the corrugated outer body, the included angle α between the circular-arc corrugated part and the axis of the corrugated outer body is: 0° < α < 90°, the corrugated outer body is provided with a plurality of semi-circular deformation gas chambers, the plurality of semi-circular deformation gas chambers are arranged in a straight line along the length direction of the corrugated outer body, the included angle β between the semi-circular deformation gas chamber and the axis of the corrugated outer body is: 0° < β < 90°, and the included angle β is equal to the included angle α, the number of the semi-circular deformation gas chambers is the same as the number of the circular-arc corrugated parts, one semi-circular deformation gas chamber corresponds to one circular-arc corrugated part, the semi-circular deformation gas chamber extends from the top of the corrugated outer body to the circular-arc corrugated part, and the plurality of semi-circular deformation gas chambers are in communication with the gas channel, from the rear end to the front end of the corrugated outer body, the width of the plurality of circular-arc corrugated parts gradually decreases, the thickness of the corrugated outer body gradually decreases, the width of the plurality of semi-circular deformation gas chambers gradually decreases, and the depth of the plurality of semi-circular deformation gas chambers gradually decreases; The joint is connected with the rear end of the corrugated outer body, and the joint is in communication with the gas channel; The inner body is connected with the top of the corrugated outer body, the left corrugated part of the inner body corresponds to the left side of the circular-arc corrugated part of the corrugated outer body, and the right corrugated part corresponds to the right side of the circular-arc corrugated part of the corrugated outer body; The material of the inner body is a flexible material, and the material of the corrugated outer body is a flexible material.

2. The twistable, pneumatic soft robotic arm of claim 1, wherein, The joint is a luer joint.

3. The twistable, pneumatic soft body robotic arm of claim 1 or 2, wherein, The material of the inner body is silica gel, and the material of the corrugated outer body is silica gel.

4. The twistable, pneumatic soft body robotic arm of claim 1 or 2, wherein, From the rear end to the front end of the corrugated outer body, the width of the gas channel gradually increases.

5. The twistable pneumatic soft body robotic arm of claim 1 or 2, wherein, The included angle α is: 30° < α < 80°, and the included angle β is: 30° < α < 80°.

6. The twistable, pneumatic soft body robotic arm of claim 1 or 2, wherein, The rear end of the corrugated outer body is provided with a vertical circular-arc corrugated part, the vertical circular-arc corrugated part is perpendicular to the axis of the corrugated outer body, and the vertical circular-arc corrugated part is located behind the first circular-arc corrugated part in the plurality of circular-arc corrugated parts; The rear end of the corrugated outer body is provided with a vertical semi-circular deformation gas chamber, the vertical semi-circular deformation gas chamber is perpendicular to the axis of the corrugated outer body, the vertical semi-circular deformation gas chamber is located behind the first semi-circular deformation gas chamber in the plurality of semi-circular deformation gas chambers, and the vertical semi-circular deformation gas chamber matches the vertical circular-arc corrugated part; the vertical semi-circular deformation gas chamber is in communication with the gas channel; The rear end of the inner body is provided with a vertical left corrugated part and a vertical right corrugated part, the vertical left corrugated part is located behind the first left corrugated part of the several left corrugated parts, and the vertical right corrugated part is located behind the first right corrugated part of the several right corrugated parts; the vertical left corrugated part corresponds to and matches the left side of the vertical circular-arc corrugated part, and the vertical right corrugated part corresponds to and matches the right side of the vertical circular-arc corrugated part.

7. The twistable, pneumatic soft body robotic arm of claim 1 or 2, wherein, The joint is embedded in the rear end of the corrugated outer body.

8. The twistable, pneumatic soft body robotic arm of claim 1 or 2, wherein, The inner body is connected to the top of the corrugated outer body in an integrated manner.

9. A flexible intelligent pneumatic manipulator, characterized by The system comprises a support and at least two twistable pneumatic soft-bodied robotic arms according to any one of claims 1-8, and the at least two twistable pneumatic soft-bodied robotic arms are connected to the support.

10. The flexible intelligent pneumatic manipulator of claim 9, wherein, The number of the twistable pneumatic soft-bodied robotic arms is three.

Images