High-flexibility soft continuum machine
By setting honeycomb-shaped through holes and drive components on the sidewalls of the soft continuum machine, combined with multiple tension lines and drive motors, the problem of insufficient flexibility in existing machines is solved, achieving highly flexible movement and deformation, and expanding the application range.
Patent Information
- Application Number
- CN202520376619.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-05
- Publication Date
- 2026-01-16
- Estimated Expiration
- 2035-03-05
AI Technical Summary
Existing soft continuum machines lack flexibility when facing complex and ever-changing environments, making it difficult to achieve ideal deformation and movement, which limits their application in scenarios such as working in narrow spaces and interacting with irregular objects.
A highly flexible soft continuous body machine was designed. It has multiple honeycomb-shaped through holes running through the side wall of the main body along the circumferential direction, and is equipped with a drive assembly and multiple pull lines. It uses a drive motor and pull wheels to achieve multi-directional deformation and movement, including extension and deflection.
This improves the machine's flexibility, enabling it to adapt flexibly to complex environments while maintaining structural strength, achieving multi-directional deformation and movement, and expanding its application scenarios.
Smart Images
Figure CN223802586U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to robot technical field, concretely relates to a high flexibility soft body continuum machine. BACKGROUND
[0002] In the current development of robot technology, soft body continuum machine due to its unique structure and movement mode, in the complex environment operation, human-computer interaction etc. Field shows great application potential, has been widely concerned by scientific researchers and industry. This kind of machine can imitate the flexibility and adaptability of organism, realizes more flexible and safe operation.
[0003] However, the soft body continuum machine on the market generally has the problem of insufficient flexibility. In the face of complex and changeable environment, the existing soft body continuum machine is difficult to realize ideal deformation and movement, which limits its application in scenes such as narrow space operation, interaction with irregular objects, etc. UTILITY MODEL CONTENTS
[0004] The utility model aims at the above insufficient in prior art, provides a high flexibility soft body continuum machine.
[0005] The utility model discloses the purpose is realized through the following technical scheme: a high flexibility soft body continuum machine, including body and the drive box that is located at the bottom of body, the middle part of body is equipped with the passage, the lateral wall of body is equipped with a plurality of honeycomb-shaped through -hole along the circumferential surface direction,
[0006] The body is provided with a pull line, and the drive box is provided with a drive assembly for controlling the movement of the pull line.
[0007] The utility model further sets up, the body is tubular body structure, and the passage is arranged along the axial direction of the body.
[0008] The utility model further sets up, the top of the body is equipped with a fixed part, the fixed part is equipped with a fixed buckle, the pull line is arranged in the lateral wall, one end of the pull line is connected with the fixed buckle, the other end of the pull line is connected with the drive assembly of the drive box.
[0009] The utility model further sets up, the drive assembly includes the drive motor that is located in the drive box and the thread pulling wheel that is connected with the output end of drive motor, and the other end of the pull line is arranged around the thread pulling wheel.
[0010] The utility model further sets up, the drive assembly further includes the guider that is located in the drive box, and the other end of the pull line is arranged around the thread pulling wheel after passing through the guider.
[0011] The utility model further sets up, the number of the pull line is multiple, the number of the driving motor is multiple, every pull line is correspondingly set with every driving motor, the pull line is parallelly set with the axial direction of the body.
[0012] The utility model further sets up, multiple pull lines are equal angle and set in the side wall of the body.
[0013] The utility model further sets up, multiple driving motors are sequentially arranged along the axial direction of the body.
[0014] The utility model further sets up, the driving box is equipped with the connector, the connector is equipped with the guide pipe, the guide pipe is covered in the pull line wheel.
[0015] The utility model further sets up, the guide pipe is teflon pipe.
[0016] The utility model further sets up, the top of driving box is equipped with fixed boss, the fixed boss is threaded in the passageway,
[0017] The outer periphery of fixed boss is equipped with multiple clamping blocks, the bottom side wall of the body is equipped with the clamping groove that cooperates with clamping block.
[0018] The utility model has the advantages and beneficial effects that: the utility model discloses a plurality of honeycombed holes are set up in the side wall of the body along the circumferential surface direction, so that the body has enough deformation in multiple directions, and the driving assembly cooperates with the pull line to work, so that the body can realize the motion mode of elongation, contraction and deflection, so that the structural strength can be ensured while the overall flexibility is improved. BRIEF DESCRIPTION OF DRAWINGS
[0019] The embodiments in the drawings do not constitute any limitation on the utility model, and other drawings can be obtained by the following drawings without creative labor for ordinary skilled in the art.
[0020] Figure 1 It is the structural schematic diagram of example 1.
[0021] Figure 2 It is Figure 1 The local enlarged view of A part in it.
[0022] Figure 3 It is the structural schematic diagram of example 1 after hiding driving box.
[0023] Figure 4 It is the structural schematic diagram of example 2.
[0024] Figure 5 It is Figure 4A local enlarged view of the middle B part;
[0025] Figure 6 is a sectional view of Example 2;
[0026] Figure 7 is Figure 6 A local enlarged view of the middle C part;
[0027] Figure 8 is a structural schematic view of the drive box of Example 2;
[0028] Wherein: 1, the body; 11, the channel; 12, the through hole; 2, the drive box; 21, the drive motor; 22, the thread pulling wheel; 23, the guide; 3, the pulling thread; 4, the fixed part; 41, the fixed buckle; 5, the connector; 51, the guide pipe; 6, the fixed boss; 61, the clamping block; 62, the clamping groove. DETAILED DESCRIPTION
[0029] The utility model is further described in combination with the following examples.
[0030] Example 1, by Figures 1 to 3 It can be known that the high-flexibility soft continuum machine described in the embodiment comprises a body 1 and a drive box 2 arranged at the bottom of the body 1; a channel 11 is arranged through the middle part of the body 1; a plurality of through holes 12 arranged in a honeycomb shape are arranged through the sidewall of the body 1 along the circumferential surface direction.
[0031] The body 1 is provided with a pulling thread 3; the drive box 2 is provided with a drive assembly for controlling the movement of the pulling thread 3.
[0032] Specifically, the high-flexibility soft continuum machine described in the embodiment, the material of the body 1 can be thermoplastic polyurethane, a plurality of through holes 12 arranged in a honeycomb shape are arranged through the sidewall of the body 1 along the circumferential surface direction, so that the body 1 has sufficient deformation in multiple directions, the drive assembly cooperates with the pulling thread 3 to work, so that the body 1 can realize the movement modes such as stretching and deflection, so as to improve the flexibility performance while ensuring the structural strength.
[0033] The high-flexibility soft continuum machine described in the embodiment, the body 1 is a tubular structure; the channel 11 is arranged along the axis direction of the body 1. Specifically, the above arrangement enables the overall structure to improve the overall flexibility performance while ensuring the structural strength.
[0034] The high-flexibility soft body continuum machine provided by the embodiment has a fixed portion 4 arranged on the top of the body 1; the fixed portion 4 is provided with a fixed buckle 41; the pulling wire 3 is arranged in the side wall; one end of the pulling wire 3 is connected with the fixed buckle 41; the other end of the pulling wire 3 is connected with the driving assembly of the driving box 2. The fixed buckle 41 is arranged to facilitate the disassembly and assembly of the pulling wire 3; in addition, the pulling wire 3 is arranged in the side wall, which can save space and protect the pulling wire 3.
[0035] The high-flexibility soft body continuum machine provided by the embodiment has a driving assembly which comprises a driving motor 21 arranged in the driving box 2 and a pulling wire wheel 22 connected with the output end of the driving motor 21; the other end of the pulling wire 3 is arranged around the pulling wire wheel 22. Specifically, when the body 1 needs to work, the driving motor 21 drives the pulling wire wheel 22 to rotate, so that the other end of the pulling wire 3 is continuously wound around the pulling wire wheel 22, thereby moving the one end of the pulling wire 3 downward and driving the body 1 to deform.
[0036] The high-flexibility soft body continuum machine provided by the embodiment has a driving assembly which comprises a driving motor 21 arranged in the driving box 2 and a pulling wire wheel 22 connected with the output end of the driving motor 21; the other end of the pulling wire 3 is arranged around the pulling wire wheel 22. Specifically, when the body 1 needs to work, the driving motor 21 drives the pulling wire wheel 22 to rotate, so that the other end of the pulling wire 3 is continuously wound around the pulling wire wheel 22, thereby moving the one end of the pulling wire 3 downward and driving the body 1 to deform.
[0037] The high-flexibility soft body continuum machine provided by the embodiment has a driving assembly which comprises a driving motor 21 arranged in the driving box 2 and a pulling wire wheel 22 connected with the output end of the driving motor 21; the other end of the pulling wire 3 is arranged around the pulling wire wheel 22. Specifically, when the body 1 needs to work, the driving motor 21 drives the pulling wire wheel 22 to rotate, so that the other end of the pulling wire 3 is continuously wound around the pulling wire wheel 22, thereby moving the one end of the pulling wire 3 downward and driving the body 1 to deform.
[0038] Specifically, the high-flexibility soft body continuum machine provided by the embodiment has multiple pulling wires 3 and multiple driving motors 21, which can make the body 1 realize the movement modes of stretching and deflecting.
[0039] As described in the embodiment, the number of the pulling wires 3 and the driving motors 21 is three, and the pulling wires 3 are arranged at equal angles; when the body 1 needs to deflect in one direction, the driving motor 21 corresponding to the pulling wire 3 in the direction is started to drive the pulling wire wheel 22 to rotate, so that the other end of the pulling wire 3 is continuously wound around the pulling wire wheel 22, thereby moving the one end of the pulling wire 3 downward; the side wall of the body 1 corresponding to the pulling wire 3 is compressed under the action of the honeycomb-shaped through hole 12, while the deformation amount of the side walls of the body 1 in the remaining directions is small, so that the body 1 deflects in the direction of the pulling wire 3.
[0040] When the body 1 needs to be compressed, only three drive motors 21 are started together, so that one end of the three pull lines 3 moves downward, that is, the whole body 1 can be driven to be compressed; when the drive motor 21 works in reverse, the body 1 is reset, so that the whole body 1 is stretched again.
[0041] The high-flexibility soft body continuum machine described in the embodiment has a plurality of drive motors 21 arranged in sequence along the axial direction of the body 1. Through the above arrangement, the space of the drive box 2 can be effectively utilized.
[0042] The high-flexibility soft body continuum machine described in the embodiment has a drive box 2 provided with a connector 5; the connector 5 is provided with a conduit 51; the conduit 51 is sleeved on the pull line wheel 22. Through the above arrangement, the drive motor 21 can drive the pull line 3 to work. The high-flexibility soft body continuum machine described in the embodiment has a conduit 51 made of Teflon. Through the above arrangement, the pull line wheel 22 can be effectively protected.
[0043] Embodiment 2, by Figures 4 to 8 It can be known that, unlike embodiment 1, the embodiment does not have a connector 5 and a conduit 51; the high-flexibility soft body continuum machine described in the embodiment has a fixed boss 6 provided on the top of the drive box 2; the fixed boss 6 is arranged in the channel 11; the outer periphery of the fixed boss 6 is provided with a plurality of clamping blocks 61; the bottom side wall of the body 1 is provided with a clamping groove 62 matched with the clamping block 61. Through the above arrangement, the drive box 2 and the body 1 can be disassembled.
[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not limited to the scope of protection of the present application. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced by equivalent, without departing from the essence and scope of the technical solutions of the present application.
Claims
1. A high-flexibility soft-bodied continuum machine, characterized by: The utility model provides a kind of drive box, including body (1) and the drive box (2) of being arranged in the bottom of body (1);The middle part of the body (1) is provided with channel (11);The lateral wall of the body (1) is provided with multiple through holes (12) in honeycomb along the circumferential surface direction; The body (1) is provided with a pull line (3);The drive box (2) is provided with a drive assembly for controlling the movement of the pull line (3).
2. A high-flexibility soft-body continuum machine according to claim 1, wherein: The body (1) is a tubular body structure;The channel (11) is arranged along the axis direction of the body (1).
3. A high flexibility soft body continuum machine according to claim 1, wherein: The top of the body (1) is provided with a fixed part (4);The fixed part (4) is provided with a fixed buckle (41);The pull line (3) is arranged in the lateral wall;One end of the pull line (3) is connected with the fixed buckle (41);The other end of the pull line (3) is connected with the drive assembly of the drive box (2).
4. The high-femlility soft-bodied continuum machine of claim 1, wherein: The drive assembly includes a drive motor (21) arranged in the drive box (2) and a pull line wheel (22) connected with the output end of the drive motor (21);The other end of the pull line (3) is arranged around the pull line wheel (22).
5. A high flexibility soft body continuum machine according to claim 4, wherein: The drive assembly further includes a guide (23) arranged in the drive box (2);The other end of the pull line (3) is arranged around the pull line wheel (22) after passing through the guide (23).
6. A high flexibility soft body continuum machine according to claim 4, wherein: The number of pull lines (3) is multiple;The number of drive motors (21) is multiple;Each pull line (3) is correspondingly arranged with each drive motor (21);The pull line (3) is arranged in parallel with the axis direction of the body (1).
7. A high-softness soft body continuum machine according to claim 6, wherein: Multiple pull lines (3) are arranged at equal angles on the lateral wall of the body (1).
8. A high-softness soft body continuum machine according to claim 6, wherein: Multiple drive motors (21) are arranged in sequence along the axis direction of the body (1).
9. A high flexibility soft body continuum machine according to claim 4, wherein: The drive box (2) is provided with a connector (5);The connector (5) is provided with a conduit (51);The conduit (51) is sleeved outside the pull line wheel (22).
10. The high-fleXible soft-bodied continuum machine of claim 1, wherein: The top of the drive box (2) is provided with a fixed boss (6);The fixed boss (6) is arranged in the channel (11) The outer periphery of the fixed boss (6) is provided with multiple clamping blocks (61);The bottom lateral wall of the body (1) is provided with a clamping groove (62) matched with the clamping block (61).