CN108297089B - Soft motion device and soft robot - Google Patents
Soft motion device and soft robot Download PDFInfo
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- CN108297089B CN108297089B CN201810284114.1A CN201810284114A CN108297089B CN 108297089 B CN108297089 B CN 108297089B CN 201810284114 A CN201810284114 A CN 201810284114A CN 108297089 B CN108297089 B CN 108297089B
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- 230000007246 mechanism Effects 0.000 claims abstract description 75
- 238000005452 bending Methods 0.000 claims abstract description 22
- 239000000463 material Substances 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 108010001267 Protein Subunits Proteins 0.000 description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000000741 silica gel Substances 0.000 description 2
- 229910002027 silica gel Inorganic materials 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 241000282414 Homo sapiens Species 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 229920002379 silicone rubber Polymers 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
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Abstract
The invention discloses a soft body movement device and a soft body robot, and relates to the technical field of robots. The soft body movement device comprises a pneumatic mechanism and a soft body movement member. The pneumatic mechanism is respectively communicated with the first air bag and the second air bag, the guide section is used for bending in a first direction when the pneumatic mechanism inflates the first air bag and absorbs gas in the second air bag, the guide section is also used for bending in a second direction when the pneumatic mechanism inflates the second air bag and absorbs gas in the first air bag, the pneumatic mechanism is communicated with the movement cavity, the movement section is used for bending when the pneumatic mechanism absorbs gas in the movement cavity, and the movement section is also used for straightening when the pneumatic mechanism inflates the movement cavity. Compared with the prior art, the soft body movement device provided by the invention has the advantages that the guide section provided with the first air bag and the second air bag and the pneumatic mechanism communicated with the movement cavity are adopted, so that the soft body movement device can move flexibly and rapidly, is flexible in steering, is reliable in movement, and is practical and convenient.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a soft exercise device and a soft robot.
Background
The soft robot is a novel flexible robot and can be driven by air only. The soft robot which is newly researched by scientists is made of paper and silicon rubber and can bend, twist and pick up an object with more than 100 times of the weight of the robot. The design inspiration of the soft robot is to imitate the internal structure of human beings or the appearance architecture of insects, and the like, especially the latter.
Soft inflatable robot models are not as advanced as mechanical robots, but they do not contain any electronics in their soft body. Inflatable soft body robots are considered to be the best tool, and such robots are capable of performing many functions not possible with conventional mechanical robots. Conventional mainstream robots are made of metal and other hard materials and are loaded with attached electronics and components that can be used to make automobiles, carry heavier object devices, and even disassemble bombs. The inventor has found that conventional mechanical robots are bulky, awkward to maneuver, difficult to traverse through a curved pipe or stone, and other difficult to reach rough and rugged environmental surfaces to reach particular environments.
In view of this, it is important to design and manufacture a flexible movement device and a flexible robot, especially in the robot production.
Disclosure of Invention
The invention aims to provide a soft body movement device which has a simple structure, can move flexibly and rapidly, is flexible to turn, is reliable in movement, can be suitable for various complex terrains, and is practical and convenient.
The invention further aims to provide the soft robot which is simple in structure, flexible in steering, reliable in movement, applicable to various complex terrains, practical, convenient and good in user experience, and can move flexibly and rapidly.
The invention is realized by adopting the following technical scheme.
The utility model provides a software motion device, including pneumatic mechanism and software moving part, software moving part includes integrated into one piece's direction section and motion section, the interval is provided with first gasbag and second gasbag in the direction section, pneumatic mechanism communicates with first gasbag and second gasbag respectively, the direction section is used for bending to first direction when pneumatic mechanism aerifys and absorbs the gas in the second gasbag to first gasbag, the direction section still is used for bending to the second direction when pneumatic mechanism aerifys and absorbs the gas in the first gasbag to the second gasbag, be provided with the motion cavity in the motion section, pneumatic mechanism and motion cavity intercommunication, the motion section is used for bending when pneumatic mechanism absorbs the gas in the motion cavity, the motion section still is used for straightening when pneumatic mechanism aerifys to the motion cavity.
Further, the pneumatic mechanism comprises a first pneumatic component and a second pneumatic component, the first pneumatic component is respectively communicated with the first air bag and the second air bag, and the second pneumatic component is communicated with the movement cavity.
Further, the first air pump is connected with the first air supply pipe and the second air supply pipe respectively, the first air supply pipe is connected with the first air bag, and the second air supply pipe is connected with the second air bag.
Further, the first air pump is provided with an air suction port and an air outlet, the air suction port and the air outlet are connected with the switcher, the switcher is connected with the first air supply pipe and the second air supply pipe respectively, the switcher is used for communicating the air suction port with the first air supply pipe and the air outlet with the second air supply pipe, and the switcher is also used for communicating the air suction port with the second air supply pipe and the air outlet with the first air supply pipe.
Further, the switcher is a two-position four-way electromagnetic valve.
Further, the motion section comprises a plurality of sub-units, the plurality of sub-units are sequentially connected, a unit cavity is arranged in each sub-unit, and the plurality of unit cavities are communicated and combined to form the motion cavity.
Further, the subunit comprises a first half body and a second half body, the first half body and the second half body are integrally formed and combined to form a unit cavity, the first half body is close to the ground, and the second half body is far away from the ground.
Further, the first half has a hardness greater than the hardness of the second half.
Further, one side of one end of the guide section, which is far away from the motion section, and close to the ground is provided with a first anti-slip pad, and one side of one end of the motion section, which is far away from the guide section, and close to the ground is provided with a second anti-slip pad.
The utility model provides a soft robot, including robot body and soft motion device, the robot body is installed on soft motion device, soft motion device includes pneumatic mechanism and soft motion spare, soft motion spare includes integrated into one piece's direction section and motion section, the interval is provided with first gasbag and second gasbag in the direction section, pneumatic mechanism communicates with first gasbag and second gasbag respectively, the direction section is used for being crooked to first direction when pneumatic mechanism aerifys and absorbs the gas in the second gasbag to first gasbag, the direction section still is used for being crooked to the second direction when pneumatic mechanism aerifys and absorbs the gas in the first gasbag to the second gasbag, be provided with the motion cavity in the motion section, pneumatic mechanism and motion cavity intercommunication, the motion section is used for being bent when pneumatic mechanism absorbs the gas in the motion cavity, the motion section still is used for being straightened when pneumatic mechanism aerifyd to the motion cavity.
The soft exercise device and the soft robot provided by the invention have the following beneficial effects:
The invention provides a soft movement device, wherein a pneumatic mechanism is respectively communicated with a first air bag and a second air bag, a guide section is used for bending in a first direction when the pneumatic mechanism inflates the first air bag and absorbs gas in the second air bag, the guide section is also used for bending in a second direction when the pneumatic mechanism inflates the second air bag and absorbs gas in the first air bag, the pneumatic mechanism is communicated with a movement cavity, the movement section is used for bending when the pneumatic mechanism absorbs gas in the movement cavity, and the movement section is also used for straightening when the pneumatic mechanism inflates the movement cavity. Compared with the prior art, the soft body movement device provided by the invention has the advantages that the guide section provided with the first air bag and the second air bag and the pneumatic mechanism communicated with the movement cavity are adopted, so that the soft body movement device can move flexibly and rapidly, is flexible in steering and reliable in movement, can be suitable for various complex terrains, and is practical and convenient.
The soft robot provided by the invention comprises the soft movement device, has a simple structure, can flexibly and rapidly move, is flexible to turn, is reliable in movement, can be suitable for various complex terrains, is practical and convenient, and has good user experience.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a soft exercise device according to a first embodiment of the present invention;
FIG. 2 is a schematic view of the guide section of FIG. 1 when bent in a first direction;
FIG. 3 is a schematic view of the guide section of FIG. 1 when bent in a second direction;
FIG. 4 is a schematic view of the guide section of FIG. 1 without bending;
FIG. 5 is a schematic view of the motion segment of FIG. 1;
FIG. 6 is a schematic structural view of a pneumatic mechanism in a soft exercise device according to a first embodiment of the present invention;
FIG. 7 is a schematic diagram of the subunit of FIG. 5;
Fig. 8 is a schematic structural diagram of a soft robot according to a second embodiment of the present invention.
Icon: 10-a soft robot; 100-a soft body movement device; 110-a pneumatic mechanism; 120-soft body sport pieces; 130-a guide section; 131-a first balloon; 133-a second balloon; 140-motion segment; 141-a motion cavity; 143-subunits; 1431-cell cavity; 1432-first half; 1434-second half; 150-a first pneumatic assembly; 151-a first air pump; 153-first plenum; 155-a second plenum; 157-a switch; 160-a second pneumatic assembly; 161-a second air pump; 163-third plenum; 200-robot body.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "inner", "outer", "upper", "lower", "horizontal", etc., are directions or positional relationships based on those shown in the drawings, or those that are conventionally put in use of the inventive product, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific direction, be configured and operated in a specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "connected," "mounted," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. Features of the embodiments described below may be combined with each other without conflict.
First embodiment
Referring to fig. 1, an embodiment of the present invention provides a soft exercise device 100 for exercising on various terrains. The novel steering device is simple in structure, flexible in steering, reliable in movement, applicable to various complex terrains, practical and convenient, and can move flexibly and rapidly. The soft exercise device 100 includes a pneumatic mechanism 110 and a soft exercise member 120. The pneumatic mechanism 110 is connected to the soft motion member 120 to control the motion of the soft motion member 120.
The soft body mover 120 includes an integrally formed guide section 130 and a mover section 140. The pneumatic mechanism 110 is respectively connected with the guide section 130 and the moving section 140, the pneumatic mechanism 110 is used for controlling the direction of the guide section 130 to be changed, and the pneumatic mechanism 110 is also used for controlling the moving section 140 to move forwards. In this embodiment, taking the case that the soft moving member 120 moves forward on the ground, the guide section 130 can bend leftwards or rightwards, and in this process, the moving section 140 moves forwards, so that the whole soft moving member 120 turns leftwards or rightwards, and the steering movement is realized; the guide section 130 can be unbent, and the motion section 140 then moves forward, thus achieving linear motion.
Referring to fig. 2,3 and 4, a first air bag 131 and a second air bag 133 are disposed in the guide section 130 at intervals, and the pneumatic mechanism 110 is respectively in communication with the first air bag 131 and the second air bag 133. The guide section 130 is used to bend in a first direction when the pneumatic mechanism 110 inflates the first airbag 131 and absorbs the gas in the second airbag 133, and the guide section 130 is also used to bend in a second direction when the pneumatic mechanism 110 inflates the second airbag 133 and absorbs the gas in the first airbag 131. In this embodiment, the first direction is a leftward direction, the second direction is a rightward direction, the included angle between the first direction and the horizontal direction is controlled according to the amount of air inflated by the pneumatic mechanism 110 to the first air bag 131 and the amount of air absorbed by the pneumatic mechanism 110 into the second air bag 133, and the included angle between the second direction and the horizontal direction is controlled according to the amount of air inflated by the pneumatic mechanism 110 to the second air bag 133 and the amount of air absorbed by the pneumatic mechanism 110 into the first air bag 131, so as to achieve accurate control of the turning direction.
It should be noted that, when the pneumatic mechanism 110 charges the first air bag 131 and the second air bag 133 with equal amounts of air, the first air bag 131 and the second air bag 133 are inflated to the same degree, the guiding section 130 is not bent, and the whole soft moving member 120 moves linearly.
Referring to fig. 5, a moving cavity 141 is disposed in the moving section 140, and the pneumatic mechanism 110 is in communication with the moving cavity 141. The motion segment 140 is configured to bend when the pneumatic mechanism 110 absorbs gas within the motion cavity 141, and the motion segment 140 is also configured to straighten when the pneumatic mechanism 110 inflates the motion cavity 141. In this embodiment, when the pneumatic mechanism 110 absorbs the air in the moving cavity 141, the moving section 140 is bent to a side far away from the ground by taking the end of the guiding section 130 far away from the moving section 140 as a fulcrum, and at this time, the end of the moving section 140 far away from the guiding section 130 moves forward until the whole soft moving member 120 forms an arch; when the pneumatic mechanism 110 inflates the movement cavity 141, the movement section 140 is straightened and deformed by taking the end of the movement section 140 away from the guide section 130 as a fulcrum, and at the moment, the end of the guide section 130 away from the movement section 140 moves forwards until the whole soft moving piece 120 is attached to the ground.
It should be noted that the side of the guide section 130, which is far from the end of the moving section 140 and is close to the ground, is provided with a first anti-slip pad (not shown) to prevent the guide section 130 from slipping when the pneumatic mechanism 110 absorbs the air in the moving cavity 141. A second anti-slip pad (not shown) is provided on the side of the movement section 140, which is close to the ground, at the end of the movement section 130, to prevent the movement section 140 from slipping when the pneumatic mechanism 110 charges the movement cavity 141. In the present embodiment, the first anti-slip pad and the second anti-slip pad are both made of rubber materials, but not limited thereto, and the materials for manufacturing the first anti-slip pad and the second anti-slip pad are not particularly limited.
Referring to fig. 6, the pneumatic mechanism 110 includes a first pneumatic assembly 150 and a second pneumatic assembly 160. The first pneumatic assembly 150 communicates with the first and second airbags 131 and 133, respectively, to control inflation or deflation of the first airbag 131, and also to control inflation or deflation of the second airbag 133. The second pneumatic assembly 160 communicates with the moving cavity 141 to inflate the moving cavity 141 or to absorb gas in the moving cavity 141.
The first air moving assembly 150 includes a first air pump 151, a first air supply pipe 153, a second air supply pipe 155, and a switch 157. The first air pump 151 is connected to the first air supply pipe 153 and the second air supply pipe 155, respectively, to inflate or inhale the first air supply pipe 153, and to inflate or inhale the second air supply pipe 155. The first air supply pipe 153 is connected to the first air bag 131, and the second air supply pipe 155 is connected to the second air bag 133. In the present embodiment, the first air pump 151 is provided with an air inlet (not shown) and an air outlet (not shown), both of which are connected to the switch 157, and the switch 157 is connected to the first air supply pipe 153 and the second air supply pipe 155, respectively. The switch 157 is used to communicate the suction port with the first air supply pipe 153 and the air outlet with the second air supply pipe 155, and the switch 157 is also used to communicate the suction port with the second air supply pipe 155 and the air outlet with the first air supply pipe 153.
When it is necessary to control the soft body mover 120 to turn in the first direction, the switch 157 communicates the air outlet with the first air supply pipe 153 to inflate the first air bag 131, communicates the air suction port with the second air supply pipe 155 to absorb the air in the second air bag 133, and the inflation degree of the first air bag 131 is greater than the inflation degree of the second air bag 133, and the guide section 130 is bent in the first direction. When it is necessary to control the soft body mover 120 to turn in the second direction, the switch 157 communicates the air outlet with the second air supply pipe 155 to inflate the second air bag 133, communicates the air suction port with the first air supply pipe 153 to absorb the air in the first air bag 131, and the inflation degree of the second air bag 133 is greater than that of the first air bag 131, and the guide section 130 is bent in the second direction. When the software moving member 120 needs to be controlled to perform linear movement, if more air is in the first air bag 131 than in the second air bag 133, the switcher 157 communicates the air outlet with the second air supply pipe 155 to inflate the second air bag 133, communicates the air suction port with the first air supply pipe 153 to absorb the air in the first air bag 131 until the inflation degree of the first air bag 131 and the second air bag 133 is the same; if the gas in the second airbag 133 is greater than the gas in the first airbag 131, the switch 157 communicates the gas outlet with the first gas supply pipe 153 to inflate the first airbag 131, communicates the gas inlet with the second gas supply pipe 155 to absorb the gas in the second airbag 133 until the degree of inflation of the first airbag 131 and the second airbag 133 is the same.
In this embodiment, the switch 157 is a two-position four-way solenoid valve, and the electromagnetic control air inlet communicates with the first air supply pipe 153 and the air outlet communicates with the second air supply pipe 155, or the control air inlet communicates with the second air supply pipe 155 and the air outlet communicates with the first air supply pipe 153.
The second air pump 160 includes a second air pump 161 and a third air supply tube 163. The second air pump 161 communicates with the moving cavity 141 through the third air supply pipe 163 to absorb air in the moving cavity 141 to bend the moving section 140 or to inflate the moving cavity 141 to straighten the moving section 140.
Referring to fig. 7, the motion segment 140 includes a plurality of sub-units 143. The plurality of sub-units 143 are connected in sequence to form the motion segment 140 and are capable of bending or straightening. The sub-unit 143 is provided therein with a unit cavity 1431, and a plurality of unit cavities 1431 communicate, and are combined to form the movement cavity 141.
The subunit 143 includes a first half 1432 and a second half 1434. The first half 1432 and the second half 1434 are integrally formed and combined to form a unit cavity 1431, and when the second pneumatic assembly 160 inflates the unit cavity 1431, the first half 1432 and the second half 1434 are both straightened and deformed; when the second pneumatic assembly 160 absorbs the gas within the cell cavity 1431, both the first half 1432 and the second half 1434 are bent and deformed. The first half 1432 is disposed proximate the ground and the second half 1434 is disposed distal from the ground. When the second pneumatic assembly 160 absorbs the gas within the cell cavity 1431, both the first half 1432 and the second half 1434 are bent to a side near the ground to form an arch shape.
Notably, the first half 1432 has a hardness that is greater than the hardness of the second half 1434. When the second pneumatic assembly 160 absorbs the gas in the cell cavity 1431, the first half 1432 and the second half 1434 are bent and deformed under the action of the external atmospheric pressure, and the first half 1432 and the second half 1434 bear the same pressure, but the bending degree of the first half 1432 is smaller than the bending degree of the second half 1434 because the hardness of the first half 1432 is greater than the hardness of the second half 1434, so that the whole movement section 140 is bent downwards and arched; when the second pneumatic assembly 160 inflates the cell cavity 1431, both the first half 1432 and the second half 1434 are straightened and deformed back to the original positions under the action of air pressure, so that the whole movement section 140 is straightened and is attached to the ground.
In the present embodiment, the first half 1432 is made of a hard silica gel material, and the second half 1434 is made of a soft silica gel material, but the present invention is not limited thereto, and the materials for manufacturing the first half 1432 and the second half 1434 are not particularly limited.
In the soft exercise device 100 provided by the embodiment of the invention, the pneumatic mechanism 110 is respectively communicated with the first air bag 131 and the second air bag 133, the guide section 130 is used for bending in the first direction when the pneumatic mechanism 110 inflates the first air bag 131 and absorbs the air in the second air bag 133, the guide section 130 is also used for bending in the second direction when the pneumatic mechanism 110 inflates the second air bag 133 and absorbs the air in the first air bag 131, the pneumatic mechanism 110 is communicated with the exercise cavity 141, the exercise section 140 is used for bending when the pneumatic mechanism 110 absorbs the air in the exercise cavity 141, and the exercise section 140 is also used for straightening when the pneumatic mechanism 110 inflates the exercise cavity 141. Compared with the prior art, the soft body movement device 100 provided by the invention can move flexibly and rapidly due to the adoption of the guide section 130 provided with the first air bag 131 and the second air bag 133 and the pneumatic mechanism 110 communicated with the movement cavity 141, has flexible steering and reliable movement, can be suitable for various complex terrains, and is practical and convenient.
Second embodiment
Referring to fig. 8, a soft robot 10 is provided according to an embodiment of the present invention, which includes a robot body 200 and a soft exercise device 100. The basic structure and principle of the soft exercise device 100 and the technical effects thereof are the same as those of the first embodiment, and for brevity, reference is made to the corresponding contents of the first embodiment.
In this embodiment, the robot body 200 is mounted on the soft exercise device 100 to move relative to the ground under the driving of the soft exercise device 100, so as to realize a specific function.
The beneficial effects of the soft robot 10 provided in the embodiment of the present invention are the same as those of the first embodiment, and will not be described here again.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. The soft motion device is characterized by comprising a pneumatic mechanism and a soft motion piece, wherein the soft motion piece comprises a guide section and a motion section which are integrally formed, a first air bag and a second air bag are arranged in the guide section at intervals, the pneumatic mechanism is respectively communicated with the first air bag and the second air bag, the guide section is used for bending in a first direction when the pneumatic mechanism inflates the first air bag and absorbs gas in the second air bag, the guide section is also used for bending in a second direction when the pneumatic mechanism inflates the second air bag and absorbs gas in the first air bag, a motion cavity is arranged in the motion section, the pneumatic mechanism is communicated with the motion cavity, and the motion section is also used for bending when the pneumatic mechanism inflates the motion cavity;
the first air bag and the second air bag are arranged in an arc shape, and the opening direction of the arc shape of the first air bag is opposite to the opening direction of the arc shape of the second air bag;
The motion section comprises a plurality of subunits, the subunits are sequentially connected, a unit cavity is arranged in each subunit, and the plurality of unit cavities are communicated and combined to form the motion cavity;
The sub-unit comprises a first half body and a second half body, the first half body and the second half body are integrally formed and combined to form the unit cavity, the first half body is arranged close to the ground, and the second half body is arranged far away from the ground;
the first half has a hardness greater than the hardness of the second half;
the pneumatic mechanism comprises a first pneumatic component and a second pneumatic component, the first pneumatic component is respectively communicated with the first air bag and the second air bag, and the second pneumatic component is communicated with the movement cavity;
the first air pump is connected with the first air supply pipe and the second air supply pipe respectively, the first air supply pipe is connected with the first air bag, and the second air supply pipe is connected with the second air bag;
The first air pump is provided with an air suction port and an air outlet, the air suction port and the air outlet are both connected with the switcher, the switcher is respectively connected with the first air supply pipe and the second air supply pipe, the switcher is used for communicating the air suction port with the first air supply pipe and the air outlet with the second air supply pipe, and the switcher is also used for communicating the air suction port with the second air supply pipe and the air outlet with the first air supply pipe.
2. The soft body exercise device of claim 1, wherein the switch is a two-position four-way solenoid valve.
3. The soft body exercise device of claim 1, wherein a first anti-slip pad is disposed on a side of the end of the guide section away from the exercise section near the ground, and a second anti-slip pad is disposed on a side of the end of the exercise section away from the guide section near the ground.
4. The soft robot is characterized by comprising a robot body and a soft motion device, wherein the robot body is arranged on the soft motion device, the soft motion device comprises a pneumatic mechanism and a soft motion piece, the soft motion piece comprises a guide section and a motion section which are integrally formed, a first air bag and a second air bag are arranged in the guide section at intervals, the pneumatic mechanism is respectively communicated with the first air bag and the second air bag, the guide section is used for bending in a first direction when the pneumatic mechanism inflates the first air bag and absorbs gas in the second air bag, the guide section is also used for bending in a second direction when the pneumatic mechanism inflates the second air bag and absorbs gas in the first air bag, a motion cavity is arranged in the motion section, the pneumatic mechanism is communicated with the motion cavity, the motion section is used for bending when the pneumatic mechanism absorbs gas in the motion cavity, and the motion section is also used for straightening when the pneumatic mechanism inflates the motion cavity;
the first air bag and the second air bag are arranged in an arc shape, and the opening direction of the arc shape of the first air bag is opposite to the opening direction of the arc shape of the second air bag;
The motion section comprises a plurality of subunits, the subunits are sequentially connected, a unit cavity is arranged in each subunit, and the plurality of unit cavities are communicated and combined to form the motion cavity;
The sub-unit comprises a first half body and a second half body, the first half body and the second half body are integrally formed and combined to form the unit cavity, the first half body is arranged close to the ground, and the second half body is arranged far away from the ground;
the first half has a hardness greater than the hardness of the second half;
the pneumatic mechanism comprises a first pneumatic component and a second pneumatic component, the first pneumatic component is respectively communicated with the first air bag and the second air bag, and the second pneumatic component is communicated with the movement cavity;
the first air pump is connected with the first air supply pipe and the second air supply pipe respectively, the first air supply pipe is connected with the first air bag, and the second air supply pipe is connected with the second air bag;
The first air pump is provided with an air suction port and an air outlet, the air suction port and the air outlet are both connected with the switcher, the switcher is respectively connected with the first air supply pipe and the second air supply pipe, the switcher is used for communicating the air suction port with the first air supply pipe and the air outlet with the second air supply pipe, and the switcher is also used for communicating the air suction port with the second air supply pipe and the air outlet with the first air supply pipe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810284114.1A CN108297089B (en) | 2018-04-02 | 2018-04-02 | Soft motion device and soft robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810284114.1A CN108297089B (en) | 2018-04-02 | 2018-04-02 | Soft motion device and soft robot |
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| Publication Number | Publication Date |
|---|---|
| CN108297089A CN108297089A (en) | 2018-07-20 |
| CN108297089B true CN108297089B (en) | 2024-04-19 |
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| CN201810284114.1A Active CN108297089B (en) | 2018-04-02 | 2018-04-02 | Soft motion device and soft robot |
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| CN109176571B (en) * | 2018-10-18 | 2021-02-05 | 上海交通大学 | Finger and wrist integrated soft paw |
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| CN110435783A (en) * | 2019-07-16 | 2019-11-12 | 广东工业大学 | A kind of imitative leech software climbing robot |
| CN112415631B (en) * | 2020-11-10 | 2022-07-01 | 北京理工大学 | Inflation power self-growing device for earthquake relief |
| US11993498B2 (en) * | 2021-10-28 | 2024-05-28 | Toyota Research Institute, Inc. | Structures and sensor assemblies having engagement structures for securing a compliant substrate assembly |
| CN114750144B (en) * | 2022-03-28 | 2023-08-01 | 黑龙江省科学院智能制造研究所 | Soft robot turning control device and method and soft robot |
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| CN116442207B (en) * | 2023-05-29 | 2023-10-03 | 清华大学 | Software driving unit and modularized software mechanical arm with same |
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