CN110539292B - Semi-soft robot module with rigidity keeping function and semi-soft robot - Google Patents
Semi-soft robot module with rigidity keeping function and semi-soft robot Download PDFInfo
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- CN110539292B CN110539292B CN201910953581.3A CN201910953581A CN110539292B CN 110539292 B CN110539292 B CN 110539292B CN 201910953581 A CN201910953581 A CN 201910953581A CN 110539292 B CN110539292 B CN 110539292B
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- 238000012423 maintenance Methods 0.000 claims abstract description 26
- 239000004744 fabric Substances 0.000 claims abstract description 13
- 238000005452 bending Methods 0.000 claims abstract description 10
- 239000000835 fiber Substances 0.000 claims abstract description 9
- 230000014759 maintenance of location Effects 0.000 claims description 11
- 239000013013 elastic material Substances 0.000 claims description 10
- 230000001050 lubricating effect Effects 0.000 claims description 10
- 239000000463 material Substances 0.000 claims description 7
- 230000008859 change Effects 0.000 abstract description 2
- 230000007246 mechanism Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- -1 polytetrafluoroethylene Polymers 0.000 description 2
- 229920001343 polytetrafluoroethylene Polymers 0.000 description 2
- 239000004810 polytetrafluoroethylene Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- 241000251468 Actinopterygii Species 0.000 description 1
- 241001465754 Metazoa Species 0.000 description 1
- 241000270295 Serpentes Species 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 239000000806 elastomer Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 229920000642 polymer Polymers 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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0015—Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion
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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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Actuator (AREA)
Abstract
The invention provides a semi-soft robot module with rigidity maintenance and a semi-soft robot, wherein the module mainly comprises: the device comprises a left air bag, a middle air bag, a right air bag, a fiber fabric net, a pull ring, a front crank, a rear crank, a front connecting shaft, a rear connecting shaft, a front rocker, a rear rocker, a sliding shaft and a protection scale. The semi-soft robot mainly comprises a left first air bag, a left second air bag, a left third air bag, a left fourth air bag, a middle first air bag, a right first air bag, a left first mould, a left second mould, a middle first mould, a middle second mould, a middle third mould, a right first mould, a right second mould and a right third mould; a plurality of modules can be combined to form a semi-soft robot with various shapes. The rigidity change is automatically completed by the mechanical device, the rigidity is naturally improved after bending, and the flexible state is restored after straightening, so that the control simplicity is greatly improved.
Description
Technical Field
The invention relates to a semi-soft robot module with rigidity maintenance and a semi-soft robot based on the module, and belongs to the field of soft robots.
Background
A soft robot is a kind of flexible robot, and its model is mostly derived from soft living things in nature, such as a robot snake, a marine aquatic animal robot, etc. The most prominent feature is that the choice of machine body material is primarily flexible material, rather than conventional rigid connectors and housings. Compared with a rigid robot, the soft robot has a plurality of advantages, can be better suitable for various environments, can not generate large damage after being impacted by the outside, and can complete complex tasks such as medical treatment, military and detection fields in a narrow space and under a non-structural environment. In addition, the material can be produced by 3D printing and the like, and the cost is much lower than that of a rigid robot.
However, soft robots suffer from a number of disadvantages, the definition of soft robots determines that the materials from which they are made must be soft elastomers of high elasticity and low modulus. Meanwhile, the actuation principle of the soft robot is mostly pneumatic, electromagnetic actuation, electro-polymer actuation and other actuation modes, and the actuation modes have larger flexibility compared with the rigid braking modes such as hydraulic and electric push rods. These factors make soft robots less rigid under the action of external forces and difficult to maintain the corresponding shape. How to increase the stiffness of a soft robot has been a key problem in the field of soft robots.
Because there is a certain contradiction between the flexibility and the rigidity of the soft robot, the improvement of the rigidity means that the deformability of the soft robot is weakened, and therefore, the traditional method for improving the rigidity of the soft robot is mostly realized by a method with variable rigidity, such as application number: 201610339815.1, 201711363921.4 and 201410406261.3. The principle is that the rigidity of the soft robot is increased when the soft robot needs to bear external force, and the rigidity of the soft robot is reduced when the soft robot needs to be deformed.
Disclosure of Invention
The invention provides a semi-soft robot module with rigidity maintenance and a semi-soft robot with rigidity maintenance based on the same. When the module is inflated to enter a bending state, the crank is lifted and the sliding block enters a mechanical self-locking position, and the deformation of the pneumatic soft structure under inflation further enhances the mechanical self-locking effect. So that the module has a rigidity against restoring forces after deformation. The plurality of modules are combined according to a certain arrangement to form the soft robot structure. And combining a plurality of soft robot structures to form the semi-soft body grabbing device with rigidity maintenance. In addition, the mechanical self-locking characteristic of the semi-soft robot module is further enhanced by adding the auxiliary air bag.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: a semi-soft robotic module with stiffness retention, the module consisting essentially of: the device comprises a left air bag, a middle air bag, a right air bag, a fiber fabric net, a pull ring, a front crank, a rear crank, a front connecting shaft, a rear connecting shaft, a front rocker, a rear rocker, a sliding shaft and a protection scale. The left air bag, the middle air bag and the right air bag are respectively of three hollow and cuboid elastic material structures, and the lower walls of the left air bag, the middle air bag and the right air bag are internally provided with air channels connected with the inner cavities. The left air bag, the middle air bag and the right air bag are horizontally and sequentially arranged from left to right, a circle of semicircular grooves are formed at the joint between every two air bags, and the semicircular grooves are discontinuous near the transverse central line of the upper surface; the fiber fabric net is a plain fabric net with high tensile modulus, is horizontally embedded and paved in the lower walls of the left air bag, the middle air bag and the right air bag, has the warp direction parallel to the arrangement direction of the left air bag, the middle air bag and the right air bag, is continuous along the arrangement direction, and has the weft direction perpendicular to the arrangement direction; the pull ring is made of elastic materials, is similar to a door handle in shape, is in a strip shape, is bent downwards at two ends and is positioned above the transverse central line of the upper surfaces of the middle air bag and the right air bag, the bent parts at the two ends are respectively fixed at the joint of the upper surfaces of the left air bag and the middle air bag and the rightmost end of the upper surface of the right air bag, and the lower surface of the pull ring, the upper surfaces of the middle air bag and the right air bag form a strip-shaped hole with smooth inner surfaces after combination; the connection among the four elastic structures of the left air bag, the middle air bag, the right air bag and the pull ring can be bonded or integrally formed; the front crank is an L-shaped rigid rod with the same shape as the rear crank, one side of the L-shaped structure is longer, the other side of the L-shaped structure is shorter, the top end of the long side is provided with a hole, the short side of the L-shaped structure is embedded into the leftmost end of the upper surface of the left air bag, the long side direction is parallel to the arrangement direction of the left air bag, the middle air bag and the right air bag when the left air bag is not inflated, extends rightwards from the leftmost end of the left air bag and clings to the upper surfaces of the left air bag, the middle air bag and the right air bag, and the front crank and the rear crank are symmetrical relative to the transverse central lines of the upper surfaces of the left air bag, the middle air bag and the right air bag; the front rocker and the rear rocker are two identical short rods, holes are formed in two ends of each rod, the front rocker and the rear rocker are respectively connected with the front crank and the rear crank through a front connecting shaft and a rear connecting shaft, the connecting modes are free-rotating clearance fit, and the front rocker and the rear rocker extend to the right relative to the front connecting shaft and the rear connecting shaft; the sliding shaft is a shaft with a thick middle part and two thin sides, the two thin parts at the two ends are respectively in tight and non-rotatable interference fit with the front rocking bar and the rear rocking bar, the middle thick part passes through a strip hole formed by the lower surface of the pull ring, the upper surfaces of the middle air bag and the right air bag, and is positioned at the rightmost end of the strip hole in an uninflated state, and the diameter of the middle thick part is larger than the thicknesses of the rods of the front rocking bar and the rear rocking bar and slightly smaller than the height of the strip hole; the protection scale is a trapezoid-like thin sheet similar to a scale, four extending supports are arranged below the thin sheet, a door-shaped clip is arranged at the top end of each support, and the protection scale is fixed above the front crank and the rear crank through the door-shaped clip.
The invention provides a semi-soft robot module with rigidity maintenance, wherein a cavity with smaller height can be arranged in the upper wall of a right air bag, and the cavity is communicated with the original cavity of the right air bag through a hole; simultaneously, the lower surface of the pull ring can be embedded with a layer of lubricating film, and the lubricating film is a film formed by flexible lubricating materials such as polytetrafluoroethylene.
The invention provides a semi-soft robot with rigidity maintenance, which mainly comprises a left first air bag, a left second air bag, a left third air bag, a left fourth air bag, a middle first air bag, a right first air bag, a left first mould, a left second module, a middle first module, a middle second module, a middle third module, a right first module, a right second module and a right third module, wherein: the left first air bag, the left second air bag, the left third air bag, the left fourth air bag, the middle air bag and the right air bag are of hollow and cuboid elastic material structures which are identical to the left air bag, the middle air bag and the right air bag, and the lower walls of the left air bag, the middle air bag and the right air bag are internally provided with air channels connected with the internal cavities; the left first module, the left second module, the middle first module, the middle second module, the middle third module, the right first module, the right second module and the right third module are all semi-soft robot modules with rigidity maintenance, which are provided by the invention; the left first air bag, the left second air bag, the left first module, the left second module, the left third air bag and the left fourth air bag are sequentially arranged in a row end to end; the middle first module, the middle second module, the middle third module and the middle air bag are connected end to end and sequentially arranged in a row; the right airbag, the right first module, the right second module and the right third module are connected end to end and sequentially arranged in a row; the three rows are arranged side by side, so that the transverse air bags are aligned in a row, and the semi-soft robot with rigidity maintenance is formed.
The present invention proposes a semi-soft robot with rigidity maintenance, which is composed of a plurality of modules and air bags arranged alternately, the number of which may not be limited to the above number.
The grabbing device formed by the semi-soft robot with rigidity maintenance comprises a base and three soft robots, wherein the base is an approximately triangular rigid base, the three soft robots are the semi-soft robot with rigidity maintenance provided by the invention, the tail ends of the three soft robots are fixed on the base, the annular soft robots are uniformly distributed, and the bending directions of the three soft robots are inward.
The semi-soft robot module with rigidity maintenance and the semi-soft robot based on the module have the following advantages:
1. The self-locking characteristic of the soft robot and the crank sliding block mechanism is combined, so that the semi-soft robot module with rigidity maintenance and the semi-soft robot based on the module have the self-locking characteristic, and have higher rigidity after deformation and have the capability of resisting restoring force.
2. The module has simple structure, is convenient to manufacture and process, can form soft robots with various shapes through the combination of a plurality of modules, and has excellent universal performance.
3. The rigidity change is completely achieved by the mechanical device, the rigidity is naturally improved after bending, and the flexible state is restored after straightening, so that the control simplicity is greatly improved.
Drawings
FIG. 1 is a front view of a semi-soft robotic module with stiffness retention of the present invention without inflation;
FIG. 2 is a top view of the section A-A of FIG. 1 with the semi-soft robotic module of the present invention having rigidity retention not inflated;
FIG. 3 is a side view of the present invention with a stiffness retaining semi-soft robotic module inflated;
FIG. 4 is a force diagram of a semi-soft robotic module with stiffness retention in accordance with the present invention after inflation subjected to restoring forces;
FIG. 5 is a schematic illustration of a semi-soft robotic module with stiffness retention in an inflated condition with the addition of a cavity and a lubricating film in accordance with the present invention;
FIG. 6 is a schematic illustration of a semi-soft robot with stiffness maintenance in accordance with the present invention without inflation;
FIG. 7 is a schematic illustration of a semi-soft robot with stiffness maintenance in an inflated condition in accordance with the present invention;
fig. 8 is a schematic view of a semi-soft robot-forming gripping device with stiffness retention according to the present invention.
In the figure: 1-left air bag, 2-middle air bag, 3-right air bag, 4-fiber fabric net, 5-pull ring, 6-front crank, 7-rear crank, 8-front connecting shaft, 9-rear connecting shaft, 10-front rocker, 11-rear rocker, 12-sliding shaft, 13-protection scale, 14-lubricating film, 15-left air bag, 16-left two air bags, 17-left three air bags, 18-left four air bags, 19-middle air bag, 20-right air bag, 21-left one module, 22-left two modules, 23 one module, 24-middle two modules, 25-middle three modules, 26-right one module, 27-right two modules, 28-right three modules, 29-base, 30-semi-soft robot, A-section line symbol, F-slider stressed force, F1-F force component in sliding direction, F2-F force component in pressure direction, alpha-pressure angle.
Detailed Description
The present invention proposes a semi-soft robot module with rigidity retention, as shown in fig. 1, 2 and 3, which mainly comprises: the left airbag 1, the middle airbag 2, the right airbag 3, the fiber web 4, the pull ring 5, the front crank 6, the rear crank 7, the front connecting shaft 8, the rear connecting shaft 9, the front rocker 10, the rear rocker 11, the sliding shaft 12 and the protection scale 13. The left air bag 1, the middle air bag 2 and the right air bag 3 are respectively of three hollow and cuboid elastic material structures, and the lower walls of the three hollow and cuboid elastic material structures are internally provided with a gas channel connected with an internal cavity. The left air bag 1, the middle air bag 2 and the right air bag 3 are horizontally and sequentially arranged from left to right, a circle of semicircular grooves are formed at the joint between every two of the left air bag 1, the middle air bag 2 and the right air bag, and the semicircular grooves are discontinuous near the transverse central line of the upper surface; the fiber fabric net 4 is a plain fabric net with high tensile modulus, is horizontally embedded and paved in the lower walls of the left air bag 1, the middle air bag 2 and the right air bag 3, has the warp direction parallel to the arrangement direction of the left air bag 1, the middle air bag 2 and the right air bag 3, is continuous along the arrangement direction, and has the weft direction perpendicular to the arrangement direction; the pull ring 5 is made of elastic materials, is similar to a door handle in shape, is strip-shaped, has two ends bent downwards and is positioned above the transverse central line of the upper surfaces of the middle air bag 2 and the right air bag 3, the bent parts of the two ends are respectively fixed at the joint of the upper surfaces of the left air bag 1 and the middle air bag 2 and the rightmost end of the upper surface of the right air bag 3, and the lower surface of the pull ring 5, the upper surfaces of the middle air bag 2 and the right air bag 3 form a strip-shaped hole with smooth inner surfaces after combination; the connection among the four elastic structures of the left air bag 1, the middle air bag 2, the right air bag 3 and the pull ring 5 can be bonded or integrally formed; the front crank 6 and the rear crank 7 are completely the same in shape and are L-shaped rigid rods, one sides of two sides of the L-shaped structure are longer, the other sides of the L-shaped structure are shorter, holes are formed in the tops of the long sides, the short sides of the L-shaped structure are embedded into the leftmost ends of the upper surfaces of the left air bags 1, the middle air bags 2 and the right air bags 3, the long sides of the L-shaped structure are parallel to the arrangement directions of the left air bags 1, the middle air bags 2 and the right air bags 3 when the L-shaped structure is not inflated, the long sides of the L-shaped structure extend rightwards from the leftmost ends of the left air bags and cling to the upper surfaces of the left air bags 1, the middle air bags 2 and the right air bags 3, and the front crank 6 and the rear crank 7 are symmetrical relative to the transverse central lines of the upper surfaces of the left air bags 1, the middle air bags 2 and the right air bags 3; the front rocking bar 10 and the rear rocking bar 11 are two identical short bars, holes are formed in two ends of each bar, the front rocking bar 10 and the rear rocking bar 11 are respectively connected with the front crank 6 and the rear crank 7 through the front connecting shaft 8 and the rear connecting shaft 9 in a free-rotating clearance fit manner, and the front rocking bar 10 and the rear rocking bar 11 extend rightwards relative to the front connecting shaft 8 and the rear connecting shaft 9; the sliding shaft 12 is a shaft with a thick middle part and two thin sides, the two thin parts at the two ends are respectively in tight and non-rotatable interference fit with the front rocking bar 10 and the rear rocking bar 11, the thick middle part passes through a strip hole formed by the lower surface of the pull ring 5 and the upper surfaces of the middle air bag 2 and the right air bag 3, and is positioned at the rightmost end of the strip hole in an uninflated state, and the diameter of the thick middle part is larger than the thickness of the rods of the front rocking bar 10 and the rear rocking bar 11 and slightly smaller than the height of the strip hole; the protection scale 13 is a nearly trapezoidal thin sheet similar to a fish scale, four extending supports are arranged below the thin sheet, a door-shaped clip is arranged at the top end of each support, and the protection scale 13 is fixed above the front crank 6 and the rear crank 7 through the door-shaped clip.
In the semi-soft robot module with rigidity maintenance, as shown in fig. 4, after compressed air is filled into the cavities inside the left air bag 1, the middle air bag 2 and the right air bag 3, the left air bag 1, the middle air bag 2 and the right air bag 3 are inflated under the action of air pressure, and as the lower walls of the left air bag 1, the middle air bag 2 and the right air bag 3 are embedded with the fiber fabric net 4 with high tensile modulus, the lower walls are slightly inflated relative to the upper walls, and therefore the module bends downwards. The long sides of the front crank 6 and the rear crank 7 tilt upwards due to the bending action and drive the front rocker 10 and the rear rocker 11 to tilt, and the sliding shaft 12 slides leftwards along the strip hole to the position of the connecting part of the middle air bag 2 and the right air bag 3. When the module is acted by a restoring moment opposite to the bending direction, the front crank 6 and the rear crank 7 generate a counterclockwise rotation trend, so that the sliding shaft 12 is acted by a pressure F through the front rocker 10 and the rear rocker 11, the sliding shaft 12 generates a sliding trend along the long strip Kong Xiangyou, the pressure F direction forms a pressure angle alpha with the sliding trend direction F1 due to the fact that the front rocker 10 and the rear rocker 11 tilt by a certain angle, meanwhile, the upper wall of the right air bag 3 is inflated and then protrudes upwards, the pressure angle alpha is further increased, the pressure angle alpha is larger than a critical pressure angle, and the friction force generated by the vertical pressure F1 is larger than the thrust in the sliding direction, namely the crank sliding block mechanism generates a self-locking effect. The self-locking effect causes the mechanism to be locked, prevents the deformation action of the restoring moment M on the module, and improves the rigidity of the module under the condition of inflation bending. The strip-shaped holes formed by the lower surface of the pull ring 5 and the upper surfaces of the middle air bag 2 and the right air bag 3 play a role in guiding in the mechanism action, and after the air inflation, the widths of the holes are narrowed due to the expansion protrusions of the upper surfaces of the middle air bag 2 and the right air bag 3, so that a certain pressure is given to the sliding shaft 12, and the auxiliary locking effect is achieved. When the air bags 1,2 and 3 are deflated, the air bags shrink, the protrusions on the upper wall of the right air bag 3 return to the plane, the pressure angle is smaller than the critical pressure angle, the crank slider mechanism releases the self-locking effect, and the semi-soft robot module can be reset naturally.
The invention provides a semi-soft robot module with rigidity maintenance, as shown in fig. 5, a cavity with smaller height can be arranged in the upper wall of a right air bag 3, and the cavity is communicated with the original cavity of the right air bag 3 through a hole; meanwhile, a layer of lubricating film 14 can be inlaid on the lower surface of the pull ring 5, and the lubricating film 14 is a film made of flexible lubricating materials such as polytetrafluoroethylene.
When the inflatable self-locking device is inflated, the pressure of the cavity on the upper wall of the right air bag 3 is increased, the upper wall is pushed to protrude upwards by a larger angle, and the self-locking function is enhanced. When the state is changed from the unaerated state to the restarted state, the sliding shaft 12 presses the pull ring 5 upwards to generate sliding friction with the pull ring 5, and friction is reduced in the movement process due to the existence of the lubricating film, so that the smoothness of the movement is improved.
The present invention proposes a semi-soft robot with rigidity maintenance, which mainly consists of a left airbag 15, a left airbag 16, a left airbag 17, a left airbag 18, a middle airbag 19, a right airbag 20, a left module 21, a left module 22, a middle module 23, a middle module 24, a middle module 25, a right module 26, a right module 27 and a right module 28, as shown in fig. 6 and 7, wherein: the left air bag 15, the left second air bag 16, the left third air bag 17, the left fourth air bag 18, the middle air bag 19 and the right air bag 20 are hollow, rectangular and elastic material structures which are completely the same as the left air bag 1, the middle air bag 2 and the right air bag 3, and the lower walls of the hollow, the middle air bag 2 and the right air bag 3 are internally provided with air passages connected with the internal cavities; the left first module 21, the left second module 22, the middle first module 23, the middle second module 24, the middle third module 25, the right first module 26, the right second module 27 and the right third module 28 are all a semi-soft robot module with rigidity maintenance according to the invention; the left airbag 15, the left second airbag 16, the left first module 21, the left second module 22, the left third airbag 17 and the left fourth airbag 18 are sequentially arranged in a row in an end-to-end mode; the middle first module 23, the middle second module 24, the middle third module 25 and the middle air bag 19 are sequentially arranged in a row in an end-to-end mode; the right air bag 20, the right first module 26, the right second module 27 and the right third module 28 are connected end to end and are sequentially arranged in a row; the three rows are arranged side by side so that the transverse air bags are aligned in a row, and the semi-soft robot with rigidity maintenance provided by the invention is formed, wherein the fabric webs 4 inside the adjacent modules are mutually continuous.
The semi-soft robot with rigidity maintenance is composed of a plurality of modules, and the modules are connected in series in each column, so that the total angle of bending can be increased; the columns are connected in parallel, so that the overall force output can be increased; the number of the independent air bags at the head part of each row is different, so that the modules of each row are staggered from each other by one air bag position, a crank slide block mechanism for keeping rigidity is ensured to exist between every two rows of air bags, and the rigidity is kept to have good uniformity.
The present invention proposes a semi-soft robot with rigidity maintenance, which is composed of a plurality of modules and air bags arranged alternately, the number of which may not be limited to the above number.
The gripping device formed by the semi-soft robot with rigidity maintenance of the invention is shown in fig. 8, and comprises a base 29 and three semi-soft robots 30, wherein the base 29 is a rigid base similar to a triangle, the three semi-soft robots 30 are the semi-soft robot with rigidity maintenance provided by the invention, and the tail ends of the three semi-soft robots are fixed on the rigid base, are uniformly distributed in a ring shape and are inwards bent.
After inflation, the three semi-soft robots 30 are bent inwards, so that objects can be grabbed, objects with larger mass can be grabbed by utilizing the characteristic of high rigidity after bending, and the grabbed objects are not easy to fall off after being subjected to certain impact and vibration.
Claims (5)
1. A semi-soft robotic module with stiffness retention, characterized by: comprising the following steps: the left air bag, the middle air bag, the right air bag, the fiber fabric net, the pull ring, the front crank, the rear crank, the front connecting shaft, the rear connecting shaft, the front rocker, the rear rocker, the sliding shaft and the protection scale, wherein the left air bag, the middle air bag and the right air bag are respectively of three hollow and cuboid elastic material structures, and the lower wall of the left air bag, the middle air bag and the right air bag is internally provided with a gas channel connected with an internal cavity; the left air bag, the middle air bag and the right air bag are horizontally and sequentially arranged from left to right, a circle of semicircular grooves are formed at the joint between every two air bags, and the semicircular grooves are discontinuous near the transverse central line of the upper surface; the fiber fabric net is a plain fabric net with high tensile modulus, is horizontally embedded and paved in the lower walls of the left air bag, the middle air bag and the right air bag, has the warp direction parallel to the arrangement direction of the left air bag, the middle air bag and the right air bag, is continuous along the arrangement direction, and has the weft direction perpendicular to the arrangement direction; the pull ring is made of elastic materials, is strip-shaped, is bent downwards at two ends and is positioned above the transverse central line of the upper surfaces of the middle air bag and the right air bag, the bent parts at the two ends are respectively fixed at the joint of the upper surfaces of the left air bag and the middle air bag and the rightmost end of the upper surface of the right air bag, and the lower surface of the pull ring, the upper surfaces of the middle air bag and the right air bag form a strip-shaped hole with smooth inner surfaces after combination; the connection among the four elastic structures, namely the left air bag, the middle air bag, the right air bag and the pull ring, adopts bonding; the front crank is an L-shaped rigid rod with the same shape as the rear crank, one side of the L-shaped structure is longer, the other side of the L-shaped structure is shorter, the top end of the long side is provided with a hole, the short side of the L-shaped structure is embedded into the leftmost end of the upper surface of the left air bag, the long side direction is parallel to the arrangement direction of the left air bag, the middle air bag and the right air bag when the left air bag is not inflated, extends rightwards from the leftmost end of the left air bag and clings to the upper surfaces of the left air bag, the middle air bag and the right air bag, and the front crank and the rear crank are symmetrical relative to the transverse central lines of the upper surfaces of the left air bag, the middle air bag and the right air bag; the front rocker and the rear rocker are two identical short rods, holes are formed in two ends of each rod, the front rocker and the rear rocker are respectively connected with the front crank and the rear crank through a front connecting shaft and a rear connecting shaft, the connecting modes are free-rotating clearance fit, and the front rocker and the rear rocker extend to the right relative to the front connecting shaft and the rear connecting shaft; the sliding shaft is a shaft with a thick middle part and two thin sides, the two thin parts at the two ends are respectively in tight and non-rotatable interference fit with the front rocking bar and the rear rocking bar, the middle thick part passes through a strip hole formed by the lower surface of the pull ring, the upper surfaces of the middle air bag and the right air bag, and is positioned at the rightmost end of the strip hole in an uninflated state, and the diameter of the middle thick part is larger than the thicknesses of the rods of the front rocking bar and the rear rocking bar and slightly smaller than the height of the strip hole; the protection scale is a trapezoid-like thin sheet similar to a scale, four extending supports are arranged below the thin sheet, a door-shaped clip is arranged at the top end of each support, and the protection scale is fixed above the front crank and the rear crank through the door-shaped clip.
2. A semi-soft robot module with stiffness retention according to claim 1, characterized in that: the four elastic structures of the left air bag, the middle air bag, the right air bag and the pull ring are integrally formed.
3. A semi-soft robot module with stiffness retention according to claim 1, characterized in that: the upper wall of the right air bag is provided with a cavity with smaller height, and the cavity is communicated with the original cavity of the right air bag through a hole; simultaneously, the lower surface of the pull ring is embedded with a layer of lubricating film which is a film made of flexible lubricating materials.
4. A semi-soft robot with rigidity retention, characterized by: the device consists of a left first air bag, a left second air bag, a left third air bag, a left fourth air bag, a middle first air bag, a right first air bag, a left first mould, a left second mould, a middle first mould, a middle second mould, a middle third mould, a right first mould, a right second mould and a right third mould, wherein: the left first air bag, the left second air bag, the left third air bag, the left fourth air bag, the middle air bag and the right air bag are hollow and cuboid elastic material structures which are completely the same as the left air bag, the middle air bag and the right air bag in claim 1, and the lower walls of the left air bag, the middle air bag and the right air bag are internally provided with air channels connected with the internal cavities; the left first module, the left second module, the middle first module, the middle second module, the middle third module, the right first module, the right second module and the right third module are all the semi-soft robot modules as described in claim 1; the left first air bag, the left second air bag, the left first module, the left second module, the left third air bag and the left fourth air bag are sequentially arranged in a row end to end; the middle first module, the middle second module, the middle third module and the middle air bag are connected end to end and sequentially arranged in a row; the right airbag, the right first module, the right second module and the right third module are connected end to end and sequentially arranged in a row; the three rows are arranged side by side, so that the transverse air bags are aligned in a row to form the semi-soft robot, and the fabric nets inside the adjacent modules are mutually continuous.
5. A semi-soft robot with stiffness maintenance according to claim 4, wherein: a rigid base similar to a triangle is additionally arranged, three semi-soft robots are arranged, the tail ends of the semi-soft robots are fixed on the base, the semi-soft robots are uniformly distributed in a ring shape, and the bending direction is inward.
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