CN112402187A - Parallel bending soft actuator - Google Patents
Parallel bending soft actuator Download PDFInfo
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- CN112402187A CN112402187A CN202011486123.2A CN202011486123A CN112402187A CN 112402187 A CN112402187 A CN 112402187A CN 202011486123 A CN202011486123 A CN 202011486123A CN 112402187 A CN112402187 A CN 112402187A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
- A61H1/0288—Fingers
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
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Abstract
The invention discloses a parallel bending soft actuator, which comprises at least two soft actuating components, wherein the bottom surface of one soft actuating component is connected with the bottom surface of the other soft actuating component; the soft actuating component comprises a connecting port, a root structure and a wavy non-rotating body structure which are sequentially connected along a first direction, a cavity structure is formed among the connecting port, the root structure and the wavy non-rotating body structure, and the first direction is parallel to the axial direction of the soft actuating component. The parallel bending soft actuator can obtain higher rigidity and output force under given air pressure, and is easy to manufacture.
Description
Technical Field
The invention relates to the technical field of flexible robot modules, in particular to a parallel bending soft actuator.
Background
At present, the number of patients with hand disabilities caused by stroke, cerebral hemorrhage, cerebral infarction, cerebral thrombosis, cerebral palsy, burn, scald and other various accidents is gradually increased in China every year. The symptoms are usually manifested as convulsion, spasm, weakness in grasping, failure of normal stretching, and "eagle hooking". The hand rehabilitation needs to be progressive, and the hand rehabilitation instrument is usually adopted for rehabilitation training. The key of the hand rehabilitation instrument is the finger part, the existing mechanical gripper usually adopts a rigid structure, and the problems of damage to the gripped object, high running noise and the like are caused when the gripped object is faced, so that the improvement is urgently needed, and a soft actuator (also called a soft robot) is a new research direction.
In recent years, with the advent of new materials and the improvement of processing and manufacturing technologies, the trend of research on soft actuators has been raised worldwide, and soft robots are a new idea of robot research, can be applied to many fields, and are inspired by nature, so researchers begin to explore the design and control of soft robots made of flexible materials.
However, the soft actuator structure in the prior art generally has the following problems: the single-direction bending can be only carried out, the stretching acting force caused by the reverse bending is small, and the bearing capacity is poor; the self expansion of the soft actuator is increased along with the increase of the air pressure, and when the expansion is too large, the operation of the soft actuator is restricted by the soft actuator; when a load is applied, the stress distribution in the structure is uneven, the local stress concentration condition exists, and the service life of the soft actuator is not long; radial expansion reduces the bending conversion efficiency; the manufacturing process is complex and cannot be integrally molded; and require a greater load to produce a greater deflection.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, an object of the present invention is to provide a parallel bending soft actuator, which is used to solve the technical problems that when a load is applied to the soft actuator in the prior art, the stress distribution inside the structure is not uniform, a local stress concentration exists, the soft actuator has a short service life, the bending conversion efficiency is reduced due to radial expansion, the manufacturing process is complicated, the soft actuator cannot be integrally formed, the reverse acting force generated during stretching is small, the bearing capacity is poor, and a large load is required to generate a large deformation.
To achieve the above and other related objects, the present invention provides a parallel bending soft actuator, comprising:
at least two soft actuating components, wherein the bottom surface of one soft actuating component is connected with the bottom surface of the other soft actuating component;
the soft actuating component comprises a connecting port, a root structure and a wavy non-rotating body structure which are sequentially connected along a first direction, a cavity structure is formed among the connecting port, the root structure and the wavy non-rotating body structure, and the first direction is parallel to the axial direction of the soft actuating component.
In an alternative embodiment, the parallel bending soft body actuator comprises a pair of soft body actuating components which are symmetrically arranged, and the bottom surface of one soft body actuating component is opposite to the bottom surface of the other soft body actuating component.
In an alternative embodiment, the parallel bending soft actuator further comprises an intermediate connecting surface, and the bottom surface of one soft actuating component is connected with the bottom surface of the other soft actuating component through the intermediate connecting surface.
In an alternative embodiment, the intermediate connection comprises a corrugated surface or a flat surface.
In an alternative embodiment, the material of the parallel bending soft actuator comprises an elastic material.
In an alternative embodiment, the parallel bending soft actuators are integrally formed.
In an alternative embodiment, the soft actuating assembly further comprises a fingertip structure connected to an end of the undulating non-rotating body structure remote from the root structure.
In an alternative embodiment, the cavity of the base structure is flared, and the wall thickness of the base structure is greater than the wall thickness of the other portions of the soft actuation assembly.
In an alternative embodiment, the parallel bending soft actuator comprises an intermediate connecting body and three soft actuating components uniformly arranged around the circumference of the intermediate connecting body, and the bottom surface of each soft actuating component is connected with the side wall of the intermediate connecting part.
In an alternative embodiment, the parallel bending soft actuator further comprises a middle hole penetrating the middle connection part along the first direction.
In an alternative embodiment, the top surface of the wave-shaped non-rotating body structure is corrugated, the bottom surface of the wave-shaped non-rotating body structure is flat or corrugated, and the wave-shaped non-rotating body structure comprises wave crest structures and wave trough structures alternately arranged along the first direction.
In an alternative embodiment, the width of the peak structure in the first direction becomes smaller as the peak structure is farther away from the bottom surface of the soft actuating member.
In an alternative embodiment, on the side surface of the soft actuating component, the distance between the contour line of the adjacent valley structure and the contour line of the peak structure is increased along with the increase of the distance from the bottom surface of the soft actuating component.
The parallel bending soft actuator comprises a pair of soft actuating components, namely an upper soft actuating component and a lower soft actuating component, wherein the bottom surfaces of the two soft actuating components are directly and symmetrically connected or are symmetrically connected through a middle connecting surface; and the structure adopts a parallel symmetrical structure, has deformation coordination, and can generate larger deformation under smaller loading.
The parallel bending soft actuator comprising the pair of symmetrically arranged soft actuating components is made of elastic materials, when the parallel bending soft actuator is used as a finger part of a hand rehabilitation instrument, the parallel bending soft actuator can bend and stretch hands in different degrees by adjusting the pressure of fluid, can also generate larger pulling force when performing hyperextension rehabilitation on the fingers, cannot generate rigid constraint and compression on blood vessels, muscles and the like of the hands, and cannot cause discomfort after being used for a long time.
The other parallel bending soft actuator comprises an intermediate connecting body and three or more soft actuating components which are uniformly distributed around the circumference of the intermediate connecting body, and the flexible movement of the three-dimensional soft arm in the space can be realized through the combination of a plurality of modules and the movement in a narrow space can be realized; the telescopic claw is beneficial to search and rescue work in a narrow space caused by an earthquake, can be used for endoscopic surgery, and can be used as a claw for grabbing aquatic products such as conchs, shells and the like under water; this configuration may, for example, increase the deformation of the parallel bending soft actuator by reducing the stiffness of the intermediate linkage by providing an intermediate hole in the intermediate linkage.
The parallel bending soft actuator has simple manufacturing process, does not need to be manufactured by pasting, and can be integrally formed at one time.
The parallel bending soft actuator increases the width of the bottom of the wave trough structure in the radial direction under the condition of ensuring the same bending deformation, and the distance between the contour line of the adjacent wave trough structure and the contour line of the wave crest structure on the side surface of the soft actuating component tends to be larger along with the whole distance from the bottom surface of the soft actuating component, so that the whole sectional area of the wave trough structure is increased, the whole strength and the rigidity of the parallel bending soft actuator are improved, the lateral bending resistance of the soft actuating component is also improved, the design can also improve the feasibility of demoulding, and the whole forming of a mould can be realized.
The wave crest structure of the parallel bending soft actuator of the invention has larger and larger axial width near the bottom surface, and under the condition of same bending deformation capacity, the integral strength and rigidity of the parallel bending soft actuator are improved, and particularly the lateral bending resistance of the soft actuator component is improved.
The wave crest structure of the parallel bending soft actuator has larger deformation, and the bottom of the wave trough structure has smaller deformation, thus conforming to the principle of deformation coordination when in inflation and deflation.
The soft actuating component of the parallel bending soft actuator adopts a complete cavity structure, can be produced by a mould, is easy to demould, and can be manufactured by 3D printing and other methods.
The overall structure of the parallel bending soft actuator has excellent height-width ratio, and can have larger gripping force when being used as a paw to perform gripping and other actions.
The parallel bending soft actuator can generate larger acting force no matter bending or stretching, and can bear larger load.
The parallel bending soft actuator has proper air pressure-deformation relation in the bending deformation process and reduces the unnecessary expansion in the deformation process.
The parallel bending soft actuator adopts an integral molding structure, and the lengths and the positions of the knuckle joints of different people do not need to be distinguished when the parallel bending soft actuator is used as the finger part of a hand rehabilitation instrument.
The deformation of the parallel bending soft actuator is mainly generated by the angle change of an included angle between adjacent wave crests instead of the expansion extrusion deformation of the side surfaces at the two sides of the wave crests.
The parallel bending soft actuator can also be used as a bionic paw to realize actions such as grabbing, holding, pulling and the like, can change grabbing force according to the weight of a target object, and cannot damage the grabbed object.
The parallel bending soft body actuator of the present invention can also be used as an actuator as a driving unit.
The parallel bending soft actuator has the advantages of simple and compact structure, easy manufacture and wide market prospect.
Drawings
Fig. 1 is a schematic perspective view of a parallel bending soft actuator according to the present application.
Fig. 2 is a schematic diagram of a half-section perspective structure of a parallel bending soft actuator according to the present application.
FIG. 3 is a cross-sectional view of a parallel bending soft actuator according to the present application.
Figure 4 is a right side view of a parallel bending soft actuator of the present application.
Figure 5 is a cross-sectional view of a parallel bending soft actuator of the present application at the maximum cross-section along the peak structure.
Figure 6 is another cross-sectional view of a parallel bending soft actuator of the present application taken along the maximum cross-section of the peak structure.
FIG. 7 is a schematic view of another parallel bending soft actuator of the present application.
FIG. 8 is a schematic diagram of a third parallel bending soft actuator according to the present application.
FIG. 9 is a schematic view of a fourth parallel bending soft actuator according to the present application.
Description of the element reference numerals
1 upper software actuating component
11 upper fingertip structure
12 upper peak structure
121 upper wave crest cavity
12a peak profile
13 upper wave trough structure
131 upper wave trough cavity
13a valley contour line
14 upper root structure
141 upper root cavity
15 upper connecting port
151 upper interface via
2 lower soft body actuating component
21 lower fingertip structure
22 lower peak structure
221 lower wave crest cavity
23 lower wave trough structure
231 lower wave trough cavity
24 root structure
241 lower root cavity
25 lower connecting port
251 lower interface via
3 intermediate joint plane
3' virtual medial connection face
3' intermediate connector
31 middle hole
4a-c first-third soft body actuation assembly
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the drawings only show the components related to the present invention rather than the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
Referring to fig. 1-4, fig. 1 is a schematic structural view of a parallel bending soft actuator of the present invention, fig. 2 is a schematic half-sectional perspective view of a section a-a of fig. 1, fig. 3 is a sectional view a-a of fig. 1, and fig. 4 is a right side view of the parallel bending soft actuator of the present invention. The parallel bending soft actuator is formed by symmetrically connecting an upper soft actuating component and a lower soft actuating component (an upper soft actuating component 1 and a lower soft actuating component 2 respectively), the upper soft actuating component 1 and the lower soft actuating component 2 share the same middle connecting surface 3, and the middle connecting surface 3 is connected with the bottom surfaces of the upper soft actuating component 1 and the lower soft actuating component 2 respectively. The parallel bending soft actuator can be made of elastic material or other suitable materials, and can be set according to specific requirements. In order to simplify the manufacturing process and improve the overall strength, the parallel bending soft actuator is manufactured by one-time integral forming, for example, it is understood that the parallel bending soft actuator may not be manufactured by one-time integral forming process, but each part is manufactured separately and then is formed into an integral body by means of pasting.
Referring to fig. 1-4, in the present invention, the upper soft actuating element 1 includes an upper connection port 15, an upper base structure 14, an upper wavy non-rotating body structure, and an upper fingertip structure 11, which are sequentially connected along a first direction (X direction in the figure, that is, the X direction in the figure), an upper cavity structure is formed among the upper connection port 15, the upper base structure 14, the upper wavy non-rotating body structure, and the upper fingertip structure 11, one end of the upper fingertip structure 11, which is far away from the upper wavy non-rotating body structure, is closed, the upper cavity structure includes an upper connection through hole 151, an upper base cavity 141, upper non-rotating body cavities (an upper peak cavity 121 and an upper valley cavity 131 that are alternately arranged), and an upper fingertip cavity (not labeled), which are sequentially connected, and the first direction is parallel to the axial direction of the upper soft actuating element 1. The lower soft actuating component 2 includes a lower connecting port 25, a lower root structure 24, a lower wavy non-rotating body structure and a lower fingertip structure 21, which are sequentially connected along a first direction (X direction in the figure), wherein a lower cavity structure is formed among the lower connecting port 25, the lower root structure 24, the lower wavy non-rotating body structure and the lower fingertip structure 21, one end of the lower fingertip structure 21, which is far away from the lower wavy non-rotating body structure, is closed, and the lower cavity structure includes a lower interface through hole 251, a lower root cavity 241, lower non-rotating body cavities (a lower peak cavity 221 and a lower valley cavity 231 which are alternately arranged) and lower fingertip cavities (not labeled) which are sequentially connected.
Referring to fig. 1-4, in the upper soft actuating assembly 1 of the present invention, the top surface of the upper wavy non-rotating body structure is corrugated, the bottom surface of the upper wavy non-rotating body structure is flat or corrugated, the upper wavy non-rotating body structure includes upper peak structures 12 and upper valley structures 13 alternately arranged along the first direction, and the upper peak structures 12 and the upper valley structures 13 may be arranged in a pattern-drawing angle arrangement. The width of the upper peak structure 12 in the first direction becomes smaller as the distance from the bottom surface of the upper soft actuating component 1 becomes larger.
Referring to fig. 5 and 6, as shown in fig. 5, the peak contour line 12a is an arch with a straight line (micro-straight line) at the top, and the valley contour line 13a is an arch with an arc line at the top; as shown in fig. 6, the peak profile line 12a is an arch with an arc-shaped top, and the valley profile line 13a is an arch with an arc-shaped top. At the side surfaces (the left side and the right side in fig. 5 and 6) of the soft actuating component, the distance between the contour line (valley contour line 13a) of the adjacent upper valley structure 13 and the contour line (peak contour line 12a) of the upper peak structure 12 tends to become larger along with the distance from the bottom surface of the upper soft actuating component 1; depending on the specific shapes of the peak profile 12a and the valley profile 13a, the overall increasing trend may be, for example, gradually increasing, or may be gradually increasing and then keeping the same, or may be other suitable changing trends.
Referring to fig. 1-4, in the lower soft actuating element 2 of the present invention, the top surface of the lower wavy non-rotating body structure is corrugated, the bottom surface of the lower wavy non-rotating body structure is flat or corrugated, the lower wavy non-rotating body structure includes lower peak structures 22 and lower valley structures 23 alternately arranged along the first direction, and the lower peak structures 22 and the lower valley structures 23 may be arranged in a pattern-drawing angle arrangement. Since the upper and lower soft actuating components are symmetrical structures, the structural features of the lower wavy non-rotating body structure are described in detail with reference to the related description of the upper wavy non-rotating body structure, which is not repeated herein. By the design, the parallel bending soft actuator can be easily bent and deformed in the vertical direction, the bending deformation is coordinated, and the stress distribution is uniform; meanwhile, the rigidity in the left and right direction (Y direction in figure 1) is higher, and the supporting capability is improved; through the design, the bending deformation is mainly achieved through the angle change of the included angle of the wave crests of the adjacent wave crest structures, and the side faces of the two sides of the wave crest structures do not need to be expanded and extruded to generate deformation.
As shown in fig. 2 and 3, in the present invention, the size (including radial size and height) of the upper fingertip structure 11 of the upper soft body actuator can be the same as the peak size of the upper peak structure 12, or can be different from the size of the upper peak structure 12; as an example, the height h1 of the upper fingertip structure 11 (defined as the vertical distance from the top of the upper fingertip structure 11 to the plane of symmetry) may be, for example, 1/2 to 1 times, such as 1/2, 2/3, 3/4 or 1 times, the height h2 of the upper peak structure 12 (defined as the vertical distance from the top of the upper peak structure 12 to the plane of symmetry); the radial dimension of the upper fingertip structure 11 may be, for example, 1/2 to 1 times, such as 1/2 times, 2/3 times, 3/4 times, or 1 time, the radial dimension of the upper peak structure 12. Go up radical structure 14's radial dimension and height h4 with go up crest structure 12 the same, go up radical structure 14's cavity (last radical cavity 141) and be the loudspeaker form, go up radical structure 14's thickness and be thicker than other positions, carry out thickening processing to the wall of last radical structure 14, this stability that can strengthen last software actuating component 1 and last connector 15. The height h3 of the upper connection port 15 (defined as the vertical distance from the top of the upper connection port 15 to the plane of symmetry) is 1/3 to 1 times, for example 1/3, 1/2, 2/3, 3/4 or 1 times, the height h4 of the upper root structure 14; the area of the cross section perpendicular to the X direction of the upper connection port 15 is 1/6 times to 1 time, for example, 1/6 times, 1/5 times, 1/4 times, 1/3 times, 1/2 times, 2/3 times, 3/4 times or 1 time, the area of the cross section perpendicular to the X direction of the upper root structure 14; the radial dimension of the cross section perpendicular to the X direction of the upper connection port 15 is 1/3 times to 1 time, for example 1/3 times, 1/2 times, 2/3 times, 3/4 times or 1 time, the radial dimension of the cross section perpendicular to the X direction of the upper root structure 14; the minimum cavity cross-sectional area of the upper valley cavity 131 of the upper valley structure 13 in the radial direction is not less than 1/16 of the maximum cavity cross-sectional area of the upper peak cavity 131 of the upper peak structure 13 in the radial direction. Since the upper and lower soft actuating components are symmetrical, the size and shape of each structural feature of the lower soft actuating component 2 are the same as those of the upper soft actuating component 1, and will not be described herein.
Referring to fig. 2 and 3, in the upper cavity structure of the upper soft actuating assembly 1 of the parallel bending soft actuator according to the present invention, except that the upper peak structure 12 or the upper valley structure 13 is connected to the middle connecting surface 3 at two radial sides, the other parts of the upper peak structure 12 or the upper valley structure 13 are not connected to the middle connecting surface 3, and the minimum cavity cross-sectional area of the upper valley cavity 131 of the upper valley structure 13 in the radial direction is not less than 1/16 of the maximum cavity cross-sectional area of the upper peak cavity 121 of the upper peak structure 12 in the radial direction; similarly, in the lower cavity structure of the lower soft actuating component 2 of the parallel bending soft actuator, except that the radial two sides of the lower peak structure 22 or the lower valley structure 23 are connected with the middle connecting surface 3, the other parts of the lower peak structure 22 or the lower valley structure 23 are not connected with the middle connecting surface 3, and the minimum cavity sectional area of the lower valley cavity 231 of the lower valley structure 23 in the radial direction is not less than 1/16 of the maximum cavity sectional area of the lower peak cavity 221 of the lower peak structure 12 in the radial direction; the advantage of such a structural design is that it is easy to demould and can be made with moulds.
Referring to fig. 2 and 3, in the present invention, the upper and lower surfaces of the middle connecting surface 3 are wavy, the upper surface of the middle connecting surface 3 is continuously connected to the bottom surface of the upper soft actuating component 1, and the lower surface of the middle connecting surface 3 is continuously connected to the bottom surface of the lower soft actuating component 2.
Referring to fig. 1 to 4, in the present invention, the upper connection port 15 and the lower connection port 25 for communicating fluid are respectively connected to an external device, and a working medium, which may be, but not limited to, a fluid such as gas, water, hydraulic oil, etc., may flow into or out of the upper cavity structure (lower cavity structure) through the upper connection port 15 (lower connection port 25). The parallel bending soft actuator has integral bending deformation with multiple degrees of freedom, fluid can be filled into the upper interface/the lower interface communicated with the fluid through the driving device, meanwhile, the fluid is pumped out of the lower interface/the upper interface communicated with the fluid through the driving device, and at the moment, the distance between adjacent wave peak structures in the upper soft actuating assembly and the lower soft actuating assembly is changed, so that the parallel bending soft actuator bends. It will be appreciated that the parallel bending soft-body actuator may also be bent by separately filling or separately evacuating fluid from either of the upper and lower ports.
Referring to fig. 1-4, in the present invention, a middle through hole penetrating through the middle connection surface 3 along the length direction thereof may be formed in the middle connection surface 3, so that when the middle through hole is connected in series with other soft brake modules, it may also function to place and communicate an air pipe and other communication devices; it will be appreciated that the central through hole of the central connecting surface 3 may also serve as a passage for receiving a finger or limb, thereby using the parallel bending soft actuator as a rehabilitation device for the finger or limb.
Referring to fig. 7, the present invention further provides another structural schematic diagram of a parallel bending soft actuator, which is different from the parallel bending soft actuator shown in fig. 1-6 in the structure of the middle connecting surface 3 and the connection manner between the middle connecting surface 3 and the bottom surfaces of the upper and lower soft actuating components, and other structures are the same and are not described herein. Specifically, the upper surface of the middle connection surface 3 is a plane, the upper surface of the middle connection surface 3 is discontinuously connected with the bottom surface of the upper soft actuating component 1, the bottom surface corresponding to the upper wave peak structure 12 of the upper soft actuating component 1 is connected, but not connected with the bottom surface corresponding to the upper wave valley structure 13, and the bottom surface corresponding to the upper wave valley structure 13 and the middle connection surface 3 enclose a hole similar to a triangle; the lower surface of the middle connecting surface 3 is a plane, the lower surface of the middle connecting surface 3 is discontinuously connected with the bottom surface of the lower soft actuating component 2, the bottom surface corresponding to the lower wave crest structure 22 of the lower soft actuating component 2 is connected, and the bottom surface corresponding to the lower wave trough structure 23 is not connected.
Referring to fig. 8, the present invention further provides a schematic structural diagram of a third parallel bending soft actuator, which is different from the parallel bending soft actuator shown in fig. 1-6 in that no middle connection surface is provided, in other words, a virtual middle connection surface 3' is provided, and the bottom surfaces of the upper and lower soft actuation components are directly connected, and other structures are the same and are not described herein again. Specifically, the upper and lower soft actuating components are connected at the bottom corresponding to the respective wave crest structures, but not connected at the bottom corresponding to the respective wave trough structures, and finally, the structure shown in fig. 6 is formed, and diamond-like holes are formed between the bottom corresponding to the upper wave trough structure 13 of the upper soft actuating component 1 and the bottom corresponding to the lower wave trough structure 23 of the lower soft actuating component 2.
Referring to fig. 9, the present invention further provides a schematic structural diagram of a fourth parallel bending soft actuator, the parallel bending soft actuator is composed of three soft actuating components 4a, 4b and 4c, the three soft actuating components 4a, 4b and 4c are uniformly arranged around the circumference of an intermediate connector 3 ″, the bottom surface of each soft actuating component 4a, 4b or 4c is connected to the sidewall of the intermediate connector 3 ″, two adjacent soft actuating components (e.g., the soft actuating components 4a and 4b) form an included angle of 120 °, and the structure of each soft actuating component 4a, 4b or 4c is similar to that of the upper soft actuating component 1 (or the lower soft actuating component 2) in the above description, which will not be described again; the length of the parallel bending soft actuator can be changed according to the requirement, or the parallel bending soft actuator can be used together as a module unit; the parallel bending soft actuator can be integrally formed or can be formed by manufacturing each element separately and then assembling.
Referring to fig. 9, when the parallel bending soft actuator is in use, for example, the cavity structure of each soft actuator component 4a, 4b or 4c can be inflated and sucked to realize three-directional movement; for example, the two soft actuating components can be matched with each other to perform air inflation and air suction (which means that the cavity structures of the two soft actuating components are simultaneously inflated or simultaneously sucked, or one air inflation and the other air suction) so as to realize the movement in different directions; for example, three of the soft body actuating components 4a, 4b and 4c can be simultaneously inflated, simultaneously inflated or mixed inflated and deflated (partially inflated and the rest of the inflated) and can move in any direction of the space (bending or twisting movement) according to the pressure of the inflated or deflated air, and it should be noted that if the air pressure in the cavity structures of the soft body actuating components 4a, 4b and 4c is simultaneously inflated or deflated, the air pressure in the cavity structures cannot be the same.
The parallel bending soft actuator structure design shown in fig. 9 has the following beneficial effects: the device can move randomly in all directions in a narrow space and has multiple degrees of freedom; the angle of the bend is related to the pressure in the internal cavity structure, the higher the air pressure, the larger the bend angle; the flexible bending soft actuator has good flexibility under zero air pressure or low air pressure, and the higher the air pressure is, the higher the rigidity and the output force of the parallel bending soft actuator are; during the bending process, the air pressure of the cavity structure of the parallel bending soft actuator can be adjusted according to the requirements of rigidity and force. The parallel bending soft actuator structure shown in fig. 9 realizes flexible movement of the three-dimensional soft arm in space through combination of a plurality of modules, can move in narrow space, is beneficial to search and rescue work in the narrow space caused by earthquake, can be used for endoscopic surgery, and can be used as a paw capable of grabbing aquatic products such as conch and shell under water.
As shown in fig. 9, a middle hole 31 can be further provided in the middle part 3 ″ of the middle connecting body, and the middle hole 31 can not only reduce the rigidity of the middle connecting body and increase the deformation of the parallel bending soft actuator; but also as a connecting or venting conduit for two parallel bending soft actuators in series.
In summary, the parallel bending soft actuator of the present invention comprises a pair of soft actuating components, which are an upper soft actuating component and a lower soft actuating component, respectively, and the bottom surfaces of the two soft actuating components are connected symmetrically or directly through a middle connecting surface, when a load is applied, the parallel bending soft actuator of the present invention has uniform stress distribution inside the structure, small stress concentration and long service life; and the structure adopts a parallel symmetrical structure, has deformation coordination, and can generate larger deformation under smaller loading. The parallel bending soft actuator comprising the pair of symmetrically arranged soft actuating components is made of elastic materials, when the parallel bending soft actuator is used as a finger part of a hand rehabilitation instrument, the parallel bending soft actuator can bend and stretch hands in different degrees by adjusting the pressure of fluid, can also generate larger pulling force when performing hyperextension rehabilitation on the fingers, cannot generate rigid constraint and compression on blood vessels, muscles and the like of the hands, and cannot cause discomfort after being used for a long time. The other parallel bending soft actuator comprises an intermediate connecting body and three or more soft actuating components which are uniformly distributed around the circumference of the intermediate connecting body, and the flexible movement of the three-dimensional soft arm in the space can be realized through the combination of a plurality of modules and the movement in a narrow space can be realized; the telescopic claw is beneficial to search and rescue work in a narrow space caused by an earthquake, can be used for endoscopic surgery, and can be used as a claw for grabbing aquatic products such as conchs and shells under water. This configuration may, for example, increase the deformation of the parallel bending soft actuator by reducing the stiffness of the intermediate linkage by providing an intermediate hole in the intermediate linkage. The parallel bending soft actuator has simple manufacturing process, does not need to be manufactured by pasting, and can be integrally formed at one time. The parallel bending soft actuator increases the width of the bottom of the wave trough structure in the radial direction under the condition of ensuring the same bending deformation, and the distance between the contour line of the adjacent wave trough structure and the contour line of the wave crest structure on the side surface of the soft actuating component tends to be larger along with the whole distance from the bottom surface of the soft actuating component, so that the whole sectional area of the wave trough structure is increased, the whole strength and the rigidity of the parallel bending soft actuator are improved, the lateral bending resistance of the soft actuating component is also improved, the design can also improve the feasibility of demoulding, and the whole forming of a mould can be realized. The wave crest structure of the parallel bending soft actuator of the invention has larger and larger axial width near the bottom surface, and under the condition of same bending deformation capacity, the integral strength and rigidity of the parallel bending soft actuator are improved, and particularly the lateral bending resistance of the soft actuator component is improved. The wave crest structure of the parallel bending soft actuator has larger deformation, and the bottom of the wave trough structure has smaller deformation, thus conforming to the principle of deformation coordination when in inflation and deflation. The soft actuating component of the parallel bending soft actuator adopts a complete cavity structure, can be produced by a mould, is easy to demould, and can be manufactured by 3D printing and other methods. The overall structure of the parallel bending soft actuator has excellent height-width ratio, and can have larger gripping force when being used as a paw to perform gripping and other actions. The parallel bending soft actuator can generate larger acting force no matter bending or stretching, and can bear larger load. The parallel bending soft actuator has proper air pressure-deformation relation in the bending deformation process and reduces the unnecessary expansion in the deformation process. The parallel bending soft actuator adopts an integral molding structure, and the lengths and the positions of the knuckle joints of different people do not need to be distinguished when the parallel bending soft actuator is used as the finger part of a hand rehabilitation instrument. The deformation of the parallel bending soft actuator is mainly generated by the angle change of an included angle between adjacent wave crests instead of the expansion extrusion deformation of the side surfaces at the two sides of the wave crests. The parallel bending soft actuator can also be used as a bionic paw to realize actions such as grabbing, holding, pulling and the like, can change grabbing force according to the weight of a target object, and cannot damage the grabbed object. The parallel bending soft body actuator of the present invention can also be used as an actuator as a driving unit. The parallel bending soft actuator has the advantages of simple and compact structure, easy manufacture and wide market prospect.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
In the description herein, numerous specific details are provided, such as examples of components and/or methods, to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that an embodiment of the invention can be practiced without one or more of the specific details, or with other apparatus, systems, assemblies, methods, components, materials, parts, and/or the like. In other instances, well-known structures, materials, or operations are not shown or described in detail to avoid obscuring aspects of embodiments of the invention.
Reference throughout this specification to "one embodiment," "an embodiment," or "a specific embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment, and not necessarily in all embodiments, of the present invention. Thus, appearances of the phrases "in one embodiment," "in an embodiment," or "in a specific embodiment" in various places throughout this specification are not necessarily referring to the same embodiment. Furthermore, the particular features, structures, or characteristics of any specific embodiment of the present invention may be combined in any suitable manner with one or more other embodiments. It is to be understood that other variations and modifications of the embodiments of the invention described and illustrated herein are possible in light of the teachings herein and are to be considered as part of the spirit and scope of the present invention.
It will also be appreciated that one or more of the elements shown in the figures can also be implemented in a more separated or integrated manner, or even removed for inoperability in some circumstances or provided for usefulness in accordance with a particular application.
Additionally, any reference arrows in the drawings/figures should be considered only as exemplary, and not limiting, unless otherwise expressly specified. Further, as used herein, the term "or" is generally intended to mean "and/or" unless otherwise indicated. Combinations of components or steps will also be considered as being noted where terminology is foreseen as rendering the ability to separate or combine is unclear.
As used in the description herein and throughout the claims that follow, "a," "an," and "the" include plural references unless otherwise indicated. Also, as used in the description herein and throughout the claims that follow, the meaning of "in …" includes "in …" and "on …" unless otherwise indicated.
The above description of illustrated embodiments of the invention, including what is described in the abstract of the specification, is not intended to be exhaustive or to limit the invention to the precise forms disclosed herein. While specific embodiments of, and examples for, the invention are described herein for illustrative purposes only, various equivalent modifications are possible within the spirit and scope of the present invention, as those skilled in the relevant art will recognize and appreciate. As indicated, these modifications may be made to the present invention in light of the foregoing description of illustrated embodiments of the present invention and are to be included within the spirit and scope of the present invention.
The systems and methods have been described herein in general terms as the details aid in understanding the invention. Furthermore, various specific details have been given to provide a general understanding of the embodiments of the invention. One skilled in the relevant art will recognize, however, that an embodiment of the invention can be practiced without one or more of the specific details, or with other apparatus, systems, assemblies, methods, components, materials, parts, and/or the like. In other instances, well-known structures, materials, and/or operations are not specifically shown or described in detail to avoid obscuring aspects of embodiments of the invention.
Thus, although the present invention has been described herein with reference to particular embodiments thereof, a latitude of modification, various changes and substitutions are intended in the foregoing disclosures, and it will be appreciated that in some instances some features of the invention will be employed without a corresponding use of other features without departing from the scope and spirit of the invention as set forth. Thus, many modifications may be made to adapt a particular situation or material to the essential scope and spirit of the present invention. It is intended that the invention not be limited to the particular terms used in following claims and/or to the particular embodiment disclosed as the best mode contemplated for carrying out this invention, but that the invention will include any and all embodiments and equivalents falling within the scope of the appended claims. Accordingly, the scope of the invention is to be determined solely by the appended claims.
Claims (12)
1. A parallel bending soft actuator, comprising:
at least two soft actuating components, wherein the bottom surface of one soft actuating component is connected with the bottom surface of the other soft actuating component;
the soft actuating component comprises a connecting port, a root structure and a wavy non-rotating body structure which are sequentially connected along a first direction, a cavity structure is formed among the connecting port, the root structure and the wavy non-rotating body structure, and the first direction is parallel to the axial direction of the soft actuating component.
2. The parallel bending soft body actuator of claim 1, wherein the parallel bending soft body actuator comprises a pair of soft body actuation components symmetrically arranged, and the bottom surface of one of the soft body actuation components is opposite to the bottom surface of the other soft body actuation component.
3. The parallel bending soft actuator of claim 2, further comprising an intermediate connecting surface through which the bottom surface of one of the soft actuating members is connected to the bottom surface of the other soft actuating member.
4. The parallel bending soft actuator of claim 3, wherein the intermediate connection comprises a corrugated surface or a flat surface.
5. The parallel bending soft actuator of claim 1, wherein the material of the parallel bending soft actuator comprises an elastic material.
6. The parallel bending soft actuator of claim 1, wherein the parallel bending soft actuator is integrally formed.
7. The parallel bending soft actuator of claim 1, wherein the soft actuation assembly further comprises a fingertip structure connected to an end of the undulating non-rotating body structure distal from the root structure.
8. The parallel bending soft actuator of claim 1, wherein: the cavity of root structure is loudspeaker form, the wall thickness of root structure is greater than the wall thickness of other parts of software actuating assembly.
9. The parallel bending soft actuator of claim 1, comprising an intermediate connecting body and three soft actuating elements uniformly arranged around the circumference of the intermediate connecting body, wherein the bottom surface of each soft actuating element is connected with the side wall of the intermediate connecting body.
10. The parallel bending soft actuator according to any one of claims 1 to 9, wherein the top surface of the wavy non-rotating body structure is corrugated, the bottom surface of the wavy non-rotating body structure is flat or corrugated, and the wavy non-rotating body structure comprises wave crest structures and wave trough structures alternately arranged along the first direction.
11. The parallel bending soft actuator of claim 10, wherein the width of the wave peak structure in the first direction becomes smaller away from the bottom surface of the soft actuation component.
12. The parallel bending soft actuator of claim 10, wherein the distance between the contour of the wave trough structure and the contour of the wave crest structure adjacent to each other at the side of the soft actuator has a tendency to become larger as the whole moves away from the bottom of the soft actuator.
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| CN202010964138.9A Pending CN111920649A (en) | 2020-02-24 | 2020-09-15 | Integral software booster unit and limbs helping hand training ware |
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| CN202011486123.2A Pending CN112402187A (en) | 2020-02-24 | 2020-12-16 | Parallel bending soft actuator |
| CN202023030693.9U Active CN215504101U (en) | 2020-02-24 | 2020-12-16 | Parallel bending soft actuator |
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| CN202010964130.2A Pending CN111939001A (en) | 2020-02-24 | 2020-09-15 | Integral type soft finger and finger trainer |
| CN202010964138.9A Pending CN111920649A (en) | 2020-02-24 | 2020-09-15 | Integral software booster unit and limbs helping hand training ware |
| CN202022005739.5U Active CN212326882U (en) | 2020-02-24 | 2020-09-15 | Integral software finger of variable rigidity and finger training ware |
| CN202022007288.9U Active CN212326883U (en) | 2020-02-24 | 2020-09-15 | Integral type soft finger and finger trainer |
| CN202022007286.XU Active CN212522360U (en) | 2020-02-24 | 2020-09-15 | Integral software booster unit and limbs helping hand training ware |
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| CN113103266A (en) * | 2021-04-30 | 2021-07-13 | 北京理工大学 | Stability-increasing self-healing bionic finger and bionic soft hand |
| CN113414995A (en) * | 2021-06-15 | 2021-09-21 | 南京航空航天大学 | Fluid-driven gecko-like adhesive toe with hook claw and preparation method thereof |
| CN114406997A (en) * | 2022-01-25 | 2022-04-29 | 哈尔滨工业大学 | Bionic structure-perception integrated soft paper folding bending module with sequential rigidity adjusting function |
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| CN111135019A (en) * | 2020-02-24 | 2020-05-12 | 合肥工业大学 | Capsular finger and hand rehabilitation training device |
| CN113427503B (en) * | 2021-06-25 | 2024-04-02 | 西安交通大学 | Ripple pneumatic soft driver and soft manipulator |
| CN113633512B (en) * | 2021-08-09 | 2022-04-29 | 东南大学 | Soft wearable robot for elbow motion function rehabilitation |
| CN114378857B (en) * | 2022-02-25 | 2024-06-04 | 武汉理工大学 | Variable-rigidity soft manipulator integrating cold driving and cooling |
| CN114712166A (en) * | 2022-05-09 | 2022-07-08 | 合肥工业大学 | Soft actuator |
| CN116327503A (en) * | 2023-03-29 | 2023-06-27 | 俞鑫 | Nursing device for patient after operation |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113103266A (en) * | 2021-04-30 | 2021-07-13 | 北京理工大学 | Stability-increasing self-healing bionic finger and bionic soft hand |
| CN113414995A (en) * | 2021-06-15 | 2021-09-21 | 南京航空航天大学 | Fluid-driven gecko-like adhesive toe with hook claw and preparation method thereof |
| CN114406997A (en) * | 2022-01-25 | 2022-04-29 | 哈尔滨工业大学 | Bionic structure-perception integrated soft paper folding bending module with sequential rigidity adjusting function |
| CN114406997B (en) * | 2022-01-25 | 2024-02-06 | 哈尔滨工业大学 | Sequential rigidity adjusting bionic structure-perception soft folding paper bending module |
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| CN111920649A (en) | 2020-11-13 |
| CN111939001A (en) | 2020-11-17 |
| CN212326883U (en) | 2021-01-12 |
| CN111939000A (en) | 2020-11-17 |
| CN212326882U (en) | 2021-01-12 |
| CN212522360U (en) | 2021-02-12 |
| CN111135019A (en) | 2020-05-12 |
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