CN206416167U - Closed housing, software muscle, soft robot drive system and robot system - Google Patents

Abstract

The utility model is related to closed housing, software muscle, soft robot drive system and robot system, and wherein closed housing has origami structure and limits inner chamber, wherein, the origami structure includes：Body, there are two axial end portions to fold at least one axial end portion in convex ridges, described two axial end portions with multiple first axial directions crossed to axial end and have towards the tapered knuckle of axial end for it；At least one pair of end folds convex ridge, is integrally formed on the body, wherein each end folding convex ridge is tapered towards axial end；And middle part folds convex ridge, it is integrally formed on the body and is connected between at least one pair of end folding convex ridge；Wherein, closed housing is constructed to be permeable to by inflating the inner chamber from the deployed condition that collapsed state is radial dilatation and axial shrinkage.The utility model is improved to closed housing, with constitute have more high-tensile strength again than and the lower software muscle of driving pressure.

Description

Closed housing, software muscle, soft robot drive system and robot system

Technical field

The utility model is related to soft robot technical field, in particular to closed housing, software muscle, software machine Device people drive system and robot system.

Background technology

In recent years, software actuator has preferable compliance, higher security and stronger power and day due to it Benefit causes the attention of researcher, and this facilitate its development in routine use and industrial application.For example, software muscle due to It has unique passive flexible and adaptability, so as to not be absolute rigidity on any one operating point, in external force Effect is lower can to produce deformation within the specific limits, thus colliding, hits etc. under fortuitous event, software muscle is with biography The incomparable adaptability of system robotic actuator and security.Software muscle be particularly suitable for use in wearable robot device or The application scenarios such as the service robot worked under general environment.

US7779747B2 discloses such a software muscle, it include with first end, the second end and this two ends it Between extension and the actuator of capsule component that can be radially expanded, the actuator is circumscribed with pressure fluid source.Capsule component also includes inner chamber. In addition, being provided with the container of approximately fixed volume in inner chamber.Wherein capsule component is configured to work as introduces certain body from the inside chamber of container Being capable of radial dilatation and axial shrinkage during long-pending fluid.But this software muscle is because shrinkage ratio is relatively low and needs higher driving Pressure could produce identical active force and still need further improvement.

Utility model content

The utility model aims to provide a kind of improved be suitable for the application of in the closed housing of software muscle.

The utility model is also directed to a kind of software muscle of the above-mentioned improved closed housing of application, can be driven relatively low Higher shrinkage ratio is produced under dynamic pressure.

The utility model is also directed to a kind of soft robot drive system of the above-mentioned improved software muscle of application.

The utility model is also directed to a kind of robot system of the above-mentioned improved soft robot drive system of application.

According to one side of the present utility model there is provided a kind of closed housing, it has origami structure and limited interior Chamber, wherein, the origami structure includes：Body, it has two axial end portions and crossed to multiple first axles of axial end Have at least one axial end portion folded in convex ridge, described two axial end portions towards the tapered knuckle of axial end；At least A pair of end portions folds convex ridge, is integrally formed on the body, wherein each end folding convex ridge is tapered towards axial end； And middle part folds convex ridge, it is integrally formed on the body and is connected between at least one pair of end folding convex ridge； Wherein, closed housing is constructed to be permeable to by inflating the inner chamber from the expansion that collapsed state is radial dilatation and axial shrinkage State.

When being filled with pressure fluid in inflatable inner chamber, closed housing axially folds convex ridge, end by means of expansion Fold convex ridge and middle part folds convex ridge and realizes expansion or expansion diametrically, this expansion or expansion only need less driving Pressure can just be realized.Its overall contraction in the axial direction can be realized by means of the angle change of knuckle by being closed at cavity, Avoid because end face expansion is offset to a part of axial contraction force and causes to reduce the maximum force that can be generated.Should The simple structure of closed housing and easily operated, and with higher security.

Preferably, the middle part folds convex ridge and axially folds convex ridges including multiple second separately.This provides one Plant middle part simple in construction and fold convex ridge.

Preferably, the middle part, which folds convex ridge, includes multiple bellows-folded convex ridges.This provides another simple in construction Middle part fold convex ridge.

Preferably, the origami structure is made up of flexible non-telescoping thin-film material.So, it is to avoid material itself The active force that tensile properties are produced to pressure fluid causes to offset, and the power of reduction software muscle compares again.

According to other side of the present utility model there is provided a kind of software muscle, wherein, including：Foregoing closed chamber Body；Deformable ground surrounds the closed housing to be radially expanded the limiting mechanism for being converted into axial shrinkage；It is connected to the limit The end coupling of mechanism processed；And through the end coupling and with the pipeline of the intracavity inter-connection of the closed housing.

Closed housing is pressurized and during radial dilatation, surround its limiting mechanism deforms therewith, produces and axially receives Contract and be radially expanded, the radial dilatation of closed housing is converted into axial shrinkage.Meanwhile, limiting mechanism can operative constraint closed chamber Body, prevents its diametrically excessively expansion, improves the maximum internal pressure that closed housing can be born, and which thereby enhance and can produce Maximum collapse stroke and maximum shrinkage force., should because passive deformation can occur under external force for internal closed housing Software muscle is respectively provided with a certain degree of passive flexible and adaptability under any one working condition, i.e., under external force Passive change can occur within the specific limits for the length of software muscle.Therefore no matter whether driven, the software muscle is along footpath There is passive flexibility all the time to direction, arbitrarily can radially be curved, without hindering the motion of axial direction and producing pulling force.

Preferably, the limiting mechanism includes netted braiding structure.The geometrical relationship characteristic of netted braiding structure contributes to The radial dilatation of closed housing is converted into axial shrinkage.

Preferably, the end coupling includes：Ring, there is flange and the axial direction passed through suitable for the pipeline to lead to for it Hole；Retaining ring, it, which is enclosed on, is used for the end for locking the limiting mechanism on the ring；And lid is kept, it is connected to described The retaining ring is simultaneously maintained on the flange by ring.Connected this provides a kind of end simple in construction, being easily achieved Part.

Preferably, the retaining ring includes inner ring and outer rings, and concavo-convex lock staggeredly is wherein provided between inner ring and outer rings Locking structure, the end of limiting mechanism is locked between the concavo-convex locking mechanism.

Preferably, the end coupling is made up of the plastic material suitable for 3D printing.

According to another aspect of the present utility model there is provided a kind of soft robot drive system, wherein, including：Gas Potential source；Foregoing software muscle, wherein the inner chamber is suitable to be inflated by gas；And control gas flow and the control of flow Valve.

According to another aspect of the present utility model there is provided a kind of soft robot drive system, wherein, including：Liquid Potential source；Foregoing software muscle, wherein the inner chamber is suitable to be inflated by liquid；And the control of control controlling flow direction and flow Valve.

According to another aspect of the present utility model there is provided a kind of robot system, wherein, including multiple foregoing bags The soft robot drive system or multiple foregoing soft robot drive systems including hydraulic power source of pneumatic supply are included, wherein extremely Small part soft robot drive system is controlled by shared control valve.Thus, the soft robot driving of control valve is shared System will produce motion simultaneously.

According to another aspect of the present utility model there is provided a kind of robot system, wherein, including it is multiple it is foregoing including The soft robot drive system of pneumatic supply or multiple foregoing soft robot drive systems including hydraulic power source, wherein each Soft robot drive system is controlled by separate control valves.

A part for other features and advantages of the utility model would is that those skilled in the art after the application is read Obvious, another part will be described in conjunction with the accompanying in embodiment below.Thus, controlled by separate control valves Soft robot drive system is by separate generation campaign.

Brief description of the drawings

Hereinafter, embodiment of the present utility model is described in detail with reference to accompanying drawing, wherein：

Fig. 1 is the schematic diagram of the closed housing according to embodiment of the present utility model；

Fig. 2 is the partial schematic diagram of the body of the closed housing according to embodiment of the present utility model；

Fig. 3 is the partial schematic diagram that convex ridge is folded according to the end of the closed housing of embodiment of the present utility model；

Fig. 4 is the partial schematic diagram that convex ridge is folded according to the middle part of the closed housing of embodiment of the present utility model；

Fig. 5 is the schematic diagram according to the closed housing of embodiment of the present utility model in a folded configuration, is provided with three Bar first axially folds convex ridge；

Fig. 6 is the schematic diagram according to Fig. 5 closed housing in the deployed state；

Fig. 7 is the schematic diagram according to the closed housing of embodiment of the present utility model in a folded configuration, is provided with four Bar first axially folds convex ridge；

Fig. 8 is the schematic diagram according to Fig. 7 closed housing in the deployed state；

Fig. 9 is the schematic diagram according to the closed housing of embodiment of the present utility model in a folded configuration, is provided with five Bar first axially folds convex ridge；

Figure 10 is the schematic diagram according to Fig. 9 closed housing in the deployed state；

Figure 11 is the schematic diagram of the software muscle according to embodiment of the present utility model, and wherein closed housing is in expansion shape State；

Figure 12 is the schematic diagram of the software muscle according to Figure 11, and wherein closing structure is in folded state；

Figure 13 is the schematic diagram being engaged according to the end coupling of embodiment of the present utility model with netted establishment structure；

Figure 14 is the partial sectional view according to Figure 13；

Figure 15 and Figure 16 are the descriptions to experiment and notional result.

In the utility model, same or analogous reference represents same or analogous feature.

Description of reference numerals：

1. software muscle；10. closed housing structure；100. body；101. axial end portion；102. axial end portion；103. the One axially folds convex ridge；105. knuckle；200. ends fold convex ridge；300. middle parts fold convex ridge；301. second axial directions fold convex Ridge；303. bellows-folded convex ridges；400. inner chamber；500. limiting mechanism；600. end coupling；601. ring；602. flange； 603. axially extending bore；604. retaining ring；605. keep lid；606. inner ring；607. outer shroud；700. pipeline.

Embodiment

Description, describes the exemplary scheme of robot system disclosed in the utility model in detail.Although providing Accompanying drawing is that, in order to be presented some embodiments of the present utility model, but accompanying drawing need not be drawn by the size of specific embodiment, and And some features can be exaggerated, remove or office cut open preferably to show and explain disclosure of the present utility model.In accompanying drawing Partial component can carry out position adjustment according to the actual requirements on the premise of not influence technique effect.What is occurred in the description is short Language " in the accompanying drawings " or similar term need not refer to all accompanying drawings or example.

Hereinafter be used for describe accompanying drawing some directional terminologies, for example " interior ", " outer ", " top ", " lower section " and Other directional terminologies, it will accordingly be understood that be with its normal implication and criticize often see accompanying drawing when involved those directions.Remove Otherwise indicated, directional terminology described in this specification is substantially according to conventional direction understood by one of ordinary skill in the art.

Term " first ", " first ", " second " used in the utility model, " second " and its similar terms, Any order, quantity or importance are not offered as in the utility model, but for a part and other parts to be carried out Distinguish.

Referring to figs. 1 to Fig. 4, the schematic diagram of the closed housing 10 according to embodiment of the present utility model has been shown in particular, its The inflatable inner chamber 400 (referring to Figure 11 and Figure 12) limited including origami structure and by origami structure.As illustrated, paper folding Body 100 (waterbomb pattern) of the structure including lengthwise, the end being integrally formed on body 100 fold convex ridge (tree leaves pattern) 200 and middle part fold convex ridge (miura-ori pattern) 300.Inner chamber 400 is suitable to filling Pressure fluid such as liquid or gas.Body 100 has relative two axial end portions 101 and 102 along its axis direction, wherein Each axial end portion is provided with four first crossed to axial end and axially folds convex ridges 103, by the end face quartering and constructs Towards the knuckle 105 that axial end is tapered.During filling/releasing pressure fluid into inner chamber 400, the angle of the knuckle 105 Can be changed with the radial dilatation or contraction of closed housing 10, thus cause the contraction in the axial direction of closed housing 10 or Elongation.In a unshowned embodiment, one in two axial end portions 101 and 102 is formed with knuckle 105, equally Axial shrinkage can be realized in 10 radial dilatation of closed housing.

End folds convex ridge 200 and middle part folds convex ridge 300 and is integrally formed in respectively on body 100.Fig. 1 shows one kind The end of embodiment folds convex ridge 200.As illustrated, a pair of slightly smaller ends, which fold convex ridge 200, is oppositely disposed in body 100 Two ends, the slightly larger end of another pair is disposed with the outside of it and folds convex ridge 200.Wherein each end folds convex ridge 200 towards axle Terminad is tapered.Fig. 3 is illustrated that more ends fold convex ridge 200, and their intussusceptions on body 100 are formed.Middle part is folded Convex ridge 300 is formed between end folding convex ridge 200.In embodiment shown in Fig. 1, middle part folds convex ridge 300 by being parallel to each other And multiple second be spaced apart axially fold convex ridge 301 and constituted.In embodiment shown in Fig. 4, middle part folds convex ridge 300 including many The bellows-folded convex ridge 303 of individual z fonts.

The inner chamber 400 of this closed housing 10 is in communication with the outside by pipeline.Within for example filling gas-pressurized/liquid makes When the internal pressure of chamber 400 is higher than external pressure, due to the presence of multiple folding convex ridges 103,200,300 and knuckle 105, close Close cavity 10 to radially expand/expand, while shrinking along axis direction.Thus, the material of closed housing 10 is being made (for example Thin-film material) in the maximum magnitude that can allow, closed housing 10 is with internal pressure size from original collapsed state For radial dilatation and the deployed condition of axial shrinkage.The axial shrinkage of closed housing 10 and the ratio of radial dilatation can be by changing Become each design for folding convex ridge to be controlled.Same original length and diameter and be made closed housing 10 material thickness it is identical In the case of, the quantity that the first axial direction folds convex ridge 103 is more, and the ratio being radially expanded is bigger.Generally, first axle It is 3-8 bars to convex ridge 103 is folded, i.e., each end face carries out decile by 3-8 same structures.

Fig. 5 to Figure 10 shows the schematic diagram that several closed housings 10 are looked over from end, wherein Fig. 5, Fig. 7 and Fig. 9 points It is not the schematic diagram of three kinds of closed housings 10 in a folded configuration, and Fig. 6, Fig. 8 and Figure 10 are these three closed housings 10 respectively In schematic diagram in the deployed state, these accompanying drawings, solid line represents the top broken line of the folding convex ridge under nature, dotted line table Show the bottom fold of the folding convex ridge under nature.With reference to Fig. 5 and Fig. 6, closed housing 10 is formed with end by end face three Three first of decile axially fold convex ridge 103 (i.e. N=3).Fig. 5 closed housing 10 forms class as shown in Figure 6 after deploying It is similar to the shape of rescinded angle equilateral triangle.With reference to Fig. 7 and Fig. 8, closed housing 10 is formed with end by the four of the end face quartering Bar first axially folds convex ridge 103 (i.e. N=4).What formation was as shown in Figure 8 after Fig. 7 closed housing 10 deploys is similar to rescinded angle Square shape.With reference to Fig. 9 and Figure 10, closed housing 10 is formed with end axially rolls over five first of the decile of end face five Folded convex ridge 103 (i.e. N=5).Fig. 9 closed housing 10 forms the shape similar to rescinded angle regular pentagon as shown in Figure 10 after deploying Shape.

Preferably, closed housing 10 is made up of flexible non-telescoping thin-film material, to avoid due to material pulls And the shrinkage ratio caused by the active force that offset pressure fluid is produced declines.Here " flexible non-telescoping material " is this area Those materials that technical staff is known, the application is not related to the improvement in terms of material.For the ease of stuffing pressure fluid, close Conjunction cavity 10 can the other end has open-cellular form in order to grafting pipeline in one end closing.

Preferably, closed housing 10 can be completed by means of 3D printing, thus make it have preferably repeatability and Higher precision.

Above-mentioned closed housing 10 can largely improve the property of software muscle when in applied to software muscle Can, because it can effectively reduce the energy loss in expansion process.Origami structure in closed housing 10 by means of arranging again Cloth and curved edge and produce motion, it is to avoid the cavity that elastomeric material is made caused internal material stretching in expansion.In addition, Origami structure also causes maximum working pressure (MWP) unrelated with cavity wall thickness.

Below by correspondence with the software muscle of above-mentioned closed housing 10 (or fiber reinforcement paper folding robotic actuator, Fiber-reinforced Origamic Robotic Actuator, are abbreviated as FORA) it is described in detail.

With reference to Figure 11 and Figure 12, Figure 11 is had been shown in particular at the software muscle 1 according to one embodiment of the present utility model Schematic diagram when deployed condition (or state of activation), Figure 12 have been shown in particular the software muscle be in folded state (or Nature) when schematic diagram.As illustrated, software muscle 1 includes closed housing 10, surrounds being used for about for the closed housing 10 The limiting mechanism 500 of beam and motion guide and the end coupling 600 for being attached to the two ends of limiting mechanism 500.Wherein closed chamber Body 10 can be it is foregoing it is any can after charged pressure fluid axial shrinkage and the closed housing that is radially expanded.Showing Embodiment in, use the closed housing 10 shown in Fig. 1.

Limiting mechanism 500 is arranged on outside closed housing 10.Under nature, the axial length of limiting mechanism 500 is big In the axial length of closed housing 10, end coupling 600 is only connected without being contacted with closed housing 10 with limiting mechanism 500. When closed housing 10 is pressurized and is radially expanded to state of activation, limiting mechanism 500 deforms therewith, by closed housing 10 Be radially expanded and be converted into axial shrinkage.Meanwhile, limiting mechanism 500 can effectively prevent closed housing 10 as external constraint mechanism Diametrically excessively expansion, so that the maximum internal pressure that closed housing 10 can be born is improved, and thus raising can be produced most Big retraction and maximum shrinkage force.

With reference to Figure 11 and Figure 12, limiting mechanism 500 is preferably netted braiding structure, and it is by means of two fibres extended spirally Dimension band intersects composition.The band extended from any node can be swung around the node.Such as Figure 11, it illustrates closed chamber The schematic diagram of software muscle 1 when body 10 is in deployed condition.With being radially expanded for closed housing 10, limiting mechanism 500 is overall Shrink and radially expand in the axial direction.Referring next to Figure 12, software flesh when being in folded state it illustrates closed housing 10 The schematic diagram of meat 1.As the pressure fluid filled in inner chamber 400 is discharged, the also axial direction therewith radial contraction of limiting mechanism 500 Elongation.By the geometrical relationship characteristic of netted woven fibre structure, effectively the pressurization of closed housing 10 is radially expanded and is converted into The shortening of axial length.

End coupling 600 can select the rigid materials such as metal or plastics and be made, it is preferred to use the material suitable for 3D printing. Here " material for being suitable to 3D printing " refers to those materials known to those skilled in the art, is not related to the improvement to material. End coupling 600 applies to limiting mechanism 500 from two ends, and limiting mechanism 500 is effectively fixed and outer for further connection The other systems in portion provide installation foundation.With reference to Figure 13 and Figure 14, have been shown in particular according to one embodiment of the present utility model End coupling 600, including the ring 601 with flange 602 and axially extending bore 603, the retaining ring 604 that is enclosed on ring 601 And be enclosed on the top of ring 601 and retaining ring 604 is pressed on to the holding lid 605 on flange 602.The axially extending bore of ring 601 603 are adapted to pass through as the pipeline 700 of the supply pressure fluid of closed housing 10.Lid 605 is kept for example to be threaded over ring 601 On, available for the outside other systems of further connection.The netted establishment structure of limiting mechanism 500 ring 604 that is locked is locked.

Retaining ring 604 includes detachable inner ring 606 and outer shroud 607.As illustrated, inner ring 606 is enclosed on ring 601, Outer shroud 607 is for example threaded in inner ring 606.

It is preferred that forming concavo-convex locking mechanism staggeredly between inner ring 606 and outer shroud 607 to prevent the end of limiting mechanism 500 Deviate from portion.In the embodiment show in figure 14, inner ring 606 and outer shroud 607 are formed with adjacent recess and convex portion respectively in axial. Under engagement state, the convex portion of inner ring 606 is inserted in the recess of access external circulation 607, and the raised grafting positioned at end of outer shroud 607 enters In gap between inner ring 606 and ring 601.Thus, multiple raised and recesses between inner ring 606 and outer shroud 607 are formd Concavo-convex locking mechanism on axial direction staggeredly.The end fiber of netted establishment structure, which is locked in the concavo-convex locking mechanism, to be difficult to take off Go out, so as to effectively be fixed.Concavo-convex locking mechanism increases maximum weighted by expanding contact area, improves end coupling 600 maximum load.Although concavo-convex locking mechanism has been shown in particular in Figure 14 in an illustrative manner, those skilled in the art will , it will be appreciated that the concrete form not limited to this of concavo-convex locking mechanism, the particular number and shape of raised and recess can be according to reality Need and set, as long as projection mutually staggers and protruded into upon engagement in corresponding recess in the axial direction, to a certain extent The end fiber of limiting mechanism 500 can be played a part of locking.

Above-mentioned software muscle is by pressure fluid such as air pressure or hydraulic-driven.Shorten vertically when being driven, and Axial tension can be produced.Simultaneously as passive deformation, the software can occur under external force for internal closed housing 10 Muscle is respectively provided with a certain degree of passive flexible and adaptability under any one working condition, i.e. software under external force Passive change can occur within the specific limits for the length of muscle.In shown embodiment of the present utility model, software flesh The maximum collapse stroke of meat can reach 50%.No matter whether driven, the software muscle has quilt all the time along radial direction Dynamic flexibility, arbitrarily can radially be curved, without hindering the motion of axial direction and producing pulling force.

Software muscle of the present utility model has high pulling force weight ratio, it is possible to by very low pressure-driven.Through reality Checking is bright, under the driving pressure of 1 standard atmospheric pressure (1Bar), and this kind of muscle of 30 millimeters of the passive diameter of 20 grams of deadweight can To produce the axial tension of maximum 280 newton, pulling force weight it is more surprising than reaching 1440.Meanwhile, the muscle can be realized larger Stroke, the shrinkage ratio close to 0.5 can be realized in the case of abundant driving.With existing pneumatic software muscle less than 0.3 most Big stroke compares, and improves more than 60%.In terms of driving and stress, software muscle of the present utility model is in equivalent material, size Under weight, required driving pressure is lower, pulling force that is producing is higher, and performance is significantly improved.

Figure 15 and Figure 16 describe experiment and notional result.Wherein, Figure 15 shows that free space (free space) is tested, The FORA (I is denoted as in figure) that is related to the application, purchase from Shadow Robot company PAMs (hereinafter referred to as Shadow, is denoted as II in figure) and pneumatic actuator (Pneumatic Actuator) from Festo company The experimental result of (hereinafter referred to as Festo, III is denoted as in figure) is contrasted.In addition, Figure 15 also show FORA simulation As a result (modeled results).From Figure 15 it can be clearly seen that Shadow and Festo have threshold pressure.Due to inner chamber Nonlinear elasticity, when pressure is respectively lower than 50kPa and 100kPa, Shadow and Festo will not produce travel displacement.And FORA does not have threshold pressure, and it shrinks quick increase.Specifically, above-mentioned experiment is shown in 100kPa (14.4psi) driving pressures Maximum collapse ratio under power is 45%.This result is also proved by static simulation.Compared with traditional PAMs, FORA stroke Improve nearly 50%.

Figure 16 shows isotonic test (Isotonic test), it is shown that FORA (I is denoted as in figure) and Shadow (figures In be denoted as II) experimental result, and FORA analog result.As illustrated, pulling force is reduced with the increase of contraction, directly Reach maximum collapse.When applying 100kPa pressure, compared with Shadow, FORA is shown than Shadow more in identical contraction High pulling force.

Above-mentioned software muscle is particularly suited for being applied in soft robot drive system.

According to one embodiment, soft robot drive system is by hydraulic power source to the inflatable inner chamber of closed housing 10 Liquid is filled with 400.The flow and flow direction of liquid can be by means of control valves, and such as magnetic valve is controlled.

According to another embodiment, soft robot drive system is by pneumatic supply to the inflatable inner chamber of closed housing 10 Insufflation gas in 400.The flow and flow direction of gas can be by means of control valves, and such as magnetic valve is controlled.

It means that the form in soft robot drive system fluid pressure source of the present utility model does not have strict Limit, can liquid filling body or gas as needed, the problems such as being sealed without worry due to the presence of closed housing 10.This Different from those because air-proof condition limitation can only use the existing system of single kind fluid pressure source.

Multiple, such as 20 above-mentioned soft robot drive systems, which are combined, can be used for setting up robot system.Or Person or the soft robot drive system of less than 20 are combined, and particular number will be determined according to actual conditions.These Soft robot drive system, can be all using the system of hydraulic power source or all using the system of pneumatic supply, or Person can be the part system that another part uses hydraulic power source using pneumatic supply.

These soft robot drive systems can be controlled all by shared control valve, so all software machines People's drive system will the action of generation simultaneously.Or, the soft robot drive system of a portion can be by shared control Valve processed is controlled, and another part soft robot drive system each has independent control valve, thus, shares control valve this A little soft robot drive systems will the action of generation simultaneously, and the soft robot drive system with separate control valves will Independent generation action.It is of course also possible to be that all soft robot drive systems each have independent control valve, such institute Some soft robot drive systems will be separate generation action.

It should be understood that, although this specification is described according to each embodiment, but not each embodiment only includes one Individual independent technical scheme, this narrating mode of specification is only that for clarity, those skilled in the art will should say Bright book is as an entirety, and the technical solutions in the various embodiments may also be suitably combined, and forming those skilled in the art can be with The other embodiment of understanding.

The schematical embodiment of the utility model is the foregoing is only, model of the present utility model is not limited to Enclose.Any those skilled in the art, the equivalent variations made on the premise of design of the present utility model and principle is not departed from, Modification all should belong to the scope of the utility model protection with combining.

Claims (13)

1. a kind of closed housing (10), it has origami structure and limits inner chamber (400), it is characterised in that the paper folding knot Structure includes：

Body (100), its have two axial end portions (101,102) and cross to axial end it is multiple first axially foldings it is convex At least one axial end portion in ridge (103), described two axial end portions (101,102) has towards the tapered knuckle of axial end (105)；

At least one pair of end folds convex ridge (200), is integrally formed on the body (100), wherein the folding of each end is convex Ridge (200) is tapered towards axial end；And

Middle part folds convex ridge (300), is integrally formed on the body (100) and is connected at least one pair of end folding Between convex ridge (200)；

Wherein, closed housing (10) be constructed to be permeable to by inflate the inner chamber (400) from collapsed state be radial dilatation and The deployed condition of axial shrinkage.

2. closed housing (10) according to claim 1, it is characterised in that the middle part, which folds convex ridge (300), includes phase Multiple the second of interval axially fold convex ridge (301).

3. closed housing (10) according to claim 1, it is characterised in that the middle part folds convex ridge (300) including many Individual bellows-folded convex ridge (303).

4. closed housing (10) according to any one of claim 1 to 3, it is characterised in that the origami structure is by soft The non-telescoping thin-film material of property is made.

5. a kind of software muscle (1), it is characterised in that including：

Closed housing (10) any one of Claims 1-4；

Deformable ground surrounds the closed housing (10) to be radially expanded the limiting mechanism for being converted into axial shrinkage (500)；

It is connected to the end coupling (600) of the limiting mechanism (500)；And

The pipeline (700) being connected through the end coupling (600) and with the inner chamber (400) of the closed housing (10).

6. software muscle (1) according to claim 5, it is characterised in that the limiting mechanism (500) includes netted braiding Structure.

7. software muscle (1) according to claim 5, it is characterised in that the end coupling (600) includes：

Ring (601), it has flange (602) and the axially extending bore (603) passed through suitable for the pipeline (700)；

Retaining ring (604), it, which is enclosed on, is used for the end for locking the limiting mechanism (500) on the ring (601)；And

Lid (605) is kept, it is connected to the ring (601) and the retaining ring (604) is maintained at into the flange (602) On.

8. software muscle (1) according to claim 7, it is characterised in that the retaining ring (604) includes inner ring (606) With outer shroud (607), concavo-convex locking mechanism staggeredly, limiting mechanism are wherein provided between inner ring (606) and outer shroud (607) (500) end is locked between the concavo-convex locking mechanism.

9. software muscle (1) according to claim 5, it is characterised in that the end coupling (600) suitable for 3D by beating The plastic material of print is made.

10. a kind of soft robot drive system, it is characterised in that including：

Pneumatic supply；

Software muscle (1) any one of claim 5 to 9, wherein the inner chamber (400) are suitable to be inflated by gas；With And

Control the control valve of gas flow and flow.

11. a kind of soft robot drive system, it is characterised in that including：

Hydraulic power source；

Software muscle (1) any one of claim 5 to 9, wherein the inner chamber (400) are suitable to be inflated by liquid；With And

Control the control valve of controlling flow direction and flow.

12. a kind of robot system, it is characterised in that including the soft robot drive system described in multiple claims 10 or Soft robot drive system described in multiple claims 11, wherein at least part soft robot drive system is by shared control Valve processed is controlled.

13. a kind of robot system, it is characterised in that including the soft robot drive system described in multiple claims 10 or Soft robot drive system described in multiple claims 11, wherein each soft robot drive system is by separate control valves institute Control.