CN216180546U

CN216180546U - Software executing device

Info

Publication number: CN216180546U
Application number: CN202121881501.7U
Authority: CN
Inventors: 谷建峰; 赵鑫; 高少龙; 鲍磊; 单雪梅
Original assignee: Beijing Soft Robot Tech Co Ltd
Current assignee: Beijing Software Robot Technology Co ltd
Priority date: 2021-08-12
Filing date: 2021-08-12
Publication date: 2022-04-05
Anticipated expiration: 2031-08-12

Abstract

The embodiment of the application discloses a software executing device, including: the base, set up soft spare and a plurality of baffles on the base, soft spare encloses with the base and becomes to hold the chamber, has a plurality of crease structures on the soft spare, and the baffle interval sets up and is holding intracavity formation a plurality of independent cavities, and a plurality of baffles all set up corresponding blow vent, and in external gas got into the cavity respectively through the blow vent, gas can blow soft spare and rise and make a plurality of crease structures diminish gradually until disappearing. Therefore, the actuator can bear larger air pressure, the maximum bending angle of the actuator is larger due to the existence of a plurality of crease structures, and the working space of the actuator is enlarged.

Description

Software executing device

Technical Field

The application relates to the field of software robots, in particular to a software executing device.

Background

Soft body robot and software executor use flexible material to make usually, therefore, often are used for snatching fragile article, fragile article etc. current software executor has set up many intercommunicated small airbags usually to place on a restriction bottom, drive its bending through positive negative pressure, but the shape, the size of every small airbag are fixed, cause it can not bear bigger atmospheric pressure, the biggest bending angle is less, workspace scheduling problem less.

SUMMERY OF THE UTILITY MODEL

To solve the above technical problems in the prior art, an embodiment of the present application provides a software executing apparatus to solve the problems that the apparatus cannot bear a larger air pressure, a maximum bending angle is smaller, a working space is smaller, and the like.

A first aspect of an embodiment of the present application provides a software executing apparatus, including:

a base;

the soft body piece is arranged on the base, the soft body piece and the base enclose a containing cavity, and the soft body piece is provided with a plurality of crease structures;

and a plurality of baffles, the interval sets up it forms a plurality of independent cavities, a plurality of to hold the intracavity the baffle all sets up corresponding blow vent, and external gas passes through the blow vent gets into respectively in the cavity, gas will the soft part blows and bloies and makes a plurality ofly the crease structure diminishes until disappearing gradually.

In some embodiments, each of the fold structures has at least three fold regions thereon, the at least three fold regions being connected to form an approximate arch shape.

In some embodiments, any of the at least three folding regions have folding ravines, or a plurality of ravines are formed at the junctions between each of the crease structures.

In some embodiments, each of the folding ravines are in communication with one another.

In some embodiments, at least three of the fold regions have at least one bend.

In some embodiments, the baffles are spaced apart at the crease structures that are connected two by two.

In some embodiments, a plurality of peaks and troughs are formed between a plurality of said crease structures, each said crease structure forming a cycle of said peaks and said troughs.

In some embodiments, the vent is disposed on the bottom of the baffle and contacts the base to form an arcuate channel.

In some embodiments, the side surface of the soft body is provided with an air inlet, and the air inlet corresponds to the air vent.

In some embodiments, the side of the soft body part opposite to the air inlet is a closed surface, a part of two side surfaces of the soft body part is fixedly connected with the side of the base, and the other part of two side surfaces of the soft body part is arranged on the base.

This application embodiment has a plurality of crease structures through soft thing spare on to and a plurality of baffle intervals set up it forms a plurality of independent cavities, a plurality of to hold the intracavity the baffle all sets up corresponding blow vent, and external gas passes through the blow vent gets into respectively in the cavity, gas will soft thing spare blows and rises to make a plurality ofly the crease structure diminishes until disappearing gradually to make the executor can bear bigger atmospheric pressure, a plurality of crease structures exist moreover and make its maximum bending angle great, have increased executor workspace etc. simultaneously.

Drawings

The features and advantages of the present application will be more clearly understood by reference to the accompanying drawings, which are illustrative and not to be construed as limiting the present application in any way, and in which:

FIG. 1 is a diagram illustrating a software executing apparatus according to some embodiments of the present application;

FIG. 2 is a schematic view of a cross-section along A-A of the software-executing device of FIG. 1 according to some embodiments of the present application;

figure 3 is a top view of a software executing device according to some embodiments of the present application, as shown in figure 1.

Detailed Description

In the following detailed description, numerous specific details of the present application are set forth by way of examples in order to provide a thorough understanding of the relevant disclosure. It will be apparent, however, to one skilled in the art that the present application may be practiced without these specific details. It should be understood that the use of the terms "system," "apparatus," "unit" and/or "module" herein is a method for distinguishing between different components, elements, portions or assemblies at different levels of sequential arrangement. However, these terms may be replaced by other expressions if they can achieve the same purpose.

It will be understood that when a device, unit or module is referred to as being "on" … … "," connected to "or" coupled to "another device, unit or module, it can be directly on, connected or coupled to or in communication with the other device, unit or module, or intervening devices, units or modules may be present, unless the context clearly dictates otherwise. For example, as used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of the present application. As used in the specification and claims of this application, the terms "a", "an", and/or "the" are not intended to be inclusive in the singular, but rather are intended to be inclusive in the plural, unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" are intended to cover only the explicitly identified features, integers, steps, operations, elements, and/or components, but not to constitute an exclusive list of such features, integers, steps, operations, elements, and/or components.

The application describes a software executing apparatus. As shown in fig. 1, the software executing device includes a base 10, a software member 20 disposed on the base 10, and a plurality of baffles 30, the software member 20 and the base 10 enclose an accommodating cavity 22, the software member 20 has a plurality of fold structures 21, the baffles 30 are disposed at intervals in the accommodating cavity 22 to form a plurality of independent chambers 32, the plurality of baffles 30 are all provided with corresponding vent holes 31, external air enters the chambers 32 through the vent holes 31, and the air blows the software member 20 to gradually reduce the plurality of fold structures 21 until the air disappears. Therefore, the actuator can bear larger air pressure, and the maximum bending angle of the actuator is larger due to the existence of the plurality of crease structures 21, and the working space of the actuator is enlarged.

It should be understood that, a plurality of crease structures 21 are structurally different from the soft piece 20 of the existing tired bellows structure, and a plurality of same crease structures 21 in this application are regularly folded many times, also can be irregularly folded many times, and then make the gas that holds the chamber 22 and get into blow up all creases, increased the space of software executor promptly, also can bear bigger pressure.

In one embodiment, each crease structure 21 has at least three fold areas 211 thereon, and the at least three fold areas 211 are connected to form an approximate arch shape. The space structure of the chamber 32 is increased by at least three folding regions 211, and the structure of at least three folding regions 211 may be completely the same, or two folding regions 211 connected to the base 10 may be the same and the folding region 211 opposite to the base 10 may be different from the other two folding regions 211, and the folding structure 21 of the present application may be in a shape similar to an arch, or in a shape of a polyhedron such as a half-arc, a three-side shape, a four-side shape, etc.

In one embodiment, as shown in fig. 1 or 3, any one folding area 211 of the at least three folding areas 211 has folding ravines 24, or a plurality of ravines 24 are formed at the junctions between each fold structure 21. The folding corrugations 24 formed in both ways are intended to increase the gas capacity of the chamber 32, and the depth of the two corrugations 24 may be the same or different, so that when the chamber 32 contains a certain amount of gas, the gas will slowly lift the corrugations 24 until the whole corrugations 24 disappear, and at this time, the whole fold structure 21 will be lifted by the gas, thereby increasing the space for containing more gas.

In one embodiment, each folding gap 24 is in communication with one another. Thereby avoiding restricting the expansion of the space within the chamber 32 and thus enabling the chamber 32 to withstand greater pressures.

In one embodiment, at least three fold regions 211 have at least one bend 210. Bending the folding regions 211 once can increase the gas capacity of the chamber 32, and the bending is also to form at least three folding regions 211 into an approximate arch shape, which also increases the stability.

In one embodiment, baffles 30 are spaced apart at two-by-two connected crease structures 21. So that the structure of the chambers 32 formed by the gas-filled vacuum chamber is more stable and reasonable, each chamber 32 can contain more gas, and the whole structure can bear more pressure.

In one embodiment, as shown in fig. 2, a plurality of crests 25 and troughs 26 are formed between the plurality of crease structures 21, and each crease structure 21 forms one period of crests 25 and troughs 26. In fact, the trough 26 at the end of each cycle and the baffle 30 connected to the trough 26, or the baffle 30 at the trough 26 at the beginning of the next cycle, i.e. the trough 26 formed at the connection between two cycles, is provided with the baffle 30, which has the advantage that the chambers 32 formed have a complete contractibility, showing a greater expandability, and therefore the chambers 32 can withstand greater air pressure and reach greater bending angles. In another embodiment, the crease structure 21 forms a period of peaks 25 and valleys 26, with at least two peaks 25 and at least one valley 26 in each period, thereby forming an approximate M-shape, wherein the M-shape can increase the spatial capacity of its chamber 32.

In one embodiment, referring to fig. 1, the vent 31 is disposed on the bottom of the baffle 30 and contacts the base 10 to form an arcuate channel. The gas inlet is provided at the bottom of the baffle 30 in order to make it difficult for gas entering the chamber 32 to flow out of the chamber 32 or to make it easier to fill the chamber 32 with gas from the gas inlet.

In one embodiment, the side of the soft body is provided with an air inlet 23, and the air inlet 23 corresponds to the air vent 31. The outside air can be introduced into the vent 31 through the air inlet 23, and then enter the chamber 32, wherein the aperture of the air inlet 23 is larger than that of the vent 31, and the shapes of the two can be the same or different.

In one embodiment, the side of the soft body opposite to the air inlet 23 is a closed surface, one part of the two sides of the soft body is fixedly connected with the side of the base, and the other part of the two sides of the soft body is arranged on the base. The side of the soft body opposite to the air inlet 23 is a closed surface, so that the external air can be always kept in the chamber 32, actually, the fold structures 21 on the two sides of the soft body are different from the middle fold structure 21 connected with the soft body, wherein one side is used for ventilation, the other side is used for sealing, and a sealing member can be arranged at the air inlet 23 so as to keep the filled air in the chamber 32.

It is to be understood that the above-described embodiments of the present application are merely illustrative of or illustrative of the principles of the present application and are not to be construed as limiting the present application. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present application shall be included in the protection scope of the present application. Further, it is intended that the appended claims cover all such changes and modifications that fall within the scope and range of equivalents of the appended claims, or the equivalents of such scope and range.

Claims

1. A software executing apparatus, comprising:

a base;

2. The soft effector of claim 1, wherein each of the folds has at least three fold regions thereon, the at least three fold regions being connected to form an approximate arch.

3. The soft effector of claim 2, wherein any one of the at least three folding regions has folding ravines, or a plurality of ravines are formed at the junctions between each of the crease structures.

4. The soft effector as claimed in claim 3, wherein each of the folding ravines are in communication with one another.

5. The soft effector as claimed in any of claims 2 to 4, wherein at least three of the fold regions have at least one bend.

6. The soft effector of claim 1, wherein the baffles are spaced apart at the fold structures that are connected two-by-two.

7. The soft actuating device of claim 6, wherein a plurality of peaks and troughs are formed between a plurality of the crease structures, and each crease structure forms one cycle of the peaks and the troughs.

8. The soft effector of claim 1, wherein the vent is disposed on the bottom of the flap and contacts the base to form an arcuate channel.

9. The device as claimed in claim 1, wherein the side of the soft body is provided with an air inlet, and the air inlet corresponds to the air vent.

10. The soft body actuator of claim 9, wherein the side of the soft body opposite to the air inlet is a closed surface, a portion of the two sides of the soft body is fixedly connected to the side of the base, and the other portion of the two sides of the soft body is disposed on the base.