NL2028126B1 - Pneumatic soft actuator as well as combined structure and soft robot with same - Google Patents

Pneumatic soft actuator as well as combined structure and soft robot with same Download PDF

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Publication number
NL2028126B1
NL2028126B1 NL2028126A NL2028126A NL2028126B1 NL 2028126 B1 NL2028126 B1 NL 2028126B1 NL 2028126 A NL2028126 A NL 2028126A NL 2028126 A NL2028126 A NL 2028126A NL 2028126 B1 NL2028126 B1 NL 2028126B1
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Netherlands
Prior art keywords
soft
pneumatic
gas
robot
gas inlet
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NL2028126A
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Dutch (nl)
Inventor
Xiao Chengkun
Zhong Yuan
Li Hu
Liang Long
Hu Junfeng
Li Xian
Wen Tao
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Univ Jiangxi Sci & Technology
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Publication of NL2028126B1 publication Critical patent/NL2028126B1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Robotics (AREA)
  • Actuator (AREA)
  • Manipulator (AREA)

Abstract

The present invention discloses a pneumatic soft actuator as well as a combined structure and a soft robot with the same. The pneumatic soft actuator comprises a soft actuator body; one end of the soft actuator body is provided with a gas inlet, and the other end or a side wall of the soft actuator body is provided with at least one gas outlet; a ratio of cross-sectional areas of the gas inlet to the gas outlet is greater than 50; and the gas inlet is communicated with the gas outlet through a variable-diameter pore channel with gradually reduced aperture. When the gas is released to reduce the gas pressure through the variable-diameter pore channel, the gas outlet with a smaller cross-sectional area of the variable-diameter pore channel prolongs the time for the gas pressure in a gas cavity to drop to a standard atmospheric pressure state, thereby producing a certain shape locking effect. Based on the principle, the present invention provides a corresponding combined structure and soft robot with the pneumatic soft actuators, and a control method of the soft robot, to effectively reduce the problem of complicated control in some lowprecision control application scenarios, improve the integrity of the soft actuators, simplify the control difficulty, and save the cost.

Description

PNEUMATIC SOFT ACTUATOR AS WELL AS COMBINED STRUCTURE AND SOFT
ROBOT WITH SAME Technical Field The present invention relates to the technical field of soft robots, in particular to a pneumatic soft actuator, a combined structure and a soft robot with the same, and a control method of the soft robot. Background Soft robots have become a new hot spot in the field of robot research due to own adaptability and security in a human-computer interaction environment. The air available at any time is used as a power source to effectively reduce the access threshold for researchers and enterprises, so that the pneumatically driven soft robots have become the mainstream of related research at present.
The research goal of most pneumatic soft robots and actuators is to achieve complex motion. However, the soft robots and the actuators are made of soft materials, thereby having relatively apparent hysteresis and being difficult to realize precise control. In most cases, the control precision can only be improved by improving the control precision of air pressure and increasing the number of gas sources to control more chambers. The above two methods will increase the control investment and the production cost.
However, not all soft robots and actuators pursue more precise control. For example, the pneumatic gripper, as the most widely used soft actuator at present, only needs to be inflated to reach a certain degree of bending because the shape and the volume of an object to be gripped are full of uncertainties; and the control is relatively simple. To improve the gripping compatibility and stability of the pneumatic gripper, the researchers divide one soft gripper into two or more sections, and add a plurality of input gas sources to control each section, thereby simulating the structure of human fingers. However, if a special structure can be designed to simulate the multi- joint motion of human fingers by one gas source, a lot of cost can be saved.
Therefore, how to propose a special structure to simplify the actuation of the soft actuator, improve the application efficiency of the actuator, and reduce the production cost in the case of low requirements for the control precision is an urgent problem for those skilled in the art to solve. Summary
In view of this, the present invention provides a pneumatic soft actuator to solve the above technical problems.
To achieve the above purpose, the following technical solution is adopted by the present invention: A pneumatic soft actuator comprises a soft actuator body, wherein one end of the soft actuator body is provided with a gas inlet, and the other end or a side wall of the soft actuator body is provided with at least one gas outlet; a ratio of cross-sectional areas of the gas inlet to the gas outlet is greater than 50; and the gas inlet is communicated with the gas outlet through a variable-diameter pore channel with gradually reduced aperture.
According to the above technical solution, the overall cross-sectional area of the variable- diameter pore channel of the soft actuator body provided by the present invention is continuously reduced, so that when a gas passes through the variable-diameter pore channel, the gas flow rate will be attenuated due to the continuously narrowed pore channel, and when the same volume of gas is allowed to pass, the time required to pass through the variable-diameter pore channel is greatly longer than that required to pass through an invariable-diameter structure. Correspondingly, when the gas flows out from a small-area gas outlet, the gas flow rate will be greatly reduced; i.e., when the gas passes through the variable-diameter pore channel and is released to reduce the gas pressure, the gas outlet with a smaller cross-sectional area of the variable-diameter pore channel will prolong the time for the gas pressure in a gas cavity to drop to the standard atmospheric pressure state, thereby producing a certain shape locking effect.
Preferably, in the above pneumatic soft actuator, the gas inlet and the gas outlet are of a circle, a polygon or an irregular shape. An inner surface of the variable-diameter pore channel is a curved surface, a flat surface, a stepped surface, a mathematical function forming surface or an irregular surface. The variable-diameter pore channel is of a straight-through type, an S type or a broken-line type. Different shapes can be designed to adapt to different use needs and specific use conditions.
The present invention also provides a combined structure with pneumatic soft actuators. A plurality of soft actuator bodies are sequentially arranged in the same direction; and the gas outlet and the gas inlet are communicated between every two adjacent soft actuator bodies through a soft cavity structure.
According to the above technical solution, the plurality of soft actuator bodies are sequentially arranged to sequentially control a plurality of soft cavity structures in the present invention: gas sequentially flows into one soft cavity structure from one soft actuator body, then flows into another soft actuator body, and continuously flows back into the subsequent soft cavity structure and soft actuator body through a gas channel; and the soft cavity structures enable gas cavities to realize an effect of sequentially expanding according to a ventilation sequence due to the effect of the variable-diameter structure, thereby effectively reducing the problem of complicated control in some low-precision control application scenarios. The variable-diameter pore channel made of soft materials is adopted, to reduce the number of gas pipes and gas sources, improve the integrity of the soft actuators, simplify the control difficulty, and save the cost.
The present invention also provides a soft robot with pneumatic soft actuators. The soft robot comprises a fixed disk, a regular hexagonal outer frame, pneumatic soft mechanisms, a regular hexagonal inner frame, a diversion framework, conversion cavities, soft actuator bodies and communication hoses.
The fixed disk is a regular hexagonal disk body.
The regular hexagonal outer frame is concentrically fixed on the surface of the fixed disk; and each side extends outwards in the same rotating direction to form a right-angle folded plate, and then intersects with an edge folding point of the fixed disk to form six mounting grooves.
The pneumatic soft mechanisms are located in the mounting grooves; one end of each pneumatic soft mechanism is fixed on the right-angle folded plate; and the pneumatic soft mechanisms can be bent and deformed to the outside of the fixed disk through inflation.
The regular hexagonal inner frame is concentrically fixed on the surface of the fixed disk and is located inside the regular hexagonal outer frame.
The diversion framework is a hollow regular hexagonal frame and is fixed outside the regular hexagonal inner frame.
Six conversion cavities are provided and are respectively fixed inside folding points of the diversion framework. A top surface of one of the conversion cavities is provided with a main gas inlet hole.
Five soft actuator bodies are provided and are sequentially communicated with the conversion cavities along each side of the diversion framework in the same direction inside the diversion framework by using the conversion cavity with the main gas inlet hole as a starting point.
The communication hoses are respectively communicated with the conversion cavities and the adjacent pneumatic soft mechanisms.
According to the above structure, the working principle of the combined structure with the pneumatic soft actuators is utilized in the present invention; and the combined structure is applied to the soft robot. The conversion cavities, the soft actuator bodies and the pneumatic soft mechanisms are combined to form a soft robot surrounded by a regular hexagon. During inflation, the pneumatic soft mechanisms are expanded sequentially to make the center of gravity of the soft robot continuously change between moving to the upper left and returning, and finally make the soft robot roll over continuously. Therefore, the soft robot in the present invention has a simple and effective structure, effectively reduces the problem of complicated control in some low- precision control application scenarios, improves the integrity of the soft actuators, simplifies the control difficulty, and saves the cost.
Preferably, in the above soft robot with pneumatic soft actuators, the pneumatic soft mechanisms are regular dentate long-strip cavity structures; and one end of each pneumatic soft mechanism is provided with a gas guide hole. A dentate structure of each pneumatic soft mechanism faces the inner side of each mounting groove. A bending motion can be produced when the pneumatic soft mechanisms are inflated through the dentate structures.
Preferably, in the above soft robot with pneumatic soft actuators, the diversion framework is a cavity structure surrounded by two annular regular hexagonal silica gel plates, the fixed disk and the regular hexagonal inner frame. The soft robot is simple in structure, easy to build, cost- saving, and controllable in weight.
Preferably, in the above soft robot with pneumatic soft actuators, hose channels through which the communication hoses pass are formed in the regular hexagonal outer frame and the right-angle folded plates, thereby benefiting the arrangement of the hose channels.
Preferably, in the above soft robot with pneumatic soft actuators, the main gas inlet hole is connected with a main gas inlet pipe, for connecting with an external gas source.
Preferably, in the above soft robot with pneumatic soft actuators, the conversion cavities are rectangular structures. The conversion cavities can be structures of any shape to meet the needs of conversion and inflation.
On the basis of the soft robot with the pneumatic soft actuators, the present invention further provides a corresponding control method, comprising the following steps: inflating the main gas inlet hole; allowing the gas to pass through the conversion cavities and the soft actuator bodies and then fill the pneumatic soft mechanisms sequentially; and releasing the gas to reduce the gas pressure when the endmost pneumatic soft mechanism is about to reach a maximum set gas pressure value and a maximum expanding deformation, so that the soft robot can perform a periodic roll-over motion.
According to the above technical solution, the six pneumatic soft mechanisms are expanded sequentially during inflation. When the endmost pneumatic soft mechanism is about to reach the maximum set gas pressure value and the maximum expanding deformation, the gas is released to reduce the gas pressure; and the pneumatic soft mechanisms are recovered sequentially.
Under such control, the soft robot achieves a periodic roll-over motion. The control is simple and effective, convenient and rapid.
According to the above technical solutions, compared with the prior art, the present invention discloses a pneumatic soft actuator as well as a combined structure and a soft robot with the 5 same, and has the beneficial effects as follows.
1. The overall cross-sectional area of the variable-diameter pore channel of the soft actuator body provided by the present invention is continuously reduced, so that when the gas passes through the variable-diameter pore channel, the gas flow rate will be attenuated due to the continuously narrowed pore channel, and when the same volume of gas is allowed to pass, the time required to pass through the variable-diameter pore channel is greatly longer than that required to pass through an invariable-diameter structure. Correspondingly, when the gas flows out from a small-area gas outlet, the gas flow rate will be greatly reduced; i.e., when the gas passes through the variable-diameter pore channel and is released to reduce the gas pressure, the gas outlet with a smaller cross-sectional area of the variable-diameter pore channel will prolong the time for the gas pressure in the gas cavity to drop to the standard atmospheric pressure state, thereby producing a certain shape locking effect.
2. The plurality of soft actuator bodies are sequentially arranged to sequentially control the plurality of soft cavity structures in the present invention: the gas sequentially flows into one soft cavity structure from one soft actuator body, then flows into another soft actuator body, and continuously flows back into the subsequent soft cavity structure and soft actuator body through the gas channel; and the soft cavity structures enable the gas cavities to realize an effect of sequentially expanding according to the ventilation sequence due to the effect of the variable- diameter structure, thereby effectively reducing the problem of complicated control in some low- precision control application scenarios. The variable-diameter pore channel made of soft materials is adopted, to reduce the number of gas pipes and gas sources, improve the integrity of the soft actuators, simplify the control difficulty, and save the cost.
3. The working principle of the combined structure with the pneumatic soft actuators is utilized in the present invention; and the combined structure is applied to the soft robot. The conversion cavities, the soft actuator bodies and the pneumatic soft mechanisms are combined to form the soft robot surrounded by a regular hexagon. During inflation, the pneumatic soft mechanisms are expanded sequentially to make the center of gravity of the soft robot continuously change between moving to the upper left and returning, and finally make the soft robot roll over continuously. The soft robot in the present invention has a simple and effective structure, effectively reduces the problem of complicated control in some low-precision control application scenarios, improves the integrity of the soft actuators, simplifies the control difficulty, and saves the cost.
4. On the basis of the soft robot with the pneumatic soft actuators, the present invention further provides the corresponding control method.
The six pneumatic soft mechanisms are expanded sequentially during inflation.
When the endmost pneumatic soft mechanism is about to reach the maximum set gas pressure value and the maximum expanding deformation, the gas is released to reduce the gas pressure; and the pneumatic soft mechanisms are recovered sequentially.
Under such control, the soft robot achieves a periodic roll-over motion.
The control is simple and effective, convenient and rapid.
Description of Drawings To more clearly describe the technical solutions in the embodiments of the present invention or in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be simply presented below.
Apparently, the drawings in the following description are merely the embodiments of the present invention, and for those ordinary skilled in the art, other drawings can also be obtained according to the provided drawings without contributing creative labor.
Fig. 1 is a structural schematic diagram of a pneumatic soft actuator with a gas inlet and a gas outlet provided by the present invention; Fig. 2 is a structural schematic diagram of a pneumatic soft actuator with a gas inlet and three gas outlets provided by the present invention; Fig. 3 is a structural schematic diagram of gas inlets and gas outlets with three different shapes provided by the present invention; Fig. 4 is a structural schematic diagram of inner walls of variable-diameter pore channels with three different shapes provided by the present invention; Fig. 5 is a structural schematic diagram of variable-diameter pore channels with three different shapes provided by the present invention; Fig. 6 is a structural schematic diagram of a combined structure with pneumatic soft actuators provided by the present invention; Fig. 7 is a structural schematic diagram of a soft robot with pneumatic soft actuators provided by the present invention; Fig. 8 is a structural schematic diagram of combination of a fixing disk, a regular hexagonal outer frame and a regular hexagonal inner frame provided by the present invention;
Fig. 9 is a structural schematic diagram of connection of a diversion framework as well as conversion cavities and soft actuator bodies inside the diversion framework provided by the present invention; Fig. 10 is a structural schematic diagram of pneumatic soft mechanisms provided by the present invention; Fig. 11 is a sectional view of pneumatic soft mechanisms provided by the present invention; and Fig. 12 is a structural schematic diagram of controlling a soft robot to perform a roll-over action.
In figures: 1-soft actuator body; 11-gas inlet; 12-gas outlet; 13-variable-diameter pore channel, 2-soft cavity structure; 3-fixed disk; 4-regular hexagonal outer frame; 41-right-angle folded plate; 42-mounting groove; 43-hose channel; 5-pneumatic soft mechanism; 51-gas guide hole; 6-regular hexagonal inner frame; 7-diversion framework; 8-conversion cavity; 81-main gas inlet hole; 82-main gas inlet pipe;
9-communication hose.
Detailed Description The technical solution in the embodiments of the present invention will be clearly and fully described below in combination with the drawings in the embodiments of the present invention.
Apparently, the described embodiments are merely part of the embodiments of the present invention, not all of the embodiments.
Based on the embodiments in the present invention, all other embodiments obtained by those ordinary skilled in the art without contributing creative labor will belong to the protection scope of the present invention.
Embodiment 1: Referring to Fig. 1, the embodiment of the present invention discloses a pneumatic soft actuator, which comprises a soft actuator body 1. One end of the soft actuator body 1 is provided with a gas inlet 11; and the other end or a side wall of the soft actuator body is provided with a gas outlet 12. A ratio of cross-sectional areas of the gas inlet 11 to the gas outlet 12 is greater than 50; and the gas inlet 11 is communicated with the gas outlet 12 through a variable-diameter pore channel 13 with gradually reduced aperture.
Referring to Figs. 3-5, the gas inlet 11 and the gas outlet 12 are of a circle, a polygon or an irregular shape.
An inner surface of the variable-diameter pore channel 13 is a curved surface, a flat surface, a stepped surface, a mathematical function forming surface or an irregular surface.
The variable-diameter pore channel 13 is of a straight-through type, an S type or a broken-line type.
Embodiment 2: Referring to Fig. 2, the embodiment of the present invention discloses a pneumatic soft actuator, which comprises a soft actuator body 1. One end of the soft actuator body 1 is provided with a gas inlet 11; and the other end and a side wall of the soft actuator body is provided with three gas outlets 12. A ratio of cross-sectional areas of the gas inlet 11 to the gas outlets 12 is greater than 50; and the gas inlet 11 is communicated with the gas outlets 12 through a variable- diameter pore channel 13 with gradually reduced aperture.
Referring to Figs. 3-5, the gas inlet 11 and the gas outlets 12 are of a circle, a polygon or an irregular shape.
An inner surface of the variable-diameter pore channel 13 is a curved surface, a flat surface, a stepped surface, a mathematical function forming surface or an irregular surface.
The variable-diameter pore channel 13 is of a straight-through type, an S type or a broken-line type.
Embodiment 3: Referring to Fig. 8, the embodiment of the present invention discloses a combined structure with pneumatic soft actuators. A plurality of soft actuator bodies 1 are sequentially arranged in the same direction; and the gas outlet 12 and the gas inlet 11 are communicated between every two adjacent soft actuator bodies 1 through soft cavity structures 2. A plurality of soft cavity structures 2 can be controlled sequentially.
Embodiment 4: Referring to Figs. 7-11, the embodiment of the present invention discloses a soft robot with pneumatic soft actuators. The soft robot comprises a fixed disk 3, a regular hexagonal outer frame 4, pneumatic soft mechanisms 5, a regular hexagonal inner frame 8, a diversion framework 7, conversion cavities 8, soft actuator bodies 1 and communication hoses 9.
The fixed disk 3 is a regular hexagonal disk body.
The regular hexagonal outer frame 4 is concentrically fixed on the surface of the fixed disk 3; and each side extends outwards in the same rotating direction to form a right-angle folded plate 41, and then intersects with an edge folding point of the fixed disk 3 to form six mounting grooves
42.
The pneumatic soft mechanisms 5 are located in the mounting grooves 42; one end of each pneumatic soft mechanism is fixed on the right-angle folded plate 41; and the pneumatic soft mechanisms 5 can be bent and deformed to the outside of the fixed disk 3 through inflation.
The regular hexagonal inner frame 6 is concentrically fixed on the surface of the fixed disk 3 and is located inside the regular hexagonal outer frame 4.
The diversion framework 7 is a hollow regular hexagonal frame and is fixed outside the regular hexagonal inner frame 6.
Six conversion cavities 8 are provided and are respectively fixed inside folding points of the diversion framework 7. A top surface of one of the conversion cavities 8 is provided with a main gas inlet hole 81.
Five soft actuator bodies 1 are provided and are sequentially communicated with the conversion cavities 8 along each side of the diversion framework 7 in the same direction inside the diversion framework by using the conversion cavity 8 with the main gas inlet hole 81 as a starting point.
The communication hoses 9 are respectively communicated with the conversion cavities 8 and the adjacent pneumatic soft mechanisms 5.
To further optimize the above technical solution, the pneumatic soft mechanisms 5 are regular dentate long-strip cavity structures; and one end of each pneumatic soft mechanism is provided with a gas guide hole 51. A dentate structure of each pneumatic soft mechanism 5 faces the inner side of each mounting groove 42.
To further optimize the above technical solution, the diversion framework 7 is a cavity structure surrounded by two annular regular hexagonal silica gel plates, the fixed disk 3 and the regular hexagonal inner frame 6.
To further optimize the above technical solution, hose channels 43 through which the communication hoses 9 pass are formed in the regular hexagonal outer frame 4 and the right- angle folded plates 41. To further optimize the above technical solution, the main gas inlet hole 81 is connected with a main gas inlet pipe 82. To further optimize the above technical solution, the conversion cavities 8 are rectangular structures. Embodiment 5: Referring to Fig. 12, the embodiment of the present invention discloses a control method of a soft robot with pneumatic soft actuators. The control method comprises: inflating a main gas inlet hole 81; allowing gas to pass through conversion cavities 8 and soft actuator bodies 1 and then fill pneumatic soft mechanisms 5 sequentially; and releasing the gas to reduce the gas pressure when the endmost pneumatic soft mechanism 5 is about to reach a maximum set gas pressure value and a maximum expanding deformation, so that the soft robot can perform a periodic roll-over motion. The specific control principle of the present embodiment is as follows: Six pneumatic soft mechanisms 5 are respectively fixed on right-angle folded plates 41 of mounting grooves 42. The pneumatic soft mechanisms 5 are regular dentate structures composed of a plurality of pneumatic grids, and the pneumatic grids are connected by internal gas channels. The gas flows in from the main gas inlet hole 81 of the conversion cavity 8 in the diversion framework 7 through the communication hose 9, and flows into the pneumatic soft mechanisms 5 from the gas guide hole 51. When the gas pressure reaches a certain level, the pneumatic soft mechanisms 5 bend inwards. The six pneumatic soft mechanisms 5 on the soft robot can be controlled sequentially by adjusting the gas which passes through five soft actuator bodies 1 in the diversion framework 7. After the gas is introduced into the conversion cavities 8, the gas passes through a first conversion cavity 8, is introduced into a corresponding pneumatic soft mechanism 5 through the communication hose 9, and then makes the pneumatic soft mechanism 5 produce a bending and expanding reaction. When the gas pressure reaches the set maximum value, the pneumatic soft mechanism 5 will not change after reaching a maximum expanding and bending state. The center of gravity of the soft robot will be shifted to the upper left due to the bending and expanding reaction of the pneumatic soft mechanism 5, so that the soft robot is rolled over and displaced to the left as a whole. After the roll-over action is completed, the center of gravity of the soft robot will be returned to the lower right to a certain extent. The soft actuator bodies 1 on the diversion framework 7 make the time for the gas to flow into the five pneumatic soft mechanisms 5 different, so that the five pneumatic soft mechanisms 5 are expanded sequentially. Such sequential expansion makes the center of gravity of the soft robot constantly change between moving to the upper left and returning, and finally makes the soft robot achieve continuous roll-over motion.
When the last pneumatic soft mechanism 5 is about to reach the maximum set gas pressure and the maximum expanding deformation, the gas is released to reduce the gas pressure; the pneumatic soft mechanism 5 is rapidly restored to an original state; and the five pneumatic soft mechanisms 5 are restored in turn. The soft actuator bodies 1 have a special variable-diameter structure, so the release of gas also needs to be achieved sequentially. Therefore, the soft robot achieves a periodic roll-over motion.
Each embodiment in the description is described in a progressive way. The difference of each embodiment from each other is the focus of explanation. The same and similar parts among all of the embodiments can be referred to each other. For the device disclosed by the embodiments, because the device corresponds to a method disclosed by the embodiments, the device is simply described. Refer to the description of the method part for the related part.
The above description of the disclosed embodiments enables those skilled in the art to realize or use the present invention. Many modifications to these embodiments will be apparent to those skilled in the art. The general principle defined herein can be realized in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principle and novel features disclosed herein.

Claims (10)

CONCLUSIESCONCLUSIONS 1. Een pneumatische zachte actuator, bestaande uit een zacht actuatorlichaam (1), waarbij een uiteinde van het zachte actuatorlichaam (1) is voorzien van een gasinlaat (11), en het andere uiteinde of een zijwand van het zachte actuatorlichaam is voorzien van ten minste een gasuitlaat (12); waarbij de verhouding van de dwarsdoorsnede van de gasinlaat (11) tot de gasuitlaat (12) groter is dan 50; en waarbij de gasinlaat (11) is verbonden met de gasuitlaat (12) via een poriekanaal met variabele diameter (13) met geleidelijk afnemende opening.A pneumatic soft actuator, consisting of a soft actuator body (1), wherein one end of the soft actuator body (1) is provided with a gas inlet (11), and the other end or a side wall of the soft actuator body is provided with at least at least one gas outlet (12); wherein the cross-sectional ratio of the gas inlet (11) to the gas outlet (12) is greater than 50; and wherein the gas inlet (11) is connected to the gas outlet (12) via a variable diameter pore channel (13) with gradually decreasing opening. 2. De pneumatische zachte actuator volgens conclusie 1, waarbij de gasinlaat (11) en de gasuitlaat (12) de vorm van een cirkel, van een veelhoek of een onregelmatige vorm hebben; waarbij het binnenoppervlak van het poriekanaal met variabele diameter (13) een gebogen oppervlak, een plat oppervlak, een getrapt oppervlak, een door een mathematische functie gevormd oppervlak of een onregelmatig oppervlak is; en waarbij het poriekanaal met variabele diameter (13) van een recht type, een S-type of een onderbroken lijntype is.The pneumatic soft actuator according to claim 1, wherein the gas inlet (11) and the gas outlet (12) have a circle, polygon or irregular shape; wherein the inner surface of the variable diameter pore channel (13) is a curved surface, a flat surface, a stepped surface, a surface formed by a mathematical function or an irregular surface; and wherein the variable diameter pore channel (13) is of a straight type, an S-type or a broken line type. 3. Een gecombineerde structuur met pneumatische zachte actuatoren volgens conclusie 1 of 2, waarin een aantal zachte actuatorlichamen (1) achtereenvolgens in dezelfde richting zijn gerangschikt; en de gasuitlaat (12) en de gasinlaat (11) tussen elke twee aangrenzende zachte actuatorlichamen (1) met elkaar in verbinding staan via een zachte holtestructuur (2).A combined pneumatic soft actuator structure according to claim 1 or 2, wherein a plurality of soft actuator bodies (1) are successively arranged in the same direction; and the gas outlet (12) and the gas inlet (11) communicating between any two adjacent soft actuator bodies (1) through a soft cavity structure (2). 4. Een zachte robot met pneumatische zachte actuatoren volgens conclusie 1 of 2, welke robot omvat: een vaste schijf (3), een regelmatig zeshoekig uitwendig frame (4), pneumatische zachte mechanismen (5), een regelmatig zeshoekig inwendig frame (6), een omleidingsframe (7), conversieholtes (8), zachte actuatorlichamen (1) en communicatieslangen (9), waarbij — de vaste schijf (3) een regelmatig zeshoekig schijflichaam is; — het regelmatige zeshoekige uitwendige frame (4) concentrisch is bevestigd op het oppervlak van de vaste schijf (3); en elke zijde zich in dezelfde draairichting naar buiten uitstrekt om een haaks gevouwen plaat (41) te vormen, en vervolgens met een randvouwpunt van de vaste schijf (3) snijdt om zes montagegroeven (42) te vormen; — de pneumatische zachte mechanismen (5) zich in de bevestigingsgroeven (42} bevinden; een uiteinde van elk pneumatisch zacht mechanisme bevestigd is op de rechthoekig gevouwen plaat (41); en de pneumatische zachte mechanismen (5) door opblazen naar de buitenkant van de vaste schijf (3) kunnen worden gebogen en vervormd; — het regelmatige zeshoekige inwendige frame (6) concentrisch is bevestigd op het oppervlak van de vaste schijf (3) en zich binnen het regelmatige zeshoekige uitwendige frame (4) bevindt; — het omleidingsframe (7) een hol regelmatig zeshoekig frame is en is bevestigd buiten het regelmatig zeshoekige inwendige frame (6);A soft robot with pneumatic soft actuators according to claim 1 or 2, the robot comprising: a fixed disk (3), a regular hexagonal outer frame (4), pneumatic soft mechanisms (5), a regular hexagonal inner frame (6) a deflection frame (7), conversion cavities (8), soft actuator bodies (1) and communication hoses (9), wherein - the fixed disk (3) is a regular hexagonal disk body; - the regular hexagonal outer frame (4) is mounted concentrically on the surface of the fixed disk (3); and each side extends outwardly in the same rotational direction to form a square-folded plate (41), and then intersects with an edge folding point of the fixed disk (3) to form six mounting grooves (42); — the pneumatic soft-mechanisms (5) are located in the mounting grooves (42}; one end of each pneumatic soft-mechanism is fixed to the rectangular folded plate (41); and the pneumatic soft-mechanisms (5) by inflation to the outside of the fixed disk (3) can be bent and deformed; — the regular hexagonal internal frame (6) is mounted concentrically on the surface of the fixed disk (3) and located within the regular hexagonal external frame (4), — the diverting frame ( 7) is a hollow regular hexagonal frame and mounted outside the regular hexagonal internal frame (6); — voorzien is in zes conversieholten (8) die bevestigd zijn binnen vouwpunten van het afleidingskader (7); een bovenvlak van een van de conversieholten (8) voorzien is van een hoofdgasinlaatopening (81); — is voorzien in vijf zachte actuatorlichamen (1) die achtereenvolgens in verbinding staan met de conversieholten (8) langs elke zijde van het omleidingsframe (7) in dezelfde richting binnen het omleidingsframe door gebruik te maken van de conversieholte (8) met de opening voor de hoofdgasinlaat (81) als uitgangspunt; — de communicatieslangen (9) die in verbinding staan met de conversieholten (8) en de aangrenzende pneumatische zachte mechanismen (5).— six conversion cavities (8) are provided which are mounted within folding points of the deflection frame (7); an upper surface of one of the conversion cavities (8) is provided with a main gas inlet opening (81); — five soft actuator bodies (1) are provided sequentially in communication with the conversion cavities (8) along each side of the diversion frame (7) in the same direction within the diversion frame by using the conversion cavity (8) with the opening for the main gas inlet (81) as a starting point; — the communication hoses (9) communicating with the conversion cavities (8) and the adjacent pneumatic soft mechanisms (5). 5. De zachte robot met pneumatische zachte actuatoren volgens conclusie 4, waarbij de pneumatische zachte mechanismen (5) regelmatige getande lange-strook holtestructuren zijn, waarbij een uiteinde van elk pneumatisch zacht mechanisme is voorzien van een gasgeleidingsopening (51); en een getande structuur van elk pneumatisch zacht mechanisme (5) is gericht naar de binnenzijde van elke montagegroef (42).The soft robot with pneumatic soft actuators according to claim 4, wherein the pneumatic soft mechanisms (5) are regular toothed long-strip cavity structures, one end of each pneumatic soft mechanism having a gas guiding opening (51); and a toothed structure of each pneumatic soft mechanism (5) faces the inside of each mounting groove (42). 6. De zachte robot met pneumatische zachte actuatoren volgens conclusie 4, waarbij het omleidingsframe (7) een holle structuur is omgeven door twee ringvormige regelmatige zeshoekige silicagelplaten, de vaste schijf (3) en het regelmatige zeshoekige inwendige frame (6).The soft robot with pneumatic soft actuators according to claim 4, wherein the bypass frame (7) is a hollow structure surrounded by two annular regular hexagonal silica gel plates, the fixed disk (3) and the regular hexagonal internal frame (6). 7. De zachte robot met pneumatische zachte actuatoren volgens conclusie 4, waarbij slangkanalen (43) waardoorheen de communicatieslangen (9) lopen, zijn gevormd in het regelmatige zeshoekige uitwendige frame (4) en de haaks gevouwen platen (41).The soft robot with pneumatic soft actuators according to claim 4, wherein hose channels (43) through which the communication hoses (9) pass are formed in the regular hexagonal outer frame (4) and the square folded plates (41). 8. De zachte robot met pneumatische zachte actuatoren volgens conclusie 4, waarbij de hoofdgasinlaatopening (81) verbonden is met een hoofdgasinlaatpijp (82).The soft robot with pneumatic soft actuators according to claim 4, wherein the main gas inlet opening (81) is connected to a main gas inlet pipe (82). 9. De zachte robot met pneumatische zachte actuatoren volgens conclusie 4, waarbij de omzettingsholten (8) rechthoekige structuren zijn.The soft robot with pneumatic soft actuators according to claim 4, wherein the conversion cavities (8) are rectangular structures. 10. Een werkwijze voor het besturen van de zachte robot met pneumatische zachte actuatoren volgens willekeurig welke van de conclusies 4 - 9, welke werkwijze de volgende stappen omvat: het opblazen van de hoofdgasinlaatopening (81); het door de omzettingsholten (8) en de zachte actuatorlichamen (1) laten stromen van het gas en vervolgens achtereenvolgens het vullen van de pneumatische zachte mechanismen (5); en laten ontsnappen van het gas om de gasdruk te verminderen zodra het meest eindstandige pneumatische zachte mechanisme (5) op het punt staat een maximale ingestelde gasdrukwaarde en een maximale uitzettende vervorming te bereiken, zodat de zachte robot een periodieke koprolbeweging kan uitvoeren.A method of controlling the soft robot with pneumatic soft actuators according to any one of claims 4 to 9, the method comprising the steps of: inflating the main gas inlet opening (81); flowing the gas through the conversion cavities (8) and the soft actuator bodies (1) and then successively filling the pneumatic soft mechanisms (5); and venting the gas to reduce the gas pressure once the most terminal pneumatic soft mechanism (5) is about to reach a maximum set gas pressure value and a maximum expanding deformation, so that the soft robot can perform a periodic rollover.
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