CN114770486B - Multi-degree-of-freedom rigidity-variable modularized flexible driver and bionic robot - Google Patents

Abstract

The application provides a multi-degree-of-freedom variable-stiffness modularized flexible driver and a bionic robot, which comprise a quick-connection upper base, a telescopic unit, a variable-stiffness unit and a quick-connection lower base, wherein the variable-stiffness unit is circumferentially distributed between the quick-connection upper base and the quick-connection lower base; the telescopic unit is vertically fixed at the circumferential centers of the quick-connection upper base and the quick-connection lower base; the application realizes the multi-degree-of-freedom variable stiffness, high-degree modularization reconstruction and overall light weight of the soft driver, adopts easily available materials and a manufacturing process suitable for industrial production, and greatly reduces the cost. The application utilizes the bionic principle, combines the deformation and tension of the driver module with the pressure variation performance, realizes various movement modes such as peristaltic movement, flat ground meandering movement, planar omnidirectional movement, mechanical arm spatial movement and the like in the pipeline through the free combination among the modules, and has wide potential and application space.

Description

Modular flexible actuator and bionic robot with multiple degrees of freedom and variable stiffness

Technical field

The present invention relates to the technical field of soft robots, and specifically to modular flexible actuators with multiple degrees of freedom and variable stiffness and bionic robots.

Background technique

Biomimetic robots usually imitate the appearance characteristics and movement methods of living creatures in nature. They have the characteristics of high movement efficiency, strong maneuverability, strong environmental adaptability, and good concealment. They have broad applications in environmental surveying, scientific exploration, military reconnaissance and other fields. Because of its good environmental adaptability, flexibility and safety, flexible robots have unique advantages in unstructured environments, opening up new possibilities in the field of bionics. Existing flexible robots are often made of silicone, which has complex processes, long manufacturing cycles, and high device quality, which are greatly limited in practical applications; in addition, a single flexible actuator can often only achieve a single function, which is not satisfied with the bionic field. Complex and changing requirements.

A search of prior art patent documents found that the Chinese invention patent publication number is CN106859770B, which discloses a multi-degree-of-freedom variable stiffness pneumatic surgical operating arm and a manufacturing method. It belongs to the field of multi-degree-of-freedom minimally invasive surgical operating arms and is highly flexible. It has the characteristics of variable movement ability and stiffness, and is small in size and light in weight. It causes less rigid damage to the human body and has fewer air paths and is easier to control. The pneumatic driver unit includes a cylindrical driver, with bases connected at both ends of the driver. The driver includes an external stiffness adjustment layer, and a drive layer is provided inside the stiffness adjustment layer. The driving layer includes a circular cylindrical silicone rubber layer with through holes, a number of cavities are opened on the silicone rubber layer, the inner surface of the silicone rubber layer is covered with a PDMS layer, and the outer surface of the silicone rubber layer is covered with double-helical nylon fibers. The base is provided with air holes corresponding to the cavity and a vacuum port corresponding to the stiffness adjustment layer. Therefore, the method introduced in this document and the present invention belong to different inventive concepts.

Contents of the invention

In view of the deficiencies in the prior art, the purpose of the present invention is to provide a multi-degree-of-freedom variable-stiffness modular flexible actuator and a bionic robot.

According to a multi-degree-of-freedom variable-stiffness modular flexible actuator provided by the present invention, it includes a quick-connect upper base, a telescopic unit, a variable-stiffness unit and a quick-connect lower base. The variable-stiffness units are circumferentially distributed on the quick-connect upper base and the quick-connect lower base. between the lower bases; the telescopic unit is vertically fixed at the circumferential center of the upper quick-connect base and the lower quick-connect base;

When the telescopic unit is in a vacuum state, the telescopic unit expands and contracts, exerting tensile force on the quick-connect upper base and quick-connect lower base, driving the entire module to compress, driving the variable stiffness unit to further bend, and storing elastic potential energy;

Vacuum one side of the variable-stiffness unit, causing the variable-stiffness unit to deform to the other side, driving the entire module to bend; after stopping the pumping, the telescopic unit and the variable-stiffness unit are connected to the atmosphere, and the telescopic unit no longer produces tensile force and the stiffness changes. The unit releases energy instantly, causing the module to make a jumping action, thereby completing an action cycle.

In some embodiments, the telescopic unit includes an artificial muscle conduit, an artificial muscle origami frame, an artificial muscle flexible outer skin, and an artificial muscle quick connector. The artificial muscle flexible outer skin is wrapped on the artificial muscle origami frame. The artificial muscle origami frame Both ends of the artificial muscle quick connector are connected, the flexible outer skin of the artificial muscle is inserted into the deep groove of the artificial muscle quick connector, one end of the artificial muscle catheter is inserted into the flexible outer skin of the artificial muscle, and the other end of the artificial muscle catheter is connected to the air pump;

When the telescopic unit is in its natural state, the origami-style skeleton of the artificial muscles opens, and the flexible outer skin of the artificial muscles spreads, driving the overall length of the telescopic unit to extend;

When the telescopic unit is in a vacuum state, the flexible outer skin of the artificial muscle contracts inward under the action of atmospheric pressure, and at the same time pushes the artificial muscle origami frame to compress, and the flexible outer skin of the artificial muscle is restricted by the origami frame of the artificial muscle, and moves toward the present The recesses shrink, causing the overall length of the telescopic unit to shorten.

In some embodiments, the variable stiffness unit includes a variable stiffness elastic element conduit, a variable stiffness elastic element outer skin, a variable stiffness elastic element inner friction plate, the variable stiffness elastic element inner friction plate is arranged in a stack, and the variable stiffness elastic element outer skin is wrapped in Outside the friction plate of the inner layer of the variable stiffness elastic element, the variable stiffness elastic element conduit is connected to one end of the outer skin of the variable stiffness elastic element.

In some embodiments, the upper quick-connect base is provided with a first convex slot, a longitudinal quick-connect slot, a first elastic element slot, a first transverse quick-connect slot and a first tracheal guide hole;

The first tracheal guide hole is distributed at the center of the circle of the quick-connect upper base, the first convex-shaped slot is circumferentially symmetrically distributed outside the first tracheal guide hole, and the longitudinal quick-connect slot and the first elastic element slot are circumferentially symmetrically distributed. On the outside of the first convex-shaped card slot, the longitudinal quick-connect card slot and the first elastic element card slot are spaced apart, and the first transverse quick-connect card slot is distributed on the outside of the longitudinal quick-connect card slot.

In some embodiments, the lower quick-connect base is provided with a second convex slot, a longitudinal quick-connect buckle, a second elastic element slot, a second transverse quick-connect slot and a second tracheal guide hole;

The second tracheal guide hole is distributed at the center of the circle of the quick-connect lower base, the second convex-shaped slot is circumferentially symmetrically distributed outside the second tracheal guide hole, and the longitudinal quick-connect buckle and the second elastic element slot are circumferentially symmetrically distributed. The longitudinal quick-connect buckle and the second elastic element buckle are spaced outside the second convex-shaped slot, and the second transverse quick-connect buckle is distributed outside the longitudinal quick-connect buckle.

In some embodiments, the artificial muscle quick connector is connected to the upper quick-connect base and the lower quick-connect base through the first convex-shaped slot and the second convex-shaped slot respectively;

In some embodiments, wedge-shaped protrusions are provided at both ends of the variable stiffness unit, and the wedge-shaped protrusions are matched and connected with the first elastic element slot and the second elastic element slot;

Insert the wedge-shaped protrusions into the first elastic element slot and the second elastic element slot respectively to realize the connection between the variable stiffness unit and the quick-connect upper base and the quick-connect lower base.

In some embodiments, the longitudinal quick-connect slot and the longitudinal quick-connect buckle correspond one to one;

When modules are connected vertically, two adjacent modules are connected through longitudinal quick-connect slots and longitudinal quick-connect buckles.

In some embodiments, the first transverse quick-connect card slot and the second transverse quick-connect card slot correspond one to one;

When modules are connected horizontally, two adjacent modules are connected to the quick coupler through the first horizontal quick-connect card slot and the second horizontal quick-connect card slot.

The invention also provides a bionic robot, which includes a multi-degree-of-freedom variable-stiffness modular flexible actuator.

Compared with the prior art, the present invention has the following beneficial effects:

(1) Based on the principles of negative pressure drive and pneumatic variable stiffness, the present invention designs a multi-degree-of-freedom modular flexible actuator with variable stiffness, and based on the principle of bionics, is combined into a bionic robot whose appearance and movement method are close to those of actual organisms. Achieve efficient propulsion and movement, with good environmental adaptability and flexibility;

(2) The driver in the present invention adopts a modular design, which has low production cost, convenient assembly and maintenance, and is convenient for cluster arrangement; the materials used in the driver are all thin plates or film materials, achieving overall lightweight, compared with existing drivers Has a higher energy-to-mass ratio;

(3) In the present invention, the driver adopts a variable stiffness design based on negative pressure drive, which makes the stiffness freely controllable. On this basis, it realizes one telescopic degree of freedom and two bending degrees of freedom of the driver, so that it can be modularly combined. Achieve more complex movements;

(4) Each component of the driver in the present invention can be made of transparent materials, which can carry out scientific exploration activities without affecting the normal activities of living things, or can be used for work tasks with high concealment requirements.

Description of the drawings

Other features, objects and advantages of the present invention will become more apparent by reading the detailed description of the non-limiting embodiments with reference to the following drawings:

Figure 1 is a schematic diagram of the modular driver in its natural state;

Figure 2 is a schematic diagram of the telescopic unit in its natural state;

Figure 3 is a schematic diagram of the modular driver in a compressed state;

Figure 4 is a schematic diagram of the telescopic unit in the compressed state;

Figure 5 is a schematic diagram of the modular driver in a bent state;

Figure 6 is a schematic structural diagram of the quick-connect upper base;

Figure 7 is a schematic structural diagram of the quick-connect lower base;

Figure 8 is a schematic diagram of the connection method between the artificial muscle quick-connector and the quick-connect base;

Figure 9 is a schematic structural diagram and an exploded view of the variable stiffness elastic element;

Figure 10 is a graph showing the deformation of the modular driver as a function of the driving air pressure;

Figure 11 is a graph showing the change of the pulling force of the modular driver with the driving air pressure;

Figure 12 shows the deformation of the modular driver as a function of driving frequency;

Figure 13 shows the change of the pulling force of the modular driver with the driving frequency;

Figure 14 shows Example 3: a worm-like robot composed of modular drives connected in series;

Figure 15 shows Example 4: a planar omnidirectional mobile robot composed of modular drives combined in parallel;

Figure 16 is a schematic diagram of the transverse quick connector between modules;

Figure 17 is Example 5: a spatial multi-degree-of-freedom manipulator composed of modular actuators connected in series;

Marked in the picture:

1 quick-connect upper base, 101 first artificial muscle quick-connect slot, 102 first longitudinal quick-connect slot, 103 first variable-stiffness elastic element slot, 104 first transverse quick-connect slot, 105 first air pipe Guide hole, 2 variable stiffness units, 201 variable stiffness elastic element conduit, 202 variable stiffness elastic element outer skin, 203 variable stiffness elastic element inner friction plate, 3 telescopic units, 301 artificial muscle conduit, 302 artificial muscle origami frame, 303 Artificial muscle flexible outer skin, 304 artificial muscle quick coupler, 4 quick coupler lower base, 401 second artificial muscle quick coupler slot, 402 second longitudinal quick connect buckle, 403 second variable stiffness elastic element slot, 404 second lateral quick connector slot, 405 second tracheal guide hole, 5 inter-module lateral quick connectors, 6 drive modules, 7 drive modules, 8 drive modules, 9 drive modules, 10 control system, 11 drive modules, 12 drives module, 13-driver module, 14-driver module, 15-driver module, 16-driver module.

Detailed ways

The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

Example 1

The invention provides a multi-degree-of-freedom variable-stiffness modular flexible actuator, as shown in Figures 1-9, including a quick-connect upper base 1, a telescopic unit 3, a variable-stiffness unit 2 and a quick-connect lower base 4. The unit 2 is circumferentially distributed between the upper quick-connect base 1 and the lower quick-connect base; the telescopic unit is vertically fixed at the circumferential center of the upper quick-connect base 1 and the lower quick-connect base 4, using slot buckles. connect.

As shown in Figure 1-5, the telescopic unit 3 includes an artificial muscle conduit 301, an artificial muscle origami frame 302, an artificial muscle flexible outer skin 303 and an artificial muscle quick connector 304. The artificial muscle origami frame 302 is a folded line structure, consisting of The artificial muscle is covered with a flexible outer skin 303, the artificial muscle conduit 301 is inserted into the artificial muscle flexible outer skin 303, and then sealed by a heat sealing process. The flexible outer skin 303 of the artificial muscle is inserted into the deep groove of the artificial muscle quick connector 304 and fixed by adhesive. When the telescopic unit 3 is in the natural state, the artificial muscle origami frame 302 is stretched, the flexible outer skin 303 of the artificial muscle is spread, and the entire telescopic unit 3 is in an elongated state; when a negative pressure pump is used to pump the inside to a vacuum, the flexible outer skin of the artificial muscle is The epidermis 303 shrinks inward under the action of atmospheric pressure, and at the same time pushes the artificial muscle origami skeleton 302 to compress. On the other hand, the flexible outer skin 303 of the artificial muscle is restricted by the artificial muscle origami skeleton 302 and shrinks toward the recess of the fold line, so that The entire length of the telescopic unit 3 is shortened.

As shown in Figure 6-7, buckles are used between the quick-connect upper base 1, the quick-connect lower base 4 and the artificial muscle quick connector 304, between the variable stiffness elastic element 2 and between each individual module. Card slot connection. The quick-connect upper base 1 is respectively provided with a first convex-shaped slot 101, a longitudinal quick-connect slot 102, a first elastic element slot 103, a first transverse quick-connect slot 104 and a first tracheal guide hole 105. The quick-connect lower base 4 is respectively provided with a second convex-shaped slot 401, a longitudinal quick-connect buckle 402, a second elastic element slot 403, a second transverse quick-connect slot 104, and a second tracheal guide hole 405.

The first tracheal guide hole 105 is distributed at the center of the circle of the quick-connect upper base 1. The first convex-shaped slots 101 are circumferentially symmetrically distributed outside the first tracheal guide hole 105. The longitudinal quick-connect slot 102 and the first elastic element clamp The grooves 103 are circumferentially symmetrically distributed on the outside of the first convex-shaped slot 101, and the longitudinal quick-connect slots 102 and the first elastic element slots 103 are spaced apart, and the first transverse quick-connect slots 104 are distributed in the longitudinal quick-connect slots. 102 outside. The second tracheal guide hole 405 is distributed at the center of the circle of the quick-connect lower base 4. The second convex-shaped slots 401 are circumferentially symmetrically distributed outside the second tracheal guide hole 405. The longitudinal quick-connect buckle 402 and the second elastic element clip The grooves 403 are circumferentially symmetrically distributed on the outside of the second convex-shaped slot 401, and the longitudinal quick-connect buckles 402 and the second elastic element slots 403 are spaced apart, and the second transverse quick-connect buckles 104 are distributed on the longitudinal quick-connect buckles. Outside of 402.

As shown in FIG. 8 , the artificial muscle quick connector 304 is connected to the upper quick-connect base 1 and the lower quick-connect base 4 through the first convex-shaped slot 101 and the second convex-shaped slot 401 respectively. Insert the wedge-shaped protrusions into the first elastic element slot 103 and the second elastic element slot 403 respectively to realize the connection between the variable stiffness unit 2 and the quick-connect upper base 1 and the quick-connect lower base 4 . The longitudinal quick-connect slot 102 and the longitudinal quick-connect buckle 402 correspond one to one; when the modules are connected vertically, two adjacent modules are connected through the longitudinal quick-connect slot 102 and the longitudinal quick-connect buckle 402. The first lateral quick-connect card slot 104 and the second lateral quick-connect card slot 104 correspond one to one; when the modules are connected laterally, two adjacent modules pass through the first lateral quick-connect card slot 104 and the second lateral quick-connect card The slot 104 is matched with the quick coupler 5 .

The buckle of the artificial muscle quick coupler 304 is inserted into the large hole end of the first convex slot 101 of the upper base 1 of the quick coupler, and then rotated to the small hole end, so that the neck of the buckle is completely inserted into the small hole, and the process is completed. Quickly connect the upper base 1 and the artificial muscle quick connector 304. The quick-connect lower base 4 and the artificial muscle quick-connector 304 are connected in the same manner.

As shown in Figure 9, the variable stiffness unit 2 is encapsulated by a multi-layer PET sheet and a flexible film, and one end is connected to the variable stiffness elastic element conduit 201. The variable stiffness unit 2 includes a variable stiffness elastic element conduit 201, a variable stiffness elastic element outer skin 202, a variable stiffness elastic element inner friction plate 203, the variable stiffness elastic element inner friction plate 203 is arranged in a stack, and the variable stiffness elastic element outer skin 202 wraps On the outside of the inner friction plate 203 of the variable stiffness elastic element, the variable stiffness elastic element conduit 201 is connected to one end of the outer skin 202 of the variable stiffness elastic element. The two ends of the variable stiffness unit 2 are protruding wedge-shaped, and the middle is the main body part with the largest width, connected by a neck with a slightly smaller width. As shown in Figure 1, the inherent elastic deformation characteristics of the variable stiffness unit 2 are used to insert the wedge-shaped protrusions at both ends of the variable stiffness unit 2 into the first elastic element slots 103 and 103 of the quick-connect upper base 1 and the quick-connect lower base 4. In the second elastic element slot 403, the neck of the variable stiffness unit 2 is completely inserted into the first elastic element slot 103 and the second elastic element slot 403, and both ends are inserted into the elongated slots of the upper and lower quick-connect bases. , the main body is limited between the two quick-connect bases, the wedge-shaped protrusion is outside the quick-connect base, and the variable stiffness unit 2 bends outward under the restriction of the quick-connect upper base 1 and the quick-connect lower base 4. As shown in Figure 3, if the distance between the quick-connect upper base 1 and the quick-connect lower base 4 is reduced, the variable stiffness unit 2 is further compressed and elastic potential energy is accumulated. As shown in Figure 5, if the inside of the variable stiffness unit 2 is evacuated, the interaction force between the inner multi-layer friction plates 203 increases, the overall stiffness of the variable stiffness unit 2 increases, and the degree of bending under the same conditions decreases. .

As shown in Figures 1 to 5, the driver module has a telescopic degree of freedom on the z-axis and a bending degree of freedom on the x-axis and y-axis. As shown in Figure 1, at this time, the driver module is in a natural state, the telescopic unit 3 relaxes, and the variable stiffness unit 2 is pre-bent outward. The negative pressure pump and the variable stiffness unit 2 are connected by the conduit 201 , and the negative pressure pump and the telescopic unit 3 are connected by the conduit 301 . As shown in Figure 3, when the negative pressure pump extracts the telescopic unit 3 to a vacuum, the telescopic unit 3 contracts, and a tensile force is applied to the quick-connect upper base 1 and the quick-connect lower base 4 through the quick coupler 304, causing the entire driver module to compress. , and at the same time, the compression variable stiffness unit 2 further bends and stores elastic potential energy. As shown in Figure 5, when the negative pressure pump pumps the two variable stiffness units 2 on the left to vacuum, the stiffness of the two variable stiffness units 2 increases and the degree of deformation decreases, while the variable stiffness unit on the right in its natural state 2 Maintain a large deformation so that the entire driver module bends to the right. When the negative pressure pump stops pumping, the telescopic unit 3 and the variable stiffness unit 2 are connected to the atmosphere, the telescopic unit 3 no longer generates tension, and the variable stiffness unit 2 restores a smaller stiffness and releases energy instantly, causing the driver module to generate a jumping force. action. At this time, the driver module returns to the state in Figure 1 and completes an action cycle.

As shown in Figures 10 to 13, the telescopic unit 3 of the driver module is driven by negative pressure. Changing the size of the driving air pressure and the driving frequency will have an impact on the telescopic displacement and force of the driver module. Laser positioners and dynamometers were used to test the driver modules with different lengths of variable stiffness units 2, and the displacement and force of the modules under different negative pressures were tested. As shown in Figure 10 and Figure 11, a negative pressure of 0~-80kPa is applied to the telescopic unit 3. For the variable stiffness unit 2 with lengths of 135mm, 150mm and 165mm respectively, the displacements generated by the entire driver module are 0~37.5mm, 0~41mm, 0~44mm, the forces generated are 0~14.5N, 0~15N, 0~15.9N respectively. The mass of the entire driver module is about 25g, and the calculation shows that the load-to-weight ratio of the driver can reach 60. As shown in Figure 12 and Figure 13, when a negative pressure of -40kPa is applied to the driver module of the 135mm long variable stiffness unit 2, and driving frequencies of 1Hz, 5Hz, and 10Hz are applied respectively, the displacement amplitudes can reach 13mm, 8mm, and 11mm respectively. The force amplitude can reach 8N, 5N and 5N respectively. Therefore, low-frequency drive is more suitable for worm-like robots and spatial multi-degree-of-freedom robotic arms, and high-frequency drive is more suitable for planar omnidirectional mobile robots.

Example 2

The present invention also provides a bionic robot, as shown in Figures 14-17, including the multi-degree-of-freedom variable-stiffness modular flexible actuator in the embodiment.

More specifically, bionic robots include worm-like robots, snake-like robots, planar omnidirectional mobile robots and spatial multi-degree-of-freedom robotic arms. Worm-like robots and snake-like robots are composed of a control system and three drive modules connected in series. The control system and drive modules are connected by snap-fit slots on the quick-connect base. The planar omnidirectional mobile robot is composed of three drive modules connected in parallel. The three drive modules are connected and fixed by the card slot on the quick-connect base and the transverse quick connector 5 between modules. The spatial multi-degree-of-freedom robotic arm is composed of three driver modules connected in series, and the number of driver modules can be increased as needed. The driver modules are connected by snap-fasteners on the quick-connect base, and one end of the robotic arm is fixed on the control platform. , the other end is connected to the end effector.

Example 3

This Embodiment 3 is completed on the basis of Embodiment 1 or 2, specifically:

As shown in Figure 14, this example is a worm-like robot composed of a control system 10 and a driver module 11, a driver module 12, and a driver module 13. Among them, the control system 10 includes a micro air pump, a battery, a switch, a voltage stabilizing module, a relay and a solenoid valve. The artificial muscle conduits 301 and variable stiffness elastic element conduits 201 in the driver modules 11, 12, and 13 all pass through the tracheal guide hole 105 of the quick-connect upper base 1 and the tracheal guide hole 405 of the quick-connect lower base 4 Summarize it to the control system 10 and connect the solenoid valve. The packaging shell of the control system 10 and the driver module 11 are connected by snap-on slots. The drive modules 11, 12, and 13 are connected through the inter-module longitudinal quick-connect slots 102 of the base 1. The vertical quick-connect buckles 402 between modules of the quick-connect lower base 4 are connected end-to-end.

As shown in Figure 14, this example can be applied to motion in narrow pipes. The control system 10 drives the telescopic unit 3 of the module 11 to contract, and the module 12 compresses and bends the variable stiffness unit 2 outward. The variable stiffness unit 2 contacts the inner wall of the pipe to generate force, which fixes the module II in this position. The control system 10 drives the module 13 and the driver module 13 to shrink in sequence. At this time, the head position of the robot is fixed and the tail moves forward for a certain distance. Then, the driver module 11 and the driver module 12 return to their natural state. At this time, the tail of the robot is fixed and the head moves forward for a certain distance. Finally, module 13 returns to its natural state, and the robot completes an action cycle and moves forward as a whole.

If the worm-like robot wants to complete the turning action in a curved pipe, the drive module 11 , the drive module 12 , and the drive module 13 need to control the stiffness of the variable stiffness unit 2 while performing the above movements. If the robot needs to turn to the right, the variable stiffness unit 2 on the left needs to be evacuated to increase its stiffness so that the single actuator module bends to the right when compressed. Each drive performs this operation, turning the entire robot right.

As shown in Figure 14, this example can also be applied to meandering on flat ground. While compressing and recovering, the driver modules 11, 12, and 13 control the stiffness of the variable stiffness unit 2 to change staggeredly, causing the adjacent driver modules 11, 12, and 13 to stagger and bend left and right, realizing the entire The meandering progress of the robot.

Example 4

This Embodiment 4 is completed on the basis of Embodiment 1 or 2, specifically:

As shown in Figures 15-16, this example is a planar omnidirectional mobile robot composed of three driver modules 14, 15, and 16 connected in parallel. Among them, the inter-module lateral quick connector 5 connects the inter-module lateral quick-connect slot 104 of the upper base 1 of two adjacent modules by buckling, and the inter-module lateral quick-connect slot 404 of the lower quick-connect base 4 , realizing the horizontal connection of the three modules.

As shown in FIG. 15 , the three driver modules 14 , 15 , and the telescopic module 3 of the driver module 16 are connected to the control system through guide holes 105 and 405 . The control system controls the high-frequency vibration of single or multiple modules to achieve omnidirectional movement. For example, the driver module 14 is controlled to compress and recover at a high frequency, so that the driver module 14 interacts with the ground, driving the entire robot to move in the direction of the driver module 14; the driver module 15 and the driver module 16 are controlled to compress and recover at a high frequency at the same time, so that the The driver module 15 and the driver module 16 interact with the ground to drive the entire robot to move in the direction opposite to the driver module 14. Through the combination of different modules, the robot can move in all directions.

Example 5

This Embodiment 4 is completed on the basis of Embodiment 1 or 2, specifically:

As shown in Figure 17, this example is a spatial multi-degree-of-freedom robotic arm composed of four driver modules 6, 7, 8, and 9 connected in series. The driver module 6, the driver module 7, the driver module 8 and the driver module 9 are connected end-to-end through the inter-module longitudinal quick-connect slot 102 of the upper quick-connect base 1 and the inter-module longitudinal quick-connect buckle 402 of the lower quick-connect base 4. The robot arm can add or remove drive modules as needed.

As shown in Figure 17, the driver module 6, the driver module 7, the driver module 8, and the driver module 9 can shorten and extend the length of the entire robotic arm through compression and recovery. The driver module 6, the driver module 7, the driver module 8, and the driver module 9 can realize the bending of the entire robotic arm by changing the stiffness of the variable stiffness unit 2, thereby expanding the accessibility of the end of the robotic arm.

In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", The orientations or positional relationships indicated by "bottom", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings. They are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying the device referred to. Or elements must have a specific orientation, be constructed and operate in a specific orientation and therefore are not to be construed as limitations on the application.

Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above. Those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. The embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily without conflict.

Claims (9)

1. The multi-degree-of-freedom variable stiffness modularized flexible driver is characterized by comprising a quick-connection upper base (1), a telescopic unit (3), a variable stiffness unit (2) and a quick-connection lower base (4), wherein the variable stiffness unit (2) is circumferentially distributed between the quick-connection upper base (1) and the quick-connection lower base (4); the telescopic unit (3) is vertically fixed at the circumferential centers of the quick-connection upper base (1) and the quick-connection lower base (4);

when the telescopic unit (3) is in a vacuum state, the telescopic unit (3) is compressed, tension is applied to the quick-connection upper base (1) and the quick-connection lower base (4), the whole module is driven to be compressed, the rigidity-variable unit (2) is driven to further bend, and elastic potential energy is reserved;

vacuumizing one side of the rigidity changing unit (2) to deform the rigidity changing unit (2) to the other side so as to drive the whole module to bend; after stopping pumping, the telescopic unit (3) and the rigidity-changing unit (2) are communicated with the atmosphere, the telescopic unit (3) does not generate tensile force any more, and the rigidity-changing unit (2) instantaneously releases energy to enable the module to generate a jumping action, so that an action cycle is completed;

the telescopic unit (3) comprises an artificial muscle catheter (301), an artificial muscle paper folding type framework (302), an artificial muscle flexible outer skin (303) and an artificial muscle quick connector (304), wherein the artificial muscle flexible outer skin (303) is coated on the artificial muscle paper folding type framework (302), two ends of the artificial muscle paper folding type framework (302) are connected with the artificial muscle quick connector (304), the artificial muscle flexible outer skin (303) is inserted into a deep groove of the artificial muscle quick connector (304), one end of the artificial muscle catheter (301) is inserted into the artificial muscle flexible outer skin (303), and the other end of the artificial muscle catheter (301) is connected with an air pump;

when the telescopic unit (3) is in a natural state, the artificial muscle paper folding type framework (302) is unfolded, and the artificial muscle flexible outer skin (303) is unfolded to drive the whole length of the telescopic unit (3) to be elongated;

when the telescopic unit (3) is in a vacuum state, the artificial muscle flexible outer skin (303) is contracted inwards under the action of atmospheric pressure, the artificial muscle paper folding type framework (302) is pushed to be compressed simultaneously, the artificial muscle flexible outer skin (303) is limited by the artificial muscle paper folding type framework (302), and is contracted towards the folded concave part, so that the whole length of the telescopic unit (3) is driven to be shortened.

2. The multi-degree-of-freedom variable stiffness modular flexible driver according to claim 1, wherein the variable stiffness unit (2) comprises a variable stiffness elastic element conduit (201), a variable stiffness elastic element outer skin (202) and a variable stiffness elastic element inner friction plate (203), the variable stiffness elastic element inner friction plates (203) are arranged in a stacked manner, the variable stiffness elastic element outer skin (202) is wrapped on the outer side of the variable stiffness elastic element inner friction plate (203), and the variable stiffness elastic element conduit (201) is connected to one end of the variable stiffness elastic element outer skin (202).

3. The multi-degree-of-freedom variable stiffness modularized flexible driver according to claim 2, wherein the quick connection upper base (1) is respectively provided with a first convex clamping groove (101), a longitudinal quick connection clamping groove (102), a first elastic element clamping groove (103), a first transverse quick connection clamping groove (104) and a first air pipe guide hole (105);

the utility model discloses a quick connection base, including base (1) and first elastic element draw-in groove (103), first gas tube guide hole (105) distribute in the centre of a circle of quick connection base (1), first protruding font draw-in groove (101) be circumference symmetric distribution in the outside of first gas tube guide hole (105), vertical quick connection draw-in groove (102) with first elastic element draw-in groove (103) be circumference symmetric distribution in the outside of first protruding font draw-in groove (101), just vertical quick connection draw-in groove (102) with first elastic element draw-in groove (103) interval distribution, first horizontal quick connection draw-in groove (104) distribute in the outside of vertical quick connection draw-in groove (102).

4. A multi-degree-of-freedom rigidity-variable modularized flexible driver according to claim 3, wherein the quick-connection lower base (4) is respectively arranged on a second convex clamping groove (401), a longitudinal quick-connection buckle (402), a second elastic element clamping groove (403), a second transverse quick-connection clamping groove (104) and a second air pipe guide hole (405);

the second trachea guide hole (405) distribute in the centre of a circle of base (4) under the quick connection, second protruding font draw-in groove (401) be circumference symmetric distribution in the outside of second trachea guide hole (405), vertical quick connection buckle (402) with second elastic element draw-in groove (403) be circumference symmetric distribution in the outside of second protruding font draw-in groove (401), just vertical quick connection buckle (402) with second elastic element draw-in groove (403)) interval distribution, second horizontal quick connection draw-in groove (104) distribute in the outside of vertical quick connection buckle (402).

5. The multiple degree of freedom variable stiffness modular flexible driver of claim 4 wherein the artificial muscle snap connector (304) is connected to the snap upper base (1) and the snap lower base (4) through the first male bayonet slot (101) and the second male bayonet slot (401), respectively.

6. The multi-degree-of-freedom variable stiffness modular flexible driver according to claim 4, wherein wedge-shaped protrusions are arranged at two ends of the variable stiffness unit (2), and the wedge-shaped protrusions are connected with the first elastic element clamping groove (103) and the second elastic element clamping groove (403) in a matching manner;

the wedge-shaped protrusions are respectively inserted into the first elastic element clamping groove (103) and the second elastic element clamping groove (403), so that the rigidity changing unit (2) is connected with the quick-connection upper base (1) and the quick-connection lower base (4).

7. The multiple degree of freedom stiffness varying modular flexible driver of claim 4 wherein the longitudinal snap-in slots (102) and the longitudinal snap-in snaps (402) are in one-to-one correspondence;

when the modules are longitudinally connected, two adjacent modules are in matched connection through the longitudinal quick connection clamping groove (102) and the longitudinal quick connection clamping buckle (402).

8. The multiple degree of freedom variable stiffness modular flexible drive of claim 4 wherein the first lateral snap-in slot (104) and the second lateral snap-in slot (104) are in one-to-one correspondence;

when the modules are transversely connected, two adjacent modules are matched and connected with the quick connector (5) through the first transverse quick connection clamping groove (104) and the second transverse quick connection clamping groove (104).

9. A biomimetic robot comprising the multiple degree of freedom variable stiffness modular flexible drive of any one of claims 1-8.