CN-121989290-A - Pneumatic soft mechanical arm based on multilayer composite film and processing method

CN121989290ACN 121989290 ACN121989290 ACN 121989290ACN-121989290-A

Abstract

The invention belongs to the technical field of robots, and discloses a pneumatic soft mechanical arm based on a multilayer composite film and a processing method thereof, wherein the pneumatic soft mechanical arm comprises a bending unit component and a pneumatic control component; the bending unit assembly comprises a central air bar, a first bending unit and a second bending unit which are orthogonally connected, the bending units comprise four layers of composite films which are sequentially connected, three layers of chambers are formed among the four layers of composite films, the central air bar penetrates through the first bending unit and the second bending unit, the pneumatic control assembly comprises an inflation unit and an air suction unit, and the inflation unit and the air suction unit are connected with the chambers and the central air bar and are used for controlling inflation states of the chambers and the central air bar. The four-degree-of-freedom bending angle adjustment can be realized, the flexibility is far enough compared with that of a traditional soft robot, the thick problem of traditional multi-layer stacking is avoided, the volume of the mechanical arm is effectively reduced, the variable stiffness support can be realized, and the stiffness adaptation requirements under different operation scenes are considered.

Inventors

LUO MINGRUI
TIAN YUNONG
LI EN
YANG GUODONG
CAO XUEWEI

Assignees

中国科学院自动化研究所

Dates

Publication Date: 20260508
Application Date: 20260317

Claims (14)

1. The pneumatic soft mechanical arm based on the multilayer composite film is characterized by comprising a bending unit component and a pneumatic control component; The bending unit assembly comprises a central air bar, a first bending unit and a second bending unit which are orthogonally connected, wherein the bending unit comprises four layers of composite films which are sequentially connected, and three layers of chambers are formed between the four layers of composite films; the pneumatic control assembly comprises an inflation unit and an air extraction unit, wherein the inflation unit and the air extraction unit are connected with the chambers and the central air bars and used for controlling inflation states of the chambers and the central air bars.
2. The pneumatic soft mechanical arm based on the multilayer composite film according to claim 1, wherein the composite film is a three-layer composite structure film comprising a polyethylene layer, a polyethylene terephthalate layer and a polyethylene layer sequentially from top to bottom, wherein dye is added into the polyethylene terephthalate layer to serve as soldering flux, and the polyethylene layer, the polyethylene terephthalate layer and the polyethylene layer are connected by laser welding.
3. The pneumatic soft mechanical arm based on the multilayer composite film according to claim 1, wherein the three-layer chamber is sequentially defined as a first chamber, a second chamber and a third chamber from top to bottom, and the first chamber and the third chamber are diamond-shaped chambers.
4. The multi-layer composite film based pneumatic soft mechanical arm of claim 1, wherein the bending unit assembly further comprises a soft orthogonal connector; the soft orthogonal connecting piece comprises a first connecting piece and a second connecting piece, wherein the first connecting piece is connected with the tail end of the first bending unit, and the second connecting piece is connected with the starting end of the second bending unit; the first connecting piece is provided with a connecting hole, the second connecting piece is provided with a connecting shaft with holes, and the connecting shaft with holes is inserted into the connecting hole to form a relative-rotation orthogonal hinge structure; the central air bar penetrates through the first bending unit, the connecting shaft with the holes and the second bending unit.
5. The pneumatic soft mechanical arm based on the multilayer composite film according to claim 1, wherein the air charging unit comprises a first air charging pump and a second air charging pump, and the air pumping unit comprises a first air pumping pump and a second air pumping pump; The pneumatic control assembly further comprises six reversing valves, wherein the four reversing valves are respectively arranged on the direct-connection gas paths of the first chamber and the third chamber of the first bending unit and the second bending unit, and the two reversing valves are respectively arranged on the direct-connection gas paths of the first air pump and the second air pump; the first air pump and the first air pump are connected with three-layer cavities of the first bending unit and the second bending unit, and the second air pump are connected with the central air bar.
6. The pneumatic soft mechanical arm based on the multilayer composite film according to claim 5, wherein the pneumatic control assembly further comprises a controller, and the controller is connected with the first inflator pump, the second inflator pump, the first air pump, the second air pump and the reversing valve and used for controlling the working states of the first inflator pump, the second inflator pump, the first air pump, the second air pump and the reversing valve.
7. The pneumatic soft mechanical arm based on the multilayer composite film according to claim 1, wherein the pneumatic control assembly further comprises an air pressure sensor, and the air pressure sensor is arranged on a common air path between the air charging unit and the chamber.
8. The pneumatic soft mechanical arm based on the multilayer composite film according to claim 1, wherein the three-layer chamber is sequentially defined as a first chamber, a second chamber and a third chamber from top to bottom, and strain gauges are attached to the front side and the back side of the first chamber and the third chamber and used for collecting strain information of the first chamber and the third chamber.
9. The pneumatic soft mechanical arm based on the multilayer composite film according to claim 1, wherein the air passage inlets of the three-layer chamber are arranged in a staggered manner.
10. The multi-layer composite film based pneumatic soft mechanical arm of claim 1, wherein the end of the bending unit assembly is provided with an end effector.
11. The pneumatic soft mechanical arm based on the multilayer composite film according to claim 10, wherein the end effector comprises one or more of a pneumatic clamping jaw, an illumination source, a camera module, a pickup, a temperature sensor, a pressure sensor and a tissue brush.
12. The pneumatic soft mechanical arm based on the multilayer composite film according to claim 1, wherein at least two groups of the orthogonally connected first bending units and second bending units are arranged, and the orthogonally connected first bending units and second bending units of each group are sequentially connected.
13. The pneumatic soft mechanical arm based on the multilayer composite film according to claim 1, further comprising a fixing base, wherein the fixing base is connected with the bending unit assembly and used for fixing the bending unit assembly.
14. A method of processing a pneumatic soft mechanical arm based on a multilayer composite film as claimed in claim 1, comprising: The four layers of composite films are connected through laser welding, and when the laser welding of the composite films is carried out, the composite films below the target welding composite films are covered by adopting a layered mask based on a diffuse reflection material for layered welding, and the composite films between the target welding composite films are covered by adopting a barrier mask based on a transparent material for barrier welding; and processing the pneumatic control assembly and assembling the pneumatic control assembly with the bending unit assembly to obtain the pneumatic soft mechanical arm based on the multilayer composite film.

Description

Pneumatic soft mechanical arm based on multilayer composite film and processing method Technical Field The invention belongs to the technical field of robots, and relates to a pneumatic soft mechanical arm based on a multilayer composite film and a processing method. Background In recent years, the robot-assisted micro-operation technology is rapidly developed, and the application scene brings forward the core requirements of compactness, fineness and flexibility to the robot, and a soft or flexible robot driven by a flexible transmission mode such as steel wire traction, pneumatic or hydraulic mode and the like is generally adopted. However, the conventional soft robot has a plurality of disadvantages which are difficult to avoid in flexible operation scenes such as endoscopic detection and the like, and severely restricts the practical application effect of the soft robot. The flexible robot has the defects that firstly, the degree of freedom and the structural flexibility are difficult to be compatible, or the flexibility is too high like a snake-shaped mechanical arm, a large number of motor executing elements are required to be arranged, the system structure is complex, the size is large, the slim operation requirement cannot be met, or the flexible robot depends on a penetrating catheter like a self-growing robot, passive flexibility is redundant, but active form control is insufficient, external environment support is required to be attached, and complex posture adjustment is difficult to be independently completed. Secondly, the contradiction between bending performance and size suitability is prominent, the bending force can meet the requirements under large size, but after the bending force is reduced to small size required by endoscopic or pipeline detection, the bending force is seriously attenuated, effective operation is difficult to realize, and a reliable rigidity adjusting mechanism is lacking, so that the flexibility and the supportability cannot be switched according to the scene. In view of the above, there is a need for a flexible robot with multiple degrees of freedom, variable stiffness, and compact and slim structure, so as to meet the practical application requirements of endoscopic detection scenes. Disclosure of Invention The invention aims to overcome the defects of the prior art and provide a pneumatic soft mechanical arm based on a multi-layer composite film and a processing method. In order to achieve the purpose, the invention is realized by adopting the following technical scheme: The invention provides a pneumatic soft mechanical arm based on a multilayer composite film, which comprises a bending unit assembly and a pneumatic control assembly, wherein the bending unit assembly comprises a central air bar, a first bending unit and a second bending unit which are connected in an orthogonal mode, the bending unit comprises four layers of composite films which are sequentially connected, three layers of chambers are formed between the four layers of composite films, the central air bar penetrates through the first bending unit and the second bending unit, the pneumatic control assembly comprises an air charging unit and an air pumping unit, and the air charging unit and the air pumping unit are connected with the chambers and the central air bar and used for controlling the charging states of the chambers and the central air bar. Optionally, the composite film adopts a three-layer composite structure film comprising a polyethylene layer, a polyethylene terephthalate layer and a polyethylene layer sequentially from top to bottom, wherein dye is added into the polyethylene terephthalate layer as soldering flux, and the polyethylene layer, the polyethylene terephthalate layer and the polyethylene layer are connected by laser welding. Optionally, the three-layer chamber is defined as a first chamber, a second chamber and a third chamber from top to bottom in sequence, and the first chamber and the third chamber are diamond-shaped chambers. The bending unit assembly comprises a bending unit, a connecting hole, a connecting shaft, a central air bar, a connecting shaft and a connecting shaft, wherein the bending unit assembly further comprises a soft orthogonal connecting piece, the soft orthogonal connecting piece comprises a first connecting piece and a second connecting piece, the first connecting piece is connected with the tail end of the first bending unit, the second connecting piece is connected with the starting end of the second bending unit, the first connecting piece is provided with the connecting hole, the second connecting piece is provided with the connecting shaft with the hole, the connecting shaft with the hole is inserted into the connecting hole to form a relatively rotatable orthogonal hinging structure, and the central air bar penetrates through the first bending unit, the connecting shaft with the hole and the second bending unit. The pneumatic control assembly