Robot component module, robot
It is intended to realize a modular soft robot having a high degree of freedom of movement. A voxel 10 constituting at least a portion of a robot comprises: a polyhedral-shaped casing 100 contractable according to discharge of a working fluid from an internal space thereof; and a deformation-regulating member 200 housed in the casing 100 and configured to regulate deformation of the voxel 10 when the working fluid in the casing 100 is discharged, wherein a plurality of the voxels 10 can be coupled together to constitute at least a portion of a robot.
1 . A robot component module constituting at least a portion of a robot, comprising: a polyhedral-shaped casing contractable according to discharge of a working fluid from an internal space thereof; and
a deformation-regulating member housed in the casing to regulate deformation of the robot component module when the working fluid in the casing is discharged;
wherein a plurality of the robot component modules can be coupled together to constitute at least at least a portion of the robot.
2 . The robot component module as recited in claim 1 , wherein an outer shape of the casing is a quadrilateral parallelepiped shape, or a cubic shape, and the deformation-regulating member has a pre-deformation shape which is similar to the outer shape of the casing.
3 . The robot component module as recited in claim 2 , wherein the deformation-regulating member has a different elasticity in at least one axis direction among an X-axis direction, a Y-axis direction, and a Z-axis direction which are orthogonal to each other, with respect to an elasticity in the remaining axis directions.
4 . The robot component module as recited in claim 2 , wherein the deformation-regulating member is configured to, when being compressed in one axis direction among an X-axis direction, a Y-axis direction, and a Z-axis direction which are orthogonal to each other, undergo shear deformation in either one of the remaining axis directions.
5 . The robot component module as recited in claim 2 , wherein the deformation-regulating member is configured to, when being compressed in one axis direction among an X-axis direction, a Y-axis direction, and a Z-axis direction which are orthogonal to each other, bend in either one of the remaining axis directions.
6 . The robot component module as recited in claim 2 , wherein the deformation-regulating member comprises:
a first layer comprised of a plurality of first plate-shaped parts placed perpendicularly to an XY plane defined by an X-axis direction, a Y-axis direction, and a Z-axis direction which are orthogonal to each other, along the XY plane; and
a second layer comprised of a plurality of second plate-shaped parts placed perpendicularly to the XY plane along the XY plane;
wherein the first layer and the second layer are alternately laminated in the Z-axis direction.
7 . The robot component module as recited in claim 6 , wherein the first plate-shaped parts and the second plate-shaped parts are arranged to form a plurality of quadrilateral grids as viewed from the Z-axis direction.
8 . The robot component module as recited in claim 7 , wherein the first plate-shaped parts and the second plate-shaped parts are arranged to form a plurality of diamond-shaped quadrilateral frames each of whose diagonal lines are located along the X-axis direction and the Y-axis direction, respectively, wherein the X-axis directional diagonal line has a length different from a length of the Y-axis directional diagonal line, and wherein:
the lengths of the X-axis directional diagonal lines of the plurality of diamond-shaped quadrilateral frames are constant; and
the lengths of the Y-axis directional diagonal lines of the plurality of diamond-shaped quadrilateral frames are constant.
9 . The robot component module as recited in claim 7 , wherein the first plate-shaped parts and the second plate-shaped parts are arranged to form a plurality of diamond-shaped quadrilateral frames each of whose diagonal lines are located along the X-axis direction and the Y-axis direction, respectively, wherein the X-axis directional diagonal line has a length different from a length of the Y-axis directional diagonal line, and wherein the first plate-shaped parts and the second plate-shaped parts are configured such that the length of the Y-axis directional diagonal line of the diamond shape located on one side of the Y-axis is greater than the length of the Y-axis directional diagonal line of the diamond shape located on the other side of the Y-axis.
10 . The robot component module as recited in claim 7 , wherein
all the first plate-shaped parts extend in the X-axis direction, and
all the second plate-shaped parts extend at an angle to the X-axis.
11 . The robot component module as recited in claim 7 , wherein the first plate-shaped parts and the second plate-shaped parts are arranged to form a square-shape quadrilateral frames each of whose diagonal lines are located along the X-axis direction and the Y-axis direction, respectively, wherein the X-axis directional diagonal line has a length equal to a length of the Y-axis directional diagonal line.
12 . A robot comprising:
a plurality of the robot component modules as recited in claim 1 , wherein the plurality of robot component modules are coupled together; and
a suction pump;
wherein:
the plurality of robot component modules are coupled together in a state in which the internal spaces of the casings thereof are in fluid communication with each other; and
the suction pump is capable of sucking the working fluid in the internal spaces being in the fluid communication, thereoutside.
13 . The robot as recited in claim 12 , further comprising a fluid-communicating connector for coupling the robot component modules together, the fluid-communicating connector having a through-hole, wherein the casing is formed with an opening in each face thereof, and the fluid-communicating connector is attached to the openings of opposed faces of adjacent ones of the modules, whereby the adjacent modules are coupled together in a state in which the internal spaces of the adjacent modules are fluidically communicated with each other through the through-hole.
14 . The robot as recited in claim 12 , wherein the plurality of robot component modules constitute at least a portion of an end effector.
15 . The robot as recited in claim 12 , wherein the plurality of robot component modules are coupled and provided along each finger of a patient.