CN109176571B - Finger and wrist integrated soft paw - Google Patents
Finger and wrist integrated soft paw Download PDFInfo
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- CN109176571B CN109176571B CN201811211688.2A CN201811211688A CN109176571B CN 109176571 B CN109176571 B CN 109176571B CN 201811211688 A CN201811211688 A CN 201811211688A CN 109176571 B CN109176571 B CN 109176571B
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- pneumatic soft
- finger
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- pneumatic
- soft finger
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0023—Gripper surfaces directly activated by a fluid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0208—Compliance devices
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
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Abstract
The invention provides a finger-wrist integrated soft paw, which comprises a left pneumatic soft finger, a right pneumatic soft finger, a left adjustable supporting arm, a right adjustable supporting arm, a main arm, a pneumatic soft wrist and a mounting panel, wherein: the left pneumatic soft finger and the right pneumatic soft finger adopt a double-layer air bag plate-shaped structure, and are inflated to different air bags to realize bidirectional bending deformation; the pneumatic soft wrist adopts an air bag array cylindrical structure, and different air bags are inflated to realize biaxial bidirectional bending deformation so as to change the posture angles of the left and right pneumatic soft fingers; the left and right adjustable support arms respectively clamp the left and right pneumatic soft fingers and are connected with the main arm through hinges, and the left and right adjustable support arms are meshed through gears to adjust the opening angles of the left and right adjustable support arms and keep symmetry; the upper surface of the pneumatic soft wrist is connected with the mounting panel, and the lower surface of the pneumatic soft wrist is connected with the main arm; the mounting panel is mounted on the operating machine for use as an end effector. The invention can be used for the classification and boxing operation of food on a production line, fruit picking in agriculture, nursing of disabled patients in medical treatment and the like.
Description
Technical Field
The invention relates to an end effector in the technical field of soft robots, in particular to a finger and wrist integrated soft paw.
Background
In recent years, soft robots are gradually a hot research object in the technical field of robots, and compared with traditional rigid robots, soft robots have good flexibility, can realize self-adaptation to environments and operation objects without complex control algorithms, can avoid human body injuries and article and robot damages caused by collision, and have great application prospects in the fields of food production, medical treatment, agriculture and the like.
The soft paw is mainly used for grabbing soft or fragile objects, such as bread, meat, fruits, eggs, glass cups, paper and the like, can automatically adapt to the shape, size and posture of the grabbed objects, is safe to operate, and has good application prospects in the aspects of food production, agricultural picking, medical services and the like.
The key technology of the soft paw mainly comprises three aspects of soft material, driving mode and configuration design.
It can be known from the related literature that the current soft material and driving method for soft paw mainly includes: pneumatic drives based on silicone rubber materials, pneumatic drives based on textile materials (pneumatic artificial muscles), wire-pull drives based on bowden cables or shape memory alloys, rigid-flexible switching drives based on particle blocking effects, deformation drives based on conductive polymers, etc. The current soft paw mainly has the following structure: multi-finger type, like nose type, ball type, thin film type, etc. The related researches mainly comprise: the multi-bladder pneumatic soft body bending actuator based on silicone rubber of Polygerinos et al, Harvard university USA, the three-finger soft body gripper based on pneumatic artificial muscle of Abeach et al, Solford university, the three-finger soft body gripper based on wire drive of Hassan et al, Italy Bionics institute, thin film soft body gripper based on electrostrictive polymer of Shintake et al, Federak institute of Switzerland, the spherical soft body gripper based on particle retardation effect of Empire Robotics, Germany, the rhino soft body manipulator, etc. However, due to the material and structure of these soft grippers, there are problems that the posture and the opening angle of the gripper cannot be adjusted, the adaptability to the gripped object is not good enough, and the gripping is not stable.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a finger-wrist integrated soft paw which has the advantages of good flexibility, adjustable posture and opening angle of the paw, good adaptability to the grabbed object, stable grabbing and the like, and is suitable for occasions of object classification and boxing, fruit picking, nursing for disabled patients and the like.
In order to achieve the above object, the present invention provides a finger and wrist integrated soft paw, comprising: the device comprises a first pneumatic soft finger, a second pneumatic soft finger, a first adjustable support arm, a second adjustable support arm, a main arm, a pneumatic soft wrist and a mounting panel; wherein:
the first pneumatic soft finger is connected and mounted on the first adjustable support arm, and the second pneumatic soft finger is connected and mounted on the second adjustable support arm; the first adjustable support arm and the second adjustable support arm are connected with the main arm and respectively clamp the first pneumatic soft finger and the second pneumatic soft finger; one end of the pneumatic soft wrist is connected with the main arm, and the other end of the pneumatic soft wrist is connected with the mounting panel; the mounting panel is used for being mounted on an external operating machine such as a mechanical arm, so that the soft gripper can be used as an end effector;
the first pneumatic soft finger and the second pneumatic soft finger are internally provided with air bags respectively, and the air bags in the first pneumatic soft finger and the second pneumatic soft finger are inflated respectively to realize bidirectional bending deformation, so that grabbing or stretching actions are realized; the pneumatic soft wrist is internally provided with an air bag, and the air bag in the pneumatic soft wrist is inflated to realize biaxial bidirectional bending deformation, so that the posture angles of the first pneumatic soft finger and the second pneumatic soft finger are changed.
Preferably, the first pneumatic soft finger and the second pneumatic soft finger have the same structure, both the first pneumatic soft finger and the second pneumatic soft finger adopt a plate-shaped structure with double-layer air bags, and the two-way bending deformation is realized by inflating different air bags in the double-layer air bags inside the first pneumatic soft finger or the second pneumatic soft finger, namely: the first pneumatic soft finger and the second pneumatic soft finger perform grabbing action when bending inwards, and the first pneumatic soft finger and the second pneumatic soft finger perform opening action when bending outwards.
Preferably, the first adjustable support arm and the second adjustable support arm are connected with the main arm through hinges.
Preferably, the first adjustable support arm is meshed with the second adjustable support arm through a gear, and the opening angle of the first adjustable support arm and the opening angle of the second adjustable support arm are adjusted through the gear, so that the symmetry of the first adjustable support arm and the second adjustable support arm is ensured.
Compared with the prior art, the invention has the following beneficial effects:
the invention adopts soft materials to form the fingers and the wrists, has the advantage of good flexibility, and overcomes the defect that rigid paws are easy to damage objects.
Secondly, the invention can realize the posture adjustment of the paw by the bidirectional biaxial bending deformation of the pneumatic soft wrist, thereby improving the adaptability to the object posture.
The invention realizes the adjustability of the opening angle of the paw by the hinge of the first adjustable support arm and the second adjustable support arm and the gear meshing mechanism, and improves the adaptability to the size of the object.
The bidirectional bending function of the first pneumatic soft finger and the second pneumatic soft finger can widen the application occasions of the soft paw, including grabbing objects with larger sizes, grabbing hollow open containers, grabbing objects with handles and the like.
The first pneumatic soft finger and the second pneumatic soft finger adopt plate-shaped structures and form line or surface contact with the grabbed object, so that the defect of unstable grabbing of multi-finger type fingers is overcome, and objects in various shapes can be grabbed stably.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic overall structure diagram of a preferred embodiment of the present invention:
in the figure: 1A is a left pneumatic soft finger, 1B is a right pneumatic soft finger, 2A is an adjustable left support arm, 2B is an adjustable right support arm, 3 is a main arm, 4 is a pneumatic soft wrist, and 5 is an installation panel;
FIG. 2 is a schematic structural view of a left pneumatic soft finger 1A/a right pneumatic soft finger 1B according to a preferred embodiment of the present invention, wherein (a) is a front view, (B) is a cross-sectional view A-A,
in the figure: 1-1 is an elastic textile material, 1-2 is an inextensible layer, and 1-3 is an inner core;
FIG. 3 is a schematic structural view of a pneumatic soft wrist according to a preferred embodiment of the present invention, wherein (a) is a front view and (B) is a sectional view B-B,
in the figure: 4-1 is elastic textile material, 4-2 is non-stretchable fiber yarn, and 4-3 is inner core.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
Referring to fig. 1, a preferred embodiment of the finger and wrist integrated soft paw of the present invention comprises: the left pneumatic soft finger 1A, the right pneumatic soft finger 1B, the adjustable left support arm 2A, the adjustable right support arm 2B, the main arm 3, the pneumatic soft wrist 4 and the installation panel 5, wherein the left pneumatic soft finger 1A and the right pneumatic soft finger 1B have the same structure, and the adjustable left support arm 2A and the adjustable right support arm 2B have the same structure;
the left pneumatic soft finger 1A and the right pneumatic soft finger 1B are respectively arranged on the adjustable left support arm 2A and the adjustable right support arm 2B, the adjustable left support arm 2A and the adjustable right support arm 2B are connected with the main arm 3, and the main arm 3 is connected with one end of the pneumatic soft wrist 4. The adjustable left support arm 2A and the adjustable right support arm 2B are respectively used for clamping a left pneumatic soft finger 1A and a right pneumatic soft finger 1B, and the adjustable left support arm 2A and the adjustable right support arm 2B are connected with the main arm 3 in a hinge mode; the adjustable left support arm 2A is meshed with the adjustable right support arm 2B through a gear, the opening angles of the left pneumatic soft finger 1A and the right pneumatic soft finger 1B can be adjusted, the opening angles can be properly increased to realize the grabbing of larger objects such as football and buckets, and the opening angles can be properly reduced to realize the grabbing of smaller objects such as pens, coins and paper; the other end of the soft wrist 4 is connected with the mounting panel 5; the mounting panel 5 is provided with bolt holes, and can be connected with operating machinery (such as a mechanical arm) through bolts to be used as an end effector to realize the grabbing, moving and placing of objects. For example, when applied to sorting and boxing of food in a production line, the soft gripper can be mounted at the end of a delta-type parallel robot through the mounting panel 5; when the robot is applied to nursing disabled patients, the soft paw can be arranged at the tail end of the corresponding service robot through the installation panel 5.
In a preferred embodiment, as shown in fig. 2 (a), (B), it is a schematic structural diagram of the left pneumatic soft finger 1A or the right pneumatic soft finger 1B, where the left pneumatic soft finger 1A or the right pneumatic soft finger 1B includes an elastic textile material 1-1, a non-stretchable layer 1-2, and an inner core 1-3; wherein:
the left pneumatic soft finger 1A and the right pneumatic soft finger 1B are both plate-shaped bending drivers which are composed of elastic textile materials 1-1 and have a two-layer air bag structure, and an inner core 1-3 is arranged in each layer of air bag to ensure air tightness. The left pneumatic soft finger 1A and the right pneumatic soft finger 1B are made of textile materials, so that the pneumatic soft finger has good flexibility and can grab soft or fragile objects such as cherries, eggs and the like. The left pneumatic soft finger 1A or the right pneumatic soft finger 1B can realize bidirectional bending, and when one layer of the air bags of the left pneumatic soft finger 1A or the right pneumatic soft finger 1B is inflated, the left pneumatic soft finger 1A or the right pneumatic soft finger 1B bends towards the direction of the other layer of the air bags; the adjacent surface of the two layers of air bags is provided with a flexible non-telescopic layer 1-2 to limit the stretching deformation of the left pneumatic soft finger 1A or the right pneumatic soft finger 1B. The left pneumatic soft finger 1A and the right pneumatic soft finger 1B can realize grabbing when bending inwards and opening when bending outwards. When a larger object is grabbed, the soft paw can firstly open the left pneumatic soft finger 1A and the right pneumatic soft finger 1B, and then grabbing is realized; when a container such as a water cup is grabbed, the grabbing from the inner surface of the container can be realized by utilizing the opening actions of the left pneumatic soft finger 1A and the right pneumatic soft finger 1B. The plate-shaped mechanisms of the left pneumatic soft finger 1A and the right pneumatic soft finger 1B enable the soft paw to form line or surface contact with a grabbed object, stable grabbing of objects in different shapes can be achieved, and when a ball is grabbed, most of the ball can be wrapped by the plate-shaped left pneumatic soft finger 1A and the plate-shaped right pneumatic soft finger 1B, so that grabbing stability of the soft paw is enhanced.
On the basis of the above embodiment, the pneumatic soft wrist 4 may preferably adopt a cylindrical structure having a 2 × 2 air bag array, and the biaxial bidirectional bending deformation is realized by inflating different air bags, which is superior to a 3-air bag structure circumferentially uniformly distributed in terms of ensuring orthogonality of biaxial bending deformation and superior to an elliptic cylindrical structure in terms of ensuring equivalent deformation of biaxial bending. When any two adjacent air bags are inflated, the pneumatic soft wrist 4 bends towards the other two air bags, so that the posture angles of the first pneumatic soft finger and the second pneumatic soft finger are changed through the driving of the main arm, the first adjustable supporting arm and the second adjustable supporting arm. In one embodiment, as shown in (a) and (b) of FIG. 3, the pneumatic soft wrist 4 comprises an elastic textile material 4-1, a non-stretchable fiber 4-2, and an inner core 4-3; wherein:
the pneumatic soft wrist 4 is a cylindrical bending driver which is composed of elastic textile materials 4-1 and has a 2 x 2 air bag array structure, and an inner core 4-3 is arranged in each air bag to ensure air tightness. The pneumatic soft wrist 4 can realize double-shaft bidirectional bending, and when any two adjacent air bags are inflated, the pneumatic soft wrist 4 is bent towards the other two air bags. The adjacent lines of the four air bags are provided with a non-retractable fiber 4-2 to limit the length deformation of the pneumatic soft wrist 4. The bending of the pneumatic soft wrist 4 can realize the posture change of the whole soft paw so as to adapt to the grabbing of objects with different postures, such as objects on an inclined plane.
The invention has the advantages of good flexibility, adjustable gesture and opening angle of the paw, good adaptability to the grabbed object and stable grabbing, can grab soft or fragile objects, can adapt to the size and gesture angle of the object to be grabbed, can stably grab objects with different shapes, and can be suitable for various occasions, in particular to the occasions of object classification and boxing, fruit picking, nursing for disabled patients and the like.
The above is the preferred structural design in the present invention, and of course, in other embodiments, each preferred structure may be used alone, or may be used in any combination on the premise of not conflicting with each other, and the effect will be better when the structures are used in combination.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of simplifying the description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (8)
1. The utility model provides a finger wrist integral type software hand claw which characterized in that includes: the device comprises a first pneumatic soft finger, a second pneumatic soft finger, a first adjustable support arm, a second adjustable support arm, a main arm, a pneumatic soft wrist and a mounting panel; wherein:
the first pneumatic soft finger is connected and mounted on the first adjustable support arm, and the second pneumatic soft finger is connected and mounted on the second adjustable support arm; the first adjustable support arm and the second adjustable support arm are connected with the main arm and respectively clamp the first pneumatic soft finger and the second pneumatic soft finger; one end of the pneumatic soft wrist is connected with the main arm, and the other end of the pneumatic soft wrist is connected with the mounting panel; the mounting panel is used for being mounted on an external operating machine, so that the soft gripper can be used as an end effector;
the first pneumatic soft finger and the second pneumatic soft finger are internally provided with air bags respectively, and the air bags in the first pneumatic soft finger and the second pneumatic soft finger are inflated respectively to realize bidirectional bending deformation, so that grabbing or stretching actions are realized; an air bag is arranged in the pneumatic soft wrist, and the air bag in the pneumatic soft wrist is inflated to realize biaxial bidirectional bending deformation, so that the posture angles of the first pneumatic soft finger and the second pneumatic soft finger are changed;
the structure of the first pneumatic soft finger is the same as that of the second pneumatic soft finger, the first pneumatic soft finger and the second pneumatic soft finger are both of a plate-shaped structure which is made of elastic materials and provided with double-layer air bags, and the first pneumatic soft finger or the second pneumatic soft finger is bent towards the direction of the other layer of air bag by inflating the air bag at one layer inside the first pneumatic soft finger or the second pneumatic soft finger, so that the bidirectional bending deformation is realized, namely: the first pneumatic soft finger and the second pneumatic soft finger perform grabbing action when bending inwards, and the first pneumatic soft finger and the second pneumatic soft finger perform opening action when bending outwards;
the pneumatic soft wrist is a cylindrical structure which is made of elastic materials and provided with an air bag array.
2. The soft finger-wrist integrated paw as claimed in claim 1, wherein the two air bags have flexible and non-stretchable layers on their adjacent surfaces to limit the elongation deformation of the first and second pneumatic soft fingers.
3. The soft finger-wrist integrated paw as claimed in claim 1, wherein the air chamber of the first and second pneumatic soft fingers is internally provided with an inner core to ensure air tightness.
4. The soft finger-wrist integrated paw as claimed in claim 1, wherein the pneumatic soft wrist is a cylindrical structure with 2 x 2 air cell array made of elastic material, and the biaxial bidirectional bending deformation is realized by inflating different air cells; when any two adjacent air bags are inflated, the pneumatic soft wrist bends towards the other two air bags, so that the posture angles of the first pneumatic soft finger and the second pneumatic soft finger are changed through the driving of the main arm, the first adjustable supporting arm and the second adjustable supporting arm.
5. The soft finger-wrist paw as claimed in claim 4, wherein the adjacent lines of the air cells of the air cell array are provided with non-stretchable fiber yarns for limiting the elongation deformation of the pneumatic soft wrist.
6. The soft finger-wrist paw as claimed in claim 4, wherein each of the air cells of the pneumatic soft wrist has an inner core to ensure air tightness.
7. The soft finger and wrist gripper according to claim 1, wherein the first adjustable arm and the second adjustable arm are connected to the main arm by a hinge.
8. The finger and wrist integrated soft paw as claimed in claim 1, wherein the first adjustable arm and the second adjustable arm are engaged with each other through a gear, and the opening angles of the first adjustable arm and the second adjustable arm are adjusted through the gear to ensure the symmetry of the first adjustable arm and the second adjustable arm, and further the opening angles of the first pneumatic soft finger and the second pneumatic soft finger are adjusted to ensure the symmetry of the first pneumatic soft finger and the second pneumatic soft finger.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811211688.2A CN109176571B (en) | 2018-10-18 | 2018-10-18 | Finger and wrist integrated soft paw |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811211688.2A CN109176571B (en) | 2018-10-18 | 2018-10-18 | Finger and wrist integrated soft paw |
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| CN109176571A CN109176571A (en) | 2019-01-11 |
| CN109176571B true CN109176571B (en) | 2021-02-05 |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110549046A (en) * | 2019-08-22 | 2019-12-10 | 杭州魔象智能科技有限公司 | Soft mechanical arm and welding robot thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0437792A1 (en) * | 1989-12-20 | 1991-07-24 | Kabushiki Kaisha Toshiba | Flexible finger member |
| CN106625628A (en) * | 2015-10-29 | 2017-05-10 | 广西大学 | Flexible gripping manipulator |
| CN108297089A (en) * | 2018-04-02 | 2018-07-20 | 佛山伊贝尔科技有限公司 | A kind of software telecontrol equipment and soft robot |
| CN108312172A (en) * | 2018-04-16 | 2018-07-24 | 苏州迪天机器人自动化有限公司 | A kind of flexible manipulator |
| CN108555947A (en) * | 2018-06-26 | 2018-09-21 | 南京林业大学 | A kind of software manipulator of stiffness variable |
-
2018
- 2018-10-18 CN CN201811211688.2A patent/CN109176571B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0437792A1 (en) * | 1989-12-20 | 1991-07-24 | Kabushiki Kaisha Toshiba | Flexible finger member |
| CN106625628A (en) * | 2015-10-29 | 2017-05-10 | 广西大学 | Flexible gripping manipulator |
| CN108297089A (en) * | 2018-04-02 | 2018-07-20 | 佛山伊贝尔科技有限公司 | A kind of software telecontrol equipment and soft robot |
| CN108312172A (en) * | 2018-04-16 | 2018-07-24 | 苏州迪天机器人自动化有限公司 | A kind of flexible manipulator |
| CN108555947A (en) * | 2018-06-26 | 2018-09-21 | 南京林业大学 | A kind of software manipulator of stiffness variable |
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