CN110000752B - Wearable soft manipulator with rapid ejection function and preparation method thereof - Google Patents
Wearable soft manipulator with rapid ejection function and preparation method thereof Download PDFInfo
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- CN110000752B CN110000752B CN201910068034.7A CN201910068034A CN110000752B CN 110000752 B CN110000752 B CN 110000752B CN 201910068034 A CN201910068034 A CN 201910068034A CN 110000752 B CN110000752 B CN 110000752B
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- soft
- ejection
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/007—Means or methods for designing or fabricating manipulators
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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
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- Robotics (AREA)
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Abstract
The invention belongs to the technical field related to a soft manipulator and discloses a wearable soft manipulator with a rapid ejection function and a preparation method thereof, wherein the soft manipulator comprises a soft palm component and at least one flexible electromagnetic ejection component, the flexible electromagnetic ejection component is arranged on the soft palm component and is used for realizing ejection and grabbing based on an electromagnetic effect; the flexible electromagnetic ejection assembly comprises an electromagnetic coil, a metal block, a blocking body and a flexible electromagnetic ejection body, wherein the metal block is arranged in the blocking body, one end of the flexible electromagnetic ejection body penetrates through one end of the electromagnetic coil and then is connected to the blocking body, and the flexible electromagnetic ejection body is movably connected with the electromagnetic coil; the metal block is magnetized. The invention improves the response speed, and has simple structure and better flexibility.
Description
Technical Field
The invention belongs to the technical field related to a soft manipulator, and particularly relates to a wearable soft manipulator with a rapid ejection function and a preparation method thereof.
Background
The soft manipulator is a manipulator made of soft materials, and compared with a traditional manipulator or a gripping apparatus, the soft manipulator has stronger capability of operating small or fragile objects. Conventional manipulators are often rigid, but such manipulators have a certain degree of load-bearing capacity, but are difficult to grasp small and fragile objects, so that in the past years, automatic mechanical engineers have been struggling to find new ways for the manipulators to have the capacity to manipulate small or fragile objects, and soft manipulators have come to bear, and have the advantage of being easy to adjust the shape in addition to being easy to grasp small and fragile objects. Compared with the traditional manipulator, the soft manipulator can change the shape according to the shape of the grabbed object, and has the characteristic of self-adaption.
However, the conventional soft manipulator is usually driven by gas or liquid, has a slow response speed, often gives people a feeling of peristalsis, and although the capability of grabbing fine and fragile objects is improved, the response speed is too slow, so that the application of the soft manipulator is limited. Accordingly, there is a need in the art to develop a wearable soft manipulator with a fast ejection function and a fast response speed, and a method for manufacturing the same.
Disclosure of Invention
Aiming at the defects or the improvement requirements of the prior art, the invention provides a wearable soft manipulator with a quick ejection function and a preparation method thereof. The soft mechanical arm has the speed of the traditional rigid mechanical arm and the softness of the traditional soft mechanical arm, has the characteristics of quick ejection and quick grabbing, has high response speed and is favorable for popularization and application of the soft mechanical arm.
In order to achieve the above object, according to one aspect of the present invention, there is provided a wearable soft manipulator with a fast ejection function, the soft manipulator includes a soft palm component and at least one flexible electromagnetic ejection component, the flexible electromagnetic ejection component is disposed on the soft palm component, and the flexible electromagnetic ejection component implements ejection and grabbing based on an electromagnetic effect;
the flexible electromagnetic ejection assembly comprises an electromagnetic coil, a metal block, a blocking body and a flexible electromagnetic ejection body, wherein the metal block is arranged in the blocking body, one end of the flexible electromagnetic ejection body penetrates through one end of the electromagnetic coil and then is connected to the blocking body, and the flexible electromagnetic ejection body is movably connected with the electromagnetic coil; the metal block is magnetized.
Furthermore, the blocking body, the electromagnetic coil and the flexible electromagnetic ejection body are matched with each other to limit the flexible electromagnetic ejection assembly.
Furthermore, the electromagnetic coil comprises a cylindrical supporting body and a copper wire wound on the cylindrical supporting body, wherein one end of the supporting body is provided with an accommodating groove, the other end of the supporting body is provided with a through hole communicated with the accommodating groove, and the accommodating groove is used for accommodating part of the flexible electromagnetic ejection assembly; the copper wire is connected to the soft palm component.
Furthermore, the cross section of the accommodating groove perpendicular to the length direction of the accommodating groove is circular, and the diameter of the accommodating groove is larger than that of the through hole.
Furthermore, the flexible electromagnetic projectile comprises a connecting rod and a blocking end connected to one end of the connecting rod, and the diameter of the connecting rod is smaller than that of the through hole; the blocking end is cylindrical, and the diameter of the blocking end is larger than that of the through hole; the other end of the connecting rod passes through the through hole and then is connected with the blocking body.
Furthermore, the metal block is prepared by mixing magnetic powder and silicon rubber.
Further, the flexible electromagnetic projectile is made of silicon rubber.
Further, the soft palm component comprises a bottom soft covering layer, a flexible circuit arranged on the bottom soft covering layer and a top soft covering layer covering the flexible circuit.
Furthermore, the soft palm component comprises a palm part, at least one finger connected to the palm part and a flexible circuit arranged in the finger and the palm part, and the flexible circuit is connected to the electromagnetic coil; the finger is provided with a through hole, and the electromagnetic coil is arranged in the through hole.
According to another aspect of the present invention, there is provided a method for preparing a wearable soft manipulator with a fast ejection function, the method comprising the following steps: firstly, respectively preparing the soft palm component and the flexible electromagnetic ejection component, and then assembling the soft palm component and the flexible electromagnetic ejection component to obtain the soft manipulator; wherein, the soft palm component is prepared by adopting an additive manufacturing technology.
Generally, compared with the prior art, the wearable soft manipulator with the rapid ejection function and the preparation method thereof provided by the invention have the following beneficial effects:
1. the flexible electromagnetic ejection assembly is arranged on the soft palm assembly, ejection and grabbing are achieved based on the electromagnetic effect, rapid ejection and grabbing are achieved, response speed is high, and flexibility is good.
2. The stopper the solenoid reaches flexible electromagnetism projectile body mutually supports in order to right the flexible electromagnetism projectile subassembly carries out spacingly, can realize spacingly through self structure, compact structure, and the quality is stronger, portable.
3. The flexible electromagnetic ejection assembly utilizes the characteristics of electromagnetic coupling/interaction existing in the flexible electromagnetic material, can realize rapid ejection of the finger only through an instant discharge process, greatly reduces required voltage and energy consumption, and has high mechanical energy conversion efficiency.
4. The wearable soft mechanical arm is simple to prepare, low in energy consumption, low in cost, simple in selected materials, green, environment-friendly and high in applicability.
Drawings
Fig. 1 is a schematic perspective view of a wearable soft manipulator with a fast ejection function according to the present invention.
Fig. 2 is a schematic structural diagram of a flexible electromagnetic ejection assembly of the wearable soft manipulator with the rapid ejection function in fig. 1.
Fig. 3 is a schematic view of the flexible electromagnetic ejection assembly of fig. 2 at another angle.
Fig. 4 is a schematic plan view of the flexible electromagnetic ejection assembly of fig. 2.
The same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein: 10-flexible electromagnetic ejection component, 1-copper conductor, 2-cylindrical support, 3-metal block, 4-barrier, 5-flexible electromagnetic ejection body and 20-soft palm component.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Referring to fig. 1, fig. 2, fig. 3 and fig. 4, the wearable soft manipulator with a fast ejection function according to the present invention adopts the electromagnetic coupling/interaction characteristic of the flexible electromagnetic material itself, and only an instantaneous discharge process is required to realize fast ejection of the fingers of the soft manipulator, thereby greatly reducing the required voltage and energy consumption, and simultaneously improving the mechanical energy conversion effect, which is beneficial to popularization and application of the soft manipulator.
The soft manipulator comprises at least one flexible electromagnetic ejection assembly 10 and a soft palm assembly 20, wherein the flexible electromagnetic ejection assembly 10 is arranged on the soft palm assembly 20, and the ejection movement is realized through an electromagnetic effect.
The soft palm component 20 is made of silicon rubber and comprises a palm part, at least one finger connected to the palm part and a flexible circuit arranged in the finger and the palm part, wherein the flexible circuit is electrically connected to the flexible electromagnetic ejection component 10 and is used for connecting the flexible electromagnetic ejection component 10 and a power supply. In this embodiment, the soft palm component 20 can be fixed on the human hand and can deform along with the movement of the human hand.
In this embodiment, the number of the fingers is three, and the three fingers are arranged at intervals; the number of the flexible electromagnetic ejection assemblies 10 is equal to that of the fingers, and is also three; it will be appreciated that in other embodiments the number of fingers may be increased or decreased according to actual needs. The finger is provided with a through hole, and the flexible electromagnetic ejection assembly 10 is partially arranged in the through hole.
The flexible electromagnetic ejection assembly 10 comprises an electromagnetic coil, a metal block 3, a blocking body 4 and a flexible electromagnetic ejection body 5, wherein the metal block 3 is arranged in the blocking body 4. One end of the flexible electromagnetic projectile body 5 penetrates through one end of the electromagnetic coil and then is connected to the blocking body 4, and the blocking body 4, the electromagnetic coil and the flexible electromagnetic projectile body 5 are matched to limit the flexible electromagnetic projectile assembly 10. It will be appreciated that in other embodiments the magnetised slug 3 may be replaced by a magnet.
The electromagnetic coil is accommodated in the through hole and comprises a copper wire 1 and a cylindrical support body 2 for supporting the copper wire 1. The copper wire 1 is connected to the flexible circuit. The cylindrical support body 2 is provided with an accommodating groove which penetrates through one end of the cylindrical support body 2, and the cylindrical support body 2 is further provided with a through hole which penetrates through the other end of the cylindrical support body 2. The containing groove is communicated with the through hole, the cross section of the containing groove, which is perpendicular to the length direction of the containing groove, is circular, and the diameter of the containing groove is larger than that of the through hole.
The blocking body 4 is arranged in the accommodating groove and is basically cylindrical. The diameter of the blocking body 4 is smaller than that of the accommodating groove and larger than that of the through hole. An accommodating cavity is formed in the blocking body 4, and the metal block 3 is arranged in the accommodating cavity. In this embodiment, the metal block 3 is prepared by mixing magnetic powder and silicone rubber.
The flexible electromagnetic projectile body comprises a connecting rod and a blocking end connected to one end of the connecting rod, and the other end of the connecting rod penetrates through the through hole and then is connected to the blocking body 4. In this embodiment, the blocking end is cylindrical, and the diameter of the blocking end is larger than that of the through hole, so as to limit the movement of the flexible electromagnetic projectile 5; the flexible electromagnetic projectile 5 is made of silicon rubber.
The electromagnetic coil is electrified to generate a magnetic field, and the metal block 3 moves under the action of the magnetic field to drive the whole flexible electromagnetic ejection group 10 to move so as to realize the rapid ejection of the flexible electromagnetic ejection assembly.
The preparation method of the wearable soft manipulator with the rapid ejection function mainly comprises the following steps: firstly, a soft palm component and a flexible electromagnetic ejection component are manufactured, and then the flexible electromagnetic ejection component and the soft palm component are assembled together to obtain the wearable soft manipulator.
Specifically, the preparation method of the soft palm component can adopt the following two modes, one mode is as follows: the electromagnetic coil is made of silicon rubber, a bottom soft covering layer is firstly manufactured, and then a circuit is manufactured on the bottom soft covering layer, wherein the circuit mainly plays a role in connecting the electromagnetic coil with a power supply; and standing for 1 hour after the circuit is manufactured, and then preparing a top layer soft covering layer on the circuit, thereby obtaining the soft palm component. And the second mode is to realize the preparation of the soft palm component in an additive manufacturing mode, specifically, firstly, stacking a bottom layer covering material, starting to prepare a circuit when the bottom layer covering material is stacked to a specified thickness, standing for 1 hour after the circuit is prepared, then continuously stacking an upper layer covering material, and curing after each layer is stacked in a mode of simultaneously stacking and illuminating.
In this embodiment, the metal block is prepared by a selective laser melting technology, and can be tightly combined with the soft material by adding elements, optimizing the process and the like, and meanwhile, the combination of the metal block and the soft material can be enhanced by roughening treatment; the external soft body wrapping layer of the flexible electromagnetic projectile is prepared by optimizing a reasonable three-dimensional model based on numerical simulation, manufacturing a simple mold by adopting fused deposition molding, pouring fluid silicon rubber, baking in an oven at 60 ℃ for 6 hours, and finally air-cooling and standing for 6 hours, wherein the flexible electromagnetic projectile prepared in the way can bear impact load in the ejection process.
The present invention will be described in further detail below using several specific examples.
Example 1
(1) Preparing a cylindrical small iron block by using a Selective laser melting (Selective laser melting) technology, then adopting a mold of a Fused Deposition Modeling (Fused Deposition Modeling) projectile, then pouring fluid silicon rubber, then drying in an oven at 60 ℃ for 6h, finally air-cooling and standing for 6h, and then magnetizing the small iron block.
(2) Firstly, making a bottom layer soft covering, and then making a circuit on the prepared soft covering, wherein the circuit mainly plays a role in connecting a coil and a power supply; after the circuit is made, the circuit is placed for 1h, and then a layer of soft covering is prepared on the circuit.
(3) And assembling the components to obtain the wearable soft manipulator.
Example 2
(1) Preparing a cylindrical small iron block by utilizing a Selective laser melting (Selective laser melting) technology, then preparing a mould of the flexible electromagnetic projectile by adopting Fused Deposition Modeling, pouring fluid silicon rubber, drying in an oven at 60 ℃ for 6 hours, finally air-cooling and standing for 6 hours, and then magnetizing the small iron block.
(2) The method comprises the steps of firstly stacking a bottom layer covering material, starting to manufacture a circuit when the bottom layer covering material is stacked to a specified thickness, still placing for 1h after the circuit is manufactured, then continuously stacking an upper layer covering material, and curing once each layer is stacked by adopting a mode of simultaneously stacking and illuminating.
(3) And assembling the components to obtain the wearable soft manipulator.
Example 3
(1) Preparing a mould of the projectile body by selective laser melting (Fused Deposition Modeling), then mixing and stirring the magnetic powder and the silicon rubber uniformly, pouring the fluid silicon rubber, then drying in an oven at 60 ℃ for 6h, and finally air-cooling and standing for 6 h.
(2) Firstly, a bottom layer of soft cover is manufactured, then a circuit is manufactured on the prepared soft cover, the circuit mainly plays a role of connecting a coil and a power supply, the circuit is placed for 1h after being manufactured, and then a layer of soft cover is prepared on the circuit.
(3) And assembling the components to obtain the wearable soft manipulator.
Example 4
(1) Preparing a mould of the projectile body by selective laser melting (Fused Deposition Modeling), then mixing and stirring the magnetic powder and the silicon rubber uniformly, pouring fluid silicon rubber (ecoflex series), then baking for 6 hours in an oven at 60 ℃, and finally air-cooling and standing for 6 hours.
(2) The method comprises the steps of firstly stacking a bottom layer covering material, starting to manufacture a circuit when the bottom layer covering material is stacked to a specified thickness, still placing for 1h after the circuit is manufactured, then continuously stacking an upper layer covering material, and curing once each layer is stacked by adopting a mode of simultaneously stacking and illuminating.
(3) And assembling the components to obtain the wearable soft manipulator.
The wearable soft manipulator with the rapid ejection function and the preparation method thereof provided by the invention work by adopting the electromagnetic coupling/mutual renting characteristic of the flexible electromagnetic material based on the electromagnetic effect, can realize the rapid ejection of the fingers only by an instant discharge process, greatly reduces the required electric energy and energy consumption, has the functions of rapid ejection and rapid grasping, can better adhere to the skin of a human body by adopting the soft material, and generates corresponding deformation along with the transportation function of the human hand, and has the advantages of simple structure, light weight and convenience for carrying.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. The utility model provides a wearable software manipulator with function is launched fast which characterized in that:
the soft manipulator comprises a soft palm component and at least one flexible electromagnetic ejection component, wherein the flexible electromagnetic ejection component is arranged on the soft palm component and is used for realizing ejection and grabbing based on an electromagnetic effect;
the flexible electromagnetic ejection assembly comprises an electromagnetic coil, a metal block, a blocking body and a flexible electromagnetic ejection body, wherein the metal block is arranged in the blocking body, one end of the flexible electromagnetic ejection body penetrates through one end of the electromagnetic coil and then is connected to the blocking body, and the flexible electromagnetic ejection body is movably connected with the electromagnetic coil; the metal block is magnetized; the blocking body is arranged in the electromagnetic coil; the electromagnetic coil is electrified to generate a magnetic field, and the metal block moves under the action of the magnetic field so as to drive the whole flexible electromagnetic ejection assembly to move.
2. The wearable soft manipulator with the rapid ejection function of claim 1, wherein: the blocking body, the electromagnetic coil and the flexible electromagnetic ejection body are mutually matched to limit the flexible electromagnetic ejection assembly.
3. The wearable soft manipulator with the rapid ejection function of claim 2, wherein: the electromagnetic coil comprises a cylindrical supporting body and a copper conducting wire wound on the cylindrical supporting body, one end of the supporting body is provided with an accommodating groove, the other end of the supporting body is provided with a through hole communicated with the accommodating groove, and the accommodating groove is used for accommodating part of the flexible electromagnetic ejection assembly; the copper wire is connected to the soft palm component.
4. The wearable soft manipulator with the rapid ejection function of claim 3, wherein: the cross section of the containing groove perpendicular to the length direction of the containing groove is circular, and the diameter of the containing groove is larger than that of the through hole.
5. The wearable soft manipulator with the rapid ejection function of claim 4, wherein: the flexible electromagnetic projectile comprises a connecting rod and a blocking end connected to one end of the connecting rod, and the diameter of the connecting rod is smaller than that of the through hole; the blocking end is cylindrical, and the diameter of the blocking end is larger than that of the through hole; the other end of the connecting rod passes through the through hole and then is connected with the blocking body.
6. The wearable soft manipulator with the rapid ejection function of any one of claims 1 to 5, wherein: the metal block is prepared by mixing magnetic powder and silicon rubber.
7. The wearable soft manipulator with the rapid ejection function of any one of claims 1 to 5, wherein: the flexible electromagnetic projectile body is made of silicon rubber.
8. The wearable soft manipulator with the rapid ejection function of any one of claims 1 to 5, wherein: the soft palm component comprises a bottom soft covering layer, a flexible circuit arranged on the bottom soft covering layer and a top soft covering layer covering the flexible circuit.
9. The wearable soft manipulator with the rapid ejection function of any one of claims 1 to 5, wherein: the soft palm component comprises a palm part, at least one finger connected with the palm part and a flexible circuit arranged in the finger and the palm part, and the flexible circuit is connected with the electromagnetic coil; the finger is provided with a through hole, and the electromagnetic coil is arranged in the through hole.
10. A method for preparing a wearable soft manipulator with a rapid ejection function according to any one of claims 1-9, wherein the method comprises the following steps: firstly, respectively preparing the soft palm component and the flexible electromagnetic ejection component, and then assembling the soft palm component and the flexible electromagnetic ejection component to obtain the soft manipulator; wherein, the soft palm component is prepared by adopting an additive manufacturing technology.
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| CN201910068034.7A CN110000752B (en) | 2019-01-24 | 2019-01-24 | Wearable soft manipulator with rapid ejection function and preparation method thereof |
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| CN201388146Y (en) * | 2009-04-03 | 2010-01-20 | 刘焕营 | Novel linear motor |
| KR20110046136A (en) * | 2009-10-28 | 2011-05-04 | 재영웰릭스 주식회사 | Air finger gripper |
| CN104842359A (en) * | 2015-05-28 | 2015-08-19 | 江南大学 | Catapulting type fast grabbing robot |
| CN207127890U (en) * | 2017-09-18 | 2018-03-23 | 东北林业大学 | A kind of electromagnetic flexible driver for robot |
| CN108789394A (en) * | 2018-06-06 | 2018-11-13 | 江南大学 | A kind of electromagnetic drive type quick-expansion robot |
| CN108818615A (en) * | 2018-06-06 | 2018-11-16 | 江南大学 | A kind of ejection type quickly grabs robot |
| CN109102746A (en) * | 2018-09-04 | 2018-12-28 | 佛山科学技术学院 | A kind of electromagnetic ejection system |
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2019
- 2019-01-24 CN CN201910068034.7A patent/CN110000752B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201388146Y (en) * | 2009-04-03 | 2010-01-20 | 刘焕营 | Novel linear motor |
| KR20110046136A (en) * | 2009-10-28 | 2011-05-04 | 재영웰릭스 주식회사 | Air finger gripper |
| CN104842359A (en) * | 2015-05-28 | 2015-08-19 | 江南大学 | Catapulting type fast grabbing robot |
| CN207127890U (en) * | 2017-09-18 | 2018-03-23 | 东北林业大学 | A kind of electromagnetic flexible driver for robot |
| CN108789394A (en) * | 2018-06-06 | 2018-11-13 | 江南大学 | A kind of electromagnetic drive type quick-expansion robot |
| CN108818615A (en) * | 2018-06-06 | 2018-11-16 | 江南大学 | A kind of ejection type quickly grabs robot |
| CN109102746A (en) * | 2018-09-04 | 2018-12-28 | 佛山科学技术学院 | A kind of electromagnetic ejection system |
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