CN110142797A - A kind of variation rigidity using paper foldling mechanism divides chamber software manipulator - Google Patents
A kind of variation rigidity using paper foldling mechanism divides chamber software manipulator Download PDFInfo
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- CN110142797A CN110142797A CN201910395848.1A CN201910395848A CN110142797A CN 110142797 A CN110142797 A CN 110142797A CN 201910395848 A CN201910395848 A CN 201910395848A CN 110142797 A CN110142797 A CN 110142797A
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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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
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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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Orthopedics, Nursing, And Contraception (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of variation rigidities using paper foldling mechanism to divide chamber software manipulator, it is desirable to provide a kind of to use paper folding connection type, flexible high, the good software hand of grasp stability.Forming the software finger in software hand of the invention includes at least one set of air bending module and paper-folded bindiny mechanism；Each paper-folded bindiny mechanism includes the flexible module of paper-folded and two connectors, and two connectors are connected to the both ends of the flexible module of paper-folded, and the connector of one end is connect with air bending module；The connector of the other end is connect with adjacent air bending module or supporting mechanism；Restoration spring is installed, restoration spring is for providing restoring force when being bent for corresponding connector and the flexible module of paper-folded between each connector and the flexible module of paper-folded.Software hand of the invention is light-weight, freedom degree is big, flexible, has buffering damping capaicty, meanwhile, the characteristic of variation rigidity can be occurred with the rigidity for being crawled object by having, and grasp force is big, grasp stability improves.
Description
Technical field
The present invention relates to robotic technology fields, and more specifically, it relates to a kind of variation rigidities using paper foldling mechanism point
Chamber software manipulator.
Background technique
With the continuous progress of technology, robot gradually substitutes manual operation and completes various operations.In order to adapt to specific neck
The use in domain needs, and soft robot comes into being.It is widely used at present fragile article, software article, complicated shape article etc.
The fields such as crawl and medical rehabilitation.
Currently, being applied to complete the software hand of grasping movement to be mainly pneumatic multi-chamber structure, by filling gas chamber
Gas is bent so that software hand is whole to certain direction, realizes grasping movement by the cooperation of two software hands.Although this kind of soft
Body hand have the advantages that it is flexible very well, freedom degree is more, active and intelligent, but still have that rigidity is insufficient, bending angle is uncontrollable, grabs
Power is too small, the defects of easily deforming under external force.Therefore, the rigid-flexible composite of multiple software fingers is connected using joint module
Software manipulator just comes into being.But currently, most of software swivel of hand modules use flexibility using flexible material production
Material connects the both ends of air bending structure, principle be when the air bending structure stress at both ends, joint module it is soft
Flexible deformation occurs under the action of the power of both sides and is compressed for property material, so that the scope of activities of both ends air bending structure be made to expand
Greatly.The shortcomings that this structure is: it is very big that material internal acts on counter-force；Macroscopically seeing, software finger to the grasp force of object compared with
Small, rigidity is poor, and grasp stability is poor；The bending angle of entire finger, bending range are smaller.
Summary of the invention
Paper folding connection side is used in view of the technical drawbacks of the prior art, it is an object of the present invention to provide a kind of
Formula, flexible high, the software hand of the good software finger of grasp stability and its composition.
The technical solution adopted to achieve the purpose of the present invention is:
A kind of software finger, including at least one set of air bending module and paper-folded bindiny mechanism；Each paper-folded
Bindiny mechanism includes the flexible module of paper-folded and two connectors, and it is flexible that two connectors are connected to the paper-folded
The both ends of module, the connector of one end are connect with the air bending module；The connector of the other end and adjacent
The air bending module or supporting mechanism connection；It is equipped between each connector and the flexible module of the paper-folded multiple
Position leaf spring, the restoration spring is for providing reply when being bent for the corresponding connector and the flexible module of the paper-folded
Power.
The paper-folded stretch module include be made of multiple first folded sheets it is jagged first fold unit and by
Jagged the second of multiple second folded sheet compositions folds unit, and it is mutual that the first folding unit and described second fold unit
Perpendicular setting, and the second folded sheet of the first folded sheet of the first folding unit and the second folding unit is successively handed over
For overlapping arrangement, the side of first folded sheet and second folded sheet phase the same side bonds together as Bending Rotation axis.
The air bending module is the more gas chamber's structures being made of upper matrix and lower substrate, the adjacent air chamber
Deformation gap is formed between the outer wall of room, the side wall of each gas chamber is forced expansion face.
The paper-folded stretches module for aluminium foil or the flexiplast scraps of paper；The connector is fine using engineering plastics or polyester
Dimension, the air bending module are silica gel material.
A kind of variation rigidity using paper foldling mechanism divides chamber software manipulator, including pedestal, supporting mechanism and software finger；Institute
Stating software finger includes at least one set of air bending module and paper-folded bindiny mechanism；Each paper-folded bindiny mechanism includes
The flexible module of paper-folded and two connectors, two connectors are connected to the both ends of the flexible module of the paper-folded,
The connector of one end is connect with the air bending module；The connector of the other end is stretched with the adjacent paper-folded
The connection of contracting module is connect by the supporting mechanism with pedestal；Each connector is flexible with the corresponding paper-folded
Restoration spring is installed, the restoration spring when being bent for the corresponding connector and the paper-folded for stretching between module
Contracting module provides restoring force.
The paper-folded stretch module include be made of multiple first folded sheets it is jagged first fold unit and by
Jagged the second of multiple second folded sheet compositions folds unit, and it is mutual that the first folding unit and described second fold unit
Perpendicular setting, and the second folded sheet of the first folded sheet of the first folding unit and the second folding unit is successively handed over
For overlapping arrangement, the side of first folded sheet and second folded sheet phase the same side bonds together as Bending Rotation axis.
The air bending module is the more gas chamber's structures being made of upper matrix and lower substrate, the adjacent air chamber
Deformation gap is formed between the outer wall of room, the side wall of each gas chamber is forced expansion face.
The support rod and connection deck use engineering plastics.
The connector includes the first integrated transverse slat, the second transverse slat and the connection snap-gauge of two sides, first transverse slat and
Second transverse slat is connected by the connection snap-gauge, is provided with link slot on the first transverse slat, is used for module of stretching with the paper-folded
Connection；Tracheal orifice is provided on second transverse slat for the connector connecting with the air bending module.
Compared with prior art, the beneficial effects of the present invention are:
1, it in the software hand of software finger of the invention and its composition, stretches module, connector and multiple using by paper-folded
The joint module of position leaf spring composition realizes the connection between adjacent air bending module or air bending module and supporting mechanism, weight
Amount is light, freedom degree is big, flexible, has buffering damping capaicty, meanwhile, variation rigidity can be occurred with the rigidity for being crawled object by having
Characteristic, grasp force is big, grasp stability improves.
2, the software hand of software finger of the invention and its composition is simple to manufacture, is at low cost, is light-weight, dismantling installation side
Just, interchangeability is good.
3, software hand of the invention may be implemented the crawl to object to its ventilation according to certain charge, exhaust rule and move
Make, drive control is very easy.The software hand grasp force size and bending degree may be implemented in the air pressure of control input gas
Accurate control.
4, the software fingerprint of software finger of the invention and its composition has imitated the finger shape and function of people, more
On simulate the flexibility of manpower.
5, in the present invention paper-folded of software finger stretch module by two zig-zag fold board groups at, it is easy to make,
Intensity is high, and low manufacture cost is flexible and convenient to use.
Detailed description of the invention
Fig. 1 show the structural schematic diagram of software finger of the present invention；
Fig. 2 show the overall structure diagram of the flexible module of paper-folded；
Fig. 3 show the structural schematic diagram of the flexible module folded state of paper-folded；
Fig. 4 show the structural schematic diagram of connector；
Fig. 5 show the structural schematic diagram of air bending module；
Fig. 6 show the structural schematic diagram of software hand of the present invention；
Fig. 7 show the structural schematic diagram of supporting mechanism.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
Embodiment 1: software finger
The schematic diagram of software finger of the present invention is as shown in Figure 1, include that at least one set of air bending module 1 is connected with paper-folded
Mechanism 2.Each paper-folded bindiny mechanism 2 includes the flexible module 2-2 of paper-folded and two connectors 2-1,2-3, two institutes
State the both ends that connector 2-1,2-3 are connected to the flexible module 2-2 of the paper-folded.The function of connector is that realization is pneumatic curved
Bent module is connect with the transition of the flexible module of paper-folded or other supporting mechanisms.The quantity of air bending module 1 is according to being grabbed
The size of the article taken determines, can be 1-3.It is corresponding to it, the quantity and air bending module 1 of paper-folded bindiny mechanism 2
Quantity it is equal.When having an air bending module 1, the connector 2-3 of one end and the air bending module 1 connect
It connects, the connector 2-1 of the other end is connect with other supporting mechanisms or other component.When using multiple air bending modules,
The connector 2-3 of one end is connect with an air bending module 1, connector 2-1 and another phase of the other end
Adjacent air bending module 1 connects, and the lowermost connector is connect with other supporting mechanisms or other component.Each company
Restoration spring is installed, the restoration spring is for being corresponding described when being bent between fitting and the flexible module of the paper-folded
Connector and the flexible module of the paper-folded provide restoring force.The restoration spring in the present embodiment is rectangular configuration, two
There is card outstanding at end, can be fixed on the corresponding connector.To both ends inability when the restoration spring is horizontal positioned
Effect, but if by being bent, the module that will stretch to the connecting plate and paper-folded of two end in contact exports restoring force, to make
Software finger shows rigidity when by external force, and software finger can be made to have and occur becoming rigid with the rigidity for being crawled object
The characteristic of degree.
The paper-folded in the present embodiment stretch module schematic diagram as shown in Fig. 2-Fig. 3, the paper-folded stretches mould
Block 2-2 includes the jagged first folding unit being formed by connecting by multiple first folded sheet 2-2-1 and is folded by multiple second
The jagged second folding unit that plate 2-2-2 is formed by connecting, the first folding unit and the second folding unit are mutual
It is vertically arranged, and the described first the first folded sheet 2-2-1 and described second for folding unit folds the second folded sheet 2- of unit
2-2 successively alternately stacked arrangement forms two the first folded sheet 2-2-1 and vertically clamps second folding
Plate 2-2-2, two the second folded sheet 2-2-2 vertically clamp the structure of the first folded sheet 2-2-1.Two
A first folded sheet and two the second folded sheets form a paper folding telescopic unit, and each paper folding telescopic unit is in bending function
One small unit angle of bending is merely responsible in realization.The first folded sheet 2-2-1 and second folded sheet 2-2-2 phase the same side
Side bond together as Bending Rotation axis, multiple first folded sheet 2-2-1 and the second folded sheet 2-2-2 are around described
Bending Rotation axis circumferentially array arrangement.Wherein, the described first the first folded sheet 2-2-1 and second for folding in unit is folded single
The second folded sheet 2-2-2 in member is the identical square of size.Illustrate paper-folded of the invention for using paper material
Flexible module it is specific the production method is as follows: will as first fold unit and second fold unit two sizes it is identical
Folded sheet square crossing is put, and the long side of a piece of paper for folding unit as first folds the second of unit with as second
Paper is rectangular in shape placements at one end, and it is first for the first folding unit that the part that two pieces of paper overlapping intersects, which is square,
Folded sheet, folding unit for second is the second folded sheet.Unit visible part, which is folded, by first folds the upper of unit along second
Sideline is turned over downwards, and the right side bearing by the visible part of the second folding unit along the first folding unit turns down to the left later, later
The visible part of first folding unit is flipped up, the visible part of the second folding unit is turned down to the right later, later will
The visible part of first folding unit is turned over downwards, and so on, the repetition above procedure in period, until two pieces of paper item whole quilt
It is folded within the scope of " square ", folded schematic diagram is as shown in Figure 3.It, will after straticulation is compressed in above-mentioned paper folding
Any a line in the square four edges of bottom surface pastes, and be opened the flexible module of the paper-folded can not on this side,
The side is the Bending Rotation axis of paper folding bending module, and the curved paper-folded using the side that is stuck as Bending Rotation axis can be obtained
Flexible module, schematic diagram are as shown in Figure 2.
The paper-folded stretches between module and the connector, the connection between the connector and software bending module
Mode has the prior art.In the present embodiment, two connecting-piece structures at the flexible module both ends of paper-folded are identical, the connector
Schematic diagram as shown in figure 4, include the first transverse slat 2-a, the second transverse slat 2-b and the connection snap-gauge of two sides 2-c of one, described the
One transverse slat 2-a and the second transverse slat 2-b passes through the connection snap-gauge 2-c connection, is provided with link slot 2-d on the first transverse slat 2-a, uses
In the connection of help and the flexible module of paper-folded；It is set on second transverse slat for the connector being connect with air bending module
It is equipped with tracheal orifice 2-e, for drawing silica gel soft air pipe, other structures are not had an impact.It is connect with the air bending module 1
The connector connection snap-gauge 2-c and the air bending module 1 interference fit connect.The connector and the paper folding
The flexible module bonding of formula is connected using connecting rope.The connector and the air bending module can also use pin, key, spiral shell
The modes such as nail nut connect.
Air bending module in the present embodiment uses cavity-separating structure, and schematic diagram is as shown in figure 5, the air bending
Module is the more gas chamber's structures being made of upper matrix 1-1 and lower substrate 1-2, the outer wall of the adjacent gas chamber 1-3 it
Between form deformation gap, the side wall of each gas chamber 1-3 is forced expansion face.Preferred embodiment is shown by experiment
Are as follows: the width and height of the air bending module are equal, and the length that the air bending module is answered is width or height
3-4 times, in the maximum security admission air pressure range of silica gel material and air-proof condition, the maximum bending of air bending module
Angle can achieve 60 degree, adapt to the object for grabbing universal size.
Wherein, the paper-folded stretches module using the flexible material for meeting certain rigidity requirement, and the material is by software
Finger or weight are unlikely to tear during pulling, and the pulling force for bearing 50N will not destroy；Single layer of material thinner thickness (is less than
It is 1mm) and softer, there is certain bending stretch performance, be flexible to apply normal folding force to form folding line
Standard.Such as: the materials such as high tenacity aluminium foil or the flexiplast scraps of paper.Connector, which uses, can be used engineering plastics or polyester fiber
The good material of equal light weights, intensity, the air bending module are silica gel material.
Embodiment 2: software hand
Variation rigidity using paper foldling mechanism of the invention divides the structural schematic diagram of chamber software manipulator as shown in fig. 6, including
Pedestal 3, supporting mechanism 4 and software finger.Wherein, software finger part is same as Example 1, the quantity of software hand finger according to
Using it needs to be determined that, can be 1-5.For the schematic diagram of software finger referring to shown in Fig. 1-Fig. 5, the software finger includes at least
One group of air bending module 1 and paper-folded bindiny mechanism 2.Each paper-folded bindiny mechanism 2 includes the flexible module of paper-folded
2-2 and two connector 2-1,2-3, two described connector 2-1,2-3 are respectively arranged in the paper-folded and stretch module 2-2's
Both ends.When having an air bending module 1, the connector 2-3 of one end is connect with the air bending module 1, separately
The connector 2-1 of one end is connect by supporting mechanism 4 with pedestal 3.When using multiple air bending modules, the company of one end
Fitting 2-3 is connect with an air bending module 1, and the connector 2-1 of the other end and another air bending module 1 connect
It connects, the lowermost connector is connect by supporting mechanism 4 with pedestal 3.Each connector and the flexible module of the paper-folded
Between restoration spring is installed, the restoration spring when being bent for the corresponding connector and the paper-folded for stretching mould
Block provides restoring force.
In the present embodiment, the schematic diagram of the supporting mechanism as shown in fig. 7, comprises connection deck 4-1 and support rod 4-2,
The connector grafting of lower end in described connection one end deck 4-1 and the software finger, the connection deck 4-1's is another
One end is installed on the pedestal 3 by the support rod 4-2.
The paper-folded in the present embodiment stretch module schematic diagram as shown in Fig. 2-Fig. 3, the paper-folded stretches mould
Block 2-2 includes the jagged first folding unit being formed by connecting by multiple first folded sheet 2-2-1 and is folded by multiple second
The jagged second folding unit that plate 2-2-2 is formed by connecting, the first folding unit and the second folding unit are mutual
It is vertically arranged, and the described first the first folded sheet 2-2-1 and described second for folding unit folds the second folded sheet 2- of unit
2-2 successively alternately stacked arrangement forms two the first folded sheet 2-2-1 and vertically clamps second folding
Plate 2-2-2, two the second folded sheet 2-2-2 vertically clamp the structure of the first folded sheet 2-2-1.Two
A first folded sheet and two the second folded sheets form a paper folding telescopic unit, and each paper folding telescopic unit is in bending function
One small unit angle of bending is merely responsible in realization.The first folded sheet 2-2-1 and second folded sheet 2-2-2 phase the same side
Side bond together as Bending Rotation axis, multiple first folded sheet 2-2-1 and the second folded sheet 2-2-2 are around described
Bending Rotation axis circumferentially array arrangement.Wherein, the described first the first folded sheet 2-2-1 and second for folding in unit is folded single
The second folded sheet 2-2-2 in member is the identical square of size.
The paper-folded stretches between module and the connector, the connection between the connector and software bending module
Mode has the prior art.In the present embodiment, two connecting-piece structures at the flexible module both ends of paper-folded are identical, the connector
Schematic diagram as shown in figure 4, include the first transverse slat 2-a, the second transverse slat 2-b and the connection snap-gauge of two sides 2-c of one, described the
One transverse slat 2-a and the second transverse slat 2-b passes through the connection snap-gauge 2-c connection, is provided with link slot 2-d on the first transverse slat 2-a, uses
In the connection of help and the flexible module of paper-folded；It is set on second transverse slat for the connector being connect with air bending module
It is equipped with tracheal orifice 2-e, for drawing silica gel soft air pipe, other structures are not had an impact.It is connect with the air bending module 1
The connector connection snap-gauge 2-c and the air bending module 1 is interference fitted or the connection sides such as pin, key, screw-nut
Formula, the connector is Nian Jie with the flexible module of the paper-folded or is connected using connecting rope.
Air bending module in the present embodiment uses cavity-separating structure, and schematic diagram is as shown in figure 5, the air bending
Module is the more gas chamber's structures being made of upper matrix 1-1 and lower substrate 1-2, the outer wall of the adjacent gas chamber 1-3 it
Between form deformation gap, the side wall of each gas chamber 1-3 is forced expansion face.Preferred embodiment is shown by experiment
Are as follows: the width and height of the air bending module are equal, and the length that the air bending module is answered is width or height
3-4 times, in the maximum security admission air pressure range of silica gel material and air-proof condition, the maximum bending of air bending module
Angle can achieve 60 degree, adapt to the object for grabbing universal size.
Support rod 4-2 can be used various ways with pedestal 3 and connect, as detachable interposing assembling structure, screw-nut connection, key connect
Connect etc., the present embodiment is for convenience of the convenient for disassembly and assembly of components, using detachable interposing assembling structure as connection type.That is support rod
The connection type of plug-in clearance fit is used between pedestal.It can also be used between support rod 4-2 and connection deck 4-1 a variety of
Mode connects, such as detachable interposing assembling structure, screw-nut connection, key connection, the present embodiment for convenience of components dismounting
It is convenient, using detachable interposing assembling structure, i.e., the connection of plug-in clearance fit is used between the head of support rod and connection deck
Mode.
Support rod, pedestal and deck as software hand support member it is necessary to have the material of some strength, as cast iron,
Carbon steel, steel alloy, composite material etc..The present embodiment be manufacturing cost consider, select engineering plastics as support rod, pedestal and
Connect the material of deck.
Below by software hand that grasping movement uses by 3 fingers, every finger by 2 air bending module compositions for
It is illustrated:
1. before grasping movement, all software fingers are in natural relaxation state.Make to be crawled object by mobile base
Body is surrounded by 3 software fingers from surrounding.
2. the air bending module inflation of pair every software finger least significant end, is allowed to be bent and touch to be crawled object
Bottom, while the bending of air bending module inflation, the flexible module of paper-folded in paper-folded bindiny mechanism is opened, until
When the flexible module of paper folding bends to maximum angle because of the effect counter-force of object, stop inflation.At this point, restoration spring will be to
The flexible module output restoring force of the connecting plate and paper-folded of two end in contact can make soft so that software finger be made to show rigidity
Body finger, which has, there is the characteristic of variation rigidity with the rigidity for being crawled object.At this point for the lesser object of dimensions, or by
The object that the air bending module of end 3 is caught, has completed grasping movement.
3. object biggish for dimensions, it is also necessary to which the air bending module of each software finger second layer cooperates.
At this point, the air bending module to each software finger second layer is inflated, it is allowed to be bent and touch to be crawled in object
Portion, while the bending that the air bending module of the second layer is inflated, the paper-folded connecting with the air bending module connects machine
The flexible module of paper-folded in structure is opened, and stops inflation after holding object.At this point, restoration spring will be to the connection of two end in contact
Plate and the flexible module of paper-folded export restoring force, complete grasping movement.
Software hand of the invention may be implemented pair according to the air bending module ventilation of certain charge, exhaust rule thereto
The grasping movement of object, drive control are very easy.The software hand grasp force size may be implemented in the air pressure of control input gas
With the accurate control of bending degree.The present invention has imitated the finger shape and function of people, more upper mold to the greatest extent
The flexibility of manpower is intended.
The above is only a preferred embodiment of the present invention, it is noted that for the common skill of the art
For art personnel, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications
Also it should be regarded as protection scope of the present invention.
Claims (9)
1. a kind of software finger, which is characterized in that including at least one set of air bending module and paper-folded bindiny mechanism；Each institute
Stating paper-folded bindiny mechanism includes that the flexible module of paper-folded and two connectors, two connectors are connected to the folding
The both ends of the flexible module of master mode, the connector of one end are connect with the air bending module；The connector of the other end
It is connect with the adjacent air bending module or supporting mechanism；Each connector and the paper-folded stretch between module
Restoration spring is installed, the restoration spring when being bent for the corresponding connector and the flexible module of the paper-folded for mentioning
For restoring force.
2. software finger according to claim 1, which is characterized in that the flexible module of the paper-folded includes by multiple first
The jagged first folding unit of folded sheet composition and the jagged second folding unit being made of multiple second folded sheets,
Described first folds unit and the second folding orthogonal setting of unit, and the first folded sheet of the first folding unit
The the second folded sheet successively alternately stacked arrangement for folding unit with described second, first folded sheet and the second folded sheet are identical
The side of side bonds together as Bending Rotation axis.
3. software finger according to claim 1 or 2, the air bending module is made of upper matrix and lower substrate
More gas chamber's structures form deformation gap, the side wall of each gas chamber between the outer wall of the adjacent gas chamber
For forced expansion face.
4. software finger according to claim 3, which is characterized in that the paper-folded stretches module for aluminium foil or flexible modeling
Expect the scraps of paper；The connector uses engineering plastics or polyester fiber, and the air bending module is silica gel material.
5. a kind of variation rigidity using paper foldling mechanism being made of software finger described in claim 1 divides chamber software manipulator,
It is characterised in that it includes pedestal, supporting mechanism and software finger；The software finger include at least one set of air bending module and
Paper-folded bindiny mechanism；Each paper-folded bindiny mechanism includes the flexible module of paper-folded and two connectors, described in two
Connector is connected to the both ends of the flexible module of the paper-folded, and the connector of one end and the air bending module connect
It connects；The connector of the other end connect with the flexible module of the adjacent paper-folded or is connected by the supporting mechanism and pedestal
It connects；Restoration spring, the restoration spring are installed between each connector and the flexible module of the corresponding paper-folded
Restoring force is provided when for being bent for the corresponding connector and the flexible module of the paper-folded.
6. the variation rigidity according to claim 5 using paper foldling mechanism divides chamber software manipulator, which is characterized in that the folding
The flexible module of master mode includes that jagged first be made of multiple first folded sheets folds unit and by multiple second folded sheets
Jagged the second of composition folds unit, and described first folds unit and the second folding orthogonal setting of unit, and
Described first, which folds the first folded sheet of unit and described second, folds the second folded sheet successively alternately stacked arrangement of unit, institute
The side for stating the first folded sheet and second folded sheet phase the same side bonds together as Bending Rotation axis.
7. the variation rigidity according to claim 5 using paper foldling mechanism divides chamber software manipulator, which is characterized in that the gas
Dynamic bending module is the more gas chamber's structures being made of upper matrix and lower substrate, shape between the outer wall of the adjacent gas chamber
At deformation gap, the side wall of each gas chamber is forced expansion face.
8. the variation rigidity according to claim 5 using paper foldling mechanism divides chamber software manipulator, which is characterized in that the branch
Strut and connection deck use engineering plastics.
9. the variation rigidity according to claim 5 using paper foldling mechanism divides chamber software manipulator, which is characterized in that the company
Fitting includes the first integrated transverse slat, the second transverse slat and the connection snap-gauge of two sides, and first transverse slat and the second transverse slat pass through institute
Connection snap-gauge connection is stated, is provided with link slot on the first transverse slat, the connection for module of stretching with the paper-folded；With the gas
Tracheal orifice is provided on second transverse slat of the connector of dynamic bending module connection.
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| CN201910395848.1A CN110142797B (en) | 2019-05-13 | 2019-05-13 | Rigidity-variable cavity-separating soft manipulator applying paper folding mechanism |
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| CN201910395848.1A CN110142797B (en) | 2019-05-13 | 2019-05-13 | Rigidity-variable cavity-separating soft manipulator applying paper folding mechanism |
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| CN110142797B CN110142797B (en) | 2022-05-03 |
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Cited By (17)
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| CN110509290A (en) * | 2019-08-30 | 2019-11-29 | 哈工大机器人湖州国际创新研究院 | Software actuator and its manufacturing method |
| CN110524523A (en) * | 2019-09-27 | 2019-12-03 | 南京林业大学 | A kind of modularization software manipulator |
| CN110540676A (en) * | 2019-09-17 | 2019-12-06 | 哈尔滨工业大学 | Preparation method of conductive thermoplastic starch polymer and human-simulated soft finger with paper folding structure based on polymer |
| CN110625639A (en) * | 2019-09-16 | 2019-12-31 | 南京航空航天大学 | Software manipulator |
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| CN112757329A (en) * | 2020-12-31 | 2021-05-07 | 西南交通大学 | Pneumatic soft gripper based on paper folding principle |
| CN112873194A (en) * | 2021-01-19 | 2021-06-01 | 上海工程技术大学 | Line-driven continuous flexible mechanical arm and flexible robot comprising same |
| CN112896362A (en) * | 2021-03-27 | 2021-06-04 | 吉林大学 | Highly-bionic full-flexible-drive spider-imitating robot |
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| CN114654445A (en) * | 2022-03-02 | 2022-06-24 | 上海工程技术大学 | Line-driven flexible robot |
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| CN110625639A (en) * | 2019-09-16 | 2019-12-31 | 南京航空航天大学 | Software manipulator |
| CN110540676A (en) * | 2019-09-17 | 2019-12-06 | 哈尔滨工业大学 | Preparation method of conductive thermoplastic starch polymer and human-simulated soft finger with paper folding structure based on polymer |
| CN110540676B (en) * | 2019-09-17 | 2021-09-03 | 哈尔滨工业大学 | Human-simulated soft finger with paper folding structure based on conductive thermoplastic starch polymer |
| CN110524523A (en) * | 2019-09-27 | 2019-12-03 | 南京林业大学 | A kind of modularization software manipulator |
| CN112297039A (en) * | 2020-10-13 | 2021-02-02 | 南京理工大学 | Double-clamping-groove flexible driver |
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| CN112757329B (en) * | 2020-12-31 | 2022-02-01 | 西南交通大学 | Pneumatic soft gripper based on paper folding principle |
| CN112873194A (en) * | 2021-01-19 | 2021-06-01 | 上海工程技术大学 | Line-driven continuous flexible mechanical arm and flexible robot comprising same |
| CN113146662A (en) * | 2021-03-03 | 2021-07-23 | 南方科技大学 | Driving control method for clamping jaw knuckle and multi-degree-of-freedom gripping device |
| CN113021410A (en) * | 2021-03-03 | 2021-06-25 | 大连理工大学 | Fuse continuous type arm of paper folding shape shell and tension structure |
| CN113021410B (en) * | 2021-03-03 | 2022-05-13 | 大连理工大学 | Fuse continuous type arm of paper folding shape shell and tension structure |
| CN112896362A (en) * | 2021-03-27 | 2021-06-04 | 吉林大学 | Highly-bionic full-flexible-drive spider-imitating robot |
| CN113199464A (en) * | 2021-05-21 | 2021-08-03 | 燕山大学 | Modular high-expansion-ratio robot based on paper folding mechanism |
| CN113199464B (en) * | 2021-05-21 | 2022-07-19 | 燕山大学 | Modular high-expansion-ratio robot based on paper folding mechanism |
| CN113580119A (en) * | 2021-08-17 | 2021-11-02 | 苏州大学 | Pneumatic continuum mechanism based on paper folding structure and continuum robot |
| CN113580119B (en) * | 2021-08-17 | 2023-01-06 | 苏州大学 | Pneumatic continuum mechanism based on paper folding structure and continuum robot |
| CN114043469A (en) * | 2021-12-13 | 2022-02-15 | 杭州电子科技大学 | Free telescopic bending mechanical arm, wall crawling robot and crawling method thereof |
| CN114274163B (en) * | 2022-01-17 | 2023-11-03 | 燕山大学 | Omnidirectional multi-degree-of-freedom modularized soft robot based on paper folding structure |
| CN114654445A (en) * | 2022-03-02 | 2022-06-24 | 上海工程技术大学 | Line-driven flexible robot |
| CN114654445B (en) * | 2022-03-02 | 2023-06-02 | 上海工程技术大学 | Line-driven flexible robot |
| CN114886566A (en) * | 2022-05-12 | 2022-08-12 | 南开大学 | Nuclear magnetic compatible puncture surgery paper folding robot |
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