CN110142797B - Rigidity-variable cavity-separating soft manipulator applying paper folding mechanism - Google Patents
Rigidity-variable cavity-separating soft manipulator applying paper folding mechanism Download PDFInfo
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- CN110142797B CN110142797B CN201910395848.1A CN201910395848A CN110142797B CN 110142797 B CN110142797 B CN 110142797B CN 201910395848 A CN201910395848 A CN 201910395848A CN 110142797 B CN110142797 B CN 110142797B
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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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Abstract
The invention discloses a variable-rigidity chambered soft manipulator applying a paper folding mechanism, and aims to provide a soft manipulator which adopts a paper folding connection mode and has high flexibility and good grabbing stability. The soft fingers in the soft hand comprise at least one group of pneumatic bending modules and a paper folding type connecting mechanism; each paper folding type connecting mechanism comprises a paper folding type telescopic module and two connecting pieces, the two connecting pieces are respectively connected to two ends of the paper folding type telescopic module, and the connecting piece at one end is connected with the pneumatic bending module; the connecting piece at the other end is connected with the adjacent pneumatic bending module or the supporting mechanism; and a reset plate spring is arranged between each connecting piece and the paper folding type telescopic module and is used for providing restoring force for the corresponding connecting piece and the paper folding type telescopic module when the reset plate spring is bent. The soft hand has the advantages of light weight, high degree of freedom, good flexibility, buffering and shock absorption capacity, variable rigidity along with the rigidity of a grabbed object, high grabbing force and high grabbing stability.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a variable-rigidity cavity-dividing soft manipulator applying a paper folding mechanism.
Background
With the continuous progress of the technology, the robot gradually replaces manual operation to complete various operations. In order to adapt to the use requirement of a specific field, the soft robot is produced. At present, the utility model is widely applied to the fields of grabbing of fragile articles, soft articles, articles with complex shapes and the like, medical rehabilitation and the like.
At present, a soft hand used for completing grabbing action is mainly of a pneumatic multi-chamber structure, the whole soft hand is bent towards a certain direction by inflating a gas chamber, and grabbing action is realized through the matching of the two soft hands. Although the soft hand has the advantages of good flexibility, multiple degrees of freedom, flexibility and agility, the soft hand still has the defects of insufficient rigidity, uncontrollable bending angle, small gripping force, easy deformation under the action of external force and the like. Therefore, the rigid-flexible composite type soft manipulator using the joint module to connect a plurality of soft fingers is produced. However, most of the soft hand joint modules are made of flexible materials, and the two ends of the pneumatic bending structure are connected by using the flexible materials. The disadvantages of this structure are: the reaction force in the material is large; in macroscopical view, the soft fingers have small grabbing force to the object, poor rigidity and poor grabbing stability; the bending angle and the bending range of the whole finger are smaller.
Disclosure of Invention
The invention aims to provide a soft finger which adopts a paper folding connection mode, has high flexibility and good grabbing stability and a soft hand consisting of the soft finger, aiming at the technical defects in the prior art.
The technical scheme adopted for realizing the purpose of the invention is as follows:
a soft finger comprises at least one group of pneumatic bending modules and a paper folding type connecting mechanism; each paper folding type connecting mechanism comprises a paper folding type telescopic module and two connecting pieces, the two connecting pieces are respectively connected to two ends of the paper folding type telescopic module, and the connecting piece at one end is connected with the pneumatic bending module; the connecting piece at the other end is connected with the adjacent pneumatic bending module or the supporting mechanism; every the connecting piece with install the leaf spring that resets between the flexible module of paper folding formula, the leaf spring that resets is for corresponding when being used for the bending the connecting piece reaches the flexible module of paper folding formula provides the restoring force.
The flexible module of folded paper formula includes the first folding unit of the cockscomb structure of constituteing by a plurality of first folded sheets and the second folding unit of the cockscomb structure of constituteing by a plurality of second folded sheets, first folding unit with the second folding unit sets up perpendicularly mutually, just the first folded sheet of first folding unit with the second folded sheet of second folding unit overlaps in turn and arranges, the limit of the same one side of first folded sheet and second folded sheet bonds and is regarded as crooked rotation axis together.
The pneumatic bending module is of a multi-gas-chamber structure consisting of an upper base body and a lower base body, a deformation gap is formed between the outer walls of the adjacent gas chambers, and the side wall of each gas chamber is a stress expansion surface.
The paper folding type telescopic module is an aluminum foil or a flexible plastic paper sheet; the connecting piece adopts engineering plastics or polyester fiber, the pneumatic bending module is silica gel material.
A variable-rigidity split-cavity soft manipulator applying a paper folding mechanism comprises a base, a supporting mechanism and soft fingers; the soft finger comprises at least one group of pneumatic bending modules and a paper folding type connecting mechanism; each paper folding type connecting mechanism comprises a paper folding type telescopic module and two connecting pieces, the two connecting pieces are respectively connected to two ends of the paper folding type telescopic module, and the connecting piece at one end is connected with the pneumatic bending module; the connecting piece at the other end is connected with the adjacent paper folding type telescopic module or is connected with the base through the supporting mechanism; every the connecting piece with corresponding install the leaf spring that resets between the flexible module of paper folding formula, the leaf spring that resets is used for corresponding when crooked the connecting piece reaches the flexible module of paper folding formula provides the restoring force.
The flexible module of folded paper formula includes the first folding unit of the cockscomb structure of constituteing by a plurality of first folded sheets and the second folding unit of the cockscomb structure of constituteing by a plurality of second folded sheets, first folding unit with the second folding unit sets up perpendicularly mutually, just the first folded sheet of first folding unit with the second folded sheet of second folding unit overlaps in turn and arranges, the limit of the same one side of first folded sheet and second folded sheet bonds and is regarded as crooked rotation axis together.
The pneumatic bending module is of a multi-gas-chamber structure consisting of an upper base body and a lower base body, a deformation gap is formed between the outer walls of the adjacent gas chambers, and the side wall of each gas chamber is a stress expansion surface.
The supporting rod and the connecting clamping seat are made of engineering plastics.
The connecting piece comprises a first transverse plate, a second transverse plate and connecting clamping plates on two sides, the first transverse plate and the second transverse plate are connected through the connecting clamping plates, and a connecting groove is formed in the first transverse plate and used for being connected with the paper folding type telescopic module; and the second transverse plate of the connecting piece connected with the pneumatic bending module is provided with an air pipe hole.
Compared with the prior art, the invention has the beneficial effects that:
1. in the soft finger and the soft hand composed of the soft finger, the joint module composed of the paper folding type telescopic module, the connecting piece and the reset plate spring is adopted to realize the connection between the adjacent pneumatic bending modules or the pneumatic bending modules and the supporting mechanism, the soft finger has light weight, large freedom degree and good flexibility, has the capability of buffering and absorbing shock, and simultaneously has the characteristic of changing the rigidity along with the rigidity of a grabbed object, large grabbing force and improved grabbing stability.
2. The soft finger and the soft hand formed by the soft finger have the advantages of simple manufacture, low cost, light weight, convenient disassembly and assembly and good interchangeability.
3. The soft hand of the invention can realize the grabbing action of the object by ventilating according to a certain air charging and exhausting rule, and the driving control is very simple and convenient. The accurate control of the gripping force and the bending degree of the soft hand can be realized by controlling the air pressure of the input air.
4. The soft fingers and the soft hand formed by the soft fingers simulate the shapes and functions of human fingers, and simulate the flexibility of human hands to a greater extent.
5. The paper folding type telescopic module of the soft finger is composed of two zigzag folding plates, and is convenient to manufacture, high in strength, low in manufacturing cost and flexible and convenient to use.
Drawings
FIG. 1 is a schematic view of a soft finger according to the present invention;
FIG. 2 is a schematic view of the overall structure of the paper folding type telescopic module;
FIG. 3 is a schematic structural view of the folded state of the paper folding type retractable module;
FIG. 4 is a schematic view of the construction of the connector;
FIG. 5 is a schematic view of a pneumatic bending module;
FIG. 6 is a schematic view of the structure of the soft hand of the present invention;
fig. 7 is a schematic structural view of the support mechanism.
Detailed Description
The invention is described in detail below with reference to the figures and specific examples.
Example 1: soft finger
The soft finger of the present invention is schematically shown in fig. 1, and comprises at least one set of pneumatic bending module 1 and paper folding type connecting mechanism 2. Each paper folding type connecting mechanism 2 comprises a paper folding type telescopic module 2-2 and two connecting pieces 2-1 and 2-3, and the two connecting pieces 2-1 and 2-3 are respectively connected to two ends of the paper folding type telescopic module 2-2. The connecting piece has the function of realizing the transitional connection between the pneumatic bending module and the paper folding type telescopic module or other supporting mechanisms. The number of the pneumatic bending modules 1 is determined according to the size of the object to be grabbed, and can be 1-3. Correspondingly, the number of the paper folding type connecting mechanisms 2 is equal to that of the pneumatic bending modules 1. When having one pneumatic bending module 1, the connecting piece 2-3 at one end is connected to the pneumatic bending module 1 and the connecting piece 2-1 at the other end is connected to other support mechanisms or other components. When a plurality of pneumatic bending modules are used, the connecting member 2-3 at one end is connected to one of the pneumatic bending modules 1, the connecting member 2-1 at the other end is connected to another adjacent pneumatic bending module 1, and the connecting member at the lowermost end is connected to other supporting mechanisms or other members. Every the connecting piece with install the leaf spring that resets between the flexible module of paper folding formula, the leaf spring that resets is for corresponding when being used for the bending the connecting piece reaches the flexible module of paper folding formula provides the restoring force. The reset plate spring in the embodiment is of a rectangular structure, and two ends of the reset plate spring are provided with protruding clamping pieces which can be fixed on the corresponding connecting pieces. The reset plate spring has no effect on two ends when being horizontally placed, but if being bent, the reset plate spring outputs restoring force to the connecting plate contacted with the two ends and the paper folding type telescopic module, so that the soft finger presents rigidity when being subjected to the action of external force, and the soft finger has the characteristic of rigidity change along with the rigidity of a grabbed object.
The schematic diagrams of the paper folding type telescopic module in this embodiment are shown in fig. 2-3, the paper folding type telescopic module 2-2 includes a first folding unit in a zigzag shape formed by connecting a plurality of first folding plates 2-2-1 and a second folding unit in a zigzag shape formed by connecting a plurality of second folding plates 2-2-2, the first folding unit and the second folding unit are arranged perpendicular to each other, and the first folding plates 2-2-1 of the first folding unit and the second folding plates 2-2-2 of the second folding unit are sequentially and alternately arranged in an overlapping manner to form a structure that the first folding plates 2-2-1 clamp the second folding plates 2-2-2 in the vertical direction and the second folding plates 2-2-2 clamp the first folding plates 2-2-1 in the vertical direction. The two first folding plates and the two second folding plates form a paper folding telescopic unit, and each paper folding telescopic unit is only responsible for bending a small unit angle in the implementation of the bending function. The edges of the same side of the first folding plate 2-2-1 and the second folding plate 2-2-2 are bonded together to serve as a bending rotating shaft, and the first folding plate 2-2-1 and the second folding plate 2-2 are arranged around the bending rotating shaft in a circumferential array. The first folding plate 2-2-1 in the first folding unit and the second folding plate 2-2-2 in the second folding unit are squares with the same size. The specific manufacturing method of the paper folding type telescopic module is described by taking a paper material as an example as follows: the folding paper folding method comprises the steps that two pieces of folding paper with the same size serving as a first folding unit and a second folding unit are perpendicularly and crossly placed, the long edge of the first piece of paper serving as the first folding unit and the second piece of paper serving as the second folding unit are placed at one end in a right-angle shape, the overlapping and crossing portion of the two pieces of paper is square, the first folding unit is a first folding plate, and the second folding unit is a second folding plate. The visible part of the first folding unit is turned downwards along the upper edge line of the second folding unit, then the visible part of the second folding unit is turned leftwards along the right edge line of the first folding unit, then the visible part of the first folding unit is turned upwards, then the visible part of the second folding unit is turned rightwards, then the visible part of the first folding unit is turned downwards, and the process is repeated periodically by analogy until the two paper strips are all folded to enter the range of a square, and the folded schematic diagram is shown in figure 3. After the folded paper is compressed into a thin layer, any one of the four sides of the square bottom surface is adhered, so that the folded paper type expansion module cannot be pulled away from the side, which is the bending rotation axis of the folded paper bending module, and the folded paper type expansion module which is bent by taking the adhered side as the bending rotation axis can be obtained, and the schematic diagram is shown in fig. 2.
The connection modes between the paper folding type telescopic module and the connecting piece and between the connecting piece and the soft bending module are all prior art. In this embodiment, the two connecting pieces at the two ends of the paper folding type telescopic module have the same structure, the schematic view of the connecting pieces is shown in fig. 4, and the connecting pieces include a first transverse plate 2-a, a second transverse plate 2-b and connecting clamping plates 2-c at the two sides, the first transverse plate 2-a and the second transverse plate 2-b are connected through the connecting clamping plates 2-c, and the first transverse plate 2-a is provided with a connecting groove 2-d for assisting in connecting with the paper folding type telescopic module; and the second transverse plate of the connecting piece connected with the pneumatic bending module is provided with air pipe holes 2-e for leading out a silica gel soft air pipe without influencing other structures. And the connecting clamping plate 2-c of the connecting piece connected with the pneumatic bending module 1 is connected with the pneumatic bending module 1 in an interference fit manner. The connecting piece is bonded with the paper folding type telescopic module or connected with the paper folding type telescopic module by using a connecting rope. The connecting piece and the pneumatic bending module can also be connected by adopting a pin, a key, a screw nut and the like.
The pneumatic bending module in this embodiment is of a cavity-splitting structure, a schematic diagram of which is shown in fig. 5, the pneumatic bending module is of a multi-gas-chamber structure composed of an upper substrate 1-1 and a lower substrate 1-2, a deformation gap is formed between outer walls of adjacent gas chambers 1-3, and a side wall of each gas chamber 1-3 is a stress expansion surface. Experiments have shown that the preferred embodiment is: the width and the height of pneumatic bending module equal, just the length that pneumatic bending module should be is width or 3-4 times of height, and in the maximum allowable safe atmospheric pressure scope of silica gel material and sealing condition, the biggest bending angle of pneumatic bending module can reach 60 degrees, adapts to and snatchs the object of general size.
The paper folding type telescopic module is made of a flexible material meeting certain rigidity requirements, the material cannot be torn in the dragging process of a soft finger or a heavy object, and the material cannot be damaged when being subjected to a pulling force of 50N; the single layer of the material is thin (less than 1mm), is relatively soft and has certain bending and stretching performance, so that the crease can be formed by applying normal folding force as a standard of flexibility. For example: high-toughness aluminum foil or flexible plastic paper sheets and the like. The connecting piece can be made of materials with light weight and good strength, such as engineering plastics or polyester fibers, and the pneumatic bending module is made of silica gel materials.
Example 2: soft hand
The structural schematic diagram of the variable-rigidity split-cavity soft manipulator applying the paper folding mechanism is shown in fig. 6 and comprises a base 3, a supporting mechanism 4 and soft fingers. Wherein, the number of the soft fingers is 1-5 according to the use requirement, which is the same as that of the embodiment 1. Schematic diagram of a soft finger as shown in fig. 1-5, the soft finger comprises at least one set of pneumatic bending module 1 and paper folding type connecting mechanism 2. Each paper folding type connecting mechanism 2 comprises a paper folding type telescopic module 2-2 and two connecting pieces 2-1 and 2-3, and the two connecting pieces 2-1 and 2-3 are respectively arranged at two ends of the paper folding type telescopic module 2-2. When a pneumatic bending module 1 is provided, the connecting piece 2-3 at one end is connected with the pneumatic bending module 1, and the connecting piece 2-1 at the other end is connected with the base 3 through the supporting mechanism 4. When a plurality of pneumatic bending modules are adopted, the connecting piece 2-3 at one end is connected with one pneumatic bending module 1, the connecting piece 2-1 at the other end is connected with the other pneumatic bending module 1, and the connecting piece at the lowest end is connected with the base 3 through the supporting mechanism 4. Every the connecting piece with install the leaf spring that resets between the flexible module of paper folding formula, the leaf spring that resets is for corresponding when being used for the bending the connecting piece reaches the flexible module of paper folding formula provides the restoring force.
In this embodiment, a schematic diagram of the supporting mechanism is shown in fig. 7, and includes a connection card seat 4-1 and a supporting rod 4-2, one end of the connection card seat 4-1 is inserted into the connecting piece at the lower end of the soft finger, and the other end of the connection card seat 4-1 is mounted on the base 3 through the supporting rod 4-2.
The schematic diagrams of the paper folding type telescopic module in this embodiment are shown in fig. 2-3, the paper folding type telescopic module 2-2 includes a first folding unit in a zigzag shape formed by connecting a plurality of first folding plates 2-2-1 and a second folding unit in a zigzag shape formed by connecting a plurality of second folding plates 2-2-2, the first folding unit and the second folding unit are arranged perpendicular to each other, and the first folding plates 2-2-1 of the first folding unit and the second folding plates 2-2-2 of the second folding unit are sequentially and alternately arranged in an overlapping manner to form a structure that the first folding plates 2-2-1 clamp the second folding plates 2-2-2 in the vertical direction and the second folding plates 2-2-2 clamp the first folding plates 2-2-1 in the vertical direction. The two first folding plates and the two second folding plates form a paper folding telescopic unit, and each paper folding telescopic unit is only responsible for bending a small unit angle in the implementation of the bending function. The edges of the same side of the first folding plate 2-2-1 and the second folding plate 2-2-2 are bonded together to serve as a bending rotating shaft, and the first folding plate 2-2-1 and the second folding plate 2-2 are arranged around the bending rotating shaft in a circumferential array. The first folding plate 2-2-1 in the first folding unit and the second folding plate 2-2-2 in the second folding unit are squares with the same size.
The connection modes between the paper folding type telescopic module and the connecting piece and between the connecting piece and the soft bending module are all prior art. In this embodiment, the two connecting pieces at the two ends of the paper folding type telescopic module have the same structure, the schematic view of the connecting pieces is shown in fig. 4, and the connecting pieces include a first transverse plate 2-a, a second transverse plate 2-b and connecting clamping plates 2-c at the two sides, the first transverse plate 2-a and the second transverse plate 2-b are connected through the connecting clamping plates 2-c, and the first transverse plate 2-a is provided with a connecting groove 2-d for assisting in connecting with the paper folding type telescopic module; and the second transverse plate of the connecting piece connected with the pneumatic bending module is provided with air pipe holes 2-e for leading out a silica gel soft air pipe without influencing other structures. The connecting clamping plate 2-c of the connecting piece connected with the pneumatic bending module 1 is in interference fit with the pneumatic bending module 1 or in a connecting mode of pins, keys, screws, nuts and the like, and the connecting piece is bonded with the paper folding type telescopic module or connected with the paper folding type telescopic module by using a connecting rope.
The pneumatic bending module in this embodiment is of a cavity-splitting structure, a schematic diagram of which is shown in fig. 5, the pneumatic bending module is of a multi-gas-chamber structure composed of an upper substrate 1-1 and a lower substrate 1-2, a deformation gap is formed between outer walls of adjacent gas chambers 1-3, and a side wall of each gas chamber 1-3 is a stress expansion surface. Experiments have shown that the preferred embodiment is: the width and the height of pneumatic bending module equal, just the length that pneumatic bending module should be is width or 3-4 times of height, and in the maximum allowable safe atmospheric pressure scope of silica gel material and sealing condition, the biggest bending angle of pneumatic bending module can reach 60 degrees, adapts to and snatchs the object of general size.
The support rod 4-2 and the base 3 can be connected in various ways, such as a detachable plug-in mounting structure, a screw and nut connection, a key connection and the like, and the detachable plug-in mounting structure is adopted as a connection mode for facilitating the disassembly and assembly of parts. Namely, the support rod and the base are connected by a plug-in clearance fit. The supporting rod 4-2 and the connecting clamping seat 4-1 can also be connected in various ways, such as a detachable plug-in structure, a screw-nut connection, a key connection and the like, in order to facilitate the disassembly and assembly of the parts, the embodiment adopts a detachable plug-in structure, that is, a plug-in clearance fit connection mode is adopted between the head of the supporting rod and the connecting clamping seat.
The support rod, the base and the clamping seat are used as support parts of the soft hand, and materials with certain strength, such as cast iron, carbon steel, alloy steel, composite materials and the like, are needed. In the embodiment, engineering plastics are selected as the materials of the support rod, the base and the connecting clamping seat in consideration of manufacturing cost.
The following description will be made by taking as an example a soft hand used for grasping with 3 fingers, each finger consisting of 2 pneumatic bending modules:
1. before the grabbing action, all the soft fingers are in a natural relaxed state. The grasped object is surrounded by 3 soft fingers from the periphery by moving the base.
2. And inflating the pneumatic bending module at the tail end of each soft finger to bend the pneumatic bending module and contact the bottom of the grabbed object, opening the paper folding type telescopic module in the paper folding type connecting mechanism while the pneumatic bending module is inflated to bend, and stopping inflating until the paper folding type telescopic module bends to the maximum angle due to the action counter force of the object. At the moment, the reset plate spring outputs restoring force to the connecting plate and the paper folding type telescopic module which are contacted with the two ends, so that the soft finger presents rigidity, and the soft finger has the characteristic of rigidity change along with the rigidity of the grabbed object. At this point the grabbing action has been completed for objects of smaller dimensions, or objects that have been grabbed by the end 3 pneumatic bending modules.
3. For larger sized objects, pneumatic bending module cooperation of the second layer of each soft finger is also required. At the moment, the pneumatic bending module on the second layer of each soft finger is inflated to bend and contact the middle upper part of the grabbed object, and the paper folding type telescopic module in the paper folding type connecting mechanism connected with the pneumatic bending module is opened while the pneumatic bending module on the second layer is inflated to bend, so that the inflation is stopped after the object is grabbed firmly. At the moment, the reset plate spring outputs restoring force to the connecting plate and the paper folding type telescopic module which are contacted with the two ends, and the grabbing action is completed.
The soft hand of the invention can ventilate the pneumatic bending module according to a certain air charging and exhausting rule, thereby realizing the grabbing action of the object, and the driving control is very simple and convenient. The accurate control of the gripping force and the bending degree of the soft hand can be realized by controlling the air pressure of the input air. The invention imitates the shape and function of human fingers to the maximum extent and imitates the flexibility of human hands to a greater extent.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (6)
1. A soft finger is characterized by comprising at least one group of pneumatic bending modules and a paper folding type connecting mechanism; each paper folding type connecting mechanism comprises a paper folding type telescopic module and two connecting pieces, the two connecting pieces are respectively connected to two ends of the paper folding type telescopic module, and the connecting piece at one end is connected with the pneumatic bending module; the connecting piece at the other end is connected with the adjacent pneumatic bending module or the supporting mechanism; a reset plate spring is arranged between each connecting piece and the paper folding type telescopic module and is used for providing restoring force for the corresponding connecting piece and the corresponding paper folding type telescopic module when being bent; the folding type telescopic module comprises a first folding unit and a second folding unit, wherein the first folding unit is formed by a plurality of first folding plates and is in a sawtooth shape, the second folding unit is formed by a plurality of second folding plates, the first folding unit and the second folding unit are mutually perpendicular, and the first folding plates of the first folding unit and the second folding plates of the second folding unit are sequentially and alternately overlapped to form a structure that two first folding plates clamp one second folding plate along the vertical direction, and two second folding plates clamp one first folding plate along the vertical direction; the two first folding plates and the two second folding plates form a paper folding telescopic unit, and each paper folding telescopic unit is only responsible for bending a small unit angle in the implementation of the bending function; the edges of the same side of the first folding plate and the second folding plate are bonded together to be used as a bending rotating shaft, and the first folding plate and the second folding plate are arranged around the bending rotating shaft in a circumferential array; the first folding plate in the first folding unit and the second folding plate in the second folding unit are both squares with the same size; the connecting piece comprises a first transverse plate, a second transverse plate and connecting clamping plates on two sides, the first transverse plate and the second transverse plate are connected through the connecting clamping plates, and a connecting groove is formed in the first transverse plate and used for being connected with the paper folding type telescopic module; and the second transverse plate of the connecting piece connected with the pneumatic bending module is provided with an air pipe hole.
2. The soft finger according to claim 1, wherein the pneumatic bending module is a multi-gas chamber structure composed of an upper substrate and a lower substrate, a deformation gap is formed between the outer walls of the adjacent gas chambers, and the side wall of each gas chamber is a force expansion surface.
3. The soft finger according to claim 2, wherein the paper folding type telescopic module is an aluminum foil or a flexible plastic paper sheet; the connecting piece adopts engineering plastics or polyester fiber, the pneumatic bending module is silica gel material.
4. A variable-rigidity split-cavity soft manipulator which is composed of the soft fingers of claim 1 and is provided with a paper folding mechanism, and is characterized by comprising a base, a supporting mechanism and the soft fingers; the soft finger comprises at least one group of pneumatic bending modules and a paper folding type connecting mechanism; each paper folding type connecting mechanism comprises a paper folding type telescopic module and two connecting pieces, the two connecting pieces are respectively connected to two ends of the paper folding type telescopic module, and the connecting piece at one end is connected with the pneumatic bending module; the connecting piece at the other end is connected with the adjacent paper folding type telescopic module or is connected with the base through the supporting mechanism; a reset plate spring is arranged between each connecting piece and the corresponding paper folding type telescopic module, the reset plate spring is used for providing restoring force for the corresponding connecting piece and the corresponding paper folding type telescopic module when bending, the paper folding type telescopic module comprises a first folding unit which is in a sawtooth shape and consists of a plurality of first folding plates and a second folding unit which is in a sawtooth shape and consists of a plurality of second folding plates, the first folding unit and the second folding unit are mutually and vertically arranged, the first folding plates of the first folding unit and the second folding plates of the second folding unit are sequentially and alternately overlapped to form a structure that one second folding plate is clamped by the two first folding plates along the vertical direction, and one first folding plate is clamped by the two second folding plates along the vertical direction; the two first folding plates and the two second folding plates form a paper folding telescopic unit, and each paper folding telescopic unit is only responsible for bending a small unit angle in the implementation of the bending function; the edges of the same side of the first folding plate and the second folding plate are bonded together to be used as a bending rotating shaft, and the first folding plate and the second folding plate are arranged around the bending rotating shaft in a circumferential array; the first folding plate in the first folding unit and the second folding plate in the second folding unit are both squares with the same size; the connecting piece comprises a first transverse plate, a second transverse plate and connecting clamping plates on two sides, the first transverse plate and the second transverse plate are connected through the connecting clamping plates, and a connecting groove is formed in the first transverse plate and used for being connected with the paper folding type telescopic module; and the second transverse plate of the connecting piece connected with the pneumatic bending module is provided with an air pipe hole.
5. The variable-rigidity split-cavity soft manipulator applying the paper folding mechanism according to claim 4, wherein the pneumatic bending module is a multi-gas-chamber structure consisting of an upper base body and a lower base body, deformation gaps are formed between outer walls of adjacent gas chambers, and a side wall of each gas chamber is a force-bearing expansion surface.
6. The mechanical arm for the paper folding mechanism, which is provided with the variable-rigidity and cavity-splitting soft body, as claimed in claim 4, wherein the supporting mechanism comprises a supporting rod and a connecting clamping seat, and the supporting rod and the connecting clamping seat are made of engineering plastics.
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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 |
| CN110625639B (en) * | 2019-09-16 | 2021-03-26 | 南京航空航天大学 | Software manipulator |
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