CN110625634A - Line-driven variable-rigidity multifunctional soft finger - Google Patents
Line-driven variable-rigidity multifunctional soft finger Download PDFInfo
- Publication number
- CN110625634A CN110625634A CN201911017990.9A CN201911017990A CN110625634A CN 110625634 A CN110625634 A CN 110625634A CN 201911017990 A CN201911017990 A CN 201911017990A CN 110625634 A CN110625634 A CN 110625634A
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- China
- Prior art keywords
- soft finger
- finger
- soft
- base
- tendon rope
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Classifications
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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
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a line-driven variable-rigidity multifunctional soft finger, which comprises a base, a clamp, a motor, a tendon rope and a soft finger, wherein the clamp is arranged on the base; one side of the soft finger along the length direction is provided with at least one groove convenient for the soft finger to bend, the other side of the soft finger is internally provided with an accommodating cavity along the length direction, a rigidity-adjusting medium is filled in the accommodating cavity, and the lower end of the medium is assembled with a clamp arranged on the base and seals the accommodating cavity through a filler; the tendon rope is matched with a motor arranged on the base in a driving mode, meanwhile, the tendon rope is arranged on the soft finger in a matching mode, and the motor can wind the tendon rope when rotating so as to drive the soft finger to bend; the both ends of anchor clamps are assembled on the shaft hole of base both ends curb plate through the pivot, and the lower extreme of anchor clamps is for making things convenient for its rotatory circular arc convex surface of certain angle, is provided with the pivoted torsional spring that is used for restricting anchor clamps between anchor clamps and the base. The soft finger tool provided by the invention has the advantages of firm object grabbing, various grabbing modes, simplicity and controllability, and is suitable for space grabbing operation.
Description
Technical Field
The invention relates to the technical field of soft robots, in particular to a line-drive variable-rigidity multifunctional soft finger.
Background
The traditional rigid robot can not meet the requirements of people on the safety of human-computer interaction, and the soft robot is produced by the traditional rigid robot. The soft robot body is made of soft materials, generally regarded as materials with Young modulus lower than human muscles, can adapt to various unstructured environments, and has wide application prospect.
The end effector is an important component unit of the robot, is a direct contact unit for completing various operation tasks, and the development of the end effector determines the advancing speed of the development of the robot to a certain extent. While the development of traditional rigid dexterous hands is ongoing, the exploration of soft hands is also ongoing in the hot fire heading towards the sky. The drive of the soft hand is mature at present, the soft hand is driven by gas, the soft air cavity is expanded in one direction through inflation, so that fingers are bent to grab objects, and the soft hand has the characteristics of good flexibility, strong adaptability to the objects and the like, but the application scene is limited due to the problems of insufficient grabbing force, inaccurate control and the like.
The rigid mechanical arm drive such as tendon rope drive has the advantages of accurate control and the like, and the drive mode can also show certain advantages when being used for soft hands, but the tendon rope drive installation mode of the soft hands is generally simpler due to the structural nonlinearity of soft materials; in order to ensure that the object can be gripped with sufficient gripping force, many researchers have proposed the concept of varying stiffness, i.e., the soft hand is soft when approaching the object and "stiffens" to grip the object firmly when the object is to be gripped; there are many methods for changing rigidity, and the typical one is a "duola a dream" hand made by blocking method, which has good flexibility and can firmly grasp the object, and how to combine these advantageous methods and optimize is the problem faced by the current soft hand.
Disclosure of Invention
In order to solve the above technical problems, an object of the present invention is to provide a line-driven variable-stiffness multifunctional soft finger.
In order to solve the technical problems, the invention adopts the following technical scheme:
a line-driven variable-rigidity multifunctional soft finger comprises a base, a clamp, a motor, a tendon rope and a soft finger;
the soft finger is provided with at least one groove facilitating bending of the soft finger along one side of the soft finger in the length direction, an accommodating cavity is formed in the other side of the soft finger along the length direction, a medium for adjusting rigidity is filled in the accommodating cavity, and the lower end of the medium is assembled with the clamp arranged on the base and seals the accommodating cavity through a filler;
the tendon rope is matched with the motor which is arranged on the base in a driving mode, the tendon rope is matched and arranged on the soft finger, and the motor can drive the soft finger to bend by winding the tendon rope when rotating;
the both ends of anchor clamps through the pivot assemble in on the shaft hole of base both ends curb plate, just the lower extreme of anchor clamps is for making things convenient for its rotatory circular arc convex surface of certain angle, be provided with the pivoted torsional spring that is used for restricting anchor clamps between anchor clamps and the base.
Furthermore, one side of the soft finger along the length direction is an inclined plane.
Furthermore, 3-6 grooves are formed in one side of the soft finger along the length direction of the soft finger.
Furthermore, two rows of through holes are symmetrically formed in the soft finger along two side ends of the length direction from the root to the fingertip, one end of the tendon rope is fixed to the output end of the motor, the other end of the tendon rope penetrates through the hole in one end of the clamp, penetrates through one row of through holes of the soft finger and then penetrates through the hole in the other end of the clamp through the other row of through holes of the soft finger and is fixed to the output end of the motor.
Further, the filler is silicon rubber.
Further, the medium may be a copy paper which may be a granular structure or a laminate.
Furthermore, two side surfaces of the soft finger along the length direction of the soft finger are made of two types of silicon rubber with different hardness, wherein the hardness of the silicon rubber adopted on one side with the groove is greater than that of the silicon rubber adopted on one side with the accommodating cavity.
Furthermore, the top end of one side of the soft finger with the groove is provided with a sucker communicated with the accommodating cavity, and the accommodating cavity is communicated with a negative pressure device through an air duct.
A grabbing robot is characterized by comprising the multifunctional soft finger with variable rigidity driven by the wire.
Compared with the prior art, the invention has the beneficial technical effects that:
the invention realizes the functions of variable rigidity and various grabbing modes by utilizing the motor, the negative pressure device, the tendon rope, the torsional spring, the clamp, the soft finger and the like, and the soft finger has the advantages of simple structure, light weight, low cost, firm grabbing and the like, can better complete various grabbing tasks, and is suitable for space operation and occasions for grabbing various fragile articles.
Drawings
The invention is further illustrated in the following description with reference to the drawings.
FIG. 1 is a schematic structural view of a multifunctional soft finger with variable stiffness driven by a wire according to the present invention;
FIG. 2 is a schematic diagram of the exploded structure of the multi-functional soft finger with variable stiffness by wire drive according to the present invention;
description of reference numerals: 1-motor, 2-base, 21-curb plate, 3-anchor clamps, 31-anchor clamps lid, 4-negative pressure device, 5-torsional spring, 6-tendon rope, 7-software finger, 71-sucking disc, 72-medium, 8-air duct.
Detailed Description
As shown in fig. 1 and 2, a line-driven variable-rigidity multifunctional soft finger comprises a base 2, a clamp 3, a motor 1, a negative pressure device 4, a torsion spring 5, an air duct 8, a tendon rope 6 and a soft finger 7; one side of the soft finger 7 along the length direction is provided with an inclined plane with a certain inclination, which is mainly arranged for enhancing the rigidity of the finger tip, the inclined plane is provided with 4 grooves for providing a deformation space for bending the soft finger 7 and simultaneously improving the grabbing effect during grabbing, the finger is internally provided with a containing cavity arranged along the length direction of the finger and a sucking disc 71 communicated with the containing cavity, the inside of the containing cavity is provided with a medium 72 with rigidity adjustment, the lower end of the medium 72 is assembled with a clamp 3 and refilled with silicon rubber to form a sealed containing cavity, the top end opening of the clamp 3 is provided with a clamp cover 31, the clamp cover 31 is spaciously provided with a reserved opening matched with the root part of the soft finger 7, the containing cavity is communicated with a negative pressure device 4 through an air duct 8, the material of the soft finger 7 is composed of two silicon rubbers with different hardnesses, wherein one side with the inclined plane is made of the slightly hard silicon rubber, one side with, the hard silicon rubber provides deformation support for the tendon rope 6; one end of a tendon rope 6 is fixed at the output end of the motor 1, the other end of the tendon rope 6 penetrates through a hole at one end of the clamp 3, two rows of through holes are symmetrically formed in the soft finger 7 along the length direction from the root to the fingertip, one end of the tendon rope 6 is fixed at the output end of the motor 1, the other end of the tendon rope penetrates through the hole at one end of the clamp 3, passes through one row of through holes of the soft finger 7, passes through the other row of through holes, penetrates out of the hole at the other end of the clamp 3 and is fixed at the; the both ends of anchor clamps 3 are through the via hole cooperation on the curb plate 21 at pivot and 2 both ends of base, and the lower extreme of anchor clamps 3 is for making things convenient for its rotatory circular arc convex surface of certain angle, and torsional spring 5 is connected with anchor clamps 3 and base 2 respectively for restriction anchor clamps 3's rotation.
The working principle of the soft finger of this embodiment is described below with reference to the accompanying drawings:
this embodiment is in an initial state, as shown in fig. 1. The motor 1 rotates, drive the winding of tendon rope 6 on the output shaft of motor 1, tendon rope 6 drives software finger 7 and warp and then be close to the object, start negative pressure device 4 when treating software finger 7 envelope object, software finger 7 becomes "hard", finger point portion's sucking disc 71 also has the adsorption effect when stably snatching the object, motor 1 further rotates, software finger 7 is blockked by the object this moment and can not continue the bending for the stereoplasm state, torsional spring 5 reaches critical torque this moment, torsional spring 5 rotates and drives anchor clamps 3 and rotate certain angle, also reach finger root pivoted purpose promptly, make it further lean on to the object, reach the dual guarantee of firmly snatching the object.
When the object is released, the negative pressure device 4 is closed, the soft finger 7 is changed from hard to soft, meanwhile, the motor 1 rotates reversely, the soft finger 7 is restored to the initial state, and the object falls.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention can be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are within the scope of the present invention defined by the claims.
Claims (8)
1. The utility model provides a multi-functional software finger of line drive variable rigidity which characterized in that: comprises a base, a clamp, a motor, a tendon rope and a soft finger;
the soft finger is provided with at least one groove facilitating bending of the soft finger along one side of the soft finger in the length direction, an accommodating cavity is formed in the other side of the soft finger along the length direction, a medium for adjusting rigidity is filled in the accommodating cavity, and the lower end of the medium is assembled with the clamp arranged on the base and seals the accommodating cavity through a filler;
the tendon rope is matched with the motor which is arranged on the base in a driving mode, the tendon rope is matched and arranged on the soft finger, and the motor can drive the soft finger to bend by winding the tendon rope when rotating;
the both ends of anchor clamps through the pivot assemble in on the shaft hole of base both ends curb plate, just the lower extreme of anchor clamps is for making things convenient for its rotatory circular arc convex surface of certain angle, be provided with the pivoted torsional spring that is used for restricting anchor clamps between anchor clamps and the base.
2. The line driven variable stiffness multi-functional soft finger of claim 1, wherein one side of the soft finger along its length direction is beveled.
3. The multi-functional soft finger of line-driven variable stiffness according to claim 1, wherein the soft finger is provided with 3-6 grooves along one side of the soft finger in the length direction.
4. The wire-driven variable-stiffness multifunctional soft finger according to claim 3, wherein two rows of through holes are symmetrically arranged on the soft finger along the length direction from the root to the fingertip, one end of the tendon rope is fixed at the output end of the motor, the other end of the tendon rope penetrates through the hole at one end of the clamp, passes through one row of through holes of the soft finger, passes through the other row of through holes, penetrates out of the hole at the other end of the clamp, and is fixed at the output end of the motor.
5. The line driven variable stiffness multi-functional soft finger of claim 1 wherein the filler is silicone rubber.
6. The multi-functional soft finger with line-driven variable stiffness according to claim 1, wherein two sides of the soft finger along the length direction are made of two types of silicone rubber with different hardness, wherein the silicone rubber on the side with the groove has hardness greater than that of the silicone rubber on the side with the containing cavity.
7. The multifunctional soft finger with variable rigidity driven by a wire according to claim 1, wherein a suction cup communicated with the accommodating cavity is arranged at the top end of one side of the soft finger with the groove, and the accommodating cavity is further communicated with a negative pressure device through an air duct.
8. A gripping operation robot characterized by comprising the wire-driven variable stiffness multi-function soft finger according to any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911017990.9A CN110625634A (en) | 2019-10-24 | 2019-10-24 | Line-driven variable-rigidity multifunctional soft finger |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911017990.9A CN110625634A (en) | 2019-10-24 | 2019-10-24 | Line-driven variable-rigidity multifunctional soft finger |
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| CN110625634A true CN110625634A (en) | 2019-12-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911017990.9A Pending CN110625634A (en) | 2019-10-24 | 2019-10-24 | Line-driven variable-rigidity multifunctional soft finger |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111397494A (en) * | 2020-03-09 | 2020-07-10 | 五邑大学 | Soft finger convenient to measure |
| CN111791247A (en) * | 2020-07-01 | 2020-10-20 | 北方工业大学 | Variable-rigidity line-driven flexible gripper and variable-rigidity control method thereof |
| CN112025749A (en) * | 2020-08-28 | 2020-12-04 | 燕山大学 | Large-range rigidity-variable soft gripper |
| CN113305828A (en) * | 2021-07-29 | 2021-08-27 | 法罗适(上海)医疗技术有限公司 | Wire drive controller of soft robot |
| CN114179119A (en) * | 2021-12-10 | 2022-03-15 | 中国科学院深圳先进技术研究院 | Soft finger mechanism with touch and bending sensing functions and soft hand |
| CN114681169A (en) * | 2022-03-02 | 2022-07-01 | 中国科学院深圳先进技术研究院 | Myoelectricity control tactile feedback artificial hand |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5568957A (en) * | 1992-02-12 | 1996-10-29 | Haugs; Audun | Pressure actuated gripping apparatus and method |
| CN107932531A (en) * | 2017-11-20 | 2018-04-20 | 重庆大学 | Actively adapt to stiffness variable software mechanical gripper |
| CN108177156A (en) * | 2017-12-27 | 2018-06-19 | 武汉理工大学 | A kind of variation rigidity software hand of structure decoupling driving |
| CN109623855A (en) * | 2018-12-20 | 2019-04-16 | 清华大学 | A kind of the variation rigidity software finger and its software hand of the driving of tendon rope |
| CN109834721A (en) * | 2019-03-18 | 2019-06-04 | 清华大学 | A kind of more finger joint variation rigidity software fingers |
-
2019
- 2019-10-24 CN CN201911017990.9A patent/CN110625634A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5568957A (en) * | 1992-02-12 | 1996-10-29 | Haugs; Audun | Pressure actuated gripping apparatus and method |
| CN107932531A (en) * | 2017-11-20 | 2018-04-20 | 重庆大学 | Actively adapt to stiffness variable software mechanical gripper |
| CN108177156A (en) * | 2017-12-27 | 2018-06-19 | 武汉理工大学 | A kind of variation rigidity software hand of structure decoupling driving |
| CN109623855A (en) * | 2018-12-20 | 2019-04-16 | 清华大学 | A kind of the variation rigidity software finger and its software hand of the driving of tendon rope |
| CN109834721A (en) * | 2019-03-18 | 2019-06-04 | 清华大学 | A kind of more finger joint variation rigidity software fingers |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111397494A (en) * | 2020-03-09 | 2020-07-10 | 五邑大学 | Soft finger convenient to measure |
| CN111791247A (en) * | 2020-07-01 | 2020-10-20 | 北方工业大学 | Variable-rigidity line-driven flexible gripper and variable-rigidity control method thereof |
| CN111791247B (en) * | 2020-07-01 | 2021-12-10 | 北方工业大学 | Variable-rigidity line-driven flexible gripper and variable-rigidity control method thereof |
| CN112025749A (en) * | 2020-08-28 | 2020-12-04 | 燕山大学 | Large-range rigidity-variable soft gripper |
| CN112025749B (en) * | 2020-08-28 | 2022-01-18 | 燕山大学 | Large-range rigidity-variable soft gripper |
| CN113305828A (en) * | 2021-07-29 | 2021-08-27 | 法罗适(上海)医疗技术有限公司 | Wire drive controller of soft robot |
| CN114179119A (en) * | 2021-12-10 | 2022-03-15 | 中国科学院深圳先进技术研究院 | Soft finger mechanism with touch and bending sensing functions and soft hand |
| CN114681169A (en) * | 2022-03-02 | 2022-07-01 | 中国科学院深圳先进技术研究院 | Myoelectricity control tactile feedback artificial hand |
| CN114681169B (en) * | 2022-03-02 | 2023-04-18 | 中国科学院深圳先进技术研究院 | Myoelectricity control tactile feedback artificial hand |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191231 |
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| RJ01 | Rejection of invention patent application after publication |