CN110802621A - Software-driven clamping jaw device - Google Patents
Software-driven clamping jaw device Download PDFInfo
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- CN110802621A CN110802621A CN201911106067.2A CN201911106067A CN110802621A CN 110802621 A CN110802621 A CN 110802621A CN 201911106067 A CN201911106067 A CN 201911106067A CN 110802621 A CN110802621 A CN 110802621A
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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
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Abstract
The application discloses software driven clamping jaw device, including clamping jaw root, two at least clamping jaw fingers and two at least first link assembly. Owing to add clamping jaw root, clamping jaw finger and first link assembly, when needs use clamping jaw finger centre gripping article, through the motion of first software drive unit drive first moving part to finger centre gripping position, drive first link assembly motion, drive the clamping jaw finger of relative setting and rotate towards the contact surface simultaneously through first link assembly, realize the centre gripping to article. The output force of the first soft driving unit is converted into the clamping force of the clamping jaw fingers through the first connecting rod assembly, so that the clamping force output by the clamping jaw device does not depend on the elasticity of the soft clamping jaw, and the clamping jaw device can stably output larger clamping force.
Description
Technical Field
The application relates to the field of soft robots, in particular to a clamping jaw device driven by a soft body.
Background
The clamping and grabbing device is applied to clamping work in various different industries, such as industrial production lines, logistics, medicine sorting and the like. Although the traditional rigid clamping jaw can be accurately controlled and can output enough clamping force, the traditional rigid clamping jaw has the defects of complex structure, heavy mass, high cost and the like, so that the traditional rigid clamping jaw cannot be generally applied, meanwhile, the universality of the rigid clamping jaw is too low, and the clamping jaw needs to be redesigned and manufactured under different clamping working scenes. The novel soft clamping jaw well overcomes the defects of the traditional rigid clamping jaw, shows excellent self-adaptability, has simple structure, light weight, low cost, strong reproducibility and universality and short manufacturing period, and plays a good role in adapting and protecting the clamped object.
However, the soft clamping jaw generally shows the defects of insufficient output force, difficult accurate control and the like, so that the development of the soft clamping jaw is limited, and the soft clamping jaw cannot be well applied in many special scenes. For example, in some technical solutions, a clamping jaw with an inner cavity is made of an elastic material, and a lossless clamping is performed on an easily damaged object by injecting gas into the clamping jaw and using compressibility of the gas and elasticity of a soft clamping jaw. The whole clamping jaw adopts an elastic soft structure to greatly limit the output force of the clamping jaw, so that the clamping jaw can not output larger clamping force.
Disclosure of Invention
The application provides a soft body driven clamping jaw device, which is used for solving the problem that the output force of the existing soft clamping jaw is insufficient.
The application provides a software driven clamping jaw device, includes:
the clamping jaw root comprises a first base, a first movable piece and a first soft driving unit, wherein the first base is used for bearing, the first movable piece is connected with the first base in a sliding mode, and the first soft driving unit is arranged between the first movable piece and the first base and used for driving the first movable piece to slide on the first base;
the clamping jaw comprises at least two clamping jaw fingers, wherein the clamping jaw fingers are oppositely arranged and used for clamping an object, and one ends of the clamping jaw fingers are hinged with the first base;
the device comprises at least two first connecting rod assemblies, a clamping jaw finger is correspondingly hinged with one end of one first connecting rod assembly, the other end of the first connecting rod assembly is hinged with a first base, a finger clamping position and a finger releasing position are arranged on the motion track of a first movable part, in the finger clamping position, a first soft driving unit drives the first movable part to extend out, and the first movable part drives two corresponding clamping jaw fingers to rotate around the first base in opposite directions and clamp an object; when the fingers are in the release position, the first soft driving unit drives the first movable piece to retract, and the first movable piece drives the two fingers of the corresponding clamping jaw to rotate back and forth around the first base and release the object;
and the control unit is connected with the first soft driving unit and controls the first soft driving unit to drive the fingers of the clamping jaw to move.
As a further improvement of the clamping jaw device, the clamping jaw fingers comprise knuckles and fingertips, the knuckles comprise a second base, a second movable member and a second soft driving unit, the second base is hinged to the first base, the second movable member is connected with the second base in a sliding manner, the second movable member has a fingertip clamping position and a fingertip release position, and the second soft driving unit is arranged between the second movable member and the second base, is connected with the control unit and is used for driving the second movable member to slide between the fingertip clamping position and the fingertip release position;
the clamping jaw device further comprises a second connecting rod assembly, one end of the fingertip is hinged to one end of the second base, one end of the second connecting rod assembly is hinged to the second movable piece, the other end of the second connecting rod assembly is hinged to the fingertip, at the fingertip clamping position, the second soft driving unit drives the second movable piece to extend out, and the second movable piece drives the corresponding fingertip to rotate around the second base to the other opposite fingertip and clamps an object; and in the fingertip release position, the second soft driving unit drives the second movable part to retract, and the second movable part drives the corresponding fingertip to rotate around the second base away from the other opposite fingertip, so as to release the object.
As a further improvement of the clamping jaw device, the first soft body driving unit and the second soft body driving unit both comprise at least two soft body muscles, the at least two soft body muscles comprise at least one first soft body muscle and at least one second soft body muscle, the first soft body muscle is used for being communicated with the fluid source, the second soft body muscle is disconnected with the fluid source and is in a closed state, one end of the soft body muscle of the first driving unit is connected with the first movable part, the other end of the soft body muscle of the first driving unit is connected with the root bottom plate, one end of the soft body muscle of the second driving unit is connected with the second movable part, and the other end of the soft body muscle of the second driving unit is.
As a further improvement of the clamping jaw device, the first soft body driving unit comprises three first soft body muscles and one second soft body muscle, the three first soft body muscles are arranged in an equilateral triangle, and the second soft body muscle is positioned in the center of the equilateral triangle formed by the three first soft body muscles.
As a further improvement of the clamping jaw device, the second soft body driving unit comprises two first soft body muscles and one second soft body muscle, the two first soft body muscles and the second soft body muscle are arranged in a triangle, and the two first soft body muscles are closer to one side of the knuckle for contacting with the object to be clamped than the second soft body muscles.
As a further improvement of the jaw apparatus, the soft muscle includes:
two end portions facing each other;
the flexible cavity side wall is arranged between the two end parts, and two sides of the cavity side wall respectively extend to the corresponding end parts and are enclosed along the circumferential direction of the end parts to form a closed cavity;
the end part or the side wall of the cavity is provided with an inlet and an outlet, and the inlet and the outlet are used for allowing pressure fluid to enter and exit the closed cavity;
the side wall of the cavity is provided with a folding structure, the folding structure comprises a plurality of annular ridges, a plurality of side ridges and a plurality of folding surfaces, the annular ridges comprise convex ridges arranged in a protruding manner and concave ridges arranged in a concave manner, in the annular ridges, the convex ridges and the concave ridges are alternately connected end to form annular structures, the annular ridges are sequentially arranged along the axial direction of the closed cavity, the convex ridge of each annular structure corresponds to the concave ridge of an adjacent annular structure, and the concave ridge of each annular structure corresponds to the convex ridge of the adjacent annular structure;
the folding structure comprises annular ridges, side ridges and folding surfaces, wherein the connecting points of the convex ridges and the concave ridges in the annular ridges are vertexes, the side ridges extend from the vertex of one annular ridge to the corresponding vertex of the adjacent annular ridge, the folding surfaces are arranged between the two adjacent side ridges and the corresponding concave ridges and convex ridges, and when the fluid pressure in the closed cavity changes, the folding structure can deform so as to realize the folding or extending of the folding structure along the axial direction of the closed cavity.
The beneficial effect of this application:
owing to add clamping jaw root, clamping jaw finger and first link assembly, when needs use clamping jaw finger centre gripping article, through the motion of first software drive unit drive first moving part to finger centre gripping position, drive first link assembly motion, drive the clamping jaw finger of relative setting and rotate towards the contact surface simultaneously through first link assembly, realize the centre gripping to article. The output force of the first soft driving unit is converted into the clamping force of the clamping jaw fingers through the first connecting rod assembly, so that the clamping force output by the clamping jaw device does not depend on the elasticity of the soft clamping jaw, and the clamping jaw device can stably output larger clamping force.
Drawings
FIG. 1 is a schematic view of a jaw apparatus according to an embodiment of the present application;
FIG. 2 is a schematic view of a jaw root according to an embodiment of the present disclosure;
FIG. 3 is a schematic view of a finger of a jaw of an embodiment of the present application;
FIG. 4 is a schematic view of a knuckle according to an embodiment of the present application;
FIG. 5 is a schematic diagram of a fingertip in one embodiment of the present application;
FIG. 6 is a schematic illustration of the first and second link assemblies according to one embodiment of the present application;
FIG. 7 is a schematic diagram of the arrangement of three first soft muscles and one second soft muscle according to an embodiment of the present application;
FIG. 8 is a schematic diagram of the arrangement of two first soft muscles and one second soft muscle according to an embodiment of the present application;
FIG. 9 is a perspective view of a soft muscle according to an embodiment of the present application;
FIG. 10 is a side view of a soft body muscle according to one embodiment of the present application;
FIG. 11 is a partial cross-sectional view of a soft body muscle according to an embodiment of the present application;
FIG. 12 is a cross-sectional view of a soft body muscle along the axial direction of a closed cavity according to an embodiment of the present application;
FIG. 13 is a cross-sectional view of a soft muscle along a radial direction of a closed cavity according to an embodiment of the present application;
FIG. 14 is a perspective view of a soft muscle with an end cap according to another embodiment of the present application;
FIG. 15 is a side view of a soft muscle with an end cap according to another embodiment of the present application;
FIG. 16 is a top view of a soft muscle with an end cap according to another embodiment of the present application;
FIG. 17 is a schematic view of a soft muscle with an unfolded end portion of an access port according to a third embodiment of the present application;
FIG. 18 is a schematic view of a soft muscle with an inlet and an outlet at the ends and without a mounting surface according to a fourth embodiment of the present application;
fig. 19 is a schematic structural view of a soft muscle with an inlet and an outlet in the middle part and without a mounting surface according to a fifth embodiment of the present invention.
Reference numerals: 1000. soft muscle; 1100. an end portion; 1110. an end face; 1120. a mounting surface; 1130. an end cap; 1131. mounting holes; 1200. a cavity side wall; 1210. an annular ridge; 1211. a raised ridge; 1212. a concave ridge; 1220. a lateral spine; 1230. folding the surface; 1240. a non-folded section; 1300. an inlet and an outlet; 1400. a connecting pipe; 1500. a first soft muscle; 1600. a second soft muscle; 2000. a jaw root; 2100. a first base; 2110. a root floor; 2120. a root side plate; 2130. a root connecting plate; 2200. a first movable member; 3000. a knuckle; 3100. a second base; 3110. a knuckle floor; 3120. a knuckle side plate; 3200. a second movable member; 4000. a fingertip; 5000. a first link assembly; 5100. a first loop bar; 5200. a first screw; 6000. a second linkage assembly; 6100. a second loop bar; 6200. a second screw; 7000. guiding the optical axis; 8000. an optical axis mount.
Detailed Description
The present application is described in further detail in the following detailed description of the preferred embodiments with reference to the figures, in which like elements in different embodiments are numbered with like associated element numbers. In the following description, numerous details are set forth in order to provide a better understanding of the present application. However, those skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in detail in order to avoid obscuring the core of the present application from excessive description, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.
Furthermore, the features, operations, or characteristics described in the specification may be combined in any suitable manner to form various embodiments. Also, the various steps or actions in the method descriptions may be transposed or transposed in order, as will be apparent to one of ordinary skill in the art. Thus, the various sequences in the specification and drawings are for the purpose of describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where such sequence must be followed.
The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings).
This embodiment provides a soft-actuated clamping jaw device.
Referring to fig. 1, the jaw apparatus includes a jaw base 2000, at least two jaw fingers, at least two first link assemblies 5000, and a control unit.
Referring to fig. 1 and 2, the jaw root 2000 includes a first base 2100, a first movable member 2200, and a first soft driving unit, the first base 2100 is used for bearing, the first movable member 2200 is slidably connected to the first base 2100, and the first soft driving unit is disposed between the first movable member 2200 and the first base 2100, and is used for driving the first movable member 2200 to slide on the first base 2100.
The fingers of the gripper are oppositely disposed to grip an object, and one end of the fingers of the gripper is hinged to the first base 2100.
A finger of a clamping jaw is correspondingly hinged with one end of a first connecting rod assembly 5000, the other end of the first connecting rod assembly 5000 is hinged with a first base 2100, a finger clamping position and a finger releasing position are arranged on the motion track of the first movable member 2200, at the finger clamping position, the first soft driving unit drives the first movable member 2200 to extend out, and the first movable member 2200 drives two fingers of the corresponding clamping jaw to rotate around the first base 2100 in the opposite direction and clamp an object; in the finger release position, the first soft driving unit drives the first movable member 2200 to retract, and the first movable member 2200 drives the two fingers of the corresponding clamping jaw to rotate back and forth around the first base 2100 and release the object.
Owing to add clamping jaw root 2000, clamping jaw finger and first link assembly 5000, when needs use the clamping jaw finger to centre gripping article, drive first moving part 2200 through first software drive unit and move to pointing the centre gripping position, drive first link assembly 5000 motion, drive the clamping jaw finger of relative setting and rotate towards the contact surface simultaneously through first link assembly 5000, realize the centre gripping to article. The output force of the first soft driving unit is converted into the clamping force of the clamping jaw fingers through the first connecting rod assembly 5000, so that the clamping force output by the clamping jaw device does not depend on the elasticity of the soft clamping jaw, and the clamping jaw device can stably output larger clamping force.
The clamping jaw device of the embodiment adopts a soft driving mode of soft muscle 1000 and combines a rigid mechanical structure, and the soft and hard combination has the characteristics of compatibility with soft body self-adaption, light weight, low cost and the like, and has the characteristics of high rigid rigidity, large output force and the like.
Referring to fig. 3-5, in one embodiment, the gripper finger includes a knuckle 3000 and a fingertip 4000, knuckle 3000 includes a second base 3100, a second movable element 3200, and a second soft driving unit, second base 3100 is hinged to first base 2100, second movable element 3200 is slidably connected to second base 3100, second movable element 3200 has a fingertip 4000 clamping position and a fingertip 4000 releasing position, and the second soft driving unit is disposed between second movable element 3200 and second base 3100 and connected to the control unit for driving second movable element 3200 to slide between fingertip 4000 clamping position and fingertip 4000 releasing position.
The clamping jaw device further comprises a second connecting rod assembly 6000, one end of the fingertip 4000 is hinged to one end of a second base 3100, one end of the second connecting rod assembly 6000 is hinged to a second movable piece 3200, the other end of the second connecting rod assembly 6000 is hinged to the fingertip 4000, at the fingertip 4000 clamping position, a second soft driving unit drives the second movable piece 3200 to extend out, and the second movable piece 3200 drives the corresponding fingertip 4000 to rotate around the second base 3100 to the other opposite fingertip 4000 and clamp an object; when the fingertip 4000 is in the release position, the second soft driving unit drives the second movable element 3200 to retract, and the second movable element 3200 drives the corresponding fingertip 4000 to rotate around the second base 3100 away from the other opposite fingertip 4000 and release the object.
Referring to fig. 1, in one embodiment, the clamping jaw device has two clamping jaw fingers, so that the soft clamping jaw device has three degrees of freedom of movement, namely, the two clamping jaw fingers are driven by the clamping jaw root 2000 to move symmetrically in a linked manner, and the two knuckles 3000 are independently driven to move independently corresponding to the connecting fingertips 4000.
Referring to fig. 2, in one embodiment, the first base 2100 includes a root bottom plate 2110, a root side plate 2120 and a root connecting plate 2130, the root bottom plate 2110 is used for bearing, the root side plate 2120 is disposed along a circumference of the root bottom plate 2110, a bottom of the root side plate 2120 extends to a bottom of the root bottom plate 2110 and is fixedly connected to the root bottom plate 2110, a gap is formed between adjacent root side plates 2120, and the root bottom plate 2110 and the root side plate 2120 enclose a root receiving cavity.
The first movable member 2200 is slidably disposed in the accommodating cavity of the root portion and can slide toward or away from the root portion bottom plate 2110, the first soft driving unit is supported on the root portion bottom plate 2110, one end of the first soft driving unit is connected to the root portion bottom plate 2110, and the other end of the first soft driving unit is connected to the first movable member 2200.
The root connecting plate 2130 is arranged on the top of each root side plate 2120 and is connected with the top of each root side plate 2120, and one end of each clamping jaw finger is hinged to the root connecting plate 2130.
Referring to fig. 2, the first movable member 2200 is slidably disposed in the accommodating cavity of the root portion and can slide toward or away from the root portion bottom plate 2110, the first soft driving unit is carried on the root portion bottom plate 2110, one end of the first soft driving unit is connected to the root portion bottom plate 2110, and the other end of the first soft driving unit is connected to the first movable member 2200. The root connecting plate 2130 connects the tops of the side walls, on the one hand, enhancing the structural strength of the first base 2100, and on the other hand, can also play a role in carrying and connecting the fingers of the clamping jaws.
Referring to fig. 3-5, in one embodiment, the second base 3100 includes a knuckle bottom plate 3110 and knuckle side plates 3120, the knuckle bottom plate 3110 is for carrying, the knuckle side plates 3120 are disposed along a circumference of the knuckle bottom plate 3110, a bottom of the knuckle side plate 3120 extends to a bottom of the knuckle bottom plate 3110 and is fixed to the knuckle bottom plate 3110, a gap is formed between adjacent knuckle side plates 3120, a bottom of the knuckle side plate 3120 near the contact surface is hinged to the first base 2100, a top of the knuckle side plate 3120 near the contact surface is hinged to the fingertip 4000, and the knuckle bottom plate 3110 and the knuckle side plate 3120 enclose an accommodating cavity of the knuckle 3000.
Second moving part 3200 slides and sets up the holding inner chamber at knuckle 3000, and can slide towards or deviate from knuckle bottom plate 3110, and second software drive unit bears in knuckle bottom plate 3110, and second software drive unit one end is connected with root bottom plate 2110, and the other end is connected with second moving part 3200.
Second moving part 3200 slides and sets up the holding inner chamber at knuckle 3000, and can slide towards or deviate from knuckle bottom plate 3110, and second software drive unit bears in knuckle bottom plate 3110, and second software drive unit one end is connected with root bottom plate 2110, and the other end is connected with second moving part 3200.
Referring to fig. 5, in one embodiment, the fingertip 4000 is shaped in a substantially tetrahedral configuration, with one plane of the tetrahedral configuration disposed toward the contact surface, and the side of the bottom of the fingertip 4000 near the contact surface is hinged to the top of the knuckle side panel 3120. When an article is held by the fingertip 4000, the flat surface portion of the fingertip 4000 comes into contact with the article, which is advantageous for stably holding the article.
Referring to fig. 5, in one embodiment, the middle of the fingertip 4000 is hollowed out. The weight of the clamping jaw device is reduced, and materials are saved.
Referring to fig. 1-4, in an embodiment, the clamping jaw apparatus further includes a guide optical axis 7000 and an optical axis mounting seat 8000, the optical axis mounting seat 8000 is fixedly disposed on the first base 2100 and the second base 3100, and the guide optical axis 7000 is fixed on the optical axis mounting seat 8000.
Referring to fig. 1-4, a guide optical axis 7000 on the first base 2100 extends along a movement direction of the first movable member 2200, the first movable member 2200 is movably sleeved on the guide optical axis 7000 on the first base 2100 to guide movement of the first movable member 2200, the guide optical axis 7000 on the second base 3100 extends along the movement direction of the second movable member 3200, and the second movable member 3200 is movably sleeved on the guide optical axis 7000 on the second base 3100 to guide movement of the second movable member 3200.
Referring to fig. 1-4, a plurality of guide optical axes 7000 are disposed along circumferential directions in first base 2100 and second base 3100, flange linear bearings are fixedly disposed on first moving part 2200 and second moving part 3200, and the flange linear bearings are movably sleeved on guide optical axes 7000, so that movement of first moving part 2200 and second moving part 3200 is guided by guide optical axes 7000. Specifically, direction optical axis 7000 can be provided with threely, and three direction optical axis 7000 is triangular distribution to guarantee first moving part 2200 and second moving part 3200 linear motion's smoothness degree and reliability.
Referring to fig. 1 and 6, in an embodiment, the first link assembly 5000 includes a pair of first bars 5100 and a first screw 5200, the pair of first bars 5100 each have a threaded hole, the threaded holes of the pair of first bars 5100 are oppositely disposed, the first screw 5200 includes a double-headed screw, both ends of the double-headed screw correspondingly extend into the threaded holes of the pair of first bars 5100 and are in threaded connection with the threaded holes, one first bar 5100 of the pair of first bars 5100 is hinged to the top of the first movable member 2200, and the other first bar 5100 of the pair of first bars 5100 is hinged to the bottom of the second base 3100. The user can adjust the number of thread engagement turns of the first bar 5100 and the first screw 5200 to realize the change of the length of the first link assembly 5000, so that the user can flexibly set the length of the first link assembly 5000 as required.
Referring to fig. 1 and 6, in an embodiment, the second link assembly 6000 includes a second set of rod 6100 and a second screw 6200, the second set of rod 6100 has a threaded hole, the second screw 6200 is inserted into the threaded hole of the second set of rod 6100 and is in threaded connection with the threaded hole, one of the second set of rod 6100 and the second screw 6200 is hinged to the bottom of the fingertip 4000, and the other of the second set of rod 6100 and the second screw 6200 is hinged to the top of the second movable member 3200. The user can adjust the number of thread engagement turns of the second lever 6100 and the second screw 6200 to effect a change in the length of the second linkage assembly 6000 so that the user can flexibly set the length of the second linkage assembly 6000 as desired.
It should be noted that, in the first link assembly 5000 and the second link assembly 6000, the entire length of the first link assembly 5000 is longer than that of the second link assembly 6000, and therefore, the first link assembly 5000 is used for connection between the first movable member 2200 requiring a long link and the finger of the jaw, and the second link assembly 6000 is used for connection between the second movable member 3200 requiring a short link and the fingertip 4000.
Specifically, the finger tip 4000 is hinged to the knuckle 3000, the knuckle 3000 is hinged to the clamping jaw root 2000, and the two ends of the first connecting rod assembly 5000 and the second connecting rod assembly 6000 are hinged to the clamping jaw root 2000, the knuckle 3000 or the finger tip 4000 through the cooperation of the hinge seat and the hinge shaft or the hinge pin. For example, set up articulated seat on two objects of treating to articulate, articulated seat all has the hinge hole, realizes the rotation of articulated seat through the articulated shaft or the bolt that run through the hinge hole and connects, and then realizes the articulated to two objects for two objects can rotate around articulated shaft or bolt.
Referring to fig. 1-6, in one embodiment, the initial state of the gripper fingers may be set by adjusting the lengths of the first and second link assemblies 5000 and 6000.
In this embodiment, an initial state may be set in which the jaw apparatus is just in a state where the two fingertips 4000 are in contact with each other, in which all the soft muscles 1000 in the jaw root 2000 and the knuckle 3000 are in a state of slight compression deformation.
Because of the material properties of the soft muscle 1000, it will generate a reverse elastic force in the non-original state. After the initial state is set, when the soft muscle 1000 is in the initial state, the soft muscle 1000 is in a micro compression deformation state, the soft muscle 1000 has a very large reverse elastic force, at the moment, the fingers of the clamping jaw are in a clamping working state, and the reverse elastic force of the soft muscle 1000 is transmitted to the fingers of the clamping jaw to form an external output force, so that the clamping force of the clamping jaw is increased.
Referring to fig. 1, in one embodiment, the finger knuckle 3000 and the finger tip 4000 are coated with a silicone layer on the side facing the contact surface. The side of knuckle 3000 and fingertip 4000 that is used for with the object contact coats the silica gel layer, can increase area of contact, increase the size range that can press from both sides and get the article, increase frictional force and prevent that the article from sideslipping etc.. The surface structure of the silica gel layer can be independently designed according to requirements, and the silica gel layer has great self-adaptability to clamped objects of various shapes and sizes.
Referring to fig. 7 and 8, in an embodiment, the first soft driving unit and the second soft driving unit each include at least two soft muscles 1000, the at least two soft muscles 1000 include at least one first soft muscle 1500 and at least one second soft muscle 1600, the first soft muscle 1500 is used for communicating with the fluid source, the second soft muscle 1600 is used for disconnecting from the fluid source, and is in a closed state, one end of the soft muscle 1000 of the first driving unit is connected to the first movable member 2200, the other end is connected to the base plate 2110, one end of the soft muscle 1000 of the second driving unit is connected to the second movable member 3200, and the other end is connected to the knuckle base plate 3110.
It should be noted that the first soft muscle 1500 and the second soft muscle 1600 are collectively referred to as the soft muscle 1000, and the structures thereof may be identical, except that the second soft muscle 1600 is disconnected from the fluid source by technical means during use, for example, a valve, a plug or other suitable technical means may be adopted.
The driving structure of the soft body has the advantages of few participating components, light weight, lower design requirement, simple assembly and low cost. The second soft muscle 1600, driven by the first soft muscle 1500, can provide the first driving unit and the second driving unit with less variable parameters, which is beneficial to the subsequent calculation of the required data.
When in actual use, the clamping jaw device main part can adopt 3D printing technique to make, under different application scenes, can carry out the size to the device and zoom, prints the assembly again fast, directly puts into use, and the cycle is short. Specifically, the 3D printing design can be customized by depending on the size parameters of the soft muscle 1000, the normal working capacity of the clamping jaw device under an extremely severe environment can be realized, the working field and the object clamping range of the clamping jaw device are greatly expanded, and the high universality is realized.
The clamping jaw device of the embodiment is suitable for clamping and grabbing work in most industries, and can be wholly zoomed due to the fact that the device is not large in size dependence, so that the size direction and the output force of an object grabbed by the clamping jaw device can be adjusted, and the clamping jaw device is not limited by the size of the grabbed object. Such as the grabbing work of parts in industrial production lines, the grabbing and sorting work of transported pieces in logistics industry, the grabbing of underwater objects, the grabbing work in various extremely severe environments and the like.
In one embodiment, the joints between the soft muscle 1000 and the first movable part 2200, the second movable part 3200, the root bottom plate 2110 and the knuckle bottom plate 3110 are provided with customized steel plates, and the customized steel plates are locked with the end cover 1130 of the soft muscle 1000 by bolts to close the opening of the soft muscle 1000, thereby achieving a good air tightness effect.
Referring to fig. 7 and 8, the soft muscles 1000 in the first soft driving unit and the second soft driving unit are arranged in the manner of "N + i", N is the number of the first soft muscles 1500, i is the number of the second soft muscles 1600, and N and i are positive integers greater than or equal to 1. Wherein the second soft muscle 1600 can be arranged at the center of the first soft body structure 1500.
Referring to fig. 7, in an embodiment, the first soft body driving unit includes three first soft body muscles 1500 and one second soft body muscle 1600, the three first soft body muscles 1500 are arranged in an equilateral triangle, and the second soft body muscle 1600 is located at the center of the equilateral triangle formed by the three first soft body muscles 1500.
By adopting the 3+1 structure in the N + i structure, the three first soft muscles 1500 actively output linear motion to the outside through pneumatic control, and the second soft muscle 1600 at the central point is stressed to stretch or compress.
Referring to fig. 8, in one embodiment, the second soft body driving unit comprises two first soft body muscles 1500 and one second soft body muscle 1600, the two first soft body muscles 1500 and the second soft body muscle 1600 are arranged in a triangle, and the two first soft body muscles 1500 are closer to the side of the knuckle 3000 contacting with the object to be clamped than the second soft body muscle 1600.
Referring to fig. 9, in one embodiment, the soft muscle 1000 includes two ends 1100 and a flexible cavity side wall 1200.
Referring to fig. 9 and 10, two end portions 1100 face each other.
The end 1100 or the side wall 1200 of the cavity is provided with an inlet and outlet 1300, and the inlet and outlet 1300 is used for allowing pressure fluid to enter and exit the closed cavity;
the cavity side wall 1200 has a folding structure, the folding structure includes a plurality of annular ridges 1210, a plurality of side ridges 1220 and a plurality of folding surfaces 1230, the annular ridges 1210 include convex ridges 1211 and concave ridges 1212, in the annular ridges 1210, the convex ridges 1211 and the concave ridges 1212 are alternately connected end to form annular structures, the annular ridges 1210 are sequentially arranged along the axial direction of the closed cavity, the convex ridges 1211 of each annular structure correspond to the concave ridges 1212 of the adjacent annular structure, and the concave ridges 1212 of each annular structure correspond to the convex ridges 1211 of the adjacent annular structure;
the connection point of the convex ridge 1211 and the concave ridge 1212 in the annular ridges 1210 is an apex, the side ridges 1220 extend from the apex of one annular ridge 1210 to the corresponding apex of the adjacent annular ridge 1210, and the folding surface 1230 is arranged between the two adjacent side ridges 1220 and the corresponding concave ridge 1212 and convex ridge 1211, so that when the pressure of fluid in the closed cavity changes, the folding structure can be deformed to realize the folding or extending of the folding structure along the axial direction of the closed cavity.
Referring to fig. 9 and 10, since the cavity sidewall 1200 is provided with the folding structure, when the soft muscle 1000 is used, the pressure fluid is input or discharged through the inlet/outlet 1300, and the folding surface 1230 is driven to deform and open around the annular ridge 1210, so as to achieve the extension and contraction of the soft muscle 1000. Compared with a smooth surface, the ridges of the folded structure increase the structural toughness of the closed cavity to internal pressure and external load, maintain the structural stability under heavy load and heavy input pressure, and increase the bearing capacity of the soft muscle 1000 to static or dynamic load, even impact load. Therefore, the structural strength and stability of the soft muscle 1000 are enhanced by the annular ridge 1210, the lateral ridges 1220 and the vertexes, so that the soft muscle 1000 can stably perform linear motion without an external limiting structure. The soft muscle 1000 can output a large force because the soft muscle 1000 has a stable structure and can bear a large fluid pressure and convert the fluid pressure into a linear output force, and the situation that the structure collapses when a common soft structure is stressed, so that the internal fluid pressure is lost by the soft structure or the output direction is changed by buckling can be avoided.
Referring to fig. 9 and 12, the soft muscle 1000 forms a macroscopic motion of the closed cavity through the motion composition of the local folded structure, and the opening and closing around the ridge is also the limitation of the folded structure to the macroscopic motion of the cavity. Specifically, referring to fig. 12, the direction indicated by the arrow a in fig. 12 is the direction of the folding surface being opened and closed. When the pressure inside the closed cavity of the embodiment is changed, the pressure acts on the folding surface 1230 of each folding structure, and the linear motion of the closed cavity in one direction is realized by the guiding and limiting effect of the folding structures on the deformation motion.
The soft muscle 1000 of this embodiment overcomes the disadvantages of many participating components, heavy weight, high design requirement, complex assembly and lubrication, and high cost in the conventional driving scheme that the motor, the reducer, and the transmission mechanism (e.g., screw nut, connecting rod) are required to convert the rapid rotation of the motor into an ideal linear output. Meanwhile, compared with the existing soft muscle 1000, the composition is simpler (optimally, one material can be used for producing the whole muscle), the processing process is simpler and more efficient, and the mass production can be directly realized. And can output larger thrust under the same weight. The process of obtaining the desired output by designing the geometric parameters of the soft-bodied meat is more straightforward.
Referring to fig. 9-13, another advantage of the soft muscle 1000 of this embodiment is that the folding structure keeps the effective pressed area of the cavity in any cross section perpendicular to the axial direction constant when the cavity is extended or retracted. Thus, when the two end faces 1110 are pushed to move in the extension direction by the pressure acting on the two end faces 1110, if an external obstruction is encountered, the output force of the end faces 1110 is linear with the internal pressure. It should be noted that the effective pressure area is considered as the area of a designated area between the outer diameter circle and the inner diameter circle of the muscle, and is verified through experiments and theoretical comparison, and in the soft muscle 1000 of this embodiment, i.e. the area marked as B in fig. 5, due to the principle of air pressure or hydraulic pressure, the linearity of the muscle output force relative to the internal pressure is directly related to the effective pressure area. Therefore, the folding structure of the soft muscle 1000 of this embodiment can be very close to keep the inner diameter and the outer diameter constant when the muscle is stretched and shortened, i.e., the effective pressure area constant, thereby showing a linear output. In addition, since the soft muscle 1000 is flexible, the application range of the soft muscle 1000 can be further expanded by realizing bending and twisting of the soft muscle 1000 by means of external restriction or guidance.
Referring to fig. 9 and 13, in one embodiment, the ring structure is a plane-symmetric structure. Specifically, the annular structure may be a planar symmetric multi-variable shape, such as a hexagon, and the specific shape may be flexibly selected according to actual needs. In practice, each folding surface 1230 of the folding structure of the soft muscle 1000 may be different. The arrangement of the ridges 1211 and the ridges 1212, as well as the geometric parameters and configuration of each ring structure, can be designed as desired.
Referring to fig. 9 and 13, in an embodiment, the shape of the ring structure includes a hexagon, the ring structure is a hexagon, six sides of the hexagon include three ridges 1211 and three ridges 1212, the three ridges 1211 and the three ridges 1212 are spaced apart and connected end to form the ring structure.
Referring to fig. 9 and 13, in one embodiment, the ridges 1211 and the grooves 1212 of the annular ridges 1210 have the same length, and the ridges 1211 and the grooves 1212 have different lengths, such that each folding surface 1230 has a trapezoidal shape. Through the scheme, the folding surfaces 1230 are all in the same trapezoid shape, and the trapezoid folding surfaces 1230 are beneficial to further improving the structural strength and stability of the soft muscle 1000.
Referring to fig. 9 and 13, in one embodiment, the length of the ridges 1211 is shorter than the length of the ridges 1212. The folding surface 1230, the ridge 1211 and the concave ridge 1212 form a trapezoid with the ridge 1211 as the short side and the concave ridge 1212 as the long side, which is beneficial to further enhance the structural strength and stability of the soft muscle 1000.
In other embodiments, the length of the ridge 1211 may be longer than the length of the concave ridge 1212 or the length of the ridge 1211 may be the same as the length of the concave ridge 1212.
Referring to fig. 9-13, in one embodiment, the annular ridge 1210 and the lateral ridges 1220 have a thickness greater than the thickness of the folding surface 1230. By increasing the thickness of the circumferential ridge 1210 and the lateral ridges 1220, it is beneficial to further increase the structural strength and stability of the soft muscle 1000.
Referring to fig. 9-13, in one embodiment, the chamber sidewall 1200 has a non-folding section 1240, the non-folding section 1240 is located in the middle of the folding structure, and the folding structure is divided into a first folding section and a second folding section in the axial direction of the closed chamber, the first folding section and the second folding section are hermetically connected to the non-folding section 1240, and the access opening 1300 is located in the non-folding section 1240. Through increasing non-folding section 1240 for exit 1300 can set up in the middle part of cavity lateral wall 1200, is favorable to increasing the variety of software muscle 1000 structural layout, makes software muscle 1000 can be applicable to more extensive work scene.
Referring to FIG. 17, in one embodiment, the chamber sidewall 1200 has a non-folded section 1240, but the opening is not provided in the non-folded section 1240, but in the end face 1110.
Referring to fig. 9, 18 and 19, in another embodiment, the end 1100 has a face 1110, the face 1110 is perpendicular to the axis of the closed cavity, and the access opening 1300 is located at the face 1110. The inlet and outlet 1300 is arranged at the end 1100, so that the structural layout diversity of the soft muscle 1000 is increased, and the soft muscle 1000 can be applied to wider working scenes.
Referring to fig. 9 and 17, in an embodiment, the end 1100 has an end face 1110 and a mounting face 1120, the end face 1110 is perpendicular to the axial line of the closed cavity, the mounting face 1120 is located on a side of the end face 1110 facing the cavity side wall 1200 and is disposed along the circumferential direction of the end face 1110, the radial length of the mounting face 1120 is gradually reduced from a side of the cavity side wall 1200 to a side of the end face 1110, and the mounting face 1120 is used for mounting a flange. By additionally arranging the mounting surface 1120, the flange can be smoothly mounted on the end part 1100 of the soft muscle 1000, and the convenience of mounting the flange on the soft muscle 1000 is enhanced.
Referring to fig. 14-16, in another embodiment, the end portion 1100 has an end cover 1130, the end cover 1130 is perpendicular to the axial line of the closed cavity, the end cover 1130 has an external mounting hole 1131, and the external mounting hole 1131 is used for connecting the soft muscle 1000 with other components. When an end cap 1130 is used, the outer surface of the end cap 1130 is the end surface. Specifically, when the soft muscle 1000 needs to be connected to other components, the end cover 1130 may be connected to other components through the through hole of the end cover 1130 by using a pin, a bolt, a screw, or other components, so as to conveniently achieve the connection between the soft muscle 1000 and other components.
Referring to fig. 14-16, in one embodiment, the end cap 1130 is integrally formed with the cavity sidewall 1200. In other embodiments, the end cap 1130 and the cavity may be formed separately and then assembled together. In particular, the end cap 1130 and the cavity sidewall 1200 may be formed by injection molding, 3D printing, or other suitable methods.
Referring to fig. 9-19, in some embodiments, a connection tube 1400 is protruded from the port 1300, and one end of the connection tube 1400 is connected to the port 1300. When the soft muscle 1000 is used, a pipeline for conveying pressure fluid can be connected with the connecting pipe 1400, so that the connection between the soft muscle 1000 and an external pipeline is conveniently realized.
In one embodiment, the first soft body driving unit further comprises a first pressure sensor, the second soft body driving unit further comprises a second pressure sensor, and the first pressure sensor and the second pressure sensor are both connected with the control unit and used for transmitting signals. The first pressure sensor is communicated with the closed cavity of the first soft muscle and used for detecting the pressure of fluid in the closed cavity of the first soft muscle. The second pressure sensor is communicated with the closed cavity of the second soft muscle and used for detecting the pressure of the fluid in the closed cavity of the second soft muscle.
The control unit can calculate and analyze the pressure of the fluid in the closed cavity of the second soft muscle to obtain the displacement of the moving part (in this embodiment, the moving part is a general name of the first moving part and the second moving part), and the step of calculating and analyzing includes:
calculating the actual length of the second soft muscle by using the formula (I),
wherein, P0At atmospheric pressure, PaIs the internal relative pressure of the second soft muscle in the initial state, PmFor driving the air pressure and representing the internal relative pressure of the second soft muscle, l represents the actual length of the soft muscle, H represents the initial length of the second soft muscle, εs1、εs2Are all process parameters.
Parameter epsilons1、εs2For using measured P without external forcemAnd l, performing fitting and parameter calibration on the multiple groups of data.
Calculating the displacement of the movable member by using a formula (II),
x＝H-l (II)
wherein x is the displacement of the movable member, H represents the initial length of the soft muscle, and l represents the actual length of the second soft muscle.
Referring to fig. 1, in an embodiment, the control unit can perform a calculation analysis on the pressure of the fluid in the closed cavity of the soft muscle to obtain the output force of the soft muscle, and the calculation analysis includes the steps of:
the output force of a single soft muscle is calculated using formula (III),
wherein F is the output force of the soft muscle,is a driving function and represents the driving force generated by the difference between the internal and external air pressures, h () is a stiffness function and represents the driving force generated by the deformation of itself, DeIs an equivalent parameter of a soft muscle, PmFor driving the air pressure and expressed as the internal relative pressure of the soft muscle, epsilonpIs a process parameter;
the stiffness function h () is used at PmUnder the condition of zero and external force action, the measured F, l data is used for fitting to obtain the data;
parameter epsilonpFor using measured F, P without l being changed and external force being appliedmThe formed multiple groups of data are obtained by fitting and parameter calibration;
the total output force of all soft muscles is calculated by formula (IV) and expressed by formula
Wherein, FiIs the output force of a soft muscle of the first kind, FpThe output force of the second type of soft muscle, i and n are respectively the serial number and the number of the first type of soft muscle; the first type of soft muscle is used for connecting the soft muscle with an air source, and the internal air pressure of the first type of soft muscle is adjustable, and the second type of soft muscle is used for sealing the soft muscle, and the internal air pressure of the second type of soft muscle is not adjustable.
Parameter epsilons1、εs2The calibration procedure of (a) is described as follows: (1) the soft muscle is fixed at one end of the parallel guide rail and connected with the air source, the actual length of the soft muscle is measured by the displacement sensor, and the data of the displacement sensor is collected by the data collection card. (2) Measured in the initial state to obtain P0、PaAnd H, starting an air source to provide driving air for the soft muscle, so that the soft muscle is in an axial telescopic motion state on the parallel guide rail. (3) By changing the internal relative pressure P of the soft musclemThe soft muscle generates axial movement under the action of the internal and external air pressure difference, the actual length l of the soft muscle (namely the movement displacement of the moving end) can be obtained by collecting the data of the displacement sensor through the data acquisition card, and a plurality of groups of data are repeatedly measured in this way. (4) Carrying out two-dimensional coordinate statistics on the collected data picture, wherein the horizontal axis is l/H, and the vertical axis is P0+Pa/(Ppm+Pa) When the statistical result is a straight line, the parameter epsilon can be completeds1、εs2And (4) calibrating.
The acquisition process of the stiffness function h () is explained as follows: (1) the method comprises the steps of fixing a soft muscle at one end of a parallel guide rail, fixing a driving motor at the other end, pulling the soft muscle to do axial telescopic motion on the parallel guide rail by a push rod of the driving motor, measuring the actual length of the soft muscle by using a displacement sensor, measuring the contact force of the moving end of the soft muscle by using a force sensor, and collecting the measured values of the displacement sensor and the force sensor by using a data acquisition card. (2) In the whole process, the air cavity of the soft muscle is ensured to be opened, so that the internal air pressure and the external air pressure are the same, namely PmIs zero and in the initial stateSo that the initial length of the soft muscle is H. (3) The driving motor pulls the push rod to move, so that the moving end of the soft muscle does axial telescopic motion along the parallel guide rail, and the motor slowly moves at a constant speed in the test process, so that the dynamic influence of the experimental device can be not considered. (4) Acquiring data of a displacement sensor through a data acquisition card to obtain the actual length l of the soft muscle, acquiring data of a force sensor to obtain the output force F of the soft muscle, and repeatedly measuring in such a way to obtain a plurality of groups of data; (5) and taking l and F as horizontal and vertical coordinate variable quantities, drawing a two-dimensional curve by using more than ten times of measurement data, and fitting the curve to obtain a rigidity function h (), wherein when l is 0, h () is also zero.
Parameter epsilonpThe calibration procedure of (a) is described as follows: (1) the two ends of the soft muscle are fixed on the parallel guide rails and connected with the air source, the soft muscle is kept in an initial state, the air pressure inside the soft muscle is measured by the air pressure sensor, the contact force of the end part of the soft muscle is measured by the force sensor, and the measured values of the air pressure sensor and the force sensor are collected by the data acquisition card. (2) The relative pressure inside the soft muscle is changed through the air source, so that the end part of the soft muscle is stressed, the deformation quantity is not changed, and the driving force generated by the self deformation of the soft muscle can be ignored. (3) The driving pressure P can be obtained by acquiring the data of the gas sensor through a data acquisition cardmAnd acquiring the data of the force sensor to obtain the output force F of the soft muscle, and repeatedly measuring to obtain multiple groups of data. (4) Obtaining F and P by using collected datamCan be seen as a linear relationship, thereby to the parameter εpAnd (6) calibrating.
The foregoing is a more detailed description of the present application in connection with specific embodiments thereof, and it is not intended that the present application be limited to the specific embodiments thereof. It will be apparent to those skilled in the art from this disclosure that many more simple derivations or substitutions can be made without departing from the inventive concepts herein.
Claims (10)
1. A software actuated clamping jaw apparatus, comprising:
the clamping jaw root comprises a first base, a first movable piece and a first soft driving unit, wherein the first base is used for bearing, the first movable piece is connected with the first base in a sliding mode, and the first soft driving unit is arranged between the first movable piece and the first base and used for driving the first movable piece to slide on the first base;
the clamping jaw comprises at least two clamping jaw fingers, wherein the clamping jaw fingers are oppositely arranged and used for clamping an object, and one ends of the clamping jaw fingers are hinged with the first base;
the device comprises at least two first connecting rod assemblies, a clamping jaw finger is correspondingly hinged with one end of one first connecting rod assembly, the other end of the first connecting rod assembly is hinged with a first base, a finger clamping position and a finger releasing position are arranged on the motion track of a first movable part, in the finger clamping position, a first soft driving unit drives the first movable part to extend out, and the first movable part drives two corresponding clamping jaw fingers to rotate around the first base in opposite directions and clamp an object; when the fingers are in the release position, the first soft driving unit drives the first movable piece to retract, and the first movable piece drives the two fingers of the corresponding clamping jaw to rotate back and forth around the first base and release the object;
and the control unit is connected with the first soft driving unit and controls the first soft driving unit to drive the fingers of the clamping jaw to move.
2. The jaw apparatus of claim 1, wherein said jaw fingers include knuckles and fingertips, said knuckles including a second base, a second movable member, and a second flexible drive unit, said second base being hingedly connected to said first base, said second movable member being slidably connected to said second base, said second movable member having a fingertip clamping position and a fingertip release position, said second flexible drive unit being disposed between said second movable member and said second base and being connected to said control unit for driving said second movable member to slide between said fingertip clamping position and said fingertip release position;
the clamping jaw device further comprises a second connecting rod assembly, one end of the fingertip is hinged to one end of the second base, one end of the second connecting rod assembly is hinged to the second movable piece, the other end of the second connecting rod assembly is hinged to the fingertip, at the fingertip clamping position, the second soft driving unit drives the second movable piece to extend out, and the second movable piece drives the corresponding fingertip to rotate around the second base to the other opposite fingertip and clamps an object; and in the fingertip release position, the second soft driving unit drives the second movable part to retract, and the second movable part drives the corresponding fingertip to rotate around the second base away from the other opposite fingertip, so as to release the object.
3. The clamping jaw device as claimed in claim 2, wherein said first and second soft driving units each comprise at least two soft muscles, said at least two soft muscles comprising at least one first soft muscle and at least one second soft muscle, said first soft muscle being adapted to communicate with a fluid source, said second soft muscle being disconnected from the fluid source and in a closed state, said first driving unit soft muscle having one end connected to the first movable member and the other end connected to the root floor, said second driving unit soft muscle having one end connected to the second movable member and the other end connected to the knuckle floor.
4. The jaw apparatus of claim 3, wherein said first soft drive unit comprises three first soft muscles arranged in an equilateral triangle and one second soft muscle located at the center of the equilateral triangle in which the three first soft muscles are arranged.
5. The jaw apparatus of claim 3, said second soft drive unit comprising two first soft muscles and one second soft muscle arranged in a triangle, said two first soft muscles being closer to the side of the knuckle for contact with the object to be clamped than the second soft muscle.
6. The jaw apparatus of any of claims 3-5, wherein said soft muscle comprises:
two end portions facing each other;
the flexible cavity side wall is arranged between the two end parts, and two sides of the cavity side wall respectively extend to the corresponding end parts and are enclosed along the circumferential direction of the end parts to form a closed cavity;
the end part or the side wall of the cavity is provided with an inlet and an outlet, and the inlet and the outlet are used for allowing pressure fluid to enter and exit the closed cavity;
the side wall of the cavity is provided with a folding structure, the folding structure comprises a plurality of annular ridges, a plurality of side ridges and a plurality of folding surfaces, the annular ridges comprise convex ridges arranged in a protruding manner and concave ridges arranged in a concave manner, in the annular ridges, the convex ridges and the concave ridges are alternately connected end to form annular structures, the annular ridges are sequentially arranged along the axial direction of the closed cavity, the convex ridge of each annular structure corresponds to the concave ridge of an adjacent annular structure, and the concave ridge of each annular structure corresponds to the convex ridge of the adjacent annular structure;
the folding structure comprises annular ridges, side ridges and folding surfaces, wherein the connecting points of the convex ridges and the concave ridges in the annular ridges are vertexes, the side ridges extend from the vertex of one annular ridge to the corresponding vertex of the adjacent annular ridge, the folding surfaces are arranged between the two adjacent side ridges and the corresponding concave ridges and convex ridges, and when the fluid pressure in the closed cavity changes, the folding structure can deform so as to realize the folding or extending of the folding structure along the axial direction of the closed cavity.
7. The clamping jaw device as claimed in claims 2-5, characterized in that said first base comprises a root bottom plate, a root side plate and a root connecting plate, said root bottom plate is used for bearing, said root side plate is arranged along the circumference of the root bottom plate, the bottom of said root side plate extends to the bottom of the root bottom plate and is fixedly connected with the root bottom plate, a gap is arranged between adjacent root side plates, said root bottom plate and said root side plate enclose a root containing cavity;
the first movable piece is arranged in the containing inner cavity of the root in a sliding mode and can slide towards or away from the root bottom plate, the first soft driving unit is borne on the root bottom plate, one end of the first soft driving unit is connected with the root bottom plate, and the other end of the first soft driving unit is connected with the first movable piece;
the root connecting plate is arranged at the top of the root side plate and connected with the top of each root side plate, and one end of each clamping jaw finger is hinged to the root connecting plate.
8. The clamping jaw device as claimed in claims 2-5, characterized in that the second base comprises a knuckle bottom plate and knuckle side plates, the knuckle bottom plate is used for bearing, the knuckle side plates are arranged along the circumference of the knuckle bottom plate, the bottoms of the knuckle side plates extend to the bottoms of the knuckle bottom plates and are fixedly connected with the knuckle bottom plates, gaps are arranged between adjacent knuckle side plates, the bottoms of the knuckle side plates close to the contact surface are hinged with the first base, the tops of the knuckle side plates close to the contact surface are hinged with finger tips, and the knuckle bottom plate and the knuckle side plates enclose a finger-knuckle accommodating inner cavity;
the second movable part is arranged in the containing inner cavity of the knuckle in a sliding mode and can slide towards or away from the knuckle bottom plate, the second soft driving unit is borne on the knuckle bottom plate, one end of the second soft driving unit is connected with the root bottom plate, and the other end of the second soft driving unit is connected with the second movable part.
9. The jaw apparatus of claims 3-5, wherein the first soft body drive unit further comprises a first pressure sensor, the second soft body drive unit further comprises a second pressure sensor, and the first pressure sensor and the second pressure sensor are both connected to the control unit for transmitting signals; the first pressure sensor is communicated with the closed cavity of the first soft muscle and used for detecting the pressure of fluid in the closed cavity of the first soft muscle; the second pressure sensor is communicated with the closed cavity of the second soft muscle and used for detecting the pressure of fluid in the closed cavity of the second soft muscle;
the control unit can calculate and analyze the pressure of the fluid in the closed cavity of the second soft muscle to obtain the displacement of the movable part, and the calculation and analysis steps comprise:
calculating the actual length of the second soft muscle by using the formula (I),
wherein, P0At atmospheric pressure, PaIs the internal relative pressure of the second soft muscle in the initial state, PmFor driving the pneumatic pressure and representing the internal relative pressure of said second soft body muscle, l represents the actual length of said soft body muscle, H represents the initial length of said second soft body muscle, εs1、εs2Are all process parameters;
the parameter epsilons1、εs2The device is used for obtaining the data by utilizing a plurality of groups of data formed by the measured Pm and l to perform fitting and parameter calibration under the condition of no external force;
calculating the displacement of the movable member by using a formula (II),
x＝H-l (II)
wherein x is the displacement of the movable element, H represents the initial length of the soft muscle, and l represents the actual length of the second soft muscle.
10. The jaw apparatus of claims 3-5, wherein said control unit is capable of performing a computational analysis of the pressure of the fluid in the closed cavity of the soft muscle to obtain the output force of the soft muscle, the computational analysis comprising:
the output force of a single soft muscle is calculated using formula (III),
wherein F is the output force of the soft muscle,
is a driving function and tableShowing the driving force generated by the difference between the internal and external air pressures, h () being a stiffness function and showing the driving force generated by its own deformation, DeIs an equivalent parameter of said soft body muscle, PmFor driving the air pressure and expressed as the internal relative pressure of the soft muscle, epsilonpIs a process parameter;
the stiffness function h () is used at PmUnder the condition of zero and external force action, the measured F, l data is used for fitting to obtain the data;
the parameter epsilonpFor using measured F, P without l being changed and external force being appliedmThe formed multiple groups of data are obtained by fitting and parameter calibration;
the total output force of all soft muscles is calculated by formula (IIII), which is expressed as
Wherein, FiIs the output force of a soft muscle of the first kind, FpThe output force of the second type of soft muscle, i and n are respectively the serial number and the number of the first type of soft muscle; the first type of soft muscle is used for connecting the soft muscle with a gas source, and the internal air pressure of the first type of soft muscle is adjustable, and the second type of soft muscle is used for sealing the soft muscle, and the internal air pressure of the second type of soft muscle is not adjustable.
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| CN201911106067.2A CN110802621A (en) | 2019-11-13 | 2019-11-13 | Software-driven clamping jaw device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112426203A (en) * | 2020-11-09 | 2021-03-02 | 北京邮电大学 | Minimally invasive surgery instrument opening and closing device driven by software |
| CN113070893A (en) * | 2021-03-30 | 2021-07-06 | 南方科技大学 | Mechanical arm |
| 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 |
-
2019
- 2019-11-13 CN CN201911106067.2A patent/CN110802621A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112426203A (en) * | 2020-11-09 | 2021-03-02 | 北京邮电大学 | Minimally invasive surgery instrument opening and closing device driven by software |
| CN112426203B (en) * | 2020-11-09 | 2022-03-15 | 北京邮电大学 | Minimally invasive surgery instrument opening and closing device driven by software |
| 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 |
| CN113070893A (en) * | 2021-03-30 | 2021-07-06 | 南方科技大学 | Mechanical arm |
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