CN111015697B - Bionic soft gripper for collecting particles underwater - Google Patents
Bionic soft gripper for collecting particles underwater Download PDFInfo
- Publication number
- CN111015697B CN111015697B CN201911128811.9A CN201911128811A CN111015697B CN 111015697 B CN111015697 B CN 111015697B CN 201911128811 A CN201911128811 A CN 201911128811A CN 111015697 B CN111015697 B CN 111015697B
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- bionic
- base
- finger
- fixedly connected
- ridge
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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
- B25J15/0023—Gripper surfaces directly activated by a fluid
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Abstract
The invention discloses a bionic soft gripper for collecting particles underwater, which comprises a gripper, a base and a support, wherein the gripper comprises bionic fingers and a ridge-shaped structure; wherein: the ridge-shaped structure is arranged on the bionic finger, the bionic finger is connected with the base, and the base is fixedly connected with the support. The bionic soft gripper for collecting particles underwater is provided, the bionic fingers can be stretched and bent under the control of the air pump, the purpose of grabbing the particles is achieved, ridge-shaped structures between adjacent bionic fingers are meshed with each other, and particle objects can be effectively prevented from leaking in the grabbing process; the lower end of the particle channel is connected with the collector through the conduction pipe, and particles can be collected.
Description
Technical Field
The invention relates to the field of bionic mechanical devices, in particular to a bionic soft gripper for collecting particles underwater.
Background
The current research on robots has become a hot issue, and robot grippers are widely researched as a commonly used end effector. The development of the traditional rigid manipulator tends to be mature at present, the mechanical gripper designed in the existing literature has the bending freedom degree provided by a plurality of joints, can clamp objects with different shapes and sizes, generally has the defects that the clamping force is difficult to adjust and the grabbing degree is difficult to control when grabbing the objects, and simultaneously has the limitation on the deformation degree of the gripper due to the joint structure, the freedom degree is lower, the flexibility is poorer, and the mechanical gripper is difficult to adapt to the objects with irregular shapes.
Although the soft gripper in the prior document can grip irregular objects during design, the number of the fingers is generally 2-4 because a larger deformation space is reserved among the fingers of the gripper or the number of the fingers of the gripper is reduced as much as possible, so that the working space of the gripper is enlarged, the gripper can only grip larger objects, the gripping and the collection of particle objects cannot be carried out, and the working range of the soft gripper is limited.
Disclosure of Invention
The invention provides a bionic soft gripper for collecting particles underwater, which aims to solve the problem that the existing soft gripper cannot grab and collect particle objects.
In order to realize the purpose, the technical scheme is as follows:
a bionic soft gripper for collecting particles underwater comprises a gripper, a base and a support, wherein the gripper comprises bionic fingers and a ridge structure; wherein: the ridge-shaped structure is arranged on the bionic finger, the bionic finger is connected with the base, and the base is fixedly connected with the support.
In the above scheme, bionical finger and ridge structure are mutually supported for snatch the particle object, and bionical finger is fixed on the base, and the base is used for collecting the particle object of snatching, and the support is used for stabilizing whole device.
Preferably, the bionic fingers are annularly arranged on the base and are fixedly connected with the base; one section of the inside of the bionic finger is of a hollow structure and is used for controlling an external air path; bionic finger both sides all are equipped with one row ridge structure, adjacent between the bionic finger ridge structure intermeshing.
In the scheme, a plurality of bionic fingers are annularly arranged on the base, a section of the inner part of each bionic finger is of a hollow structure, the extension and the bending of the fingers can be controlled through an external air path, the hollow structure is inflated, the bionic fingers are bent, the plurality of bionic fingers are in a closed state, the hollow structure is deflated, and the bionic fingers are extended; bionic finger both sides all are equipped with one row ridge structure, the ridge structure intermeshing between adjacent bionic finger can prevent effectively that the particle object from spilling at the in-process of snatching.
Preferably, the grip further comprises an outer film; the outer film covers the bionic finger and the surface of the ridge-shaped structure and is used for protecting the hand grab.
In the above scheme, the outer membrane covers on the surface of the bionic finger and the ridged structure, so that the bionic finger and the ridged structure are effectively protected, and the bionic finger is prevented from being damaged by external force.
Preferably, the hollow structure is located from the tail end of the bionic finger to the middle position of the bionic finger, and the hollow structure is close to the outer side.
In the above scheme, hollow structure is in bionical finger tail end to bionical finger intermediate position department, can be close to the outside through extension and the bending of bionical finger of outside gas circuit control, and hollow structure is thinner than the inboard in the outside, and the outside deformation ratio is inboard big when aerifing, can bend to the inboard.
Preferably, the base comprises a shell, a particle channel, a vent air cavity, an air inlet, an air pump, a conducting pipe and a collector; wherein: the particle channel is arranged in the middle of the shell, the ventilation air cavity is arranged around the particle channel, a plurality of ventilation openings are arranged at the upper part of the shell, each ventilation opening is correspondingly connected with one bionic finger, and the ventilation openings are communicated with the ventilation air cavity; the lower part of the shell is provided with the air inlet, one end of the air inlet is connected with the air pump through a guide pipe, and the other end of the air inlet is communicated with the ventilation air cavity; the particle channel is connected with the collector through the conduction pipe; the shell is fixedly connected with the bracket.
In the scheme, the middle part of the shell is provided with a particle channel, the upper part of the particle channel is communicated with the outside, and the particle object grabbed by the grabbing hand is collected; the ventilation air cavity is arranged around the particle channel in a surrounding manner, a plurality of ventilation openings are arranged at the upper part of the shell, each ventilation opening is correspondingly connected with one bionic finger, and the ventilation openings are communicated with the ventilation air cavity; an air inlet is arranged at the lower part of the shell, one end of the air inlet is connected with the air pump through a guide pipe, and the other end of the air inlet is communicated with the ventilation air cavity; the air pump is manually controlled to inflate and deflate the hollow structure; the lower end of the particle channel is connected with the collector through a conduction pipe.
The blow vent with bionic finger all is provided with 8, every the blow vent correspond and connect one bionic finger.
The bracket comprises a supporting rod, a fixer and a base; the fixer is fixedly connected with the shell; the top end of the supporting rod is fixedly connected with the fixer; the bottom end of the supporting rod is fixedly connected with the base.
The fixer is fixedly connected with the shell through a bolt structure.
The number of the supporting rods is set to be 4, and the top ends of 4 supporting rods are fixedly connected with the fixator; 4 the bottom of bracing piece all with base fixed connection.
The top ends of the 4 support rods are fixedly connected with the fixator through bolt structures; 4 the bottom of bracing piece all with the base passes through bolted construction fixed connection.
In the scheme, 8 bionic fingers of the gripper are used for gripping the particle object, a row of the ridge-shaped structures is arranged on each of two sides of each bionic finger, and the ridge-shaped structures between the adjacent bionic fingers are meshed with each other, so that the particle object can be effectively prevented from leaking in the gripping process; one section of the inside of the bionic finger is of a hollow structure, the hollow structure is close to the outer side, the extension and the bending of the finger can be controlled through an external air path, the hollow structure is inflated, the bionic finger is bent, a plurality of bionic fingers are in a closed state, the hollow structure is deflated, the bionic finger is extended, the hollow structure is close to the outer side, the outer side is thinner than the inner side, the deformation of the outer side is larger than that of the inner side during inflation, and the bionic finger can bend towards the inner side; the middle part of the shell is provided with a particle channel, the upper part of the particle channel is communicated with the outside, and a particle object grabbed by the grabbing hand is collected; the ventilation air cavity is arranged around the particle channel in a surrounding manner, 8 ventilation ports are communicated with the ventilation air cavity, an air inlet is arranged at the lower part of the shell, one end of the air inlet is connected with the air pump through a guide pipe, and the other end of the air inlet is communicated with the ventilation air cavity; the air pump is manually controlled to inflate and deflate the hollow structure; the lower end of the particle channel is connected with the collector through the conduction pipe, and particles can be collected.
Compared with the prior art, the invention has the beneficial effects that:
the bionic soft gripper for collecting particles underwater is provided, the bionic fingers can be stretched and bent under the control of the air pump, the purpose of grabbing the particles is achieved, ridge-shaped structures between adjacent bionic fingers are meshed with each other, and particle objects can be effectively prevented from leaking in the grabbing process; the lower end of the particle channel is connected with the collector through the conduction pipe, and particles can be collected.
Drawings
FIG. 1 is an overall structural view of the present invention;
FIG. 2 is a top view of the grip structure of the present invention;
FIG. 3 is a cross-sectional view of the housing of the present invention;
FIG. 4 is a view showing a structure of a stand according to the present invention;
description of reference numerals: 1. a gripper; 2. a base; 3. a support; 11. simulating fingers; 12. a ridge structure; 21. a housing; 22. a particle channel; 23. a vent; 24. a ventilation air cavity; 25. an air inlet; 26. an air pump; 27. a conduction pipe; 28. a collector; 31. a support bar; 32. a holder; 33. a base.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent;
the invention is further illustrated below with reference to the figures and examples.
Example 1
A bionic soft hand grip for collecting particles underwater comprises a hand grip 1, a base 2 and a support 3, wherein the hand grip 1 comprises bionic fingers 11 and a ridge-shaped structure 12; wherein: ridge structure 12 sets up on bionical finger 11, bionical finger 11 with base 2 is connected, base 2 with support 3 fixed connection.
In the above-mentioned scheme, bionical finger 11 and ridge structure 12 mutually support for snatch the particle object, bionical finger 11 is fixed on base 2, and base 2 is used for collecting the particle object of snatching, and support 3 is used for stabilizing whole device.
Preferably, the plurality of bionic fingers 11 are annularly arranged on the base 2 and are fixedly connected with the base 2; a section of the bionic finger 11 is of a hollow structure and is used for controlling an external air path; bionic finger 11 both sides all are equipped with one row ridge structure 12, adjacent between bionic finger 11 ridge structure 12 intermeshing.
In the above scheme, a plurality of bionic fingers 11 are annularly arranged on the base 2, a section inside the bionic finger 11 is a hollow structure, the extension and bending of the bionic finger 11 can be controlled through an external air path, the hollow structure is inflated, the bionic finger 11 is bent, the plurality of bionic fingers 11 are in a closed state, the hollow structure is deflated, and the bionic finger 11 is extended; bionic finger 11 both sides all are equipped with one row ridge structure 12, ridge structure 12 intermeshing between adjacent bionic finger 11 can prevent effectively that the particle object from spilling at the in-process of snatching.
Preferably, the grip 1 further comprises an outer film; the outer film covers the surfaces of the bionic finger 11 and the ridge-shaped structure 12 and is used for protecting the hand grip 1.
In the above scheme, the outer film 13 covers the surfaces of the bionic finger 11 and the ridge-shaped structure 12, so that the bionic finger 11 and the ridge-shaped structure 12 are effectively protected, and the bionic finger is prevented from being damaged by external force.
Preferably, the hollow structure is located from the tail end of the bionic finger 11 to the middle position of the bionic finger 11, and the hollow structure is close to the outer side.
In the above scheme, hollow structure is in bionical 11 tail ends of finger to bionical 11 intermediate positions departments of finger, can be through extension and the bending of bionical finger 11 of outside gas circuit control, and hollow structure is close to the outside, and the outside is thinner than the inboard, and the outside deformation ratio is inboard big during the inflation, can bend to the inboard.
Preferably, the base 2 comprises a shell 21, a particle channel 22, a vent 23, a vent air cavity 24, an air inlet 25, an air pump 26, a conduit 27 and a collector 28; wherein: the particle channel 22 is arranged in the middle of the shell 21, the ventilation air cavity 24 is arranged around the particle channel 22, a plurality of ventilation openings 23 are arranged on the upper portion of the shell 21, each ventilation opening 23 is correspondingly connected with one bionic finger 11, and the ventilation openings 23 are communicated with the ventilation air cavity 24; the lower part of the shell 21 is provided with the air inlet 25, one end of the air inlet 25 is connected with the air pump 26 through a conduit, and the other end of the air inlet 25 is communicated with the ventilation air cavity 24; the particle channel 22 is connected to the collector 28 via the conducting pipe 27; the housing 21 is fixedly connected with the bracket 3.
In the scheme, the middle part of the shell 21 is provided with the particle channel 22, the upper part of the particle channel 22 is communicated with the outside, and the particle objects grabbed by the gripper 1 are collected; the ventilation air cavity 24 is arranged around the particle channel 22 in a surrounding manner, a plurality of ventilation ports 23 are arranged at the upper part of the shell 21, each ventilation port 23 is correspondingly connected with one bionic finger 11, and the ventilation ports 23 are communicated with the ventilation air cavity 24; an air inlet 25 is arranged at the lower part of the shell 21, one end of the air inlet 25 is connected with an air pump 26 through a conduit, and the other end is communicated with the ventilation air cavity 24; the air pump 26 is manually controlled to inflate and deflate the hollow structure; the lower end of the particle passage 22 is connected to a collector 28 through a conduit 27.
The air vent 23 with bionic finger 11 all is provided with 8, every air vent 23 correspond and connect one bionic finger 11.
The bracket 3 comprises a support rod 31, a fixer 32 and a base 33; the fixer 32 is fixedly connected with the shell 21; the top end of the supporting rod 31 is fixedly connected with the fixer 32; the bottom end of the support rod 31 is fixedly connected with the base 33.
The retainer 32 is fixedly connected to the housing 21 by a bolt structure.
The number of the supporting rods 31 is set to be 4, and the top ends of the supporting rods 31 are fixedly connected with the fixator 32; 4 the bottom of bracing piece 31 all with base 33 fixed connection.
The top ends of the 4 support rods 31 are fixedly connected with the fixator 32 through bolt structures; 4 the bottom of bracing piece 31 all with base 33 passes through bolted construction fixed connection.
Example 2
8 bionic fingers 11 of the gripper 1 are used for gripping particle objects, a row of ridge-shaped structures 12 are arranged on two sides of each bionic finger 11, and the ridge-shaped structures 12 between the adjacent bionic fingers 11 are meshed with each other, so that the particle objects can be effectively prevented from leaking in the gripping process; the inner part of the bionic finger 11 is of a hollow structure, the stretching and bending of the bionic finger 11 can be controlled through an external air channel, when the hollow structure is inflated, the bionic finger 11 is bent, 8 bionic fingers 11 are in a closed state, when the hollow structure is deflated, the bionic finger 11 is stretched, the hollow structure is close to the outer side, the outer side is thinner than the inner side, and when the bionic finger is inflated, the outer side has larger deformation than the inner side, and the bionic finger can bend towards the inner side; the middle part of the shell 21 is provided with a particle channel 22, the upper part of the particle channel 22 is communicated with the outside, and particle objects grabbed by the gripper 1 are collected; the ventilation air cavity 24 is arranged around the particle channel 22 in a surrounding manner, the 8 ventilation ports 23 are communicated with the ventilation air cavity 24, the lower part of the shell 21 is provided with an air inlet 25, one end of the air inlet 25 is connected with an air pump 26 through a guide pipe, and the other end of the air inlet 25 is communicated with the ventilation air cavity 24; the air pump 26 is manually controlled to inflate and deflate the hollow structure; the lower end of the particle passage 22 is connected to a collector 28 through a conduit 27.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (8)
1. A bionic soft hand grip for collecting particles underwater comprises a hand grip (1), a base (2) and a support (3), and is characterized in that the hand grip (1) comprises bionic fingers (11) and a ridge-shaped structure (12); wherein: the ridge structure (12) is arranged on the bionic finger (11), the bionic finger (11) is connected with the base (2), and the base (2) is fixedly connected with the support (3); the bionic fingers (11) are annularly arranged on the base (2) and are fixedly connected with the base (2); a section of the inside of the bionic finger (11) is of a hollow structure and is used for controlling an external air path; a row of the ridge-shaped structures (12) are arranged on two sides of each bionic finger (11), and the ridge-shaped structures (12) between the adjacent bionic fingers (11) are meshed with each other;
the base (2) comprises a shell (21), a particle channel (22), an air vent (23), an air vent cavity (24), an air inlet (25), an air pump (26), a conducting pipe (27) and a collector (28); wherein: the particle channel (22) is arranged in the middle of the shell (21), the ventilation air cavity (24) is arranged around the particle channel (22), a plurality of ventilation openings (23) are arranged at the upper part of the shell (21), each ventilation opening (23) is correspondingly connected with one bionic finger (11), and the ventilation openings (23) are communicated with the ventilation air cavity (24); the lower part of the shell (21) is provided with the air inlet (25), one end of the air inlet (25) is connected with the air pump (26) through a guide pipe, and the other end of the air inlet is communicated with the ventilation air cavity (24); the particle channel (22) is connected with the collector (28) through the conducting pipe (27); the shell (21) is fixedly connected with the bracket (3).
2. The biomimetic soft grip for collecting particles underwater according to claim 1, wherein the grip (1) further comprises an outer membrane; the outer film covers the surfaces of the bionic finger (11) and the ridge-shaped structure (12) and is used for protecting the hand grip (1).
3. The biomimetic soft grip for collecting particles underwater according to claim 1, wherein the hollow structure is located at a position from the tail end of the biomimetic finger (11) to the middle of the biomimetic finger (11), the hollow structure being close to the outside.
4. The bionic soft gripper for collecting particles underwater according to claim 3, characterized in that 8 air vents (23) and 8 bionic fingers (11) are provided, and each air vent (23) is correspondingly connected with one bionic finger (11).
5. The biomimetic soft-bodied gripper for underwater collection of particles according to claim 4, characterized in that the support (3) comprises a support rod (31), a holder (32) and a base (33); the fixer (32) is fixedly connected with the shell (21); the top end of the supporting rod (31) is fixedly connected with the fixer (32); the bottom end of the supporting rod (31) is fixedly connected with the base (33).
6. The biomimetic soft-bodied gripper for underwater particle collection according to claim 5, characterized in that the retainer (32) is fixedly connected with the housing (21) by a bolt structure.
7. The bionic soft gripper for collecting particles underwater according to claim 5, characterized in that the number of the supporting rods (31) is set to 4,4, the top ends of the supporting rods (31) are fixedly connected with the fixator (32); the bottom ends of the 4 support rods (31) are fixedly connected with the base (33).
8. The bionic soft gripper for collecting particles underwater as claimed in claim 7, wherein the top ends of 4 support rods (31) are fixedly connected with the fixer (32) through a bolt structure; 4 the bottom of bracing piece (31) all with base (33) pass through bolted construction fixed connection.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911128811.9A CN111015697B (en) | 2019-11-18 | 2019-11-18 | Bionic soft gripper for collecting particles underwater |
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| CN201911128811.9A CN111015697B (en) | 2019-11-18 | 2019-11-18 | Bionic soft gripper for collecting particles underwater |
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| CN111015697B true CN111015697B (en) | 2023-03-10 |
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| US5011207A (en) * | 1987-08-03 | 1991-04-30 | Stevens S Scott | Robotic end effector for grasping objects |
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