CN111390962B - Pneumatic flexible tongs with bistable characteristic - Google Patents
Pneumatic flexible tongs with bistable characteristic Download PDFInfo
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- CN111390962B CN111390962B CN201911135310.3A CN201911135310A CN111390962B CN 111390962 B CN111390962 B CN 111390962B CN 201911135310 A CN201911135310 A CN 201911135310A CN 111390962 B CN111390962 B CN 111390962B
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- bistable
- pneumatic
- inner container
- driver
- pneumatic soft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
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Abstract
The invention discloses a pneumatic flexible gripper with bistable property, belonging to the technical field of soft robots and comprising a clamping device, wherein at least two bistable laminates with two stable shapes are connected on the clamping device, a pneumatic soft driver capable of changing the shape of the bistable laminates through inflation and deflation is arranged on the bistable laminates, and the pneumatic soft driver can drive the bistable laminates to deform together while deforming, so that the gripper is switched between a loosening state and a clamping state, continuous air supply is not needed when the loosening state or the clamping state is maintained, and the problems that in the prior art, if air supply is stopped, a clamping jaw loses clamping capacity, air pressure needs to be continuously supplied, and energy consumption is high in the clamping process of the clamping jaw are solved.
Description
Technical Field
The invention relates to the technical field of soft robots, in particular to a pneumatic flexible gripper which can quickly grip irregular objects which are easy to rot and maintain gripping capacity under the action of no air pressure, so that the working efficiency is greatly improved, and the energy consumption is reduced.
Background
The soft robot is an emerging hotspot and future development front of the current robot technology, and compared with the traditional rigid robot, the soft robot shows unprecedented human-computer safety and environmental interactivity. The flexible gripper designed according to the soft material and the driving of the soft material has good adaptability and sensitivity, can grip irregular and fragile objects, and has good application prospect. However, the existing flexible gripper is complex in structure, continuous air pressure supply is often needed in the process of gripping an object, and energy consumption is high. Therefore, in view of the above technical problems, there is a need to provide a pneumatic flexible grip with bistable characteristics.
For example, the "inflatable boneless inflatable pneumatic claw" disclosed in the chinese patent document, which is published under the reference CN109968391A and includes a bracket, a connecting buckle, a clamping plate, a clamping jaw, an air pressure regulating valve, an adjusting box, etc., has the disadvantage of complicated structure, and the clamping jaw loses its clamping capability if air supply is stopped during clamping of the clamping jaw, and therefore, air pressure needs to be continuously supplied, which results in high energy consumption.
Disclosure of Invention
The pneumatic flexible gripper aims to solve the problem that air pressure needs to be continuously supplied in the gripping process of the flexible gripper in the prior art, and the pneumatic flexible gripper with the bistable characteristic is provided, so that the gripping capability of the gripper can be continuously ensured after short air supply, and the energy consumption is less.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention relates to a pneumatic flexible gripper with bistable property, which comprises a clamping device, wherein at least two bistable laminated plates with two stable shapes are connected to the clamping device, a pneumatic soft driver capable of changing the shape of the bistable laminated plates through inflation and deflation is arranged on the bistable laminated plates, and the pneumatic soft driver can drive the bistable laminated plates to deform together when deforming.
The bistable state laminated plate has two stable states which respectively correspond to the grabbing state and the releasing state of the hand grab, the two states of the bistable state laminated plate can be switched by inflating and deflating the pneumatic soft driver, air supply is only needed in the process of switching the state of the hand grab, the bistable state laminated plate is stable in the clamping state after inflation is completed, the bistable state laminated plate can deform to a certain degree after an article is clamped, the deformed bistable state laminated plate can generate a tendency of recovering to the stable state, and the article is clamped through elasticity; when the common monostable gripper is used for clamping, the gripper can only be kept in a clamping or loosening state when not used for supplying air, and the air needs to be continuously supplied when the gripper is kept in the other state, so that the energy consumption is high, and the bistable laminated plate only needs to be supplied with air when the states are switched, so that the energy consumption is low.
Preferably, the pneumatic soft driver is cylindrical in shape, the pneumatic soft driver comprises a transverse pneumatic soft driver installed on one side of the bistable state laminated plate and a vertical pneumatic soft driver installed on the other side of the bistable state laminated plate, and the direction of the transverse pneumatic soft driver is perpendicular to that of the vertical pneumatic soft driver; when a pneumatic soft driver on the outer side of the bistable state laminated plate is inflated, the bistable state laminated plate can bend towards the inner side so as to be stabilized in a clamping state, and when the pneumatic soft driver on the inner side of the bistable state laminated plate is inflated, the bistable state laminated plate can bend towards the outer side so as to be stabilized in a loosening state; because the directions of the pneumatic soft drivers on the two sides are vertical, the bending of the bistable state laminated plate in different directions can be controlled, so that the deformation amount of the bistable state laminated plate is as large as possible when the deformation amount of the pneumatic soft driver is constant.
Preferably, the pneumatic soft driver comprises a hollow driver inner container, an air cavity is arranged in the driver inner container, a winding wire is wound on the outer side surface of the driver inner container, a front sealing end cover is arranged on one end surface of the driver inner container, a rear sealing end cover is arranged on the other end surface of the driver inner container, and an air supply pipeline is connected to the driver inner container; the pneumatic soft driver is characterized in that the outer side surface of the inner container of the driver can limit the deformation of the pneumatic soft driver in the radial direction, the front sealing end cover and the rear sealing end cover can limit the deformation of the pneumatic soft driver in the axial direction, and when the pneumatic soft driver is inflated through the air supply pipeline, the pneumatic soft driver can only increase the volume of the air cavity by changing the bending state into the straight state, so that the air pressure is balanced.
Preferably, one side of the driver inner container is attached to the bistable laminated plate, and the other side of the driver inner container is arc-shaped; because the inner container of the driver is continuously switched between a bending state and a straight state while the state of the hand grip is changed, the outer side of the inner container of the driver is in an arc shape, so that the inner container of the driver cannot be damaged due to extrusion in the bending process.
Preferably, the driving inner container is made of silica gel, the winding wire is made of iron wires, the front sealing end cover and the rear sealing end cover are made of resin materials through 3D printing, the air supply pipeline is made of polyester PU pipes, the silica gel has good elasticity, is nontoxic and harmless to a human body and is low in cost, the iron wires can play a radial limiting role in the driving inner container, the cost is low, and the end covers printed in 3D can well adapt to two ends of the driving inner container; the PU pipe has better structural strength and sealing property.
Preferably, the bistable laminate is a composite structure composed of two layers of T700 carbon fiber epoxy resin composite materials; the T700 carbon fiber epoxy resin composite material has good elasticity and toughness, can generate larger elasticity after being bent, and is not easy to break.
Preferably, the clamping device is made of resin materials through 3D printing, can be conveniently matched with the bistable laminated plate, and is low in cost.
Therefore, the invention has the following beneficial effects: (1) the energy is saved, the flexible gripper is organically combined with the bistable structure, and the gripping capability can be still maintained under the action of no air pressure; (2) the structure is simple, the number of the soft driver components is small, the structure is simple, and the manufacture is easy; (4) the control is convenient, and the actions of grabbing and releasing can be realized only by inflating different drivers; (4) the soft driver main body is prepared from silica gel, and is non-toxic and harmless to human bodies.
Drawings
Fig. 1 is a schematic view of the overall structure of a pneumatic flexible gripper of the present invention.
Fig. 2 is a schematic diagram of a pneumatic flexible gripper of the present invention in a gripping state.
FIG. 3 is a schematic diagram of a pneumatic soft driver according to the present invention.
Figure 4 is a cross-sectional view of the pneumatic soft drive of the present invention.
Figure 5 is a cross-sectional view of the pneumatic soft drive of the present invention taken along line A-A in figure 4.
In the figure: 1. the pneumatic soft driver 11, the transverse pneumatic soft driver 12, the vertical pneumatic soft driver 2, the bistable state laminated plate 3, the clamping device 4, the driver inner container 5, the winding wire 6, the front sealing end cover 7, the rear sealing end cover 8, the air supply pipeline 9 and the air cavity.
Detailed Description
The invention is further described with reference to the following detailed description and accompanying drawings.
In the embodiment shown in fig. 1-5, the clamping device 3 is included, the clamping device 3 is manufactured by 3D printing of resin materials, the clamping device 3 is connected with a manipulator, the manipulator is controlled by the manipulator in the east, two bistable laminates 2 with two stable shapes are connected to the clamping device 3, the bistable laminates 2 are composite structures formed by two layers of T700 carbon fiber epoxy resin composite materials, and are prepared by an autoclave process, namely, square carbon fiber prepregs with the side length of 140 mm are cut out, and are naturally cooled after being heated, pressurized and cured for 2 hours in an autoclave, the pressure of the prepregs is 0.6 MPa, and the temperature of the prepregs is 180 ℃. The bistable state laminated plate 2 is a composite structure formed by laminating two layers of T700 carbon fiber epoxy resin composite materials with different bending directions, the fiber directions of the two layers are mutually vertical, and the two stable states of the bistable state laminated plate are respectively the shapes of the two composite material plates before lamination; the bistable state laminated plate 2 is provided with a pneumatic soft driver 1 which can change the shape of the bistable state laminated plate by inflation and deflation, and the pneumatic soft driver 1 can drive the bistable state laminated plate 2 to deform together when deforming; the pneumatic soft driver 1 is columnar, one side, which clamps an article, of the bistable state laminated plate 2 is the inner side, the other side of the bistable state laminated plate 2 is the outer side, the pneumatic soft driver 1 comprises a transverse pneumatic soft driver 11 installed on the outer side of the bistable state laminated plate 2 and a vertical pneumatic soft driver 12 installed on the inner side of the bistable state laminated plate 2, the direction of the transverse pneumatic soft driver 11 is vertical to the direction of the vertical pneumatic soft driver 12, the direction of the transverse pneumatic soft driver 11 is the same as the fiber direction of the T700 carbon fiber epoxy resin composite material on the outer side, and the direction of the vertical pneumatic soft driver 12 is the same as the fiber direction of the T700 carbon fiber epoxy resin composite material on the inner side; the pneumatic soft driver 1 comprises a driver inner container 4, an air cavity 9 is arranged in the driver inner container, the outer side surface of the driver inner container 4 is wound with a winding wire 5, the driver inner container 4 is manufactured by adopting a silica gel casting molding method, namely, a mold is manufactured by a 3D printing method, then silica gel is poured for solidification and molding, a front sealing end cover 6 is arranged on one end face of a driver inner container 4, a rear sealing end cover 7 is arranged on the other end face of the driver inner container 4, the air supply pipeline 8 is connected on the driver inner container, one side of the driver inner container 4 is attached to the bistable state laminated plate 2, the other side of the driver inner container 4 is arc-shaped, the cross section of the driver inner container is semi-elliptical, the cross section of the air cavity is fan-shaped, the winding wire is wound on the outer side of the inner container of the driver in a double-spiral mode in a matched mode, and the air supply pipeline is connected to the front sealing end cover; the material of drive inner bag 4 is silica gel, and kinked 5's material is the iron wire, and preceding end cap 6 and back end cap 7 are printed the preparation by resin material through 3D, and the material of air supply line 8 is polyester type PU pipe.
When the pneumatic flexible gripper is not used, the transverse pneumatic soft driver is in a bending state, the vertical pneumatic soft driver is in a straight state, the bistable state laminated plate is bent towards the outer side, the gripper is in a loosening state, when the pneumatic flexible gripper is used, the clamping device is controlled by the mechanical arm to move to the upper side of an object to be clamped, gas in the vertical pneumatic soft driver is discharged while the transverse pneumatic soft driver is inflated, wherein the gas pressure of a gas cavity in the transverse pneumatic soft driver is increased, so that the gas cavity has a tendency of volume expansion, and the inner container of the driver is constrained by the winding wire in the radial direction and is constrained by the front sealing end cover and the rear sealing end cover in the axial direction, so that the volume of the gas cavity can be increased only by changing the bending state into the straight state to balance the gas pressure; after the transverse pneumatic soft driver is changed into a straight state, the bistable state laminated plate which is bent outwards is unfolded, and meanwhile, as the gas in the vertical pneumatic soft driver is discharged, the bistable state laminated plate is not restrained in the vertical direction any more and is bent in the vertical direction, so that an object to be clamped is clamped and the vertical pneumatic soft driver is driven to bend; when the hand grip needs to be released again, the bistable state laminated plate can be bent outwards in the transverse direction again only by inflating the vertical pneumatic soft driver and releasing the air in the transverse pneumatic soft driver, so that the hand grip is released.
In the embodiment, the pneumatic soft driver and the bistable material are organically combined, so that the excellent characteristics of multi-form and stability are obtained, and the bistable material does not need two stable states maintained by external force, so that the flexible gripper has the shape retention capacity in the gripping state; meanwhile, due to the compressibility of gas, the elasticity of silica gel and the flexibility of the bistable material, the gripper has good capability of self-adaptively gripping objects, can grip objects in different shapes stably and self-adaptively, is simple in structure, convenient to control and low in energy consumption, and is very suitable for the field of automatic operation such as picking and sorting of small fruits and vegetables.
Claims (6)
1. A pneumatic flexible gripper with bistable property is characterized by comprising a clamping device (3), at least two bistable-state laminated plates (2) with two stable shapes are connected on the clamping device (3), the bistable laminated plate (2) is provided with a pneumatic soft driver (1) which can change the shape by inflating and deflating, the pneumatic soft driver (1) can drive the bistable state laminated plate (2) to deform simultaneously when deforming, the appearance of the pneumatic soft driver (1) is columnar, the pneumatic soft driver (1) comprises a transverse pneumatic soft driver (11) arranged on one side of the bistable state laminated plate (2) and a vertical pneumatic soft driver (12) arranged on the other side of the bistable state laminated plate (2), the direction of the transverse pneumatic soft driver (11) is vertical to the direction of the vertical pneumatic soft driver (12).
2. The pneumatic flexible gripper with the bistable characteristic according to claim 1, wherein the pneumatic soft actuator (1) comprises an actuator inner container (4), an air cavity (9) is arranged inside the actuator inner container, a winding wire (5) is wound on the outer side surface of the actuator inner container (4), a front sealing end cover (6) is installed on one end surface of the actuator inner container (4), a rear sealing end cover (7) is installed on the other end surface of the actuator inner container (4), and an air supply pipeline (8) is connected to the actuator inner container.
3. The pneumatic flexible gripper with bistable characteristic of claim 2, characterized in that one side of the actuator inner container (4) is attached to the bistable laminate plate (2), and the other side of the actuator inner container (4) is arc-shaped.
4. The pneumatic flexible gripper with the bistable characteristic according to claim 2 or 3, characterized in that the material of the driver inner container (4) is silica gel, the material of the winding wire (5) is iron wire, the front sealing end cap (6) and the rear sealing end cap (7) are made of resin material by 3D printing, and the material of the air supply pipeline (8) is polyester type PU.
5. The pneumatic flexible hand grip with bistable character of claim 1, wherein the bistable laminate sheet (2) is a composite structure composed of two layers of T700 carbon fiber epoxy composite material.
6. Pneumatic flexible grip with bistable character according to any one of claims 1 to 3, characterized in that said gripping means (3) are made by 3D printing of a resin material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201911135310.3A CN111390962B (en) | 2019-11-19 | 2019-11-19 | Pneumatic flexible tongs with bistable characteristic |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911135310.3A CN111390962B (en) | 2019-11-19 | 2019-11-19 | Pneumatic flexible tongs with bistable characteristic |
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| CN111390962A CN111390962A (en) | 2020-07-10 |
| CN111390962B true CN111390962B (en) | 2021-07-30 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112589828B (en) * | 2020-12-08 | 2022-03-15 | 上海交通大学 | V-shaped quick rigidity-variable flexible gripper |
| CN112720510A (en) * | 2020-12-11 | 2021-04-30 | 浙江工业大学 | Loadable pneumatic crawling flexible robot |
| CN114227741B (en) * | 2021-12-31 | 2022-11-18 | 浙江工业大学 | Multistable manipulator driven and controlled by magnetorheological elastomer |
| CN115648278A (en) * | 2022-08-29 | 2023-01-31 | 上海智能制造功能平台有限公司 | Variable-rigidity soft foundation section based on tooth meshing and manufacturing mold thereof |
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| CN105416613A (en) * | 2015-11-23 | 2016-03-23 | 哈尔滨工业大学 | Repeatable and flexible capture structure based on dielectric elastomer and shape memory polymer and method for capturing space debris |
| CN109940645A (en) * | 2019-03-20 | 2019-06-28 | 中国地质大学（武汉） | The non-profiled cavity of expansion stream bluk recombination drives humanoid robot software hand |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| FR3074077B1 (en) * | 2017-11-29 | 2021-05-28 | Commissariat Energie Atomique | PASSIVE AUTOMATIC RELEASE GRIPPING DEVICE |
| CN109015724A (en) * | 2018-07-17 | 2018-12-18 | 上海交通大学 | Pneumatic software handgrip |
| CN109760099B (en) * | 2019-01-22 | 2023-10-03 | 广东工业大学 | Pneumatic soft gripper capable of realizing soft and hard mixed constraint and pure two-dimensional bidirectional opening and closing |
| CN110125972A (en) * | 2019-05-08 | 2019-08-16 | 哈尔滨工业大学 | A kind of grabbing device of stiffness variable and preparation method thereof |
| CN110236880A (en) * | 2019-06-12 | 2019-09-17 | 西安交通大学 | A kind of pneumatic software manipulator of the customized passive type of user |
| CN110238830B (en) * | 2019-07-22 | 2022-02-18 | 哈尔滨工业大学 | Shape memory polymer-based zero-Poisson-ratio multistable stretching arm |
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Patent Citations (2)
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| CN105416613A (en) * | 2015-11-23 | 2016-03-23 | 哈尔滨工业大学 | Repeatable and flexible capture structure based on dielectric elastomer and shape memory polymer and method for capturing space debris |
| CN109940645A (en) * | 2019-03-20 | 2019-06-28 | 中国地质大学（武汉） | The non-profiled cavity of expansion stream bluk recombination drives humanoid robot software hand |
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