CN111791250A - Variable-rigidity soft gripper based on layer interference technology - Google Patents
Variable-rigidity soft gripper based on layer interference technology Download PDFInfo
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- CN111791250A CN111791250A CN202010676441.9A CN202010676441A CN111791250A CN 111791250 A CN111791250 A CN 111791250A CN 202010676441 A CN202010676441 A CN 202010676441A CN 111791250 A CN111791250 A CN 111791250A
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- layer interference
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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
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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
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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Abstract
The invention discloses a variable-rigidity soft gripper based on a layer interference technology, which comprises a palm part and a plurality of soft fingers, wherein the palm part comprises a lower bottom cover, an upper top cover and a handle, and a connecting part of a negative pressure pump and the plurality of soft fingers is fixed on the lower bottom cover; the single soft finger comprises: a multi-cavity structure with a plurality of connected cavities is arranged inside the air inlet pipe, and the multi-cavity structure is connected with an external air inlet pipe; the inextensible layer is connected with the inner side of the multi-cavity structure to form a closed structure; the supporting layer is adhered to the inextensible layer through an adhesive and is connected with the negative pressure pump through an external suction pipe; two ends of the layer interference structure are respectively stuck to two ends of the supporting layer, and the middle position is a free moving part; the vacuum membrane encloses the layer interference structure between the support layer and the vacuum membrane. The rigidity change of fingers of the gripper in the gripping process can be realized, the gripping load and the operation precision of the soft gripper are greatly improved, and the application field and the range of the soft gripper are expanded.
Description
Technical Field
The invention relates to a robot soft gripper, in particular to a variable-rigidity soft gripper based on a layer interference technology.
Background
Robotics is widely recognized as one of the key technologies in many fields from manufacturing, medicine, to scientific exploration. Rigid robots in the traditional sense are typically rigidly linked by a plurality of discrete joints to achieve the desired load capacity, speed and accuracy for industrial applications. The soft robot in recent years is made of highly deformable materials, has higher adaptability, flexibility and durability compared with a rigid robot, and has incomparable advantages in the aspects of man-machine interaction, complex fragile articles, narrow space operation and the like, so that the soft robot has wide application prospect.
A gripper is a robot for gripping objects and manipulating objects. Despite the many good performance rigid grippers currently on the market, these grippers still suffer from a number of drawbacks when handling irregular objects. When the rigid clamp grabs irregular objects or fragile objects, the clamp may not work normally, and even the grabbed objects can be damaged. Many mechanical sensors can detect the magnitude of the gripping force to avoid damaging the gripped object, but this results in complexity of hardware and software and greatly increases the cost. Different from the conventional grabber, due to the particularity of the material and the structure, the soft grabber has the advantages of light weight, strong adaptability, no need of a complex control system, high safety, low cost and the like, and can be well contacted with irregular objects, so that the soft grabber can replace a rigid grabber to complete grabbing tasks.
Soft grips also have certain drawbacks in practical applications compared to rigid grips. Although the soft grip has flexible deformability, the soft grip has very limited load capacity due to the characteristics of the material and the structure of the soft grip, and the soft grip is easy to deform under the action of external force and cannot bear large load. This drawback leads to soft grippers that generally can only grip objects of smaller mass, which are unable to do without any effort when faced with irregular objects of larger mass, requiring different grippers for different gripping tasks, which greatly limits the application range of soft grippers.
Disclosure of Invention
The invention aims to provide a variable-rigidity soft gripper based on a layer interference technology.
The purpose of the invention is realized by the following technical scheme:
the variable-rigidity soft gripper based on the layer interference technology comprises a palm part and a plurality of soft fingers, wherein the palm part comprises a lower bottom cover and an upper top cover, a handle is arranged on the upper top cover, and a negative pressure pump and a connecting part of the plurality of soft fingers are fixed on the lower bottom cover;
the connecting part comprises a connector, and a single soft finger is embedded into the connector and fixed through a blocking piece;
the single soft finger comprises:
a driving module: the multi-cavity structure is connected with an external air inlet pipe;
non-extensible layer: the inner side of the multi-cavity structure is connected with the inner side of the multi-cavity structure to form a closed structure;
the variable stiffness module: the supporting layer is adhered to the inextensible layer through an adhesive and is connected with the negative pressure pump through an external suction pipe;
layer interference structure: the two ends of the supporting layer are respectively stuck to the two ends of the supporting layer, and the middle position of the supporting layer is a free moving part;
vacuum film: which is located outside the layer interference structure, sealing the layer interference structure between the support layer and the vacuum membrane.
According to the technical scheme provided by the invention, the variable-rigidity soft gripper based on the layer interference technology provided by the embodiment of the invention combines the variable-rigidity module based on the layer interference technology with the driving module, so that the flexibility of fingers in the gripping process can be ensured, and the integral rigidity of the gripper after gripping can be ensured. The loading capacity of the soft gripper is greatly improved on the basis of the common soft gripper, and the application field of the soft gripper is greatly widened.
Drawings
Fig. 1 is an assembly view of a drive module and a variable stiffness module in an embodiment of the invention.
FIG. 2a is an exploded view of a drive module assembly according to an embodiment of the present invention;
fig. 2b is a diagram of a structure of a non-extensible layer in an embodiment of the present invention.
FIG. 3a is an exploded view of a variable stiffness modular device in an embodiment of the present invention;
FIG. 3b is a diagram of a layer interference structure according to an embodiment of the present invention;
fig. 3c is an enlarged view of the portion a of fig. 3 b.
FIG. 4 is an assembly view of the "palm" portion and connecting portion of the grip of an embodiment of the present invention.
Figure 5 is an exploded view of the "palm" portion and connecting portion of the grip of an embodiment of the present invention.
Fig. 6 is an overall assembly view of a variable stiffness grip of an embodiment of the present invention.
The reference numbers shown in the figures are:
the vacuum pump comprises a handle 1, an upper top cover 2, a separation blade 3, a multi-cavity structure 4, a support layer 5, an inextensible layer 6, a silica gel layer 6-1 and a silica gel layer 6-2, a glass fiber layer 6-3, an interference structure 7, a polyester film layer 7-1 and a polyester film layer 7-2, a vacuum film 8, an external air inlet pipe 9, a connector 10, a lower bottom cover 11, an external air suction pipe 12 and a negative pressure pump 13.
Detailed Description
The embodiments of the present invention will be described in further detail below. Details which are not described in detail in the embodiments of the invention belong to the prior art which is known to the person skilled in the art.
The invention discloses a variable-rigidity soft gripper based on a layer interference technology, which has the preferred specific implementation modes that:
the palm part comprises a lower bottom cover and an upper top cover, the upper top cover is provided with a handle, and a connecting part of a negative pressure pump and a plurality of soft fingers is fixed on the lower bottom cover;
the connecting part comprises a connector, and a single soft finger is embedded into the connector and fixed through a blocking piece;
the single soft finger comprises:
a driving module: the multi-cavity structure is connected with an external air inlet pipe;
non-extensible layer: the inner side of the multi-cavity structure is connected with the inner side of the multi-cavity structure to form a closed structure;
the variable stiffness module: the supporting layer is adhered to the inextensible layer through an adhesive and is connected with the negative pressure pump through an external suction pipe;
layer interference structure: the two ends of the supporting layer are respectively stuck to the two ends of the supporting layer, and the middle position of the supporting layer is a free moving part;
vacuum film: which is located outside the layer interference structure, sealing the layer interference structure between the support layer and the vacuum membrane.
The inextensible layer is formed by compounding a silica gel material and glass fibers.
The layer interference structure is combined with the driving module, under the condition of negative pressure, the static friction force between the inextensible layer and the layer interference structure is gradually increased to realize variable rigidity control, and the variable rigidity function of the finger is realized without influencing the bending condition of the finger.
The number of the soft fingers is three, and a series of waist-shaped holes are formed in the lower bottom cover and used for adjusting the positions of the connector and the blocking piece, so that the distance between the soft fingers is adjusted.
The invention relates to a variable-rigidity soft gripper based on a layer interference technology. The driving module is of a one-way bent pneumatic multi-cavity structure, so that the simplicity of driving control can be guaranteed, the large bending capacity of the driving module can be guaranteed, and the driving module can be well attached to irregularly-grabbed objects. And a variable rigidity module based on the layer interference technology is combined with a driving module, so that the flexibility of fingers in the grabbing process can be guaranteed, and the integral rigidity of the grabber after grabbing can be guaranteed. The rigidity of the soft gripper is changed according to the mass of the gripped object, so that the application range of the soft gripper is expanded. The gripper consists of three fingers, a palm part and connecting pieces of the fingers and the palm, and when the gripper grips objects with different sizes, the distance between the three fingers can be adjusted by changing the positions of the connecting pieces.
The variable-rigidity soft gripper based on the layer interference technology has the advantages that:
1. simple structure, overall structure is mostly formed by the silica gel material pouring, simple manufacture.
2. The drive is simple, and the medium is gaseous, and is pollution-free, only need provide two air supplies, and one provides the malleation for the process of snatching, and one provides the negative pressure for becoming rigidity process.
3. The variable-rigidity soft gripper combines the adaptability characteristic of a common soft gripper with the characteristic of larger load capacity of a common rigid gripper, has good adaptability and larger load capacity, and can adjust the rigidity in the gripping process, thereby realizing the conversion between rigidity and flexibility.
4. The variable distance between the three fingers is suitable for grabbing objects with different sizes, and the application range of the variable-rigidity gripper is expanded.
The specific embodiment is as follows:
as shown in fig. 1 to 6, the structure of a single variable stiffness soft finger is described first, and the single variable stiffness soft finger mainly comprises a driving module and a variable stiffness module. As shown in the assembly drawing of a single finger in figure 1, an external air inlet pipe 9 and an external air exhaust pipe 12 are arranged at the left end and are respectively connected with the multi-cavity structure 4 and the supporting layer 5, and power is provided for the bending and the rigidity changing of the soft finger through an external positive pressure pump or a vacuum pump. The non-extensible layer 6 is attached to the multi-chamber structure 4 as shown in figure 2a, forming a closed structure between the two. When gas is injected into the multi-cavity structure through the external air inlet pipe 9, the multi-cavity structure 4 tends to extend left and right under the influence of internal positive pressure, but the extension of the multi-cavity structure 4 is limited due to the characteristic that the inextensible layer 6 is easy to bend and not easy to extend, and the two layers can be bent simultaneously due to the difference of the extension capacities in the transverse directions, so that the bending of a single finger is realized. The support layer 5 is attached to the inextensible layer 6 and is not a solid rectangular parallelepiped structure, with a notch of a certain size being present at the lower position, and a layer interference structure 7 is attached to the support layer 5. The vacuum membrane 8 is sleeved outside the layer interference structure 7, the supporting layer 5 and the inextensible layer 6, an inner space is formed by the vacuum membrane 8, negative pressure is generated better, and the layer interference structure 7 acts to realize the rigidity changing capability. As shown in fig. 2b, the inextensible layer 6 is composed of three parts, wherein the materials 6-1 and 6-2 are both silica gel materials, and the extensibility is good, wherein the material of the 6-3 structure is glass fiber embedded in the 6-1 and 6-2 structures. The glass fiber material has good toughness and is difficult to extend in the longitudinal direction, and the inextensible layer 6 formed by the three materials has the characteristics of poor ductility and easy bending.
As shown in fig. 3 a: become rigidity module, supporting layer 5 are the structure that some were listed as the blocky body and are constituteed, have the clearance between the blocky body, and have the recess of a cuboid in the middle of the supporting layer 5, and the purpose in clearance is guaranteed that the supporting layer can be crooked very easily, can not be obstructed because the great crooked of drive module that leads to of thickness of supporting layer 5, and the aim at of recess guarantees that supporting layer 5 and layer disturb the better contact of structure 7. The vacuum membrane 8 closes the space formed between the layer interference structure 7 and the support layer 5. When the external air exhaust pipe 12 extracts air from the inner space under the action of the negative pressure pump, the inner air can be quickly exhausted due to the gap and the groove of the supporting layer 5, the layer interference structure 7 is tightly attached to the supporting layer, and the variable stiffness effect of a single finger is realized. Fig. 3b and 3c show the structure of the layer interference structure 7, which is shown as consisting of two parts 7-1 and 7-2. The structures of 7-1 and 7-2 are the same, and as seen in the enlarged view, both are composed of 6 layers of polyester film, each of which is bonded together at each end. 7-1 and 7-2 are combined in an overlapping interlocking manner to form an interference layer 7, and when negative pressure is applied to the layer interference structure 7, the pressure between the layers generates static friction force which resists relative movement of the layers and keeps the single finger in the current position, thereby increasing rigidity and load capacity.
As shown in fig. 4 and 5, an assembly view and an exploded view of a "palm portion" and a connection portion, the palm portion is mainly composed of a handle 1, an upper top cover 2, a lower bottom cover 11, and a negative pressure pump 13. The handle 1 is used for operating or moving the whole rigidity-variable soft gripper, a negative pressure pump 13 is arranged in a cavity formed between the upper top cover 2 and the lower top cover 11, and the negative pressure pump 13 is used for providing negative pressure for the rigidity-variable module. There are three sets of a series of small holes at the bottom end of the lower bottom cover 11, which are used for the connection between the lower bottom cover 11 and the connector 10, and the position of the connector 10 on the lower bottom cover can be changed to adjust the distance between the three fingers, so that the distance between the fingers of the gripper can be adjusted when facing gripping objects of different sizes, and the applicability of the gripper is enhanced. The hollow groove at the middle position of the lower bottom cover 11 is used for ensuring that the external air inlet pipe 9 and the external air exhaust pipe 12 are not affected when the connector 10 moves. The connecting part consists of a connector 10 and a baffle 3, the structure of the connector 10 is matched with the multi-cavity structure 4, and the inner height of the connector 10 is just equal to the thickness of two cavities plus the size of a cavity gap. After the multi-cavity structure 4 is placed in the connector 10, the multi-cavity structure is fixed by the baffle 3, so that the stability of fingers is guaranteed. Fig. 6 is a general assembly diagram of the variable-rigidity gripper, which mainly comprises three fingers and a 'palm', faces gripping objects with different sizes and different masses, and realizes the gripping function by adjusting the position of the connector 10 and the negative pressure generated by the negative pressure pump 13.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (4)
1. The variable-rigidity soft gripper based on the layer interference technology is characterized by comprising a palm part and a plurality of soft fingers, wherein the palm part comprises a lower bottom cover (11) and an upper top cover (2), a handle (1) is arranged on the upper top cover (2), and a negative pressure pump (13) and a connecting part of the plurality of soft fingers are fixed on the lower bottom cover (11);
the connecting part comprises a connector (10), and a single soft finger is embedded into the connector (10) and fixed through a baffle (3);
the single soft finger comprises:
a driving module: the device comprises a multi-cavity structure (4) with a plurality of connected cavities inside, wherein the multi-cavity structure (4) is connected with an external air inlet pipe (9);
inextensible layer (6): which is connected with the inner side of the multi-cavity structure (4) to form a closed structure;
the variable stiffness module: the non-extensible vacuum pump comprises a supporting layer (5), wherein the supporting layer (5) is adhered to the non-extensible layer (6) through an adhesive and is connected with a negative pressure pump (13) through an external suction pipe (12);
layer interference structure (7): the two ends of the supporting layer are respectively stuck to the two ends of the supporting layer (5), and the middle position is a free moving part;
vacuum film (8): which is located outside the layer interference structure (7) and seals the layer interference structure (7) between the support layer (5) and the vacuum membrane (8).
2. The variable stiffness soft grip based on layer interference technology as claimed in claim 1, wherein the inextensible layer (6) is formed by compounding silica gel material and glass fiber.
3. The variable-stiffness soft gripper based on the layer interference technology as claimed in claim 1 or 2, characterized in that the layer interference structure (7) is combined with a driving module, under the condition of negative pressure, the static friction force between the inextensible layer (6) and the layer interference structure (7) is gradually increased to realize variable-stiffness control, and the variable-stiffness function of the finger is realized without influencing the bending condition of the finger.
4. The variable stiffness soft gripper based on the layer interference technology according to claim 3, wherein the number of the soft fingers is three, and the lower bottom cover (11) is provided with a series of waist-shaped holes for adjusting the positions of the connector (10) and the blocking sheet (3) so as to adjust the distance between the soft fingers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010676441.9A CN111791250A (en) | 2020-07-14 | 2020-07-14 | Variable-rigidity soft gripper based on layer interference technology |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010676441.9A CN111791250A (en) | 2020-07-14 | 2020-07-14 | Variable-rigidity soft gripper based on layer interference technology |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112589790A (en) * | 2020-12-08 | 2021-04-02 | 上海交通大学 | Flexible driver based on geometric variable stiffness and multiple coupling variable stiffness method thereof |
| CN112720544A (en) * | 2020-12-29 | 2021-04-30 | 江西理工大学 | Large-load netted soft body grabbing mechanism based on paper folding structure and fiber interference |
| CN113635316A (en) * | 2021-07-30 | 2021-11-12 | 西安交通大学 | Multi-form and multifunctional blanket type robot under vibration excitation |
| CN114211669A (en) * | 2021-12-21 | 2022-03-22 | 郑州轻工业大学 | Reconfigurable software driver manufacturing die and driver manufacturing method thereof |
| US20240042623A1 (en) * | 2022-08-02 | 2024-02-08 | Soochow University | Pneumatic soft grabbing sensing device |
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| CN109834721A (en) * | 2019-03-18 | 2019-06-04 | 清华大学 | A kind of more finger joint variation rigidity software fingers |
| CN111185930A (en) * | 2020-01-16 | 2020-05-22 | 上海大学 | Rigidity-enhanced soft gripper |
| US20200215700A1 (en) * | 2016-07-01 | 2020-07-09 | Suzhou Soft Robot Tech Co., Ltd. | Soft-bodied finger, soft-bodied gripper and soft-bodied robot |
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| US20200215700A1 (en) * | 2016-07-01 | 2020-07-09 | Suzhou Soft Robot Tech Co., Ltd. | Soft-bodied finger, soft-bodied gripper and soft-bodied robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112589790A (en) * | 2020-12-08 | 2021-04-02 | 上海交通大学 | Flexible driver based on geometric variable stiffness and multiple coupling variable stiffness method thereof |
| CN112720544A (en) * | 2020-12-29 | 2021-04-30 | 江西理工大学 | Large-load netted soft body grabbing mechanism based on paper folding structure and fiber interference |
| CN113635316A (en) * | 2021-07-30 | 2021-11-12 | 西安交通大学 | Multi-form and multifunctional blanket type robot under vibration excitation |
| CN114211669A (en) * | 2021-12-21 | 2022-03-22 | 郑州轻工业大学 | Reconfigurable software driver manufacturing die and driver manufacturing method thereof |
| CN114211669B (en) * | 2021-12-21 | 2024-05-31 | 郑州轻工业大学 | Reconfigurable software driver manufacturing die and driver manufacturing method thereof |
| US20240042623A1 (en) * | 2022-08-02 | 2024-02-08 | Soochow University | Pneumatic soft grabbing sensing device |
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Application publication date: 20201020 |