CN111975807A - Air control soft bionic manipulator - Google Patents
Air control soft bionic manipulator Download PDFInfo
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- CN111975807A CN111975807A CN202010651306.9A CN202010651306A CN111975807A CN 111975807 A CN111975807 A CN 111975807A CN 202010651306 A CN202010651306 A CN 202010651306A CN 111975807 A CN111975807 A CN 111975807A
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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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Abstract
The invention discloses a pneumatic control soft bionic manipulator which comprises an inflation inlet, an air storage chamber, fingers and a substrate. The gas storage chamber is internally provided with a central gas cavity and a central channel; the finger surface is provided with a plurality of groups of left air chambers and right air chambers which are distributed in a herringbone manner, a left air cavity, a left channel, a right air cavity, a right channel and a side channel are arranged inside the finger surface, all the left air cavities are communicated through the left channel, all the right air cavities are communicated through the right channel, and all the left air cavities and the right air cavities are communicated through the side channel. The inflation inlet is communicated with the air storage chamber and the fingers in sequence; the base plate is arranged at the bottoms of the air storage chamber and the fingers. When the external air is communicated with the manipulator, all the air chambers are expanded by the air pressure to enable all the air chambers to simultaneously generate circumferential and axial tension, and finally the substrate generates circumferential and axial elastic bending deformation. The manipulator can generate elastic deformation with infinite freedom degree in the circumferential direction and the axial direction, can accurately grab objects with different shapes by controlling the size of gas, and has strong grabbing force and high stability.
Description
Technical Field
The invention relates to the technical field of soft robots, in particular to a soft bionic manipulator driven and controlled by compressed gas.
Background
With the continuous expansion of the application requirements and fields of robots, emerging fields such as rehabilitation medicine, complex terrain exploration and intelligent manufacturing have higher requirements on the flexibility of the robots, and the traditional rigid robot has the fatal defects of large driving inertia and heavy body shape and is difficult to meet the requirements in the fields. Thanks to the rapid development of intelligent materials and bionic technology, researchers adopt flexible materials, and research and develop a series of soft robots by simulating biological structures and motion behaviors thereof, so that the actions of rolling, twisting, crawling and the like of the soft robots in a limited space are realized. The soft robot is soft in material, strong in environmental adaptability and safe in man-machine interaction, and overcomes the essential defect that the rigid robot is limited in movement in a complex space, so that the soft robot has great research value and wide application prospect, and becomes a popular research direction in recent years.
The soft bionic manipulator is an important branch of the field of soft robots, is more similar to a human hand compared with a traditional rigid manipulator actuator, and can simulate the human hand to perform bending motion with almost infinite freedom degree. The good flexibility and the safe interactivity of the soft bionic manipulator have potential application values in many fields, for example, objects which are irregular in appearance and shape and are fragile (such as various fruits, vegetables and glass containers) are clamped and sorted, and patients suffering from limb stiffness caused by nerve damage are subjected to medical rehabilitation and assistance. The driving mode of the soft bionic manipulator is directly related to the structure, the performance, the manufacturing process and the like of the soft bionic manipulator, and at present, the driving mode is mainly divided into pneumatic driving, stay wire driving, shape memory alloy driving and intelligent material driving. Among them, pneumatic driving is the most common driving method for soft bionic manipulators. The pneumatic driving type soft bionic manipulator enables the flexible material to generate expansion deformation by filling compressed gas into the specifically designed flexible cavity, and further enables the manipulator to generate a continuous bending effect. The pneumatic driving type soft bionic manipulator has the advantages of safety, reliability, low use cost, no extra energy consumption, manufacturing process boundary and the like, so the pneumatic driving type soft bionic manipulator becomes a soft control technology which is most popular in domestic and overseas research at present. However, since the design of the soft bionic manipulator relates to multiple disciplines such as mechanics, physics, chemistry, biology, etc., and needs to integrate knowledge in various fields to perform the bionic motion research, there are still many key problems to be solved, which are mainly reflected in:
firstly, the manipulator is made of flexible materials, and the flexible materials are easy to deform when being subjected to external force, so that the precise positioning and control of the manipulator are difficult to realize;
the elastic stress of the flexible material is low, so that the manipulator is difficult to generate large clamping force, and the clamping stability is poor;
the existing flexible materials are various, and the mechanical arms made of different materials have different mechanical characteristics, so that the motion of the soft mechanical arm is difficult to accurately model and analyze theoretically, and an effective theoretical basis is lacked in the design aspect of the soft mechanical arm.
In view of the above problems, there is a need to develop a soft bionic manipulator with a novel structure, which solves some key problems existing in the prior art, further improves the operation characteristics, and expands the application field of the bionic operation.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides a pneumatic control soft bionic manipulator. The manipulator is made of flexible materials, has infinite freedom degree elastic bending clamping capacity, is high in clamping precision and stability, and can simulate human fingers to grasp objects.
In order to achieve the purpose, the invention adopts the technical scheme that:
a pneumatic control soft bionic manipulator comprises an inflation inlet, an air storage chamber, fingers and a substrate;
the inflation inlet is communicated with the air storage chamber and the fingers in sequence, and the substrate is arranged at the bottoms of the air storage chamber and the fingers;
a central air cavity and a central channel are arranged in the air storage chamber;
the finger surface is provided with a plurality of groups of left air chambers and right air chambers which are distributed in a herringbone manner, and a left air cavity, a left channel, a right air cavity, a right channel and a side channel are arranged inside the finger surface; all the left air cavities are communicated through the left channel, all the right air cavities are communicated through the right channel, and all the left air cavities and the right air cavities are communicated through the side channel; the central air cavity is communicated with the left air cavity and the right air cavity through a central channel;
compressed gas is filled into the left air cavity and the right air cavity, so that the left air cavity and the right air cavity generate circumferential and axial tension simultaneously, and the substrate generates circumferential and axial elastic bending deformation.
Preferably, the finger surface is further provided with a lateral groove and a central groove for separating the left air chamber and the right air chamber.
Preferably, a plurality of groups of left air chambers (5) and right air chambers (6) distributed in a herringbone shape are uniformly distributed on two sides of the air storage chamber (2).
Preferably, the base plate is sealed with the contact surfaces of the air storage chamber and the fingers, so that the bottom surfaces of the central air chamber, the left air chamber and the right air chamber form good sealing.
Preferably, the number of fingers is at least 1.
Preferably, the substrate is elastically bent under compression with infinite freedom.
Preferably, the cross sections of the left air cavity and the right air cavity are in a parallelogram structure.
Preferably, the included angle of the herringbone shape of the left air chamber and the herringbone shape of the right air chamber is 0-180 degrees.
Preferably, the material of the inflation inlet, the air storage chamber, the finger and the substrate is one of polydimethylsiloxane, silica gel and polyurethane rubber polymer elastic material.
Preferably, the inflation inlet, the air storage chamber, the fingers and the substrate are made by a 3D printing die and an elastic material through reverse die molding.
Has the advantages that: compared with the prior art, the pneumatic control soft bionic manipulator provided by the invention has the following beneficial effects:
the pneumatic control soft bionic manipulator provided by the invention is characterized in that a series of air chambers distributed in a herringbone manner are arranged on fingers, compressed air is filled into the air chambers in the air chambers, the air chambers can simultaneously generate circumferential and axial expansion, and a substrate at the bottom of the air chambers is stretched and bent, so that the substrate is bent in the circumferential and axial directions. With the continuous increase of air pressure in the air cavity, the substrate can realize the circumferential and axial bending deformation with infinite freedom degree. The air pressure in the input air cavity is controlled, the manipulator can be controlled to generate any bending angle, and therefore the gripping tension and strength of the manipulator can be adjusted by controlling the air pressure. The air chambers of various reported soft mechanical arms are distributed in a Chinese character feng shape, can only realize circumferential elastic bending deformation, and have weak clamping strength and poor clamping stability. Compared with the prior art, the soft manipulator has the circumferential and axial elastic bending capabilities, so that the clamping strength is greatly improved, clamped articles are not easy to fall off, and the clamping precision and stability are greatly improved.
Drawings
FIG. 1 is an axonometric view of the external structure of a pneumatic controlled soft bionic manipulator;
FIG. 2 is a schematic view of a cross-sectional structure of a pneumatic control soft bionic manipulator;
FIG. 3 is a schematic side structure diagram of a pneumatic control soft bionic manipulator;
3 FIG. 34 3 is 3 a 3 schematic 3 view 3 of 3 a 3 cross 3- 3 sectional 3 structure 3 of 3 a 3 pneumatic 3 control 3 soft 3 bionic 3 manipulator 3 in 3 the 3 A 3- 3 A 3 direction 3; 3
FIG. 5 is a schematic cross-sectional view of a pneumatic control soft bionic manipulator in the B-B direction;
FIG. 6 is a motion simulation diagram (10 kPa) of the pneumatic control soft bionic manipulator;
FIG. 7 is a motion simulation diagram (15 kPa) of the pneumatic control soft bionic manipulator.
Wherein, 1 is the inflation inlet, 2 is the gas storage chamber, 3 is the finger, 4 is the base plate, 5 is left air chamber, 6 is right air chamber, 7 is the side direction slot, 8 is central slot, 9 is central air cavity, 10 is the central channel, 11 is left air cavity, 12 is right air cavity, 13 is left channel, 14 is right channel, 15 is the bypass.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
The utility model provides a gas accuse software bionic manipulator, utilizes the air chamber of chevron shape distribution to receive the atmospheric pressure effect to produce circumference and axial bending elastic deformation to reach the purpose that promotes software manipulator clamping strength, precision and stability.
As shown in fig. 1-5, the gas storage chamber comprises a gas filling port 1, a gas storage chamber 2, two fingers 3 and a substrate 4, wherein the fingers are symmetrically distributed on two sides of the gas storage chamber 2.
The inflation inlet 1 is communicated with the air storage chamber 2 and the finger 3 in sequence, and the substrate 4 is arranged at the bottoms of the air storage chamber 2 and the finger 3;
the gas storage chamber 2 is internally provided with a central gas cavity 9 and a central channel 10;
the surface of the finger 3 is provided with a plurality of groups of left air chambers 5 and right air chambers 6 which are distributed in a herringbone manner, and a left air cavity 11, a left channel 13, a right air cavity 12, a right channel 14 and a side channel 15 are arranged inside the finger; all the left air cavities 11 are communicated through a left channel 13, all the right air cavities 12 are communicated through a right channel 14, and all the left air cavities 11 and the right air cavities 12 are communicated through a side channel 15; the center air chamber 9 communicates with the left and right air chambers 11 and 12 through the center passage 10. The surface of the finger 3 is also provided with lateral grooves 7 and a central groove 8 for separating the left air chamber 5 and the right air chamber 6.
The base plate 4 is sealed with the contact surfaces of the air storage chamber 2 and the finger 3, so that the bottom surfaces of the central air cavity 9, the left air cavity 11 and the right air cavity 12 form good sealing.
The cross sections of the left air cavity 11 and the right air cavity 12 are in a parallelogram structure.
Example (b):
in the embodiment, the design size of the soft manipulator in an uninflated state is 190mm 34mm 26.5mm, the herringbone included angle of the left air chamber 5 and the right air chamber 6 is 120 degrees, the width of the lateral groove 7 is 1.73mm, the width of the central groove 8 is 1mm, and the side length of the parallelogram air chamber is 16.17mm 4.69 mm.
As shown in fig. 6 and 7, the soft manipulator was simulated and modeled by using finite element software, and the elastic bending deformation behavior of the soft manipulator under the set air pressure was studied. Simulation results show that when the input air pressure of 10kPa is set to the left air chamber 11 and the right air chamber 12, the left air chamber 5 and the right air chamber 6 in the finger 3 expand simultaneously to generate circumferential and axial tension, thereby elastically bending and deforming the substrate 4 in the circumferential and axial directions. When the air pressure was set to 15kPa, the robot arm exhibited stronger circumferential and axial bending deformation. It is envisaged that the application of different air pressures to the soft manipulator may cause the manipulator to flex elastically to different degrees.
The soft manipulator in this embodiment is made of silica gel, and is made of Dragon skin 30. Firstly, a manipulator mold is manufactured by adopting a 3D printing technology, and the mold material is 8200 resin. Wherein, the inflation inlet 1, the air storage chamber 2 and the fingers 3 are manufactured through a set of (two) molds, and the substrate is manufactured through one mold. Then, spraying Release agent Ease Release 200 on the surface of the 3D printing mold, fully and uniformly stirring the component A and the component B of the liquid silica gel Dragon skin 30, and pouring the mixture into the mold. And (3) standing the silica gel and the mold for more than 16 hours to solidify the silica gel. And then, releasing the solidified silica gel from the mold, bonding the inflating port 1, the air storage chamber 2, the finger 3 and the substrate by using liquid silica gel Dragon skin 30, and placing the bonded substrate in an oven to be baked for 2 hours and 1 hour at 80 ℃ and 100 ℃ respectively, thereby finally completing the preparation of the soft manipulator.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (10)
1. The utility model provides a bionical manipulator of gas accuse software which characterized in that: comprises an inflation inlet (1), an air storage chamber (2), a finger (3) and a substrate (4);
the inflation inlet (1) is sequentially communicated with the air storage chamber (2) and the finger (3), and the substrate (4) is arranged at the bottoms of the air storage chamber (2) and the finger (3);
a central air cavity (9) and a central channel (10) are arranged in the air storage chamber (2);
the surface of the finger (3) is provided with a plurality of groups of left air chambers (5) and right air chambers (6) which are distributed in a herringbone manner, and a left air cavity (11), a left channel (13), a right air cavity (12), a right channel (14) and a side channel (15) are arranged inside the finger; all the left air cavities (11) are communicated through a left channel (13), all the right air cavities (12) are communicated through a right channel (14), and all the left air cavities (11) are communicated with the right air cavities (12) through a side channel (15); the central air cavity (9) is communicated with the left air cavity (11) and the right air cavity (12) through a central channel (10);
compressed gas is filled into the left air cavity (11) and the right air cavity (12) to enable the left air chamber (5) and the right air chamber (6) to generate circumferential and axial tension simultaneously, and the substrate (4) generates circumferential and axial elastic bending deformation.
2. The pneumatic control soft bionic manipulator according to claim 1, characterized in that: the surface of the finger (3) is also provided with a lateral groove (7) and a central groove (8) for separating the left air chamber (5) and the right air chamber (6).
3. The pneumatic control soft bionic manipulator according to claim 1, characterized in that: a plurality of groups of left air chambers (5) and right air chambers (6) which are distributed in a herringbone shape are uniformly distributed on the two sides of the air storage chamber (2).
4. The pneumatic control soft bionic manipulator according to claim 1, characterized in that: the base plate (4) is sealed with the contact surfaces of the air storage chamber (2) and the fingers (3), so that the bottom surfaces of the central air cavity (9), the left air cavity (11) and the right air cavity (12) are sealed.
5. The pneumatic control soft bionic manipulator according to claim 1, characterized in that: the number of the fingers (3) is at least 1.
6. The pneumatic control soft bionic manipulator according to claim 1, characterized in that: the elastic bending deformation generated by the base plate (4) under pressure has infinite freedom.
7. The pneumatic control soft bionic manipulator according to claim 1, characterized in that: the sections of the left air cavity (11) and the right air cavity (12) are of parallelogram structures.
8. The pneumatic control soft bionic manipulator according to claim 1, characterized in that: the included angle between the left air chamber (5) and the right air chamber (6) in a herringbone shape is 0-180 degrees.
9. The pneumatic control soft bionic manipulator according to claim 1, characterized in that: the material of the inflation inlet (1), the air storage chamber (2), the fingers (3) and the substrate (4) is one of polydimethylsiloxane, silica gel and polyurethane rubber polymer elastic materials.
10. The pneumatic control soft bionic manipulator according to claim 1, characterized in that: the inflation inlet (1), the air storage chamber (2), the fingers (3) and the substrate (4) are made by adopting a 3D printing die and an elastic material for reverse die.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010651306.9A CN111975807B (en) | 2020-07-08 | 2020-07-08 | Pneumatic control soft bionic manipulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010651306.9A CN111975807B (en) | 2020-07-08 | 2020-07-08 | Pneumatic control soft bionic manipulator |
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| CN111975807A true CN111975807A (en) | 2020-11-24 |
| CN111975807B CN111975807B (en) | 2023-05-12 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112692848A (en) * | 2020-12-28 | 2021-04-23 | 深圳市人工智能与机器人研究院 | Flexible pneumatic arm and tail end control system |
| CN113103266A (en) * | 2021-04-30 | 2021-07-13 | 北京理工大学 | Stability-increasing self-healing bionic finger and bionic soft hand |
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| WO2012148472A2 (en) * | 2010-11-19 | 2012-11-01 | President And Fellows Of Harvard College | Soft robotic actuators |
| US20140318118A1 (en) * | 2012-01-19 | 2014-10-30 | President And Fellows Of Harvard College | Flexible robotic actuators |
| CN107214696A (en) * | 2017-07-07 | 2017-09-29 | 燕山大学 | It is a kind of to perceive two-chamber multiple degrees of freedom Pneumatic flexible bionic finger certainly |
| CN110281257A (en) * | 2019-07-10 | 2019-09-27 | 浙江理工大学 | Can multi-direction bending the double air cavity flexible mechanical finger of modularization and its working method |
| CN111590618A (en) * | 2020-06-16 | 2020-08-28 | 杭州义顺科技有限公司 | Bending-twisting coupling flexible clamping jaw with controllable posture |
| CN111687869A (en) * | 2020-06-16 | 2020-09-22 | 南京众智未来人工智能研究院有限公司 | Novel flexible clamping jaw of bending-twisting coupling |
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2020
- 2020-07-08 CN CN202010651306.9A patent/CN111975807B/en active Active
Patent Citations (7)
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| WO2012148472A2 (en) * | 2010-11-19 | 2012-11-01 | President And Fellows Of Harvard College | Soft robotic actuators |
| US20140318118A1 (en) * | 2012-01-19 | 2014-10-30 | President And Fellows Of Harvard College | Flexible robotic actuators |
| US20170314538A1 (en) * | 2012-01-19 | 2017-11-02 | President And Fellows Of Harvard College | Flexible thin robotic actuators |
| CN107214696A (en) * | 2017-07-07 | 2017-09-29 | 燕山大学 | It is a kind of to perceive two-chamber multiple degrees of freedom Pneumatic flexible bionic finger certainly |
| CN110281257A (en) * | 2019-07-10 | 2019-09-27 | 浙江理工大学 | Can multi-direction bending the double air cavity flexible mechanical finger of modularization and its working method |
| CN111590618A (en) * | 2020-06-16 | 2020-08-28 | 杭州义顺科技有限公司 | Bending-twisting coupling flexible clamping jaw with controllable posture |
| CN111687869A (en) * | 2020-06-16 | 2020-09-22 | 南京众智未来人工智能研究院有限公司 | Novel flexible clamping jaw of bending-twisting coupling |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112692848A (en) * | 2020-12-28 | 2021-04-23 | 深圳市人工智能与机器人研究院 | Flexible pneumatic arm and tail end control system |
| CN113103266A (en) * | 2021-04-30 | 2021-07-13 | 北京理工大学 | Stability-increasing self-healing bionic finger and bionic soft hand |
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| Publication number | Publication date |
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| CN111975807B (en) | 2023-05-12 |
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