CN112207851A - Pneumatic soft body of many convex hulls of internal expansion is embraced and is pressed from both sides ware - Google Patents
Pneumatic soft body of many convex hulls of internal expansion is embraced and is pressed from both sides ware Download PDFInfo
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- CN112207851A CN112207851A CN202011293930.2A CN202011293930A CN112207851A CN 112207851 A CN112207851 A CN 112207851A CN 202011293930 A CN202011293930 A CN 202011293930A CN 112207851 A CN112207851 A CN 112207851A
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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 embodiment of the application discloses many convex hulls of internal expansion pneumatic software embraces and presss from both sides ware includes: a two-dimensional follow-up chain and a soft structure which are composed of rigid-flexible coupling structures; two ends of the two-dimensional follow-up chain are buckled by a closed fastener to form an encircling structure; the soft body structure comprises a limiting layer and an expansion layer which are wrapped outside the two-dimensional follow-up chain; the expansion layer is positioned on the inner side of the encircling structure and fixedly connected with the periphery of the limiting layer to form a closed inner cavity; the soft body structure is provided with a plurality of non-stretchable lantern rings at intervals, so that the expansion layer is ventilated to form a plurality of convex hulls. The invention has the advantages of simple structure, strong shape adaptability and strong reliability of the gripper, and can be applied to the fields of industrial robot operation, bionic robot attachment and the like.
Description
Technical Field
The application relates to the technical field of soft robots, in particular to an internal-expansion multi-convex-hull pneumatic soft body holding clamp.
Background
In the fields of industry, agriculture, forestry, service industry and the like, reliable clamping or operation of a robot is often required, and operation objects of the work have the characteristics of various shapes, such as fragile material sorting, fruit and vegetable picking, commodity grasping, man-machine interaction and the like, so that the robot is required to have strong shape adaptability and reliability.
In recent years, many careful studies have been made in the field of end effectors both domestically and abroad, such as excellent end effectors of a humanoid hand system, a suction cup array system, a hook and loop system, and the like. However, the robot often needs to interact with a human, a living organism, a fragile object, or the like during operation, and the rigid end effector often has limitations facing the application objects. Therefore, by means of crossing of multiple disciplines such as robotics, material science and the like, the soft end effector constructed by utilizing flexible materials and intelligent materials is developed, and a wider idea is provided for the design of the tail end of the robot. However, the existing soft end effector has a complex structure and poor shape adaptability, and cannot reliably complete the holding and clamping work. Therefore, the invention provides an internal expansion multi-convex hull pneumatic soft clamp.
Disclosure of Invention
The embodiment of the application provides an internal-expansion multi-convex-hull pneumatic soft body clamp, and the internal-expansion multi-convex-hull pneumatic soft body clamp has the advantages of being simple in structure, strong in shape adaptability and strong in reliability of a clamping device.
In view of the above, the present application provides an internal-expansion multi-convex-hull pneumatic soft body clamp, comprising: a two-dimensional follow-up chain and a soft structure which are composed of rigid-flexible coupling structures;
two ends of the two-dimensional follow-up chain are buckled by a closed fastener to form an encircling structure;
the soft body structure comprises a limiting layer and an expansion layer which are wrapped outside the two-dimensional follow-up chain;
the expansion layer is positioned on the inner side of the encircling structure, and the expansion layer is fixedly connected with the periphery of the limiting layer to form a closed inner cavity;
a plurality of non-stretchable lantern rings are arranged on the soft body structure at intervals, so that a plurality of convex hulls are formed after the expansion layer is ventilated.
Optionally, the two-dimensional follower chain comprises a plurality of sections of rigid ribs;
the multiple sections of rigid rib plates are connected through foldable flexible joints.
Optionally, the rigid rib plate is provided with a rib plate hole.
Optionally, the number of rib plate holes is plural.
Optionally, the rib plate holes are circular in shape.
Optionally, a base used for being connected with other robot bodies is arranged in the middle of the two-dimensional follow-up chain.
Optionally, the expansion layer is connected to an air intake device.
Optionally, the two-dimensional follow-up chain is integrally formed by 3D printing of PLA materials.
Optionally, the closure fasteners are dovetail slot structure fasteners.
Optionally, the soft body structure is made of soft silica gel.
According to the technical scheme, the embodiment of the application has the following advantages: the two-dimensional servo chain comprises a two-dimensional servo chain and a soft body structure, wherein the two-dimensional servo chain is composed of a rigid-flexible coupling structure, two ends of the two-dimensional servo chain are buckled through a closed fastener to form an encircling structure, the soft body structure comprises a limiting layer and an expansion layer, the limiting layer and the expansion layer are wrapped outside the two-dimensional servo chain, the expansion layer is located on the inner side of the encircling structure, and the expansion layer and the limiting layer are fixedly connected at the periphery to form a closed inner cavity; the soft body structure is provided with a plurality of non-stretchable lantern rings at intervals, so that the expansion layer is ventilated to form a plurality of convex hulls. This embrace and press from both sides ware is through adopting on the basis that the clamp was embraced in the realization of rigid-flexible coupling structure, the rethread makes a plurality of interior convex hulls of inflation layer uplift after ventilating and realizes embracing the clamp to different objects, and its structure is simple and easy, and applicable in industrial robot or bionic robot installs at its end, realizes operating or adhering to. Meanwhile, the two-dimensional follow-up chain formed by the rigid-flexible coupling structure keeps the degree of freedom in a plane and limits the degree of freedom outside the plane, so that the feasibility of operating and supporting the robot is ensured. And the expansion layer is expanded inwards to force the clamped object, so that the object is adaptive and reliably clamped, wherein the multi-convex hull structure has higher fitting degree to the object, and the adaptive capacity of the clamp is enhanced.
Drawings
FIG. 1 is a schematic structural view of an internal-expansion multi-convex hull pneumatic soft clamp in the normal operating state according to an embodiment of the present application;
FIG. 2 is a schematic structural diagram of a two-dimensional follower chain in an embodiment of the present application;
FIG. 3 is a schematic diagram of the software structure in the embodiment of the present application;
FIG. 4 is a schematic structural view of the internal-expansion multi-convex hull pneumatic soft clamp in the embodiment of the present application in an inoperative state;
FIG. 5 is a schematic diagram illustrating the enveloping of the inner convex hull when the inner-expanding multi-convex hull pneumatic soft body clamp clamps the square rod according to the embodiment of the present application;
FIG. 6 is a schematic diagram illustrating the enveloping of the inner convex hull when the inner inflatable multi-convex hull pneumatic soft body clamp clamps the elliptical rod according to the embodiment of the present application;
wherein the reference numerals are:
the flexible joint comprises a 1-two-dimensional follow-up chain, a 2-closed fastener, a 3-base, a 4-expansion layer, a 5-convex hull, 6-rigid rib plates, 7-flexible joints, 8-rib plate holes, a 9-limiting layer and a 10-lantern ring.
Detailed Description
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
The present application provides an embodiment of an internal-expansion multi-convex hull pneumatic soft clamp, which is described in detail with reference to fig. 1.
The pneumatic soft body embracing clamp of many convex hulls of internal expansion in this embodiment includes: the two-dimensional follow-up chain 1 and the soft body structure are composed of a rigid-flexible coupling structure, wherein the two-dimensional follow-up chain 1 plays a role in supporting the soft body structure out of a plane, and meanwhile, the in-plane moving freedom degree is kept, so that the effectiveness and the flexibility of the holding clamp are ensured; two ends of the two-dimensional follow-up chain 1 are buckled through a closing fastener 2 to form an encircling structure, wherein the closing fastener 2 is fixedly connected with the two-dimensional follow-up chain 1, so that the pre-encircling clamping effect on an object is realized; the soft body structure comprises a limiting layer 9 and an expansion layer 4 which are wrapped outside the two-dimensional follow-up chain 1, the expansion layer 4 is positioned on the inner side of the encircling structure, and the expansion layer 4 is fixedly connected with the periphery of the limiting layer 9 to form a closed inner cavity; the soft body structure is provided with a plurality of non-stretchable lantern rings 10 at intervals, so that the expansion layer 4 is ventilated to form a plurality of convex hulls 5. Specifically, the expansion layer 4 and the restriction layer 9 are welded all around to form a closed inner cavity, the inflation can be realized by introducing gas, the expansion layer 4 at the position of the lantern ring 10 is not inflated by a plurality of lantern rings 10 distributed at intervals along the length direction, and the swelling of other areas is realized, so that a plurality of convex hulls 5 are formed.
It should be noted that: this embrace and press from both sides ware is through adopting on the basis that the clamp was embraced in the realization of rigid-flexible coupling structure, the rethread makes 4 a plurality of interior convex closure 5 of swelling layer uplift and realize pressing from both sides embracing different objects after ventilating, and its structure is simple and easy, and applicable in industrial robot or bionic robot installs at its end, realizes operating or adhering to. Meanwhile, aiming at the application of most operation tasks or environment attachment and the like, a complete soft mechanism is easy to generate unexpected passive deformation and is limited, and the two-dimensional follow-up chain 1 consisting of a rigid-flexible coupling structure is adopted by the clamp holder, so that the degree of freedom in a plane is kept, and the degree of freedom outside the plane is limited, thereby ensuring the feasibility of operating and supporting the robot. And the expansion layer 4 is expanded inwards to expand and force the clamped object, so that the object is adaptive and reliably clamped, wherein the structure of the multi-convex hull 5 has higher fitting degree to the object, and the adaptive capacity of the clamp is enhanced.
The above is an embodiment of a first internal-expansion multi-convex hull pneumatic soft clamp provided in the present application, and the following is an embodiment of a second internal-expansion multi-convex hull pneumatic soft clamp provided in the present application, specifically referring to fig. 1 to 6.
The pneumatic soft body embracing clamp of many convex hulls of internal expansion in this embodiment includes: the two-dimensional follow-up chain comprises a two-dimensional follow-up chain 1 and a soft body structure, wherein the two ends of the two-dimensional follow-up chain 1 are buckled by a closed fastener 2 to form an encircling structure, the soft body structure comprises a limiting layer 9 and an expansion layer 4, the limiting layer 9 and the expansion layer 4 are wrapped outside the two-dimensional follow-up chain 1, the expansion layer 4 is positioned on the inner side of the encircling structure, and the peripheries of the expansion layer 4 and the limiting layer 9 are fixedly connected to form a closed inner cavity; the soft body structure is provided with a plurality of non-stretchable lantern rings 10 at intervals, so that the expansion layer 4 is ventilated to form a plurality of convex hulls 5.
It should be noted that: the two-dimensional follow-up chain 1 keeps all degrees of freedom in a plane, namely three degrees of freedom in total of translation in two directions in the plane and rotation around the normal direction of the plane, simultaneously limits all degrees of freedom outside the plane, ensures that unexpected deformation does not occur, and further ensures the basic form of plane bending holding clamp.
As shown in figure 2, the two-dimensional follow-up chain 1 comprises a plurality of sections of rigid rib plates 6, and the plurality of sections of rigid rib plates 6 are connected through foldable flexible joints 7.
The two-dimensional follow-up chain 1 can be integrally formed by 3D printing of PLA materials. Specifically, the two-dimensional follow-up chain 1 is formed by integrally printing PLA materials distributed at intervals in thickness in a 3D mode, and then each thin recess is folded in the width direction to be subjected to plastic deformation without being torn, so that a flexible joint 7 is formed, and the two-dimensional follow-up chain 1 is formed.
The soft structure can be made of soft silica gel. The rib plate holes 8 are formed in the rigid rib plate 6 and can be embedded in silica gel to form a limiting layer 9, the number of the rib plate holes 8 can be multiple, and the rib plate holes 8 can be circular.
Specifically, the two-dimensional follow-up chain 1 and the core of the expansion layer 4 are suspended and horizontally placed in the model, then liquid silica gel is cast in the mould, and the integrally formed limiting layer 9 and the expansion layer 4 can be obtained after solidification. The rib plate holes 8 are designed on the rigid rib plates 6 of the two-dimensional follow-up chain 1, so that liquid silica gel can be immersed in the rib plate holes 8, and the non-stretchable limiting layer 9 can be formed after solidification. And then, the mold core is pulled out, the opening is sealed and closed, and the closing fastener 2 is installed, so that the main body part of the clamp holder is obtained. Finally, non-stretchable loops 10 are placed at intervals along the length of the bag to provide the expandable layer 4 with expandable and non-expandable regions, which are then vented to form the lobes 5.
Two-dimentional follow-up chain 1 middle part is provided with and is used for the base 3 with other robot body coupling, and is concrete, can install this embracing clamp ware at industrial robot or bionic robot end through base 3, and closed fastener 2 of lock joint embraces in advance and presss from both sides the object, and then the stable object of ventilation clamp, from this, can realize both adapting to and reliable embracing and press from both sides.
The expansion layer 4 is connected with an air inlet device.
The closing fastener 2 is a dovetail groove structure fastener. Specifically, a male dovetail groove structure and a female dovetail groove structure are respectively arranged at two ends of the two-dimensional follow-up chain 1, pre-clasping of the clasping device around a clamped object can be realized after buckling, and when the plurality of convex hulls 5 are raised on the ventilation expansion layer 4, the objects can be expanded to envelop the clamped object, so that the shape and size of the object can be adapted, and the object can be clamped stably.
The clamp device is extended straight (as shown in fig. 4) in the non-working state, and when the clamp device is implemented, the clamp device is firstly encircled around an object to be clamped and buckled by a closing fastener 2, so that pre-clamping is realized. At the moment, the holding clamp is in a closed holding state. Then, air is introduced into the expansion layer 4 of the clasping device, the expandable region outside the lantern ring 10 is bulged to form a plurality of convex hulls 5, and the convex hulls 5 expand inwards to press the clamped object to be adaptively attached to the surface of the object, so that a contact envelope is formed (as shown in fig. 5 and 6). In addition, the expansion and compression force is tightly pressed on the surface of the object, so that a large friction force can be generated between the expansion layer 4 and the object, and the object is reliably clamped. Therefore, the adaptability and reliability of the clamp device to the object are realized. The holding clamp is arranged at the tail end of an industrial robot, and can be operated; the clamp is arranged on a bionic climbing robot, so that the attachment of the robot in the climbing process can be completed, and the climbing is realized.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. The utility model provides a pneumatic software of many convex hulls of internal expansion presss from both sides ware which characterized in that includes: a two-dimensional follow-up chain and a soft structure which are composed of rigid-flexible coupling structures;
two ends of the two-dimensional follow-up chain are buckled by a closed fastener to form an encircling structure;
the soft body structure comprises a limiting layer and an expansion layer which are wrapped outside the two-dimensional follow-up chain;
the expansion layer is positioned on the inner side of the encircling structure, and the expansion layer is fixedly connected with the periphery of the limiting layer to form a closed inner cavity;
a plurality of non-stretchable lantern rings are arranged on the soft body structure at intervals, so that a plurality of convex hulls are formed after the expansion layer is ventilated.
2. The internal-expansion multi-convex hull pneumatic soft clamp according to claim 1, wherein the two-dimensional follower chain comprises a plurality of sections of rigid ribs;
the multiple sections of rigid rib plates are connected through foldable flexible joints.
3. The pneumatic soft inner-expansion multi-convex-hull clamp according to claim 2, wherein the rigid ribs are provided with rib plate holes.
4. The internal-expansion multi-convex hull pneumatic soft clamp according to claim 3, wherein the number of rib plate holes is plural.
5. The internal expansion multi-lobe pneumatic soft clamp of claim 3, wherein the rib plate holes are circular in shape.
6. The internal-expansion multi-convex hull pneumatic soft clamp device according to claim 1, wherein a base for connecting with other robot bodies is arranged in the middle of the two-dimensional following chain.
7. The internal-expansion multi-convex hull pneumatic soft clamp according to claim 1, wherein the expansion layer is connected with an air intake device.
8. The internal-expansion multi-convex hull pneumatic soft clamp according to claim 1, wherein the two-dimensional following chain is integrally formed by 3D printing of PLA material.
9. The internal-expansion multi-convex-hull pneumatic soft clamp according to claim 1, wherein the closing fastener is a dovetail groove structure fastener.
10. The pneumatic soft clamp of claim 1, wherein the soft structure is made of soft silica gel.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011293930.2A CN112207851A (en) | 2020-11-18 | 2020-11-18 | Pneumatic soft body of many convex hulls of internal expansion is embraced and is pressed from both sides ware |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011293930.2A CN112207851A (en) | 2020-11-18 | 2020-11-18 | Pneumatic soft body of many convex hulls of internal expansion is embraced and is pressed from both sides ware |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113830553A (en) * | 2021-11-25 | 2021-12-24 | 季华科技有限公司 | Expansion and contraction sucking disc |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113830553A (en) * | 2021-11-25 | 2021-12-24 | 季华科技有限公司 | Expansion and contraction sucking disc |
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