CN113103266A - Stability-increasing self-healing bionic finger and bionic soft hand - Google Patents

Stability-increasing self-healing bionic finger and bionic soft hand Download PDF

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Publication number
CN113103266A
CN113103266A CN202110487515.9A CN202110487515A CN113103266A CN 113103266 A CN113103266 A CN 113103266A CN 202110487515 A CN202110487515 A CN 202110487515A CN 113103266 A CN113103266 A CN 113103266A
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air chamber
main air
healing
bionic
self
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CN202110487515.9A
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CN113103266B (en
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伊继烜
张凯
渐南南
朱文博
孙一博
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Beijing Institute of Technology BIT
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Beijing Institute of Technology BIT
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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
    • 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
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T70/00—Maritime or waterways transport
    • Y02T70/10—Measures concerning design or construction of watercraft hulls

Abstract

The present disclosure provides a stability-enhancing self-healing bionic finger, comprising: the connecting air chamber unit comprises a plurality of connecting air chambers, and each connecting air chamber is connected to the pneumatic system; the main air chamber units are correspondingly connected with the connecting air chambers, and each main air chamber unit comprises a plurality of main air chambers which are sequentially connected in series; and a suction cup structure provided on a surface of each of the main air chambers; the pneumatic system can inflate and deflate the main air chamber unit to enable the main air chamber unit to bend towards different directions, and meanwhile the sucker structure can generate adsorption force in a negative pressure state. Meanwhile, the present disclosure also provides a bionic soft hand based on the stability-increasing self-healing bionic finger.

Description

Stability-increasing self-healing bionic finger and bionic soft hand
Technical Field
The disclosure relates to the technical field of bionic robots/machinery, in particular to a stability-increasing self-healing bionic finger and a bionic soft hand.
Background
The traditional robot end effector has the problem of difficult grabbing when grabbing irregular objects, because the irregular objects have the characteristic of isomerism, namely the shapes and the hardness of the objects are different; in addition, irregular objects may also produce large shaking during the grabbing process, such as irregular objects with life.
The end actuators of robots can be basically classified into rigid and flexible types according to the hardness of the material constituting the main body of the end actuator. Rigid end effectors can be broadly classified into multi-fingered jaws and multi-fingered dexterous hands. The multi-finger clamping jaw is designed for objects with specific shapes and hardness degrees, and is difficult to grasp heterosexual objects. Although the rigid dexterous hand can meet various and complex requirements, the rigid material is harder than the material of the gripped object, the contact pair of the rigid material and the material is point contact, and the like, so that the rigid dexterous hand is easy to damage the gripped object, and the execution speed of the rigid dexterous hand is limited. In addition, rigid dexterous hands are generally expensive, and these factors greatly limit the range of use of rigid dexterous hands.
Compared with a rigid tail end executing mechanism, the flexible and skillful hand serving as the flexible tail end executing mechanism has the advantages of difficulty in damaging objects, flexibility and simplicity in control, low cost and the like, and has a wide application prospect in the aspect of quickly and stably grabbing objects with complex geometric shapes. According to the grabbing principle, the soft grab can be roughly divided into three types of driving grabbing, variable stiffness grabbing and grabbing by adsorption. The soft end actuating mechanism adopting the driving principle or the variable stiffness principle to grab has a common grabbing effect on objects with flat surfaces and deformable surfaces. A soft end actuator for gripping objects using the suction principle is not suitable for gripping objects with non-convex surfaces. In addition, due to the inherently low stiffness of soft materials, soft tip actuators are more difficult to resist loads such as shear, torsion, etc. For an object which is likely to generate larger self-shaking in the grabbing process, the soft tail end executing mechanism generally has the problem of grabbing stability in the grabbing and transporting process, and meanwhile, the soft tail end executing mechanism is also more easily damaged in the grabbing process, so that the grabbing capability of the soft tail end executing mechanism is reduced, even the grabbing function is lost, and the application and popularization of the soft grab are greatly limited.
Disclosure of Invention
Technical problem to be solved
Based on the above problems, the present disclosure provides a stability-enhancing self-healing bionic finger and a bionic soft hand, so as to alleviate technical problems in the prior art, such as poor grabbing effect on an object with large self-shaking, easy damage of a soft end executing mechanism, and the like.
(II) technical scheme
One aspect of the present disclosure provides a stability-enhancing self-healing bionic finger, including: the connecting air chamber unit comprises a plurality of connecting air chambers, and each connecting air chamber is connected to the pneumatic system; the main air chamber units are correspondingly connected with the connecting air chambers, and each main air chamber unit comprises a plurality of main air chambers which are sequentially connected in series; and a suction cup structure provided on a surface of each of the main air chambers; the pneumatic system can inflate and deflate the main air chamber unit to enable the main air chamber unit to bend towards different directions, and meanwhile the sucker structure can generate adsorption force in a negative pressure state.
According to the embodiment of the disclosure, the surface of the main air chamber unit and the surface of the sucker structure contacting with the adsorbed object are provided with self-healing soft material protection layers.
According to the embodiment of the disclosure, partitions are arranged among the rows of the main air chamber units.
According to the embodiment of the present disclosure, a deformable body side wall is arranged between two adjacent main air chambers in the same main air chamber unit, and the deformable body side wall is in a groove shape.
According to the embodiment of the disclosure, the sucker structure comprises an adsorption surface and a sucker deformation body; the sucker deforming body is internally provided with a sucker cavity.
According to an embodiment of the present disclosure, the suction cup cavities are connected to corresponding main chambers.
According to the embodiment of the disclosure, two sides of the partition respectively comprise 2-6 rows of main air chamber units.
According to an embodiment of the present disclosure, the main air chamber units of the adjacent rows located on the same side of the partition form an anti-twist pattern structure selected from an arch structure, a trapezoid structure, and a triangle structure.
According to the embodiment of the disclosure, the two sides of the partition comprise the same number of main air chamber units, when the main air chamber unit on one side is charged with positive pressure, the main air chamber unit on the other side is charged with negative pressure, so that the bionic hand is bent towards one side of the main air chamber unit charged with negative pressure, and meanwhile, the corresponding sucker structure generates adsorption force.
In another aspect of the present disclosure, a bionic soft hand is provided, including: a plurality of stability-increasing self-healing bionic fingers based on any one of the above; and one end of the wrist connecting mechanism is connected with the plurality of bionic fingers, and the other end of the wrist connecting mechanism is connected to the carrying platform.
(III) advantageous effects
According to the technical scheme, the stability-enhancing self-healing bionic finger and the bionic soft hand disclosed by the invention have at least one or one part of the following beneficial effects:
(1) through the muscle function of arc line type air chamber design simulation octopus tentacle, give the many planes of bionical finger motion ability, through arranging and cooperating of many air chambers for bionical finger possesses the characteristics of anti torsional deformation, has increased the area of contact of finger with the object, has promoted the stability of snatching the object, especially snatchs the stability that the in-process probably produces great rocking object.
(2) The bionic sucker connected with the main air chamber is designed to simulate two types of integration of octopus tentacle driving grabbing and adsorption grabbing, so that a negative pressure chamber is formed on the contact surface of an object when the bionic finger is driven by negative pressure in the main air chamber, and the object is adsorbed on the surface of the finger by using a sucker principle; this design benefit has combined the bending function of finger and the adsorption function of sucking disc, greatly increased the stability when snatching.
(3) The self-repairing function of the octopus tentacle is simulated by designing the hydrogel protective layer with the self-healing capability, so that the self-healing capability of the bionic finger is endowed, the durability of the finger is improved, and the subsequent maintenance cost is reduced; meanwhile, the self-healing hydrogel protective layer has certain viscosity, so that the friction force between the fingers and an object is increased, and the grabbing stability is further improved.
Drawings
FIG. 1 is a view showing the overall structure of a finger according to the present invention;
FIG. 2 is a top view of the finger of the present invention;
FIG. 3 is a front view structural diagram of the present invention;
FIG. 4 is a schematic illustration of the dimensions of the arch of the present invention;
FIG. 5 is a schematic drawing showing the dimensions of the saddle curve and the main plenum of the present invention;
FIG. 6 is a cross-sectional view of a finger and a partially enlarged view of the present invention;
Detailed Description
The utility model provides a bionical finger of steady increase self-healing and bionical soft hand through the muscle function of arc line type air chamber design simulation octopus tentacle, gives bionical finger many planar motion ability, through arranging and cooperating of many air chambers for bionical finger possesses the characteristics of anti torsional deformation, has increased the area of contact of finger with the object, has promoted and has snatched the object, especially has snatched the stability that the in-process probably produces great rocking object.
The inventor finds that octopus in nature can be used for grabbing various objects, and the tentacle of the octopus can simultaneously realize the smart integration of two principles of driving grabbing and adsorbing grabbing by regulating and controlling a complex muscle system. Tentacle itself possesses the drive and gets the function of getting, and the sucking disc has then realized adsorbing and has snatched the function, and in addition, the tentacle of octopus still has the selfreparing function simultaneously. Therefore, the function of simulating octopus tentacles by adopting soft materials is adopted, the stability-increasing self-healing finger is provided, and the finger has great significance for solving the problem that the robot end effector is poor in effect when grabbing irregular objects or self-shaking objects.
For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.
In an embodiment of the present disclosure, there is provided a stability augmentation self-healing bionic finger, as shown in fig. 1 to 6, including:
the connecting air chamber unit comprises a plurality of connecting air chambers, and each connecting air chamber is connected to the pneumatic system;
the main air chamber units are correspondingly connected with the connecting air chambers, and each main air chamber unit comprises a plurality of main air chambers which are sequentially connected in series; and
a suction cup structure disposed on a surface of each of the main air chambers;
the pneumatic system can inflate and deflate the main air chamber unit to enable the main air chamber unit to bend towards different directions, and meanwhile the sucker structure can generate adsorption force in a negative pressure state.
In the embodiment of the disclosure, a plurality of rows of independent main air chamber units are distributed on the surface of the bionic finger, and are positioned on different sides of the bionic finger, such as the upper side, the lower side, the left side and the right side, so that multidirectional bending motion of the bionic soft finger, such as upward bending motion, downward bending motion, leftward bending motion or rightward bending motion, can be realized. The main air chamber units positioned on different sides are provided with partitions, the adjacent main air chambers between the main air chamber units positioned on the same sides of the partitions form an anti-torsion pattern structure similar to a tire pattern, the anti-torsion pattern structure can be selected from but not limited to an arch structure, a trapezoid structure, a triangular structure and the like, the arch structure is taken as an example in the embodiment of the disclosure, and the arc design of the arch structure gives consideration to the anti-torsion stability and the attractiveness of fingers. Meanwhile, after the multi-row main air chamber units on the same side of the bionic finger are combined, the bionic finger is endowed with a stronger torsion-resistant characteristic, and the friction force between the bionic finger and the surface of an object in the process of grabbing the object can be increased. The bionic finger is made of flexible materials or soft materials.
In the embodiment of the present disclosure, as shown in fig. 1 to 3, the upper side or the lower side of the bionic finger is composed of two rows of main air chamber unit structures, and the main air chamber unit structures are symmetrically distributed on the front side and the back side. The adjacent main air chambers between the main air chamber units on the same side of the partition form an arch structure, fig. 4 shows the shape parameters of the arch structure curve, wherein the semi-circular arc is a spline curve, the dash-dot line is a control polygon of the spline curve, as shown in the figure, is a trapezoidal control line, and the parameters are as follows: the length of the upper bottom side is lambda1(ii) a The length of the lower bottom edge is lambda2(ii) a Height is lambda3，λ3＜λ1＜λ2(ii) a The bow-shaped structures are connected in a wave-wheel shape and are formed by grooves with saddle-shaped cross sections, and figure 5 shows the saddle-shaped curves and the size schematic diagrams of the main air chambers at two sides, the upper surface of the main air chamber has a length of lambda4The height of the main air chamber is lambda5(ii) a The thickness of the side wall of the deformation body of the main air chamber is lambda6，λ6Should be not less than 1mm, the bottom of the saddle-shaped curve is arc structure, the radius of the arc is r, the circumferential angle of the arc at the bottom is theta, and the distance lambda from the circle center to the partition wall7，λ7Should satisfy lambda7-r-λ6Not less than 1 mm.
The upper surface of each main air chamber is provided with a sucker structure which is communicated with the main air chamber. The design can enable the bionic fingers to form a negative pressure area on the contact surface when grabbing the object, so that the grabbed object is adsorbed on the surface of the grabber, and the grabbing stability is enhanced. In addition, every sucker structure is with the soft material protective layer of self-healing on the surface that contacts with the object and the surface of all main air chamber units, the preferred aquogel protective layer of self-healing of soft material protective layer, the aquogel protective layer has the self-healing function, can restore when sucker structure appears structural problem.
In the embodiment of the present disclosure, as shown in fig. 6, the external pneumatic system supplies air and is connected to each row of main air chamber units of the bionic finger through the connecting air chamber C1. The main air chamber partition is arranged between the main air chamber unit arrays on different sides, for example, a partition B1 is arranged between two rows of main air chamber units on the upper side and two rows of main air chamber units on the lower side and used for partitioning the main air chamber units on the front and back sides of the bionic finger, B2 is a cavity of the main air chamber, the bionic finger is bent towards different directions by expansion deformation and contraction deformation when the bionic finger is inflated, B3 is that the main air chamber is a deformation body side wall and is a soft material deformation body, and deformation is generated when positive pressure or negative pressure is inflated in the main air chamber. When bionic sucker structure and object contact, the negative pressure is filled to main air chamber, and the sucking disc morphotropism A1 warp, extrudees sucking disc cavity A2 and makes its exhaust for sucker structure produces the adsorption affinity, and then realizes the absorption to the object. Wherein the suction cup structure is in communication with the main plenum cavity B2 through a suction cup cavity a 3.
In another aspect of the present disclosure, there is also provided a bionic soft hand, including: a plurality of the stability-increasing self-healing bionic fingers; and one end of the wrist connecting mechanism is connected with the bionic fingers, and the other end of the wrist connecting mechanism is connected to the carrying platform. For example, the robot arm is connected to a mounting platform such as a robot arm via a wrist connection mechanism. Meanwhile, each bionic soft finger is provided with a plurality of independent air channels which are distributed in the finger wrist connecting mechanism and connected with the carrying platform. Through the arrangement of the independent air path, each bionic soft finger can be flexibly bent towards two sides.
So far, the embodiments of the present disclosure have been described in detail with reference to the accompanying drawings. It is to be noted that, in the attached drawings or in the description, the implementation modes not shown or described are all the modes known by the ordinary skilled person in the field of technology, and are not described in detail. Further, the above definitions of the various elements and methods are not limited to the various specific structures, shapes or arrangements of parts mentioned in the examples, which may be easily modified or substituted by those of ordinary skill in the art.
From the above description, those skilled in the art should clearly recognize that the present disclosure provides a stable self-healing bionic finger and a bionic soft hand.
In conclusion, the bionic finger and the bionic soft hand with stability augmentation and self-healing functions are provided, the bionic sucker connected with the main air chamber simulates octopus tentacle driving to grab and adsorb to grab the two principles, so that the bionic finger can form a negative pressure chamber on the contact surface of an article when the main air chamber adopts negative pressure driving, and the article is adsorbed on the surface of the finger by the sucker principle. This design benefit has combined the bending function of finger and the adsorption function of sucking disc, greatly increased the stability when snatching.
It should also be noted that directional terms, such as "upper", "lower", "front", "rear", "left", "right", and the like, used in the embodiments are only directions referring to the drawings, and are not intended to limit the scope of the present disclosure. Throughout the drawings, like elements are represented by like or similar reference numerals. Conventional structures or constructions will be omitted when they may obscure the understanding of the present disclosure.
And the shapes and sizes of the respective components in the drawings do not reflect actual sizes and proportions, but merely illustrate the contents of the embodiments of the present disclosure. Furthermore, in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim.
Furthermore, the word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements.
The use of ordinal numbers such as "first," "second," "third," etc., in the specification and claims to modify a corresponding element does not by itself connote any ordinal number of the element or any ordering of one element from another or the order of manufacture, and the use of the ordinal numbers is only used to distinguish one element having a certain name from another element having a same name.
In addition, unless steps are specifically described or must occur in sequence, the order of the steps is not limited to that listed above and may be changed or rearranged as desired by the desired design. The embodiments described above may be mixed and matched with each other or with other embodiments based on design and reliability considerations, i.e., technical features in different embodiments may be freely combined to form further embodiments.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. Also in the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware.
The above-mentioned embodiments are intended to illustrate the objects, aspects and advantages of the present disclosure in further detail, and it should be understood that the above-mentioned embodiments are only illustrative of the present disclosure and are not intended to limit the present disclosure, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.

Claims (10)

1. A stability-enhancing self-healing biomimetic finger, comprising:
the connecting air chamber unit comprises a plurality of connecting air chambers, and each connecting air chamber is connected to the pneumatic system;
the main air chamber units are correspondingly connected with the connecting air chambers, and each main air chamber unit comprises a plurality of main air chambers which are sequentially connected in series; and
a suction cup structure disposed on a surface of each of the main air chambers;
the pneumatic system can inflate and deflate the main air chamber unit to enable the main air chamber unit to bend towards different directions, and meanwhile the sucker structure can generate adsorption force in a negative pressure state.
2. The stability augmentation self-healing bionic finger according to claim 1, wherein a self-healing soft material protection layer is arranged on the surface of the main air chamber unit and the surface of the sucker structure contacting with the adsorbed object.
3. The stability augmentation self-healing bionic finger according to claim 1, wherein partitions are arranged among the rows of main air chamber units.
4. The stability augmentation self-healing bionic finger according to claim 1, wherein a deformable body side wall is arranged between two adjacent main air chambers in the same main air chamber unit, and the deformable body side wall is groove-shaped.
5. The stability-enhancing self-healing bionic finger according to claim 1, wherein the suction cup structure comprises an adsorption surface and a suction cup deformation body; the sucker deforming body is internally provided with a sucker cavity.
6. The stability augmentation self-healing biomimetic finger according to claim 5, wherein the suction cup cavity is connected to a corresponding main cavity.
7. The stability-increasing self-healing bionic finger according to claim 3, wherein two sides of the partition respectively comprise 2-6 rows of main air chamber units.
8. The stability augmentation self-healing bionic finger according to claim 7, wherein the adjacent rows of the main air chamber units on the same side of the partition form an anti-twist pattern structure, and the anti-twist pattern structure is selected from an arch structure, a trapezoid structure and a triangular structure.
9. The stability augmentation self-healing bionic finger according to claim 3, wherein the two sides of the partition comprise the same number of main air chamber units, and when the main air chamber unit on one side is filled with positive pressure, the main air chamber unit on the other side is filled with negative pressure, so that the bionic finger bends towards one side of the main air chamber unit filled with negative pressure, and meanwhile, the corresponding sucker structure generates adsorption force.
10. A biomimetic soft hand comprising:
a plurality of stability-increasing self-healing bionic fingers based on any one of claims 1-9; and
and one end of the wrist connecting mechanism is connected with the plurality of bionic fingers, and the other end of the wrist connecting mechanism is connected to the carrying platform.
CN202110487515.9A 2021-04-30 2021-04-30 Stability-increasing self-healing bionic finger and bionic soft hand Active CN113103266B (en)

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