CN113427500A - Soft robot shape touch multi-mode self-powered flexible sensing system - Google Patents
Soft robot shape touch multi-mode self-powered flexible sensing system Download PDFInfo
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- CN113427500A CN113427500A CN202110700104.3A CN202110700104A CN113427500A CN 113427500 A CN113427500 A CN 113427500A CN 202110700104 A CN202110700104 A CN 202110700104A CN 113427500 A CN113427500 A CN 113427500A
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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
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
- B25J13/084—Tactile sensors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N1/00—Electrostatic generators or motors using a solid moving electrostatic charge carrier
- H02N1/04—Friction generators
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- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
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Abstract
The invention discloses a soft robot shape-touch multi-mode self-powered flexible sensing system which comprises a pneumatic three-jaw soft robot, wherein the pneumatic three-jaw soft robot comprises three soft fingers with shape-touch multi-mode flexible sensing systems, the soft fingers are distributed at intervals of 60 degrees and are arranged on a flange bracket at an inclined angle of 15 degrees, the soft fingers are connected with an external air source through air ducts, and the bending and straightening of the soft fingers are realized based on inflation and deflation. The integrated multi-mode perception system can transfer state information and interaction information of the soft robot, is greatly helpful for closed-loop control and autonomous recognition of the soft robot, and has wide application prospect.
Description
Technical Field
The invention relates to a flexible sensing system of a self-powered soft robot with a shape touch multi-mode, belonging to the field of soft robots.
Background
When the traditional rigid robot grabs an object, some fragile objects can be damaged due to excessive grabbing force. Due to its compliance, a soft robot can perform some delicate, non-structural grasping tasks. However, unlike a rigid robot, a soft robot cannot arrange a general rigid sensor due to its flexible characteristic. And due to the highly nonlinear characteristic, the common sensing technology cannot meet the requirement of the soft robot. The shape perception and the touch perception are unique flexible perception technologies generated by the characteristics of the soft robot, the shape perception can reflect the bending change state of the soft robot, and the touch perception can provide richer contact information in the interaction between the soft robot and the environment and people, which cannot be detected by a rigid sensor. In addition, the arrangement and power supply of the sensor are also a big problem, the sensor cannot influence the flexibility and the motion characteristics of the soft robot, so that the multi-mode sensing function needs to be realized in a limited volume, and in addition, the self-powered sensor can reduce the volume increase caused by an external power supply. Therefore, the self-powered flexible sensing technology of the morphological touch multi-modality can transmit state information and interaction information without affecting the operation of the soft robot, which is a great help for the closed-loop control and the autonomous recognition of the soft robot, and the technical problem to be solved by the technical staff in the field is urgently needed.
Disclosure of Invention
In order to solve the problems in the background art, the invention aims to overcome the problems in the soft robot sensing technology and provides a soft robot shape touch multi-mode self-powered flexible sensing system based on friction electricity and capacitance mixing, which can detect the shape of a soft robot and touch information in interaction with the outside at high precision and high response speed and has the characteristics of self power supply, simple structure, flexibility and the like.
In order to achieve the purpose, the invention adopts the following technical scheme:
a soft robot shape-touch multi-mode self-powered flexible sensing system comprises a pneumatic three-jaw soft robot, wherein three soft fingers with the shape-touch multi-mode flexible sensing system are arranged on a connecting flange bracket through clamps, are distributed at intervals of 60 degrees, are arranged at an inclination angle of 15 degrees, are connected with an external air source through air guide pipes and connecting valves, and are bent and straightened based on inflation and deflation; the soft finger with the multi-mode flexible sensing system comprises a pneumatic soft finger, a form sensing sensor and a touch sensor.
Preferably, the pneumatic soft finger is a thread-reinforced soft finger, which comprises an inflatable air chamber and a non-stretchable limiting layer, the air chamber is connected to an external air source through a connecting device at the tail end, the air chamber can be inflated due to the introduction of external air, the pneumatic soft finger can be integrally bent towards the non-stretchable limiting layer, the air chamber wrapped by cotton threads is inflated and deflated, better axial expansion bending can be realized, and in the bending process, a shape sensing sensor arranged on the bending layer at the outer side of the pneumatic soft finger can sense the bending state; when the pneumatic three-jaw soft robot is in interactive contact with the environment and an object, the touch sensor arranged on the inner side limiting layer of the soft finger with the multi-mode flexible sensing system is a multi-mode integrated sensor based on a triboelectric principle and a capacitance principle, and can sense complex information in the interactive process, such as area and position contact information, sliding sense information and grasping force information.
Preferably, the form perception sensor comprises a variable height waveform flexible electrode, a nickel cloth positive friction layer and a silica gel negative friction layer; the height-variable waveform flexible electrode is arranged on the bending side of the pneumatic three-jaw soft robot and forms a structure-perception integrated characteristic with the silica gel negative friction layer, and the height-variable waveform flexible electrode is changed from an arch shape to a flat shape along with the charging of an external air source, so that the nickel cloth positive friction layer on the height-variable waveform flexible electrode is driven to rub with the silica gel negative friction layer, and charge transfer is generated to generate a voltage signal; due to the variable height characteristic, waveforms with different heights are sequentially contacted in the bending process, and a plurality of pulse signals are generated in the bending process, so that continuous bidirectional bending signals can be detected, and a complex bending state sensing function is provided for the pneumatic three-jaw soft robot.
Preferably, the tactile perception sensor is arranged in the inner layer of a soft finger with a tactile multi-mode flexible perception system, and comprises a triboelectric-based tactile sensor and a capacitive-based grip force sensor; the triboelectricity-based touch sensor comprises an electrode layer and a friction layer with variable areas, when an external object is in contact with the friction layer, an electric signal is generated, the area and position information of the contact object can be detected through the size change of a voltage signal due to the variable area characteristic of the electrode layer, and complex slippery sensation information can be identified through later signal data analysis; the capacitive-based gripping force sensor is based on the parallel plate capacitor principle and comprises two layers of parallel flexible electrodes and a microstructure spacing layer, the distance between the two layers of parallel flexible electrodes is reduced by external acting force, so that the capacitance value is increased, and the capacitance change and the external force are in a linear relation, so that the magnitude of the gripping force in an external continuous state and the change of the gripping force can be detected.
The invention can detect the bending state of the soft robot and the information when the soft robot interacts with the outside through the multi-mode perception system consisting of the form perception sensor and the touch perception sensor, can provide rich data information sources for the closed-loop control and the target identification of the soft robot, and endows the soft robot with an intelligent perception system.
Compared with the prior art, the invention has the following prominent substantive characteristics and remarkable advantages:
1. the invention can realize the self-powered sensing system with the soft robot shape touch and the multiple modes;
2. the sensing-structure integrated form sensor can sense the continuous bidirectional bending state of the soft robot;
3. the touch sensor designed by the invention can sense the contact information, the sliding information and the holding force information of the soft robot in the interaction process.
Drawings
Fig. 1 and 2 are schematic general outline diagrams of a three-jaw soft robot with a shape touch multi-mode flexible sensing system.
Fig. 3 is a schematic diagram of a single soft finger with a flexible sensor according to the present invention.
Fig. 4 is a soft body robot shape perception sensor of the present invention.
Fig. 5 is an exploded view of the structure of the tactile sensor of the soft robot of the present invention.
Reference numerals:
1-Soft finger with tangible touch multi-mode flexible sensing system
101-pneumatic soft finger
102-form sensing sensor
103-tactile perception sensor
2-clamping apparatus
3-airway tube
4-connecting flange support
5-connecting valve
Detailed Description
The embodiment of the invention provides a soft robot shape touch multi-mode self-function flexible sensing system, which comprises a shape sensor based on a friction nano generator principle and a touch sensor based on a friction nano generator-capacitor hybrid type, and can sensitively sense the complex shape change of a soft robot and the interaction information generated when the soft robot interacts with the external environment.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings, and it is to be understood that the described examples are only a part of the embodiments of the present invention, but 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 invention.
The first embodiment is as follows:
as shown in figures 1 and 2, the three-jaw soft body robot with the shape-touch multi-mode flexible sensing system comprises soft body fingers 1 with shape and touch sensing functions, a clamp 2, an air guide pipe 3, a connecting flange bracket 4, a connecting valve 5, M2 connecting screws 6 and M2 connecting nuts 7, wherein the soft body fingers 1 are arranged according to the circumference at intervals of 60 degrees and are installed at an inclined angle of 15 degrees.
As shown in fig. 3, the soft finger 1 with shape sensing and touch sensing functions comprises a pneumatic soft finger 101, a shape sensing sensor 102 and a touch sensing sensor 103, wherein the shape sensing sensor 102 is disposed on a bending layer of the soft finger 1 to detect a bending state of the finger, and the touch sensing sensor 103 is disposed on an inner side contact layer of the soft finger 1 to obtain information generated when the soft robot interacts with the outside. The pneumatic soft finger 101 is a thread-reinforced soft finger, which comprises an inflatable air chamber and a non-stretchable limiting layer, and is connected to an external air source through a connecting device consisting of a hollow screw, a gasket and a nut at the tail end, the air chamber can be inflated due to the introduction of external air, and the whole soft finger can be bent towards the non-stretchable limiting layer. The cotton threads are wound on the outer layer of the air chamber of the soft finger based on thread reinforcement according to the supposed expansion direction, the inextensible cotton threads wrap the air chamber to limit the radial expansion of the air chamber, and the air chamber can only expand along the axial direction during inflation, so that the soft finger can be better bent, and the strength and the service life of the soft finger can be enhanced.
Example two:
this embodiment is substantially the same as the first embodiment, and is characterized in that:
as shown in fig. 4, the soft robot shape sensing sensor includes a variable-height waveform flexible electrode 202, a nickel cloth positive friction layer 201 and a silica gel negative friction layer 203, the variable-height waveform flexible electrode is mounted on a bending side of the soft robot, the side of the soft finger can stretch and bend with the charging of an external air source, and the waveform flexible electrode changes from an arch state to a flat state along with the change of the variable-height waveform flexible electrode, so that the positive friction layer on the flexible electrode is driven to rub against the surface of the silica gel of the soft finger serving as the negative friction layer, and a certain charge transfer can occur based on the principle of triboelectricity, so as to generate a voltage signal. Because the flexible electrode has the characteristic of variable height, the waveforms with different heights can be contacted in sequence in the bending process, and a plurality of signals can be generated in the bending process, so that compared with the waveforms with the same height, the flexible electrode can detect continuous and bidirectional bending signals, and can provide more complex bending state information for a soft robot.
Example three:
this embodiment is substantially the same as the first embodiment, and is characterized in that:
as shown in fig. 5, the multi-modal tactile perception sensor of the soft robot comprises a triboelectric-based tactile sensor and a capacitive-based grip force sensor, which are separated by a PDMS isolation layer 306. The triboelectric touch sensor is based on a single-electrode triboelectric principle and comprises an area-variable electrode layer 302 and a friction layer 301, wherein the other friction layer of the single-electrode triboelectric is a contact object, when an external object is in contact friction with the friction layer, a voltage signal is generated, and the signal and the area present a linear relation along with the increase of the contact area. Because the variable-area electrode layers 302 are arranged in a variable area, objects with the same contact area can generate different signal values when contacting electrodes with different areas, and the larger the electrode area is, the more the transferred charges are, the larger the generated voltage signal is, so that the detection of the contact object area and the contact position can be realized. According to the principle, when the discontinuous position change is changed into the continuous position change, namely, the sliding, the touch sensor presents continuous signal wave crests with ascending/descending trends in the same way, and the signal wave crests can be used as a basis for judging the sliding sense. The grip force sensor is based on the parallel plate capacitor principle, which comprises two parallel layers of flexible electrodes 303, 305 and a micro-structured spacer layer 304, and the capacitance value of the parallel plate capacitor is calculated as C ═ epsilon0*εrS/d, when the distance d between two parallel electrodes decreases, the capacitance change of the capacitive sensor is linear with the decreasing distance. Due to the micro-structure spacing layer in the middle, the external pressure change can be mapped to the change of the distance d, and therefore the pressure sensor with the linear relation between the external acting force and the capacitance value can be obtained. The pressure sensor is arranged inside the soft robot for grabbing and serves as a grabbing force sensing sensor of the three-jaw soft hand, and the change of the continuous grabbing force in the grabbing process can be detected. The multi-mode tactile sensor of the soft robot consists of the two parts, and the tactile sensor is used for sensing the touch of the soft robotThe middle triboelectric part is used for detecting contact area, contact position and sliding sense information due to the characteristics of instantaneous signals of the middle triboelectric part; the capacitance is used to detect grip force information during grasping, due in part to its continuous signal characteristics. The capacitive continuous signal can make up the defect that the continuous signal cannot be detected by the triboelectricity, and the triboelectricity can supply power to the capacitive sensor due to the self-energy supply characteristic of the triboelectricity, so that the requirement of external power supply is reduced. The multi-modal touch sensor based on the hybrid of friction electricity and capacitance can sense more complex information in the interaction process of the soft robot and the outside, occupies small volume and does not need an additional power supply device to supply power to the sensor. The diversified information can provide a wide prospect for the autonomous driving control of the soft robot.
The embodiments of the present invention have been described with reference to the accompanying drawings, but the present invention is not limited to the embodiments, and various changes and modifications can be made according to the purpose of the invention, and any changes, modifications, substitutions, combinations or simplifications made according to the spirit and principle of the technical solution of the present invention shall be equivalent substitutions, as long as the purpose of the present invention is met, and the present invention shall fall within the protection scope of the present invention without departing from the technical principle and inventive concept of the present invention.
Claims (4)
1. The utility model provides a soft robot shape touches flexible perception system of multimode self-power supply which characterized in that: the pneumatic three-jaw soft robot is characterized by comprising a pneumatic three-jaw soft robot, wherein three soft fingers (1) with a multi-mode flexible sensing system are arranged on a connecting flange bracket (4) through clamps (2), are distributed at intervals of 60 degrees and are arranged at an inclination angle of 15 degrees, are connected with an external air source through air guide pipes (3) and connecting valves (5), and are bent and straightened based on inflation and deflation; the soft finger (1) with the tangible touch multi-modal flexible sensing system comprises a pneumatic soft finger (101), a morphological sensing sensor (102) and a touch sensor (103).
2. The soft robotic shape-touch multi-modal self-powered flexible perception system of claim 1, wherein: the pneumatic soft finger (101) is a thread-reinforced soft finger and comprises an inflatable air chamber and a non-stretchable limiting layer, the air chamber is connected to an external air source through a connecting device at the tail end, the air chamber can be inflated due to the introduction of external air, the whole pneumatic soft finger (101) can be bent towards the non-stretchable limiting layer, the air chamber wrapped by cotton threads is inflated and deflated, the better axial expansion bending can be realized, and in the bending process, a shape sensing sensor (102) arranged on the outer bending layer of the pneumatic soft finger (1) can sense the bending state; when the pneumatic three-jaw soft robot is in interactive contact with the environment and an object, the touch sensor (103) arranged on the inner side limiting layer of the soft finger (1) with the multi-mode flexible sensing system is a multi-mode integrated sensor based on a triboelectric principle and a capacitance principle, and can sense complex information in an interactive process, such as area and position contact information, sliding sense information and grasping force information.
3. The soft robotic shape-touch multi-modal self-powered flexible perception system according to claim 2, wherein: the form perception sensor (102) comprises a variable height waveform flexible electrode, a nickel cloth positive friction layer and a silica gel negative friction layer; the height-variable waveform flexible electrode is arranged on the bending side of the pneumatic three-jaw soft robot and forms a structure-perception integrated characteristic with the silica gel negative friction layer, and the height-variable waveform flexible electrode is changed from an arch shape to a flat shape along with the charging of an external air source, so that a nickel cloth positive friction layer on the height-variable waveform flexible electrode is driven to rub with the silica gel negative friction layer, and charge transfer is generated to generate a voltage signal; due to the variable height characteristic, waveforms with different heights are sequentially contacted in the bending process, and a plurality of pulse signals are generated in the bending process, so that continuous bidirectional bending signals can be detected, and a complex bending state sensing function is provided for the pneumatic three-jaw soft robot.
4. The soft robotic shape-touch multi-modal self-powered flexible perception system according to claim 2, wherein: the tactile perception sensor (103) is arranged on the inner layer of a soft finger (1) with a tactile multi-mode flexible perception system and comprises a frictional electricity-based tactile sensor and a capacitance-based gripping force sensor; the triboelectricity-based touch sensor comprises an electrode layer and a friction layer with variable areas, when an external object is in contact with the friction layer, an electric signal is generated, the area and position information of the contact object can be detected through the size change of a voltage signal due to the variable area characteristic of the electrode layer, and complex slippery sensation information can be identified through later signal data analysis; the capacitive-based gripping force sensor is based on the parallel plate capacitor principle and comprises two layers of parallel flexible electrodes and a microstructure spacing layer, the distance between the two layers of parallel flexible electrodes is reduced by external acting force, so that the capacitance value is increased, and the capacitance change and the external force are in a linear relation, so that the magnitude of the gripping force in an external continuous state and the change of the gripping force can be detected.
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| CN202110700104.3A CN113427500A (en) | 2021-06-23 | 2021-06-23 | Soft robot shape touch multi-mode self-powered flexible sensing system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113752279A (en) * | 2021-10-08 | 2021-12-07 | 吉林大学 | Intelligent bionic soft manipulator for recycling AUV (autonomous Underwater vehicle) |
| CN113967922A (en) * | 2021-10-21 | 2022-01-25 | 安徽大学 | Full-flexible pneumatic soft bionic manipulator |
| CN114378805A (en) * | 2022-01-26 | 2022-04-22 | 浙江大学 | Four-foot crawling pneumatic soft robot capable of detecting bending state |
| CN114603591A (en) * | 2022-03-15 | 2022-06-10 | 浙江理工大学 | Pneumatic software grasping system of general type of fruit letter sorting case packer |
| CN114800472A (en) * | 2022-05-24 | 2022-07-29 | 清华大学深圳国际研究生院 | Drive perception integrated software actuator |
| CN115655532A (en) * | 2022-10-08 | 2023-01-31 | 天津大学 | Pneumatic soft finger and hardness identification system based on same |
| CN118123886A (en) * | 2024-05-06 | 2024-06-04 | 四川大学 | Flexible clamping jaw with sensing function and clamping method thereof |
| CN118143722A (en) * | 2024-05-09 | 2024-06-07 | 日达智造科技(如皋)有限公司 | Production management system of automatic feeding and discharging for electrode production |
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| CN118143722A (en) * | 2024-05-09 | 2024-06-07 | 日达智造科技(如皋)有限公司 | Production management system of automatic feeding and discharging for electrode production |
| CN118143722B (en) * | 2024-05-09 | 2024-08-16 | 日达智造科技(如皋)有限公司 | Production management system of automatic feeding and discharging for electrode production |
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