CN113681585B - Variable-rigidity flexible clamping jaw with artificial pain sensation - Google Patents
Variable-rigidity flexible clamping jaw with artificial pain sensation Download PDFInfo
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- CN113681585B CN113681585B CN202111070587.XA CN202111070587A CN113681585B CN 113681585 B CN113681585 B CN 113681585B CN 202111070587 A CN202111070587 A CN 202111070587A CN 113681585 B CN113681585 B CN 113681585B
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- color
- soft bag
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- membrane
- soft
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- 230000008058 pain sensation Effects 0.000 title claims abstract description 15
- 239000012528 membrane Substances 0.000 claims abstract description 47
- 239000000463 material Substances 0.000 claims abstract description 33
- 239000002775 capsule Substances 0.000 claims abstract description 21
- 239000007901 soft capsule Substances 0.000 claims abstract description 16
- 230000002087 whitening effect Effects 0.000 claims abstract description 14
- 239000007788 liquid Substances 0.000 claims description 23
- 239000002245 particle Substances 0.000 claims description 19
- 239000007787 solid Substances 0.000 claims description 8
- 239000003086 colorant Substances 0.000 claims description 4
- 239000012780 transparent material Substances 0.000 claims description 2
- 239000010410 layer Substances 0.000 description 15
- 239000002356 single layer Substances 0.000 description 6
- 238000000034 method Methods 0.000 description 3
- 239000013618 particulate matter Substances 0.000 description 3
- BQCADISMDOOEFD-UHFFFAOYSA-N Silver Chemical compound [Ag] BQCADISMDOOEFD-UHFFFAOYSA-N 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000013013 elastic material Substances 0.000 description 2
- 229910052709 silver Inorganic materials 0.000 description 2
- 239000004332 silver Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003012 bilayer membrane Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000002845 discoloration Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000002427 irreversible effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- 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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Materials For Medical Uses (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a variable-rigidity flexible clamping jaw with artificial pain sensation, which comprises an elastic soft bag and is characterized in that: the capsule membrane of the soft capsule is made of a flexible force-induced color-changing material or a stress whitening material; the inner side of the soft bag is provided with a camera module, when the soft bag is deformed inwards due to external force, the inner side of the stressed area of the bag membrane changes color, and the camera module recognizes the color change to detect the external force, so that artificial pain sense is realized.
Description
Technical Field
The invention relates to a mechanical arm, in particular to a variable-rigidity flexible clamping jaw with artificial pain sensation.
Background
The flexible clamping jaw can be flexibly deformed, so that the flexible clamping jaw is widely applied to clamping various articles with large deformation range, such as paper sheets, chips, small parts, electronic devices and the like. The clamping principle is that a large number of small particles are filled in a soft bag (not filled, usually filled to half full), gas or liquid is injected into the soft bag, the soft bag wraps an object under the condition that the particles in the soft bag are loose, then the gas or liquid in the soft bag is extracted to enable the interior of the soft bag to present negative pressure, the particles in the soft bag are compressed to be in a tight state under the air pressure to tightly wrap the object, and at the moment, the object can be clamped.
At present, a flexible clamping jaw is usually driven by pressure, and gas or liquid is filled into an elastic capsule membrane serving as a clamping jaw main body and is pressurized, so that the elastic capsule membrane can be deformed, and an object can be clamped. Since the elastic capsule is required to have flexibility, the material thereof is easily broken due to abrasion, contact with a sharp object, or the like in practical use. However, most of the flexible clamping jaws do not have the artificial pain sense capability at present, and the damage to the clamping jaws caused by the external environment or the clamping object cannot be detected.
Disclosure of Invention
The invention mainly aims to provide a variable-rigidity flexible clamping jaw with artificial pain sensation, aiming at the defects of the prior art, the clamping jaw not only has shape adaptability of a common flexible clamping jaw, but also can detect whether an elastic sac membrane is possibly damaged by external force, so that the technical problem that the existing flexible clamping jaw cannot detect the possible damage of an external sharp object to the sac membrane of the clamping jaw is solved.
In order to solve the technical problems, the invention adopts the following technical scheme:
a variable-rigidity flexible clamping jaw with artificial pain sensation comprises an elastic soft bag, wherein a bag membrane of the soft bag is made of a flexible force-induced allochroic material or a stress whitening material; the inner side of the soft bag is provided with a camera module, when the soft bag is deformed inwards due to external force, the inner side of the stressed area of the bag membrane changes color, and the camera module recognizes the color change to detect the external force, so that artificial pain sense is realized.
Further, camera module discernment discolours in order to detect the external force that receives, includes: and detecting the position and the size of the external force by analyzing the color change.
Furthermore, the camera module is arranged on the inner side of the soft capsule and close to the root of the clamping jaw, so that the camera view field at least covers the area where the particles in the soft capsule are located.
Furthermore, the sac membrane is of a single-layer membrane structure made of force-induced color-changing materials, and when the soft sac is subjected to external pressing force of an external object, the inner side of a stressed area of the sac membrane changes color.
Furthermore, the capsule membrane is a single-layer membrane structure made of stress whitening materials, and when the soft capsule is subjected to external pressing force of an external object, the inner side of a stress area of the capsule membrane presents stress whitening.
Further, the capsule membrane is a double-layer membrane structure made of two force-induced color-changing materials with different colors, wherein the elastic modulus of the inner layer membrane is smaller than that of the outer layer membrane; when the soft capsule is subjected to the external pressure of an external object, the inner layer film becomes thin and the color changes, and at the moment, the color change condition of the inner side of the stressed area of the capsule film is as follows: the thinned inner layer film becomes lighter in color to transmit the color of the outer layer film, and the color of the inner layer film after change is mixed with the color of the outer layer film.
Furthermore, a filter screen is arranged in the soft bag, and solid particles in the soft bag are limited at the middle lower part in the soft bag by the filter screen. On one hand, the filter screen can prevent solid particles from being carried away when liquid or gas is extracted; on the other hand, the solid particles are limited in the space at the middle lower part of the soft bag, so that the solid particles are convenient to displace excessively when liquid or gas is pumped.
Furthermore, the particles filled in the soft capsule are made of transparent materials.
Further, the liquid or gas injected into the soft bag is transparent.
Further, when liquid is injected into the soft bag, the liquid at least covers the camera of the camera module so as to prevent the liquid from forming a refraction interface in a camera shooting field.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that: the flexible clamping jaw has artificial pain sense by observing color change when stressed, and damage of the flexible clamping jaw caused by modes of environment, sharp object clamping, abrasion and the like can be avoided; and the cost is low, and the method is easy to realize and apply.
Drawings
FIG. 1 is a schematic diagram of a variable-stiffness flexible clamping jaw with artificial pain sensation according to an embodiment of the invention;
FIG. 2 is a schematic illustration of a flexible jaw subject to a sharp object in accordance with an embodiment of the present invention;
FIG. 3 is a schematic view of the capsule force of a single-layer membrane structure according to an embodiment of the present invention;
FIG. 4 is a schematic view of the capsule membrane stress of the bilayer membrane structure of the embodiment of the present invention.
Detailed Description
The invention is further described with reference to the following figures and detailed description of embodiments.
Fig. 1 is a schematic diagram of a variable-stiffness flexible clamping jaw with artificial pain sensation provided by an embodiment of the invention. Referring to fig. 1, the flexible jaw comprises a flexible bladder 10, the bladder 10 is filled with a plurality of transparent solid particles 20 and filled with a transparent liquid 30, and a water pump is connected to an inlet of the bladder 10. When having liquid to exist, the particulate matter is whole to be in loose state, during the use, transfers the clamping jaw earlier, treats that the particulate matter parcel lives after waiting the object that snatchs, through the water pump extraction liquid 30 of connection, makes the particulate matter pressurized and closely gather, tightly wraps up the object, can snatch this moment. In the embodiment of the invention, the capsule membrane 11 of the soft capsule 10 is made of flexible force-induced color-changing material or stress whitening material; the inner side of the soft bag is provided with a camera module 40. When the soft capsule 10 is deformed inwards under the action of external force, the inner side of the stressed area of the capsule membrane 11 changes color, and the camera module 40 recognizes the color change to detect the external force, so that artificial pain sense is realized. For example, as shown in fig. 2, in the grabbing process, when the sharp object 100 acts on the soft bag to cause the soft bag to deform inwards, the inner side of the bag membrane stressed area of the soft bag changes color, if the soft bag is made of a force-induced color-changing material, the color is diluted due to the thinning of the material, and the color change is that the color is lightened; if the stress whitening material is adopted, the inner side of the material can show stress whitening discoloration. The condition of discolouring can be observed through camera module this moment, detects the position and the size of receiving external force through analysis color change, can make this flexible clamping jaw possess artifical sense of pain.
In order to facilitate the camera module to observe the color change condition of the capsule membrane in the grabbing process, the camera module is arranged on the inner side of the soft capsule and close to the root of the clamping jaw, so that a sufficiently large camera view field can be ensured, and the area where particles are located in the soft capsule is at least covered. In addition, the invention can be driven by adopting a liquid or gas mode, namely gas or liquid can be injected into the soft bag, and when the liquid is injected, the liquid level of the liquid at least covers the camera, so that a liquid refraction interface does not exist in a camera shooting view field, and the interference of refraction phenomenon on the color change condition is avoided. In some preferred embodiments, as shown in fig. 1, the soft bag 10 is provided with a filter 50, which can limit the solid particles in the middle and lower part of the soft bag, facilitate the wrapping of objects, and prevent the solid particles 20 from being carried away when liquid or gas is pumped.
It should be understood that the envelope 11 of the soft bag may be a single-layer film structure or a double-layer film structure. The capsule membrane can be made of mechanochromic material or stress whitening material. The mechanochromic material contains a large number of color particles which are uniformly mixed in the material, the film thickness shows uniform color, and when the film deforms under stress, the color is diluted and the color of the material can be shown. The material can repeatedly change the color under the action of different external forces. Stress whitening material: the elastic material generally has stress whitening effect, when the elastic material is subjected to larger stress, a plurality of cracks, called silver stripes, appear on the microscopic layer, the light is scattered by the gaps of the silver stripes to be white, at the moment, the material has irreversible plastic deformation,
as shown in fig. 3, in some embodiments, the capsule membrane 11 is a single-layer membrane structure made of a force-induced color-changing material, when the soft capsule 10 is subjected to an external pressing force by an external object, the capsule membrane deforms inwards, the material becomes thinner, the color particles mixed in the material become sparse, the color presented by the color particles becomes lighter, the color of the material gradually appears, the color-changing condition is photographed by a camera, and it is determined that the capsule membrane is subjected to the external force which may cause damage to the capsule membrane at the moment, that is, artificial pain sensation is realized. The single-layer film structure material can also be a stress whitening material, when the soft bag 10 is pressed by an external force of an external object, the stress whitening phenomenon appears on the inner side of the stress area of the bag film 11, the camera shoots the whitening condition of the material, and at the moment, the bag film is judged to be subjected to the external force which can cause the damage of the bag film.
In other embodiments, as shown in fig. 4, the balloon membrane 11 is a two-layer membrane structure made of two different colors of force-chromic materials, wherein the elastic modulus of the inner membrane 11a is less than the elastic modulus of the outer membrane 11 b. When an external force acts on the double-layer film structure, the outer layer film 11b with a larger elastic modulus has smaller thickness change when the external force is applied; the inner layer film 11a having a small elastic modulus becomes significantly thin when subjected to an external force. Preferably, the difference between the colors of the inner and outer membranes is large, when the capsular sac is subjected to an external force to cause the inward deformation (inward protrusion) of the double-layer membrane structure, the inner membrane is obviously thinner than the outer membrane, the color of the inner membrane is diluted and becomes lighter to display the color of the outer membrane, and meanwhile, the color after color change is mixed with the color of the outer membrane, and the color change conditions can be captured by the camera module 40, so that the external force which may damage the capsular sac is detected, and artificial pain sensation is realized.
The foregoing is a further detailed description of the invention in connection with specific preferred embodiments and it is not intended to limit the invention to the specific embodiments described. For those skilled in the art to which the invention pertains, several equivalent substitutions or obvious modifications can be made without departing from the spirit of the invention, and all the properties or uses are considered to be within the scope of the invention.
Claims (6)
1. A variable-rigidity flexible clamping jaw with artificial pain sensation comprises an elastic soft bag and is characterized in that: the capsule membrane of the soft capsule is made of a flexible force-induced color-changing material or a stress whitening material; the inner side of the soft bag is provided with a camera module, when the soft bag is deformed inwards under the action of external force, the inner side of the stressed area of the bag membrane changes color, and the camera module recognizes the color change to detect the external force, so that artificial pain sense is realized; the camera module discerns to change colour in order to detect the external force that receives, includes: detecting the position and the size of the applied force by analyzing the color change; the capsule membrane is a double-layer membrane structure made of two force-induced color-changing materials with different colors, wherein the elastic modulus of the inner layer membrane is smaller than that of the outer layer membrane; when the soft capsule is subjected to the external pressure of an external object, the inner layer film becomes thin and the color changes, and at the moment, the color change condition of the inner side of the stressed area of the capsule film is as follows: the thinned inner layer film becomes lighter in color to transmit the color of the outer layer film, and the color of the inner layer film after change is mixed with the color of the outer layer film.
2. A variable stiffness flexible jaw according to claim 1 having artificial pain sensation, wherein: the camera module is arranged on the inner side of the soft capsule and close to the root of the clamping jaw, so that a camera view field at least covers the area where the particles in the soft capsule are located.
3. A variable stiffness flexible jaw according to claim 1 having artificial pain sensation, wherein: the soft bag is internally provided with a filter screen, and solid particles in the soft bag are limited at the middle lower part in the soft bag by the filter screen.
4. A variable stiffness flexible jaw according to claim 1 having artificial pain sensation, wherein: the particles filled in the soft capsule are made of transparent materials.
5. A variable stiffness flexible jaw according to claim 4 having artificial pain sensation, wherein: the liquid or gas injected into the soft bag is transparent.
6. A variable stiffness flexible jaw assembly providing artificial pain according to claim 5 wherein: when liquid is injected into the soft bag, the liquid at least covers the camera of the camera module so as to prevent the liquid from forming a refraction interface in a camera shooting field.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111070587.XA CN113681585B (en) | 2021-09-13 | 2021-09-13 | Variable-rigidity flexible clamping jaw with artificial pain sensation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111070587.XA CN113681585B (en) | 2021-09-13 | 2021-09-13 | Variable-rigidity flexible clamping jaw with artificial pain sensation |
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| Publication Number | Publication Date |
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| CN113681585A CN113681585A (en) | 2021-11-23 |
| CN113681585B true CN113681585B (en) | 2022-09-13 |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109789682A (en) * | 2016-09-30 | 2019-05-21 | 陶氏环球技术有限责任公司 | Polyolefin-based stretched film incorporating mechanochromic dye and method of use thereof |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1664710A4 (en) * | 2003-09-16 | 2007-01-03 | Toudai Tlo Ltd | Optical tactile sensor and method of reconstructing force vector distribution using the sensor |
| JP4621827B2 (en) * | 2004-03-09 | 2011-01-26 | 財団法人名古屋産業科学研究所 | Optical tactile sensor, sensing method using optical tactile sensor, sensing system, object operation force control method, object operation force control device, object gripping force control device, and robot hand |
| CN105609533B (en) * | 2016-01-05 | 2018-11-30 | 京东方科技集团股份有限公司 | The production method of flexible display panels and preparation method thereof and stress electrochromic polymer |
| US10828876B2 (en) * | 2016-08-19 | 2020-11-10 | University Of Connecticut | Stimuli responsive materials, methods of making, and methods of use thereof |
| CN109176590B (en) * | 2018-10-18 | 2020-08-25 | 山东大学 | Flexible fingertip with pressure and slip feeling perception, device and method |
| CN211042559U (en) * | 2019-12-31 | 2020-07-17 | 同济大学 | Movable door test force chain distribution test device based on piezochromic material |
| CN113244493A (en) * | 2021-05-06 | 2021-08-13 | 台州恩泽医疗中心(集团) | Trachea cannula capable of monitoring pressure bearing pressure of cuff and pressure bearing pressure management method |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109789682A (en) * | 2016-09-30 | 2019-05-21 | 陶氏环球技术有限责任公司 | Polyolefin-based stretched film incorporating mechanochromic dye and method of use thereof |
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