CN113733152A - Pneumatic soft mechanical arm - Google Patents
Pneumatic soft mechanical arm Download PDFInfo
- Publication number
- CN113733152A CN113733152A CN202111094907.5A CN202111094907A CN113733152A CN 113733152 A CN113733152 A CN 113733152A CN 202111094907 A CN202111094907 A CN 202111094907A CN 113733152 A CN113733152 A CN 113733152A
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- CN
- China
- Prior art keywords
- finger
- driving rod
- soft
- connecting seat
- bodies
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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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
- B25J15/08—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
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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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Abstract
The invention discloses a pneumatic soft mechanical arm, which belongs to the technical field of mechanical arms, wherein the soft mechanical arm consists of a multi-joint rigid-flexible coupling structure, a rigid body of each joint consists of a light sandwich structure, and a flexible body consists of four soft driving rods and soft connecting seats thereof; the rigid body part is embedded in the connecting seat and is fixed with the flexible connecting seat through a metal fastening ring; the rigid-flexible coupling structure enables the arm to have high toughness.
Description
Technical Field
The invention relates to a mechanical arm, in particular to a pneumatic soft mechanical arm, and belongs to the technical field of mechanical arms.
Background
The mechanical arm is a high-precision and high-speed dispensing robot hand, corresponds to a small-batch production mode, improves the production efficiency, and can correspond to various operations such as uv irradiation, part placement, screw locking, circuit board cutting and the like besides dispensing operation.
Compared with the traditional pneumatic soft mechanical arm with the rigid mechanical arm, the pneumatic soft mechanical arm has the flexibility characteristic, can plan the grabbing path according to the position of a target object, and realizes the operation of the object under the complex structure environment, so that the pneumatic soft mechanical arm has an important application prospect in the fields of product transportation at an industrial production terminal, agricultural fruit and vegetable picking, object grabbing in a space capsule and the like.
The pneumatic soft mechanical arm in the prior art has better flexibility and rigidity, has certain adaptability to a grabbing path, but still has no strong operation capability to objects under a complex path;
for example, in the prior art, a bionic trunk soft mechanical arm (CN108555883) can realize bending in different directions, but the manipulation precision is not high due to the requirement of inflation ports with different sizes;
in the prior art, three driving cavities are arranged at each joint of a bionic soft mechanical arm and a grasping system (CN110293581), so that each joint can be bent by 180 degrees to the maximum extent, although the adaptability to grasping in different paths is improved compared with a bionic trunk soft mechanical arm (CN108555883), the two soft mechanical arms can not realize torsion, the poses of fingers can not be adjusted when objects are grasped and placed, the operation capability on the objects is limited, the two soft mechanical arms are low in strength of soft materials for realizing deformation, and the supporting force for grasping heavier objects is not enough;
therefore, the soft mechanical arm in the prior art has the problems that the position and the posture of the finger cannot be adjusted according to the shape of an object and the requirements of grabbing and placing, the strength of the arm is low, the supporting capability for a heavier object is low, and the control capability is limited;
a pneumatic soft mechanical arm is designed to solve the problems.
Disclosure of Invention
The invention mainly aims to provide a pneumatic soft mechanical arm,
(1) the soft mechanical arm consists of a multi-joint rigid-flexible coupling structure, the rigid body of each joint consists of a light sandwich structure, and the flexible body consists of four soft driving rods and soft connecting seats thereof; the rigid body part is embedded in the connecting seat and is fixed with the flexible connecting seat through a metal fastening ring; the rigid-flexible coupling structure enables the arm to have high toughness.
(2) The spiral direction of each driving rod of each joint of the arm is opposite to the spiral direction of the guide grooves of the two adjacent driving rods, the two adjacent driving rods are pressurized to realize unidirectional bending of the soft joint, the two opposite driving rods are pressurized to realize unidirectional torsion of the soft joint, and the grabbing path and the grabbing posture can be adjusted by controlling the joints.
(3) The soft finger consists of two symmetrical cavities, a winding and a limiting layer. The cross section of each cavity is oval, so that the whole finger is thin, and the volume of each cavity is large; the finger joints are sparsely wound, and grooves are formed outside the finger joints, so that the finger joints are bent when being adducted, grabbed and turned outwards to release; the winding of other areas of the finger is dense, so that the structural rigidity is increased.
(4) The preparation and control method of the whole mechanical arm is simple: the soft body part can be prepared by pouring liquid silica gel in vacuum, the rigid body structure can be finished by 3D printing, the pneumatic driving is adopted, the electromagnetic valves are respectively connected with the driving rods of the arm joints and the guide pipes of the fingers, and the functions of pressurizing, pressure maintaining and pressure relief of the corresponding pipelines are realized by adopting a method of controlling the on-off of the electromagnetic valves by a microcomputer, so that the directional movement of the arms and the fingers is realized.
The purpose of the invention can be achieved by adopting the following technical scheme:
a pneumatic soft mechanical arm comprises at least two groups of rigid connecting parts, wherein driving rod connecting seats are sleeved at the outer sides of two ends of each rigid connecting part, four groups of driving rod bodies are arranged at the outer sides of the driving rod connecting seats, which are close to the ring parts of the driving rod connecting seats, arm fixing seats are arranged at the end parts of tail end driving rod bodies which are not fixed on the driving rod connecting seats, finger connecting seats are arranged at the end parts of head end driving rod bodies which are not fixed on the driving rod connecting seats, a soft finger group is arranged at one side of each finger connecting seat, which is far away from the driving rod bodies, and at least comprises two groups of soft finger bodies, a cylinder notch is formed in the axial part of each rigid connecting part, each group of driving rod bodies is communicated with a group of driving rod guide pipes, and the other ends of the driving rod guide pipes penetrate through the driving rod connecting seats, the cylinder notches and the arm fixing seats and are communicated with a driving mechanism;
an annular inner groove is formed in the rigid body connecting part, and collagen fibers with a spiral curved surface structure are filled in the annular inner groove;
the outer surfaces of the four groups of driving rod bodies are driving rod cavities with left-handed or right-handed spiral structures, and the spiral directions of the two adjacent groups of driving rod bodies are opposite;
a first winding wire is wound on the outer side of the cavity of the driving rod, and fiber cloth is wrapped on the outer side of the cavity of the driving rod;
each group of soft finger bodies consists of two symmetrically arranged finger inner cavity bodies, a second winding wire is wound on the surface of each soft finger body, and a groove is formed in the position, located in the gap of the second winding wire, on the outer side of each soft finger body;
the finger inner cavity body is communicated with a finger conduit outside, and the finger conduit penetrates through the driving rod connecting seat, the column body notch, the arm fixing seat and the finger connecting seat to be communicated with the driving mechanism.
Preferably, the joint of the driving rod connecting seat and the rigid body connecting part is fixed by a metal fastening ring, the soft finger group further comprises a limiting connecting plate, and the soft finger group is fixed with the finger connecting seat through the limiting connecting plate.
Preferably, the soft finger groups are evenly distributed on the finger connecting seat along the circumference.
Preferably, the driving rod body, the driving rod connecting seat, the finger connecting seat and the soft finger body are all made of silica gel materials;
the drive rod body and the drive rod connecting seat, the finger connecting seat and the drive rod body and the soft finger body and the finger connecting seat are bonded by silicon glue.
Preferably, the first winding wire and the second winding wire are made of Kevlar fiber wires, and the fiber cloth is made of polyester single silk screen through bonding.
The invention has the beneficial technical effects that:
the present invention provides a pneumatic soft mechanical arm,
(1) the soft mechanical arm consists of a multi-joint rigid-flexible coupling structure, the rigid body of each joint consists of a light sandwich structure, and the flexible body consists of four soft driving rods and soft connecting seats thereof; the rigid body part is embedded in the connecting seat and is fixed with the flexible connecting seat through a metal fastening ring; the rigid-flexible coupling structure enables the arm to have high toughness.
(2) The spiral direction of each driving rod of each joint of the arm is opposite to the spiral direction of the guide grooves of the two adjacent driving rods, the two adjacent driving rods are pressurized to realize unidirectional bending of the soft joint, the two opposite driving rods are pressurized to realize unidirectional torsion of the soft joint, and the grabbing path and the grabbing posture can be adjusted by controlling the joints.
(3) The soft finger consists of two symmetrical cavities, a winding and a limiting layer. The cross section of each cavity is oval, so that the whole finger is thin, and the volume of each cavity is large; the finger joints are sparsely wound, and grooves are formed outside the finger joints, so that the finger joints are bent when being adducted, grabbed and turned outwards to release; the winding of other areas of the finger is dense, so that the structural rigidity is increased.
(4) The preparation and control method of the whole mechanical arm is simple: the soft body part can be prepared by pouring liquid silica gel in vacuum, the rigid body structure can be finished by 3D printing, the pneumatic driving is adopted, the electromagnetic valves are respectively connected with the driving rods of the arm joints and the guide pipes of the fingers, and the functions of pressurizing, pressure maintaining and pressure relief of the corresponding pipelines are realized by adopting a method of controlling the on-off of the electromagnetic valves by a microcomputer, so that the directional movement of the arms and the fingers is realized.
Drawings
FIG. 1 is a schematic perspective view of the overall structure of a preferred embodiment of a pneumatic soft robotic arm according to the present invention;
FIG. 2 is a perspective view of the rigid arm link of the preferred embodiment of the pneumatic soft robotic arm according to the present invention;
FIG. 3 is a schematic axial cross-sectional view of a rigid arm portion of a preferred embodiment of a pneumatic soft robotic arm according to the present invention;
FIG. 4 is a perspective view of the arm flexible drive rod of a preferred embodiment of a pneumatic robotic soft arm according to the present invention;
FIG. 5 is a schematic axial cross-sectional view of a flexible arm drive rod of a preferred embodiment of a pneumatic soft robotic arm according to the present invention;
FIG. 6 is a schematic perspective view of a finger of a preferred embodiment of a pneumatic soft robotic arm according to the present invention;
figure 7 is a schematic view of the finger in full axial section of a preferred embodiment of a pneumatic soft robotic arm according to the present invention.
In the figure:
11-rigid body connection part, 11 a-column notch, 11 b-annular inner groove;
12-drive rod body, 12 a-drive rod cavity, 12 b-first winding wire, 12 c-fiber cloth, 12 d-drive rod conduit;
13-drive lever connection base;
14-arm fixing seat;
2-soft finger group, 21-finger connecting seat;
22-soft finger body, 22 a-finger cavity body, 22 b-second winding wire, 22 c-limit connecting plate and 22 d-finger conduit.
Detailed Description
In order to make the technical solutions of the present invention more clear and definite for those skilled in the art, the present invention is further described in detail below with reference to the examples and the accompanying drawings, but the embodiments of the present invention are not limited thereto.
As shown in fig. 1-7, the pneumatic soft mechanical arm provided in this embodiment includes at least two sets of rigid connection portions 11, driving rod connection seats 13 are respectively sleeved on outer sides of two ends of each rigid connection portion 11, four sets of driving rod bodies 12 are disposed on outer sides of the driving rod connection seats 13 near a ring portion of the driving rod connection seats 13, an arm fixing seat 14 is mounted on an end portion of a tail driving rod body 12 not fixed on the driving rod connection seat 13, a finger connection seat 21 is mounted on an end portion of a head driving rod body 12 not fixed on the driving rod connection seat 13, a soft finger set 2 is disposed on a side of the finger connection seat 21 away from the driving rod body 12, the soft finger set 2 includes at least two sets of soft finger bodies 22, a cylinder notch 11a is disposed on an axial portion of each rigid connection portion 11, each set of driving rod bodies 12 is communicated with a set of driving rod guide tubes 12d, the other end of the driving rod conduit 12d penetrates through the driving rod connecting seat 13, the column body notch 11a and the arm fixing seat 14 to be communicated with the driving mechanism;
an annular inner groove 11b is formed in the rigid body connecting part 11, and collagen fibers with a spiral curved surface structure are filled in the annular inner groove 11 b;
the outer surfaces of the four groups of driving rod bodies 12 are driving rod cavities 12a with left-handed or right-handed spiral structures, and the spiral directions of the two adjacent groups of driving rod bodies 12 are opposite;
in this embodiment, the outer diameter of the driving rod cavity 12a is 12mm, the inner diameter is 4mm, the thread pitch is 8mm, and the helix angle is 10 °;
a first winding wire 12b is wound on the outer side of the driving rod cavity 12a, and the outer side of the driving rod cavity 12a is wrapped with a fiber cloth 12 c;
each group of soft finger bodies 22 consists of two finger inner cavity bodies 22a which are symmetrically arranged, a second winding wire 22b is wound on the surface of each soft finger body 22, and a groove is formed in the position, located at the gap of the second winding wire 22b, on the outer side of each soft finger body 22;
the finger cavity 22a is externally connected with a finger conduit 22d, and the finger conduit 22d passes through the driving rod connecting seat 13, the column notch 11a, the arm fixing seat 14 and the finger connecting seat 21 and is connected with the driving mechanism.
In this embodiment, the connection between the driving rod connection seat 13 and the rigid connection part 11 is fixed by a metal fastening ring, the soft finger set 2 further includes a limiting connection plate 22c, and the soft finger set 2 is fixed to the finger connection seat 21 through the limiting connection plate 22 c.
In the present embodiment, the soft finger sets 2 are uniformly distributed on the finger connecting seat 21 along the circumference.
The ellipse of the cross section of the soft finger group 2 has a major diameter of 8mm and a minor diameter of 4 mm.
The outer surface of finger connecting seat 21 sets up three sparse region at interval, and every sparse region has four flutings.
In this embodiment, the driving rod body 12, the driving rod connecting seat 13, the finger connecting seat 21 and the soft finger body 22 are made of a silica gel material;
the drive rod body 12 and the drive rod connecting seat 13, the finger connecting seat 21 and the drive rod body 12, and the soft finger body 22 and the finger connecting seat 21 are bonded by silicon glue.
In the present embodiment, the first winding thread 12b and the second winding thread 22b are made of kevlar fiber, and the fiber cloth 12c is made of a single silk screen of polyester.
Each joint has two planes of freedom of bending in space (e.g., XY, XZ planes) that are perpendicular to each other, and a degree of freedom of left and right rotation along the Z axis.
Six plane degrees of freedom in three coordinate systems can be realized through three joints formed by combining the driving rod body 12, the driving rod connecting seat 13 and the rigid body connecting part 11, and accordingly planning of different grabbing paths is achieved.
Three axial rotational degrees of freedom realize snatching different shape objects from different angles.
In the experiment, a method of controlling the three-position two-way electromagnetic valve to be switched on and off by the raspberry pi 4B is adopted, so that the functions of pressurizing, pressure maintaining and pressure relief of corresponding pipelines are realized, and various movements of arms and fingers are realized.
12 pairs of two-position three-way and two-position two-way electromagnetic valves are connected with the soft mechanical arm, and in addition, 2 pairs of the same electromagnetic valves are used for connecting the inner cavity and the outer cavity of the finger.
In addition, the selected rigid-flexible coupling light sandwich structure has higher strength and toughness.
The above are only further embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can substitute or change the technical solution of the present invention and its concept within the scope of the present invention.
Claims (5)
1. A pneumatic soft mechanical arm is characterized in that: comprises at least two groups of rigid body connecting parts (11), driving rod connecting seats (13) are sleeved outside the two ends of the rigid body connecting parts (11), four groups of driving rod bodies (12) are arranged outside the driving rod connecting seats (13) and close to the ring part of the driving rod connecting seats (13), an arm fixing seat (14) is arranged at the end part of the tail end driving rod body (12) which is not fixed on the driving rod connecting seats (13), a finger connecting seat (21) is arranged at the end part of the head end driving rod body (12) which is not fixed on the driving rod connecting seats (13), a soft finger group (2) is arranged at one side of the finger connecting seats (21) far away from the driving rod body (12), the soft finger group (2) at least comprises two groups of soft finger bodies (22), a column body notch (11a) is arranged at the axial part of the rigid body connecting parts (11), and each group of driving rod bodies (12) is communicated with a group of driving rod guide pipe (12d), the other end of the driving rod conduit (12d) penetrates through the driving rod connecting seat (13), the column body notch (11a) and the arm fixing seat (14) to be communicated with the driving mechanism;
an annular inner groove (11b) is formed in the rigid body connecting part (11), and collagen fibers with a spiral curved surface structure are filled in the annular inner groove (11 b);
the outer surfaces of the four groups of driving rod bodies (12) are spiral driving rod cavities (12a) with left-handed or right-handed spiral structures, and the spiral directions of the two adjacent groups of driving rod bodies (12) are opposite;
a first winding wire (12b) is wound on the outer side of the driving rod cavity (12a), and the outer side of the driving rod cavity (12a) is wrapped with fiber cloth (12 c);
each group of soft finger bodies (22) consists of two finger inner cavity bodies (22a) which are symmetrically arranged, a second winding wire (22b) is wound on the surface of each soft finger body (22), and a groove is formed in the position, located in the gap of the second winding wire (22b), of the outer side of each soft finger body (22);
the finger cavity (22a) is communicated with a finger conduit (22d), and the finger conduit (22d) penetrates through the driving rod connecting seat (13), the column body notch (11a), the arm fixing seat (14) and the finger connecting seat (21) to be communicated with the driving mechanism.
2. The pneumatic soft robotic arm of claim 1, wherein: the joint of the driving rod connecting seat (13) and the rigid body connecting part (11) is fixed by a metal fastening ring, the soft finger group (2) further comprises a limiting connecting plate (22c), and the soft finger group (2) is fixed with the finger connecting seat (21) through the limiting connecting plate (22 c).
3. The pneumatic soft robotic arm of claim 1, wherein: the soft finger groups (2) are uniformly distributed on the finger connecting seat (21) along the circumference.
4. The pneumatic soft robotic arm of claim 1, wherein: the driving rod body (12), the driving rod connecting seat (13), the finger connecting seat (21) and the soft finger body (22) are all made of silica gel materials;
the drive rod body (12) and the drive rod connecting seat (13), the finger connecting seat (21) and the drive rod body (12) and the soft finger body (22) and the finger connecting seat (21) are bonded by silicon glue.
5. The pneumatic soft robotic arm of claim 1, wherein: the first winding wire (12b) and the second winding wire (22b) are made of Kevlar fiber wires, and the fiber cloth (12c) is made of polyester single silk screen in a laminating mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111094907.5A CN113733152A (en) | 2021-09-17 | 2021-09-17 | Pneumatic soft mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111094907.5A CN113733152A (en) | 2021-09-17 | 2021-09-17 | Pneumatic soft mechanical arm |
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| Publication Number | Publication Date |
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| CN113733152A true CN113733152A (en) | 2021-12-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111094907.5A Pending CN113733152A (en) | 2021-09-17 | 2021-09-17 | Pneumatic soft mechanical arm |
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| CN (1) | CN113733152A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114734454A (en) * | 2022-03-18 | 2022-07-12 | 北京航空航天大学 | Soft robot arm movement method and device and soft robot |
| CN114771686A (en) * | 2022-04-08 | 2022-07-22 | 南京航空航天大学 | Air pressure driven four-footed soft wall-climbing robot |
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| CN110625639A (en) * | 2019-09-16 | 2019-12-31 | 南京航空航天大学 | Software manipulator |
| CN113084788A (en) * | 2021-04-02 | 2021-07-09 | 浙江工业大学 | Rigid-flexible coupling interaction arm |
| CN113232035A (en) * | 2021-04-30 | 2021-08-10 | 杭州电子科技大学 | Multi-joint rigid-flexible coupling bionic soft finger |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114734454A (en) * | 2022-03-18 | 2022-07-12 | 北京航空航天大学 | Soft robot arm movement method and device and soft robot |
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| CN114771686A (en) * | 2022-04-08 | 2022-07-22 | 南京航空航天大学 | Air pressure driven four-footed soft wall-climbing robot |
| CN114771686B (en) * | 2022-04-08 | 2023-10-27 | 南京航空航天大学 | Pneumatic-driven four-foot soft wall climbing robot |
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