CN114131638A - End executing device of soft bionic robot - Google Patents
End executing device of soft bionic robot Download PDFInfo
- Publication number
- CN114131638A CN114131638A CN202111487739.6A CN202111487739A CN114131638A CN 114131638 A CN114131638 A CN 114131638A CN 202111487739 A CN202111487739 A CN 202111487739A CN 114131638 A CN114131638 A CN 114131638A
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- China
- Prior art keywords
- air
- soft
- bionic
- petal
- base
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Classifications
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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
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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
Abstract
The invention discloses a tail end execution device of a soft bionic robot, which comprises at least 2 bionic soft petal structures uniformly distributed along the circumferential direction, a base and an air pipe, wherein the bottoms of all the petal structures are gathered together, a plurality of 'king' -shaped air cavities which extend along the longitudinal direction and are mutually connected in series are arranged in each bionic soft petal structure, the air cavities are arranged on the outer side, air ports of all the air cavities are gathered in the center of the bottom of the petal structures and are connected with the air pipe, the air pipe is connected with an air source through the base, an air source access hole is arranged on the base, when the air pipe is inflated, the outer side structure of the air cavity is bulged, the deformation degree is larger than that of the inner side, and the bionic soft petal structures are bent towards the inner side. The bionic water lily structure adopts a water lily bionic shape design, and soft, fragile and easily-damaged articles can be well grabbed or released by adopting a bionic soft body structure, so that the articles are prevented from being damaged.
Description
Technical Field
The invention relates to the technical field of bionic machinery, in particular to a tail end execution device of a soft bionic robot.
Background
The robot manipulator is a commonly used execution apparatus, is used for snatching or picking up article, and the wide application is in industrial production and laboratory, and traditional manipulator mostly is the gripper formula, adopts the gripper of mutually supporting to get article. For soft, fragile and easily damaged articles, the articles are difficult to pick up easily by adopting a conventional mechanical claw clamping mode, and the articles are generally collided or scratched by uneven stress or external irresistible factors when the conventional mechanical arm grabs the articles.
The petals of the natural plant water lily can be freely opened and closed, the natural plant water lily has an unfolded shape and a closed shape, and the closed shape can well wrap soft, crisp and easily damaged objects, so that the mechanical claw can be designed into a water lily shape according to the principle of bionics and has a petal structure, and the objects are wrapped in the structure, so that the problem that the traditional finger-type mechanical claw is unevenly stressed on the surfaces of the objects or is damaged due to external irresistible factors is avoided. At present, no bionic execution device adopting the structure exists.
Disclosure of Invention
The invention provides a soft bionic robot tail end execution device for solving the technical problems in the prior art, which can better grab or release soft, fragile and easily damaged articles, can avoid uneven stress on the surfaces of the articles and can avoid the damage of external factors to the articles.
The technical scheme adopted by the invention for solving the technical problems in the prior art is as follows: the utility model provides a terminal final actuating device of software bionic robot, includes 2 at least bionical software petal structures, base and the trachea along circumference equipartition, all the bottom of petal structure is in the same place, every bionical software petal structure's inside is equipped with a plurality ofly along longitudinal extension, the "king" style of calligraphy air cavity of establishing ties each other, the inclined to one side outside of air cavity sets up, all the gas port of air cavity all converge in the bottom central authorities of petal structure and with the trachea is connected, the trachea passes through the base is connected with the air supply be equipped with the air supply on the base and connect the hole, when aerifing, the outside structure of air cavity is bloated, and deformation degree is bigger than inboard, bionical software petal structure is crooked to the inboard.
The bionic soft petal structure is provided with 5 pieces.
The air source access hole is formed in the center of the base, and mounting connection holes are formed in the periphery of the base.
The base is provided with a pentagonal structure and an integrally formed circular boss, and the circular boss is far away from the bionic soft petal structure compared with the pentagonal structure.
The air port of the air cavity is bonded with the air pipe.
The invention has the advantages and positive effects that: adopt the bionical form design of water lily, set up along a plurality of series connection "king" style of calligraphy air cavities of longitudinal extension through adopting in the inside inclined to one side outside of bionical software petal structure, make the part that bionical software petal structure is located the air cavity outside than being located the inboard part of air cavity is thin, when aerifing to the air cavity, outside air cavity is bloated, and deformation degree is more inboard big, therefore the petal can be crooked to the inboard, realizes snatching, otherwise, the gas in the air cavity is by the suction back, and the petal can outwards expand, realizes the release, and then realizes the transfer of article. Soft, fragile and easily-damaged articles can be well grabbed or released by adopting the bionic soft body structure, and the articles are prevented from being damaged.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic front view of the present invention;
FIG. 3 is a schematic side view of the present invention;
FIG. 4 is a structural diagram illustrating the unfolded state of the present invention;
FIG. 5 is a schematic cross-sectional view of the present invention after deployment.
In the figure: 1. a bionic soft petal structure; 2. a base; 3. an air tube; 4. mounting a connecting hole; 5. a gas source access hole; 6. an air cavity.
Detailed Description
In order to further understand the contents, features and effects of the present invention, the following embodiments are illustrated and described in detail with reference to the accompanying drawings:
please refer to fig. 1 to 5, a soft bionic robot end effector, comprising at least 2 bionic soft petal structures 1 uniformly distributed along the circumferential direction, a base 2 and an air tube 3, wherein the bottoms of all the petal structures 1 are gathered together, a plurality of king-shaped air cavities 6 extending along the longitudinal direction and connected with each other in series are arranged in each bionic soft petal structure 1, the air cavities 6 are arranged on the outer side, the air ports of all the air cavities 6 are gathered in the center of the bottom of the petal structures and connected with the air tube 3, the air tube 3 is connected with an air source through the base 2, the base 2 is provided with an air source access hole 5, when the air is inflated, the outer side structure of the air cavities 6 is bulged, the deformation degree is larger than the inner side, and the bionic soft petal structures 1 are directly bent to the inner side to realize grabbing.
In this embodiment, the bionic soft petal structure 1 has 5 pieces, which can realize grabbing well and has good holding performance. The air source access hole 5 is formed in the center of the base 2, and mounting connection holes 4 are formed in the periphery of the base 2, so that the air source access hole is convenient to mount. More specific structure does, base 2 is equipped with pentagon structure and an integrated into one piece's circular boss, circular boss is kept away from than the pentagon structure bionical software petal structure 1, the access of the air supply of being convenient for. The air port of the air cavity 6 is bonded with the air pipe 3 and can be in interference fit. The same air source access hole and the air supply pipeline can be bonded and can be in interference fit.
The invention adopts the water lily bionic shape design, and the air station blows and sucks air to drive the air cavity to swell and contract, so that the bionic petals generate relative closing and opening actions, and the structure is similar to the water lily structure. When the air cavity structure is inflated, the bionic petals are bent and closed to realize grabbing, and when the articles need to be released, the air is sucked from the air cavity structure, and the bionic petals extend. The air cavity structure is arranged on the outer side, the outer side of the petal bulges when the air cavity structure is inflated, and the deformation degree is larger than that of the inner side, so that the petal can bend towards the inner side to realize release. The object is transferred by the mode, and the problem that the surface of the object is damaged due to uneven stress or nonresistable factors outside the traditional finger type mechanical claw on the surface of the object can be avoided. The bionic soft body robot can be formed by adopting the air pump, the air valve and the bionic soft body execution device.
Although the preferred embodiments of the present invention have been described above with reference to the accompanying drawings, the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and those skilled in the art can make many modifications without departing from the spirit and scope of the present invention as defined in the appended claims.
Claims (5)
1. The utility model provides a terminal final actuating device of software bionic robot, its characterized in that includes 2 at least bionical software petal structures, base and trachea along circumference equipartition, all the bottom of bionical software petal structure is gathered together, every bionical software petal structure's inside is equipped with a plurality ofly along longitudinal extension, the "king" style of calligraphy air cavity of series connection each other, the air cavity sets up in the outside partially, all the gas port of air cavity all gather in petal structure's bottom central authorities and with the trachea is connected, the trachea passes through the base is connected with the air supply be equipped with the air supply on the base and connect the hole, when aerifing, the outside structure of air cavity is bloated, and the deformation degree is bigger than inboard, bionical software petal structure is crooked to the inboard.
2. The soft biomimetic robot end effector of claim 1, wherein there are 5 said biomimetic soft petal configurations.
3. The soft biomimetic robot end effector of claim 1, wherein the air source access hole is centrally located on the base, and mounting attachment holes are located around the base.
4. The soft bionic robot end effector as claimed in claim 1, wherein the base has a pentagonal structure and an integrally formed circular boss, and the circular boss is further away from the bionic soft petal structure than the pentagonal structure.
5. The soft biomimetic robot end effector of claim 1, wherein the air port of the air chamber is bonded to the air tube.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111487739.6A CN114131638A (en) | 2021-12-07 | 2021-12-07 | End executing device of soft bionic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111487739.6A CN114131638A (en) | 2021-12-07 | 2021-12-07 | End executing device of soft bionic robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114131638A true CN114131638A (en) | 2022-03-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111487739.6A Pending CN114131638A (en) | 2021-12-07 | 2021-12-07 | End executing device of soft bionic robot |
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| Country | Link |
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| CN (1) | CN114131638A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140109560A1 (en) * | 2010-11-19 | 2014-04-24 | President And Fellows Of Harvard College | Soft robotic actuators |
| CN111958626A (en) * | 2020-09-01 | 2020-11-20 | 曲皇屹 | Bionic execution device at tail end of robot |
| US20210205103A1 (en) * | 2019-11-14 | 2021-07-08 | The Regents Of The University Of Colorado, A Body Corporate | Systems and methods of soft robotic actuation with a liquid metal actuator |
| CN113370242A (en) * | 2021-06-28 | 2021-09-10 | 燕山大学 | Horizontal-longitudinal coupling pneumatic type multi-finger soft manipulator |
| CN214267928U (en) * | 2021-01-22 | 2021-09-24 | 南京林业大学 | Jellyfish-like underwater robot based on software driver |
-
2021
- 2021-12-07 CN CN202111487739.6A patent/CN114131638A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140109560A1 (en) * | 2010-11-19 | 2014-04-24 | President And Fellows Of Harvard College | Soft robotic actuators |
| US20210205103A1 (en) * | 2019-11-14 | 2021-07-08 | The Regents Of The University Of Colorado, A Body Corporate | Systems and methods of soft robotic actuation with a liquid metal actuator |
| CN111958626A (en) * | 2020-09-01 | 2020-11-20 | 曲皇屹 | Bionic execution device at tail end of robot |
| CN214267928U (en) * | 2021-01-22 | 2021-09-24 | 南京林业大学 | Jellyfish-like underwater robot based on software driver |
| CN113370242A (en) * | 2021-06-28 | 2021-09-10 | 燕山大学 | Horizontal-longitudinal coupling pneumatic type multi-finger soft manipulator |
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