CN114670230A - Electromagnetic drive-based modularized honeycomb-simulated soft mechanical gripper - Google Patents
Electromagnetic drive-based modularized honeycomb-simulated soft mechanical gripper Download PDFInfo
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- CN114670230A CN114670230A CN202210471882.4A CN202210471882A CN114670230A CN 114670230 A CN114670230 A CN 114670230A CN 202210471882 A CN202210471882 A CN 202210471882A CN 114670230 A CN114670230 A CN 114670230A
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- deformation
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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
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
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Abstract
The invention provides a modularized honeycomb-like soft mechanical gripper based on electromagnetic driving, which comprises a soft mechanical arm and a soft mechanical hand, wherein the soft mechanical hand is connected to one end of the soft mechanical arm through a supporting module, the soft mechanical arm is of a honeycomb-like structure formed by connecting a plurality of first deformation driving units and a plurality of second deformation driving units in a staggered mode, the soft mechanical hand is formed by connecting a plurality of third deformation driving units end to end, and two magnetic driving plates are arranged in each of the first deformation driving units, the second deformation driving units and the third deformation driving units. The electromagnetic driving device has the advantages of scientific and reasonable structural design, strong practicability, simple operation, wide application range, stable operation, safety and reliability, and can be popularized and used, and the electromagnetic driving device is combined with the software unit to realize the shape change of the device.
Description
Technical Field
The invention belongs to the technical field of soft robots, and particularly relates to a modularized honeycomb-like soft mechanical gripper based on electromagnetic driving.
Background
The traditional soft machine gripper is mostly designed corresponding to one or limited several working requirements, the soft machine gripper cannot adapt to different working environments and functional requirements by changing the self-generating configuration, and if various soft machine grippers are designed for each environment, the resource waste is generated. Meanwhile, the existing soft mechanical grippers are mostly designed and manufactured in respective modes, which further hinders large-scale popularization.
There are various designs and power sources for the soft robot, and in order to standardize the design of the module and utilize the power source which is favorable for control, a modularized soft device which utilizes electromagnetic drive needs to be designed.
Disclosure of Invention
The invention aims to solve the technical problem that the defects of the prior art are overcome, and the electromagnetic drive-based modularized honeycomb-like soft mechanical gripper is provided.
In order to solve the technical problems, the invention adopts the technical scheme that: the utility model provides an imitative honeycomb software machinery tongs of modularization based on electromagnetic drive, its characterized in that, includes software machinery arm and software manipulator, the software manipulator passes through the one end that the support module connects at the software machinery arm, the software machinery arm includes first deformation portion and second deformation portion, first deformation portion and second deformation portion staggered connection form honeycomb structure, first deformation portion connects gradually by a plurality of first deformation drive unit and forms, the second deformation portion is connected gradually by a plurality of second deformation drive unit and is formed, the software manipulator is connected gradually by a plurality of third deformation drive unit and forms, equal parallel relative two blocks of electromagnetic drive boards that are provided with in first deformation drive unit, second deformation drive unit and the third deformation drive unit.
Preferably, the first deformation driving unit and the second deformation driving unit are respectively composed of two first V-shaped connecting pieces and two first electromagnetic driving plates, the first V-shaped connecting pieces are connected to end faces of the two first electromagnetic driving plates on the same side, the first electromagnetic driving plates on the adjacent first deformation driving units are fixedly connected, the first electromagnetic driving plates on the adjacent second deformation driving units are fixedly connected, and the first deformation driving units and the adjacent second deformation driving units are fixedly connected in a staggered mode through the first V-shaped connecting pieces.
Preferably, the third deformation driving unit comprises an end limiting connecting piece, a second V-shaped connecting piece and two second electromagnetic driving plates, the end limiting connecting piece and the second V-shaped connecting piece are respectively connected to two sides of the two second electromagnetic driving plates, the second electromagnetic driving plates on adjacent third deformation driving units are fixedly connected, and the end limiting connecting pieces on adjacent third deformation driving units are fixedly connected. When the two second electromagnetic driving plates in the third deformation driving unit are electrified, magnetic force is generated, the second V-shaped connecting piece expands outwards, and the end limiting connecting piece generates a limiting effect, so that the soft manipulator achieves different bending radians.
Preferably, the first V-shaped connecting piece and the second V-shaped connecting piece are both made of soft materials, and the first electromagnetic driving plate and the second electromagnetic driving plate are both made of electromagnets.
Preferably, the polarities of the opposite end faces of the first electromagnetic drive plates in the same first deformation drive unit and the second deformation drive unit are the same, and the polarities of the opposite end faces of the second electromagnetic drive plates in the same third deformation drive unit are the same. When the electromagnetic driving plates in the same first or second driving unit are synchronously powered, magnetic force is generated in the two electromagnetic driving plates, the opposite end surfaces have the same polarity, so that the opposite end surfaces repel each other to drive the angle of the first V-shaped connecting piece to be increased, the width of the first deformation driving unit or the second deformation driving unit is increased, the first deformation part and the second deformation part can be synchronously elongated after the first deformation driving unit or the second deformation driving unit is deformed and superposed layer by layer, and the whole soft mechanical arm is also elongated after the synchronous elongation. When only the first deformation portion or the second deformation portion is elongated, the entire soft mechanical arm is bent.
Preferably, the support module is a triangular connector.
Preferably, each of the first deformation driving unit, the second deformation driving unit and the third deformation driving unit is independently connected with a power supply, and the magnitude of the magnetic force is controlled by controlling the magnitude of the current input into the electromagnetic driving board, so that the first V-shaped connecting piece and the second V-shaped connecting piece are controlled to deform.
Compared with the prior art, the invention has the following advantages:
1. the electromagnetic driving device has the advantages of scientific and reasonable structural design, safe and reliable electromagnetic driving deformation, modular design, simple installation and maintenance, low cost, stable operation, low failure rate and simple operation, and can be popularized and used.
2. The invention adopts standard modular design to form a honeycomb soft deformation structure, the honeycomb grid structure has uniform elastic deformation, the deformation of the whole device is gradually accumulated through the micro deformation of local modules, the deformation range is large, and the functions are various.
3. The invention can control the individual deformation degree of each driving unit only by controlling the current input into the electromagnetic driving plate, and compared with common mechanical transmission and air pump driving, the invention has the advantages of sensitive and reliable action, low noise and accurate control.
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
FIG. 2 is a schematic view of the construction of the soft robotic arm of the present invention.
FIG. 3 is a schematic view of the structure of the soft manipulator of the present invention.
Fig. 4 is a schematic view of a connection structure and a polarity arrangement of each first deformation driving unit of the first deformation portion according to the present invention.
FIG. 5 is a schematic view of the structure of the soft arm in a bending state according to the present invention.
FIG. 6 is a schematic diagram of a portion of the soft manipulator and its polarity arrangement.
Fig. 7 is a schematic structural view of a third modified drive unit in the present invention.
Description of reference numerals:
1-a soft manipulator; 2-a support module; 3-a soft mechanical arm;
4-a first deformation driving unit; 5-a second deformation driving unit; 6-a third variant drive unit;
7-a first V-shaped connector; 8-a first electromagnetic drive plate; 9-end spacing connecting piece;
10-a second V-shaped connector; 11-a second electromagnetic drive plate.
Detailed Description
As shown in fig. 1 to 7, the present invention includes a soft mechanical arm 3 and a soft mechanical arm 1, wherein the soft mechanical arm 1 is connected to one end of the soft mechanical arm 3 through a support module 2, the soft mechanical arm 3 includes a first deformation portion and a second deformation portion, the first deformation portion and the second deformation portion are connected in a left-right staggered manner to form a honeycomb structure, the first deformation portion is formed by sequentially connecting a plurality of first deformation driving units 4, the second deformation portion is formed by sequentially connecting a plurality of second deformation driving units 5, the soft mechanical arm 1 is formed by sequentially connecting a plurality of third deformation driving units 6, and two electromagnetic driving plates are respectively and oppositely arranged in parallel in the first deformation driving unit 1, the second deformation driving unit 5 and the third deformation driving unit 6.
In this embodiment, each of the first deformation driving unit 1 and the second deformation driving unit 5 is composed of two first V-shaped connecting members 7 and two first electromagnetic driving plates 8, the first V-shaped connecting members 7 are connected to left and right end faces of the two first electromagnetic driving plates 8, the two first electromagnetic driving plates 8 on adjacent first deformation driving units 4 are fixedly connected, the two first electromagnetic driving plates 8 on adjacent second deformation driving units 2 are fixedly connected, and the first deformation driving units 4 and the adjacent second deformation driving units 5 are fixedly connected in a staggered manner through the first V-shaped connecting members 7 to form a honeycomb grid structure.
In this embodiment, the third deformation driving unit 6 includes an end limit connector 9, a second V-shaped connector 10, and two second electromagnetic driving boards 11, where the end limit connector 9 and the second V-shaped connector 10 are respectively connected to two sides of the two second electromagnetic driving boards 11, the two second electromagnetic driving boards 11 on adjacent third deformation driving units 6 are fixedly connected, and the end limit connector 9 on adjacent third deformation driving units 6 is fixedly connected. When the two second electromagnetic driving plates 11 in the third deformation driving unit 6 are electrified, magnetic force is generated, the second V-shaped connecting piece 10 expands outwards, and the end limiting connecting piece 9 generates a limiting effect, so that the soft manipulator 1 achieves different bending radians.
In this embodiment, the first V-shaped connecting member 7 and the second V-shaped connecting member 10 are both made of a soft material, the first electromagnetic driving plate 8 and the second electromagnetic driving plate 11 are both made of electromagnets, the end limiting connecting member 9 is arc-shaped or trapezoid-shaped, and the elastic modulus of the end limiting connecting member 9 is greater than that of the second V-shaped connecting member 10, that is, the rigidity of the end limiting connecting member 9 is greater than that of the second V-shaped connecting member 10.
In this embodiment, since the first deformation driving unit 4, the second deformation driving unit 5, and the third deformation driving unit 6 have changes in length and thickness directions during the deformation process, the first electromagnetic driving board 8 and the second electromagnetic driving board 11 inside each deformation driving unit are both connected to the input power source through thin wires and are reserved with a sufficient extension length. All the electric appliance driving boards are respectively connected to the control unit through the tail ends of the conducting wires. Through a group of input power supplies and the combination of the singlechip control circuit, independent or integral free control power supply can be realized, and the size of the introduced current can be flexibly controlled.
In this embodiment, the polarities of the opposite end surfaces of the first electromagnetic drive plates 8 in the same first deformation drive unit 4 and the second deformation drive unit 5 are the same, and the polarities of the end surfaces of the first electromagnetic drive plates 8 fixedly connected to the adjacent first deformation drive units 4 are opposite, and similarly, the polarities of the opposite end surfaces of the second electromagnetic drive plates 11 in the same third deformation drive unit 6 are the same, and the polarities of the connection end surfaces of the second electromagnetic drive plates 11 fixedly connected to the adjacent third deformation drive units 6 are opposite. When the electromagnetic drive plates in the same first or second drive unit are synchronously powered, magnetic force is generated in the two electromagnetic drive plates, the opposite end surfaces have the same polarity, so that the opposite end surfaces repel each other to drive the angle of the first V-shaped connecting piece 7 to be increased, the width of the first deformation drive unit 4 or the second deformation drive unit 5 is increased, the first deformation part and the second deformation part can be synchronously elongated after the layers are deformed and superposed, and the whole soft mechanical arm 3 is also elongated after the synchronous elongation. When only the first deformation portion or the second deformation portion is elongated, the entire soft mechanical arm 3 is bent. When the same third deformation driving unit 6 is powered on, the two opposite second electromagnetic driving plates 11 repel each other to enable the second V-shaped connecting piece to expand outwards.
In this embodiment, the supporting module 2 is a triangular connecting member.
In this embodiment, each of the first deformation driving unit 4, the second deformation driving unit 5, and the third deformation driving unit 6 is independently connected to a power supply, and controls the magnitude of the magnetic force by controlling the magnitude of the current input into the electromagnetic driving board, so as to control the first V-shaped connecting piece 7 and the second V-shaped connecting piece 10 to deform.
When the soft mechanical arm 3 is required to be integrally extended, currents with the same magnitude are introduced into all the first electromagnetic driving plates 8 in the soft mechanical arm 3, all the first V-shaped connecting pieces 7 are synchronously deformed to enable the soft mechanical arm 3 to be integrally extended, and the extension amount is adjusted according to the magnitude of the introduced currents;
when the flexible mechanical arm 3 is required to bend, currents with different sizes are respectively introduced into the first deformation part and the second deformation part according to the bending track requirement, so that the purpose of bending is achieved when the deformation amplitudes of the two sides are different;
when the soft manipulator 1 needs to be electrified, the gripping range of the soft manipulator 1 is enlarged, and the gripping range can be flexibly changed according to the size of a gripped object.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention in any way. Any simple modifications, alterations and equivalent changes of the above embodiments according to the technical essence of the invention are still within the protection scope of the technical solution of the invention.
Claims (7)
1. A modularized honeycomb-like soft mechanical gripper based on electromagnetic drive is characterized by comprising a soft mechanical arm (3) and a soft mechanical arm (1), the soft mechanical arm (1) is connected with one end of the soft mechanical arm (3) through a supporting module (2), the soft mechanical arm (3) comprises a first deformation part and a second deformation part which are connected in a staggered manner to form a honeycomb structure, the first deformation part is formed by connecting a plurality of first deformation driving units (4) in sequence, the second deformation part is formed by connecting a plurality of second deformation driving units (5) in sequence, the soft manipulator (1) is formed by connecting a plurality of third deformation driving units (6) in sequence, two electromagnetic driving plates are arranged in the first deformation driving unit (1), the second deformation driving unit (5) and the third deformation driving unit (6) in parallel and oppositely.
2. The electromagnetic drive-based modular honeycomb-like soft mechanical gripper is characterized in that the first deformation drive unit (1) and the second deformation drive unit (5) are respectively composed of two first V-shaped connecting pieces (7) and two first electromagnetic drive plates (8), the first V-shaped connecting pieces (7) are connected to the end faces of the two first electromagnetic drive plates (8) on the same side, the first electromagnetic drive plates (8) on the adjacent first deformation drive units (4) are fixedly connected, the first electromagnetic drive plates (8) on the adjacent second deformation drive units (2) are fixedly connected, and the first deformation drive units (4) and the adjacent second deformation drive units (5) are fixedly connected in a staggered mode through the first V-shaped connecting pieces (7).
3. The electromagnetic drive-based modular honeycomb-like soft mechanical gripper is characterized in that the third deformation drive units (6) comprise end limit connectors (9), second V-shaped connectors (10) and two second electromagnetic drive plates (11), the end limit connectors (9) and the second V-shaped connectors (10) are respectively connected to two sides of the two second electromagnetic drive plates (11), the second electromagnetic drive plates (11) on adjacent third deformation drive units (6) are fixedly connected, and the end limit connectors (9) on adjacent third deformation drive units (6) are fixedly connected.
4. The electromagnetic drive based modular honeycomb-like soft mechanical gripper is characterized in that the first V-shaped connecting piece (7) and the second V-shaped connecting piece (10) are made of soft materials, and the first electromagnetic drive plate (8) and the second electromagnetic drive plate (11) are made of electromagnets.
5. The electromagnetic drive based modular honeycomb-like soft mechanical gripper is characterized in that the polarities of the opposite end faces of the first electromagnetic drive plates (8) in the same first deformation drive unit (4) and second deformation drive unit (5) are the same, and the polarities of the opposite end faces of the second electromagnetic drive plates (11) in the same third deformation drive unit (6) are the same.
6. The electromagnetic drive based modular honeycomb-like soft mechanical gripper as claimed in claim 1, characterized in that said supporting modules (2) are triangular connectors.
7. The electromagnetic drive-based modular honeycomb-like soft mechanical gripper is characterized in that each of the first deformation drive unit (4), the second deformation drive unit (5) and the third deformation drive unit (6) is independently connected with a power supply, and the magnitude of the magnetic force is controlled by controlling the magnitude of the current input into the electromagnetic drive plate, so that the first V-shaped connecting piece (7) and the second V-shaped connecting piece (10) are controlled to deform.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210471882.4A CN114670230B (en) | 2022-04-29 | 2022-04-29 | Modularized honeycomb-imitating soft mechanical gripper based on electromagnetic driving |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210471882.4A CN114670230B (en) | 2022-04-29 | 2022-04-29 | Modularized honeycomb-imitating soft mechanical gripper based on electromagnetic driving |
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| CN114670230A true CN114670230A (en) | 2022-06-28 |
| CN114670230B CN114670230B (en) | 2023-06-20 |
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