CN114670230B - Modularized honeycomb-imitating soft mechanical gripper based on electromagnetic driving - Google Patents
Modularized honeycomb-imitating soft mechanical gripper based on electromagnetic driving Download PDFInfo
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- CN114670230B CN114670230B CN202210471882.4A CN202210471882A CN114670230B CN 114670230 B CN114670230 B CN 114670230B CN 202210471882 A CN202210471882 A CN 202210471882A CN 114670230 B CN114670230 B CN 114670230B
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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 an electromagnetic drive-based modularized honeycomb-like soft mechanical gripper, which comprises a soft mechanical arm and a soft mechanical arm, wherein the soft mechanical arm is connected to one end of the soft mechanical arm through a support module, the soft mechanical arm is formed into a honeycomb-like structure by connecting a plurality of first deformation driving units and a plurality of second deformation driving units in a staggered manner, the soft mechanical arm is formed by connecting a plurality of third deformation driving units end to end, and two magnetic driving plates are arranged in the first deformation driving units, the second deformation driving units and the third deformation driving units. The invention has scientific and reasonable structural design, strong practicability, simple operation, wide application range, stable operation, safety and reliability, and can be popularized and used by combining electromagnetic drive and a software unit to realize the morphological change of the device.
Description
Technical Field
The invention belongs to the technical field of soft robots, and particularly relates to a modularized honeycomb-imitating soft mechanical gripper based on electromagnetic driving.
Background
Most of the conventional soft machine grippers are designed corresponding to one or a limited number of working requirements, and the soft machine grippers cannot adapt to different working environments and functional requirements by changing the autogenous configuration, and if the soft machine grippers are designed for each environment, resource waste is generated. Meanwhile, most of the existing soft machine grippers have respective design and manufacturing modes, which is a hindrance to large-scale popularization.
Soft robots have various designs and power sources, and for modular standardized designs, while utilizing a power source that facilitates control, a modular, electromagnetically driven soft device needs to be designed.
Disclosure of Invention
The invention aims to solve the technical problems of the prior art, and provides the modularized honeycomb-imitating soft mechanical gripper based on electromagnetic driving.
In order to solve the technical problems, the invention adopts the following technical scheme: the modularized honeycomb-imitating soft mechanical gripper based on electromagnetic driving is characterized by comprising a soft mechanical arm and a soft mechanical arm, wherein the soft mechanical arm is connected to one end of the soft mechanical arm through a supporting module, the soft mechanical arm comprises a first deformation part and a second deformation part, the first deformation part and the second deformation part are connected in a staggered manner to form a honeycomb structure, the first deformation part is formed by sequentially connecting a plurality of first deformation driving units, the second deformation part is formed by sequentially connecting a plurality of second deformation driving units, the soft mechanical arm is formed by sequentially connecting a plurality of third deformation driving units, and two electromagnetic driving plates are arranged in the first deformation driving units, the second deformation driving units and the third deformation driving units in parallel and opposite.
Preferably, the first deformation driving units and the second deformation driving units are each composed of two first V-shaped connecting pieces and two first electromagnetic driving plates, the first V-shaped connecting pieces are connected to the same side end faces of the two first electromagnetic driving plates, 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, wherein 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 the adjacent third deformation driving units are fixedly connected, and the end limiting connecting pieces on the adjacent third deformation driving units are fixedly connected. When two second electromagnetic driving plates in the third deformation driving unit are electrified to generate magnetic force, 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 connector and the second V-shaped connector are made of soft materials, and the first electromagnetic driving plate and the second electromagnetic driving plate are made of electromagnets.
Preferably, the polarities of the opposite end surfaces of the first electromagnetic driving plates in the same first deformation driving unit and the second deformation driving unit are the same, and the polarities of the opposite end surfaces of the second electromagnetic driving plates in the same third deformation driving unit are the same. When the electromagnetic driving plates in the same first or second driving units are synchronously powered, magnetic force is generated in the two electromagnetic driving plates, opposite end faces have the same polarity, so that the angles of the first V-shaped connecting pieces are mutually repulsive and driven to become larger, the widths of the first deformation driving units or the second deformation driving units become larger, the first deformation parts and the second deformation parts can be synchronously stretched after layer-by-layer deformation superposition, and the whole soft mechanical arm is also stretched after synchronous stretching. When only the first deformation part or the second deformation part stretches, the whole soft mechanical arm realizes bending deformation.
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 magnetic force is controlled by controlling the magnitude of current input into the electromagnetic driving plate, 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 invention has scientific and reasonable structural design, safe and reliable electromagnetic driving deformation, modularized design, simple installation and maintenance, low cost, stable operation, low failure rate, simple operation and popularization and application.
2. The invention adopts standard modularized design to form the honeycomb type soft deformation structure, the honeycomb type grid structure is uniformly deformed, the deformation of the whole device is gradually accumulated through the tiny deformation of the local module, the deformation range is large, and the functions are various.
3. The invention can control the individual deformation degree of each driving unit by only 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 more sensitive and reliable action, small noise and precise control.
The invention is described in further detail below with reference to the drawings and examples.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
FIG. 2 is a schematic diagram of a flexible mechanical arm according to the present invention.
FIG. 3 is a schematic diagram of a manipulator according to the present invention.
Fig. 4 is a schematic diagram of a connection structure and a schematic diagram of a polarity setting of each first deformation driving unit of the first deformation portion in the present invention.
FIG. 5 is a schematic view of the flexible mechanical arm in the bending state according to the present invention.
FIG. 6 is a schematic view of a part of a manipulator and a polarity setting thereof according to the present invention.
Fig. 7 is a schematic structural view of a third modified driving unit in the present invention.
Reference numerals illustrate:
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-third deformation driving sheet
A meta-element;
7-a first V-shaped connector; 8-a first electromagnetic drive plate; 9-end limiting connectors;
10-a second V-shaped connector; 11-a second electromagnetic drive plate.
Detailed Description
As shown in fig. 1 to 7, the invention comprises a soft manipulator 3 and a soft manipulator 1, wherein the soft manipulator 1 is connected to one end of the soft manipulator 3 through a support module 2, the soft manipulator 3 comprises a first deformation part and a second deformation part, the first deformation part and the second deformation part are connected left and right in a staggered manner to form a honeycomb structure, the first deformation part is formed by sequentially connecting a plurality of first deformation driving units 4, the second deformation part is formed by sequentially connecting a plurality of second deformation driving units 5, the soft manipulator 1 is formed by sequentially connecting a plurality of third deformation driving units 6, and two electromagnetic driving plates are arranged in parallel and opposite to each other in the first deformation driving units 1, the second deformation driving units 5 and the third deformation driving units 6.
In this embodiment, the first deformation driving unit 1 and the second deformation driving unit 5 are each composed of two first V-shaped connectors 7 and two first electromagnetic driving plates 8, the first V-shaped connectors 7 are connected to the left and right end faces of the two first electromagnetic driving plates 8, the two first electromagnetic driving plates 8 on the adjacent first deformation driving units 4 are fixedly connected, the two first electromagnetic driving plates 8 on the adjacent second deformation driving units 5 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 connectors 7 to form a honeycomb grid structure.
In this embodiment, the third deformation driving unit 6 includes an end limiting connecting piece 9, a second V-shaped connecting piece 10 and two second electromagnetic driving boards 11, where the end limiting connecting piece 9 and the second V-shaped connecting piece 10 are respectively connected to two sides of the two second electromagnetic driving boards 11, and the two second electromagnetic driving boards 11 on the adjacent third deformation driving unit 6 are fixedly connected, and the end limiting connecting piece 9 on the adjacent third deformation driving unit 6 is fixedly connected. When the two second electromagnetic driving plates 11 in the third deformation driving unit 6 are electrified to generate magnetic force, the second V-shaped connecting pieces 10 are expanded outwards, and the end limiting connecting pieces 9 generate limiting effect, so that the soft manipulator 1 achieves different bending radians.
In this embodiment, the first V-shaped connecting piece 7 and the second V-shaped connecting piece 10 are made of soft materials, the first electromagnetic driving plate 8 and the second electromagnetic driving plate 11 are made of electromagnets, the end limiting connecting piece 9 is arc-shaped or trapezoid-shaped, and the elastic modulus of the end limiting connecting piece 9 is greater than that of the second V-shaped connecting piece 10, namely, the rigidity of the end limiting connecting piece 9 is greater than that of the second V-shaped connecting piece 10.
In the present embodiment, since the first deformation driving unit 4, the second deformation driving unit 5, and the third deformation driving unit 6 have variations in length and thickness directions during deformation, the first electromagnetic driving plate 8 and the second electromagnetic driving plate 11 inside each deformation driving unit are connected to an input power source by thin wires and are reserved with sufficient extension lengths. All the electric appliance driving boards are respectively connected into the control unit through the tail ends of the wires. The independent or integral free control power supply can be realized by a group of input power supplies and the combination of the singlechip control circuits, and the magnitude of the input current can be flexibly controlled.
In this embodiment, the polarities of the opposite end surfaces of the first electromagnetic driving plates 8 in the same first deformation driving unit 4 and the second deformation driving unit 5 are the same, the polarities of the end surfaces of the first electromagnetic driving plates 8 fixedly connected to the adjacent first deformation driving units 4 are opposite, and similarly, the polarities of the opposite end surfaces of the second electromagnetic driving plates 11 in the same third deformation driving unit 6 are the same, and the polarities of the connecting end surfaces of the second electromagnetic driving plates 11 fixedly connected to the adjacent third deformation driving units 6 are opposite. When the electromagnetic driving plates in the same first or second driving units are synchronously powered, magnetic force is generated in the two electromagnetic driving plates, and opposite end faces have the same polarity, so that the angles of the first V-shaped connecting pieces 7 are mutually repulsive and driven to become larger, the widths of the first deformation driving units 4 or the second deformation driving units 5 become larger, the first deformation parts and the second deformation parts can be synchronously stretched after layer-by-layer deformation superposition, and the whole soft mechanical arm 3 is also stretched after synchronous stretching. When only the first deformation portion or the second deformation portion is elongated, the whole soft manipulator 3 is subjected to bending deformation. When the same third deformation driving unit 6 is electrified, the two opposite second electromagnetic driving plates 11 repel and expand the second V-shaped connecting pieces.
In this embodiment, the support module 2 is a triangle connector.
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 source, and the magnitude of magnetic force is controlled by controlling the magnitude of current input into the electromagnetic driving plate, so as to control the deformation of the first V-shaped connecting piece 7 and the second V-shaped connecting piece 10.
When the flexible mechanical arm 3 is required to be integrally stretched in use, current with the same magnitude is supplied to all the first electromagnetic drive plates 8 in the flexible mechanical arm 3, all the first V-shaped connecting pieces 7 deform synchronously to ensure that the flexible mechanical arm 3 is integrally stretched, and the stretching amount is adjusted according to the supplied current;
when the soft mechanical arm 3 is required to bend, currents with different magnitudes 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 due to different deformation amplitudes of the two sides;
when the power is needed to be supplied to the soft manipulator 1, the grasping range of the soft manipulator 1 is enlarged, and the grasping range can be flexibly changed according to the grasping object.
The above description is only of the preferred embodiments of the present invention, and is not intended to limit the present invention. Any simple modification, variation and equivalent variation of the above embodiments according to the technical substance of the invention still fall within the scope of the technical solution of the invention.
Claims (4)
1. The modularized honeycomb-imitating soft mechanical gripper based on electromagnetic driving is characterized by comprising 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 supporting module (2), the soft mechanical arm (3) comprises a first deformation part and a second deformation part, the first deformation part and the second deformation part are connected in a staggered manner to form a honeycomb structure, the first deformation part is formed by sequentially connecting a plurality of first deformation driving units (4), the second deformation part 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 arranged in the first deformation driving units (4), the second deformation driving units (5) and the third deformation driving units (6) in parallel and opposite mode;
the first deformation driving units (4) and the second deformation driving units (5) are respectively composed of two first V-shaped connecting pieces (7) and two first electromagnetic driving plates (8), the first V-shaped connecting pieces (7) are connected to the same side end faces of the two first electromagnetic driving plates (8), the first electromagnetic driving plates (8) on the adjacent first deformation driving units (4) are fixedly connected, the first electromagnetic driving plates (8) on the adjacent second deformation driving units (5) are fixedly connected, and the first deformation driving units (4) are fixedly connected with the adjacent second deformation driving units (5) in a staggered mode through the first V-shaped connecting pieces (7);
the third deformation driving unit (6) comprises an end limiting connecting piece (9), a second V-shaped connecting piece (10) and two second electromagnetic driving plates (11), wherein the end limiting connecting piece (9) and the second V-shaped connecting piece (10) are respectively connected to two sides of the two second electromagnetic driving plates (11), the second electromagnetic driving plates (11) on the adjacent third deformation driving units (6) are fixedly connected, and the end limiting connecting pieces (9) on the adjacent third deformation driving units (6) are fixedly connected; the first V-shaped connecting piece (7) and the second V-shaped connecting piece (10) are made of soft materials; the polarities of the opposite end surfaces of the first electromagnetic driving plates (8) in the same first deformation driving unit (4) and the second deformation driving unit (5) are the same, and the polarities of the opposite end surfaces of the second electromagnetic driving plates (11) in the same third deformation driving unit (6) are the same.
2. The modular, honeycomb-like, soft mechanical gripper based on electromagnetic driving according to claim 1, characterized in that the first electromagnetic driving plate (8) and the second electromagnetic driving plate (11) are both made of electromagnets.
3. The modular honeycomb imitating soft mechanical gripper based on electromagnetic driving according to claim 1, wherein the supporting module (2) is a triangle connector.
4. The modularized honeycomb imitating soft mechanical gripper based on electromagnetic driving according to claim 1, wherein each of the first deformation driving unit (4), the second deformation driving unit (5) and the third deformation driving unit (6) is independently connected with a power supply, and the magnitude of magnetic force is controlled by controlling the magnitude of current input into an electromagnetic driving 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 |
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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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| CN202210471882.4A CN114670230B (en) | 2022-04-29 | 2022-04-29 | Modularized honeycomb-imitating soft mechanical gripper based on electromagnetic driving |
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| CN114670230B true CN114670230B (en) | 2023-06-20 |
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