CN114800584B - Variable-rigidity flexible end effector coupled with dry adhesion and vacuum adsorption - Google Patents

Variable-rigidity flexible end effector coupled with dry adhesion and vacuum adsorption Download PDF

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Publication number
CN114800584B
CN114800584B CN202210428861.4A CN202210428861A CN114800584B CN 114800584 B CN114800584 B CN 114800584B CN 202210428861 A CN202210428861 A CN 202210428861A CN 114800584 B CN114800584 B CN 114800584B
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China
Prior art keywords
adhesion
soft
dry
central part
sucker
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CN202210428861.4A
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CN114800584A (en
Inventor
王周义
翁志远
袁清松
姚俊升
戴振东
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Shenzhen Research Institute Of Nanjing University Of Aeronautics And Astronautics
Nanjing University of Aeronautics and Astronautics
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Shenzhen Research Institute Of Nanjing University Of Aeronautics And Astronautics
Nanjing University of Aeronautics and Astronautics
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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
    • B25J15/0019—End effectors other than grippers
    • 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
    • B25J15/008—Gripping heads and other end effectors with sticking, gluing or adhesive means
    • 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
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T50/00—Aeronautics or air transport
    • Y02T50/40—Weight reduction

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a variable-rigidity flexible end effector coupled with dry adhesion and vacuum adsorption, which comprises an effector body, a variable-rigidity layer and a sucker, wherein the sucker is an atmospheric sucker and/or a negative sucker, the effector body comprises a central part and a plurality of soft adhesion ends uniformly distributed along the circumferential direction of the central part, one surface of each soft adhesion end is adhered with a plurality of dry adhesion materials to form an adhesion surface, a plurality of inner cavities which form a fold-shaped structure with the adhesion surface are uniformly arranged in each soft adhesion end from the central part outwards, positive air pressure or negative air pressure is given to the inner cavities to control the expansion or contraction of each inner cavity, so that each soft adhesion end is driven to bend away from the central part or bend towards the central part, the multi-mechanism coupling and variable-rigidity technology can be realized under the single air path driving, the work load can be improved through the variable-rigidity technology, and the rapid stable grabbing of a smooth plane can be realized through the sucker and the adhesion coupling effect.

Description

Variable-rigidity flexible end effector coupled with dry adhesion and vacuum adsorption
Technical Field
The invention relates to the technical field of end effectors, in particular to a variable-rigidity flexible end effector coupled with dry adhesion and vacuum adsorption.
Background
The flexible end actuating mechanism has the advantages of strong adaptability, simple operation, simple materials and the like, and is widely applied to a plurality of fields such as digital manufacturing, robot operation, transfer printing, medical clamping and the like at present; at present, flexible end actuating mechanisms can be classified into claw grabbing, vacuum adsorption, adhesion materials, magnetic adsorption and other types according to working modes.
Most of the existing flexible tail end actuating mechanisms adopt a single working mode, have low adaptability and poor stability, and are difficult to quickly and effectively grasp a smooth plane; the flexible tail end mechanism with the combined action of a plurality of working modes has the advantages of heavy driving device, complex structure and complicated control mode, thereby greatly limiting the application in industrial production practice; in addition, the existing flexible tail end mechanism is low in rigidity, easy to deform and difficult to effectively grasp smooth objects with large mass. Accordingly, there is a need for a variable stiffness flexible end effector that combines dry adhesion with vacuum adsorption to address the above-described issues.
Disclosure of Invention
The invention provides the variable-rigidity flexible end effector which has a exquisite structure and simple operation, can realize the dry adhesion and vacuum adsorption coupling of effectively and stably grabbing a large-load smooth plane, and solves the problems in the prior art.
In order to achieve the above purpose, the present invention provides the following technical solutions: a variable stiffness flexible end effector coupled with dry adhesion and vacuum adsorption, comprising:
the actuator body comprises a central part and a plurality of soft adhesion ends uniformly distributed along the circumferential direction of the central part, wherein a plurality of dry adhesion materials are adhered to one surface of each soft adhesion end to form an adhesion surface, a plurality of inner cavities which form a fold-shaped structure on the adhesion surface are uniformly arranged outwards from the central part, the inner cavities are communicated by air passages arranged in the soft adhesion ends, air holes are formed in the central part and are communicated with the air passages in the soft adhesion ends, an air hole external air pressure driving device is used for giving positive air pressure or negative air pressure to the air passages to control the expansion or contraction of the inner cavities and drive the soft adhesion ends to bend away from the central part or bend towards the central part;
the rigidity-changing layer is arranged at the part of each soft adhesion end far away from the adhesion surface and comprises a cavity formed by coating a film, and a plurality of fiber filaments are densely distributed in the cavity, wherein the cavity is communicated with the air passage;
the normal pressure sucking disc and/or the negative pressure sucking disc are/is arranged on one side of the adhesion surface, wherein the negative pressure sucking disc is communicated with the air passage.
Preferably, each of the inner cavities is arranged in parallel, and the height of each of the inner cavities gradually decreases from the center part to the outside according to an arithmetic progression.
Preferably, in the original state of the soft body adhesion end, the surface of the soft body adhesion end far away from the adhesion surface is an inclined surface and inclines towards the adhesion surface.
Preferably, the film is PVA film material, and the PVA film material outside cladding dacron layer, the cellosilk is PET soft material.
Preferably, the negative pressure sucking disc is connected with the end effector body through a sleeve, wherein an air pipe is arranged in the sleeve, one end of the air pipe is communicated with the air hole, the other end of the air pipe is communicated with the negative pressure sucking disc, the opening of the negative pressure sucking disc is covered by a membrane structure, and the membrane structure contracts towards a far away adsorption surface to form a secondary negative pressure space or the membrane structure bulges under positive air pressure or negative air pressure.
Preferably, the sleeve and the end effector body are connected by means of a secondary curing of the photosensitive material.
Preferably, the normal pressure sucking discs are multiple, the arrays are distributed on each soft adhesion end, each normal pressure sucking disc comprises a skirt edge and a mounting buckle, the mounting buckles are spliced with the soft adhesion ends, and the skirt edges are flush with the dry adhesion materials when the normal pressure sucking discs are pressed to an adsorption state.
Preferably, the atmospheric sucker material is Smooth-On Dragonskin 2A, and sealing is realized through photosensitive adhesive after the atmospheric sucker is installed.
Preferably, each atmospheric sucker is distributed at the centroid position of each dry adhesion material block.
Compared with the prior art, the invention has the beneficial effects that: the invention has strong surface adaptability and working reliability through the coupling of the soft adhesion end and the sucker, can work on a smooth surface, is added with a silk-variable stiffness layer at the upper part of the soft end, changes stiffness through negative pressure and positive pressure, realizes multi-mechanism coupling and stiffness changing technology by utilizing an air hole to control by a single pneumatic driving device, can improve the working load through the stiffness changing technology, can realize quick and stable grabbing of a smooth plane through the coupling effect of the sucker and adhesion in industrial production practice and special working conditions, and has exquisite structure and simple operation.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention.
In the drawings:
FIG. 1 is a schematic view of the structure of a flexible end effector of the present invention;
FIG. 2 is a top view of the flexible end effector of the present invention;
FIG. 3 is a schematic view of the internal airway of the flexible end effector of the present invention;
FIG. 4 is a cross-sectional view of a filament stiffness layer construction of the present invention;
FIG. 5 is a schematic view of the structure of the negative pressure suction cup of the present invention;
FIG. 6 is a schematic diagram of the operation of the negative pressure suction cup of the present invention;
FIG. 7 is a schematic view of the structure of the atmospheric chuck of the present invention;
reference numerals in the drawings: 1. a center portion; 2. a soft adhesive end; 3. a dry adhesive material; 4. an inner cavity; 5. an airway; 6. air holes; 7. a variable stiffness layer; 8. a film; 9. a cavity; 10. a fiber yarn; 11. a normal pressure sucker; 12. a negative pressure suction cup; 13. a sleeve; 14. an air pipe; 15. a membrane structure; 16. a skirt edge; 17. and (5) installing a buckle.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
Examples: a variable-rigidity flexible end effector coupled with dry adhesion and vacuum adsorption mainly comprises an effector body, a variable-rigidity layer 7 and a washing plate, wherein:
the actuator body comprises a central part 1 and a plurality of soft adhesion ends 2 uniformly distributed along the circumferential direction of the central part 1, wherein a plurality of dry adhesion materials 3 are adhered to one surface of each soft adhesion end 2 to form an adhesion surface, a plurality of inner cavities 4 which form a fold-shaped structure on the adhesion surface are uniformly arranged in each soft adhesion end 2 outwards from the central part 1, each inner cavity 4 is communicated by an air passage 5 arranged in each soft adhesion end 2, an air hole 6 is arranged on the central part 1, the air hole 6 is communicated with the air passage 5 in each soft adhesion end 2, an air hole 6 external air pressure driving device is used for giving positive air pressure or negative air pressure to each air passage 5 to control the expansion or contraction of each inner cavity 4, and the soft adhesion ends 2 are driven to be bent away from the central part 1 or bent towards the central part 1.
Referring to fig. 1-2, in this embodiment, the number of the soft adhesive terminals 2 is six, and in the original state of the soft adhesive terminals 2, i.e. when no air pressure is applied, the surface of the soft adhesive terminals 2 away from the adhesive surface is an inclined surface (the top surface of each soft adhesive terminal 2 in the drawing), and the inclined angle is 5 °, so as to balance the tendency of the end of each soft adhesive terminal 2 away from the central portion 1 to tilt upwards.
Referring to fig. 3, the inner cavities 4 are arranged in parallel, are compact, the heights of the inner cavities 4 gradually decrease from the central part 1 to the outside according to an equal-difference array, the inner cavities 4 close to the central part 1 are larger in deformation, the inner cavities 4 far away from the central part 1 are smaller in deformation, the bottom is still approximate to a straight line, the cavity 9 is prevented from being curved at equal heights under negative pressure, an opening is formed in one side of each inner cavity 4 towards the air channel 5, the opening simultaneously bears the functions of an air inlet and an air outlet in the air pressure driving process, under the positive air pressure driving, each inner cavity 4 expands, the tensile deformation of one side (the back) of the soft adhesion end 2 far away from the adhesion surface is limited, the axial displacement of the abdomen is limited, so that the whole end bends towards the back side with smaller deformation, desorption can be completed, and the soft adhesion end 2 bends towards the axis direction of the central part 1 to cooperate with the pre-pressure provided to the working plane under the negative air pressure driving, so that adhesion of materials and the action surfaces can be completed.
The inner cavity 4 of the soft body adhesion terminal 2 and the air passage 5 are integrally manufactured and formed by an SLA light curing technology, the material of the soft body adhesion terminal is elastic resin, further, the number of the cavities can be adjusted according to the size of the wall climbing robot and the actual condition of an acting surface, and the more the number of the cavities is, the better the deformation and the better the wall climbing effect are.
The rigidity-changing layer 7 is arranged at the part of each soft adhesion end 2 far away from the adhesion surface and comprises a cavity 9 formed by cladding a film 8, and a plurality of fiber filaments 10 are densely distributed in the cavity 9, wherein the cavity 9 is communicated with the air passage 5;
because the rigidity of the soft adhesion end 2 is lower, when the working load of the end effector is larger, the actual requirement cannot be met by only depending on the negative pressure deformation rigidity of the soft adhesion end 2, the deformation of the inner cavity 4 is larger, the small cavity 9 of the end is forced to tilt upwards, the adhesion effect is poor, the adhesion failure is caused, the rigidity-variable layer 7 can ensure the rigidity of the whole structure, and the adhesion effect of the adhesion material at the bottom is better;
referring to fig. 1, six stiffness-changing layers 7 are installed at the parts of the soft body adhesion ends 2 far away from the adhesion surface, (the same is the back surface in the following), referring to fig. 4, a cross-sectional structure of the soft body adhesion ends 7 is shown, a film 8 is made of a PVA film 8 material, the outer side of the PVA film 8 material is coated with a polyester fabric layer, the load strength of the stiffness-changing layers 7 is improved, fiber filaments 10 are made of a PET soft material with the diameter of 1.5MM, slender cylindrical fiber filaments 10 are densely distributed in a cavity 9 and occupy the whole cavity 9, the stiffness-changing layers 7 perform filament stiffness-changing by utilizing the principle of blocking stiffness-changing, when negative pressure is applied, the soft body cavity 9 is contracted under the negative pressure, the volume is reduced, the fiber filaments 10 fully distributed in the cavity 9 are forced to be mutually extruded, friction force is generated, the back stiffness of the soft body adhesion ends 2 is increased, the load capacity of the soft body adhesion ends 2 is improved when positive pressure adhesion is carried out, and the effective adhesion area is ensured; when positive pressure is applied, the cavity 9 expands under the positive pressure, the volume becomes large, the fiber filaments 10 are in a loose and soft state, the rigidity of the rectangular cavity 9 on the back is reduced, the soft adhesion end 2 under the positive pressure is beneficial to bending to the back side, and desorption is completed.
An atmospheric sucker 11 and/or a negative sucker 12 are arranged on one side of the adhesion surface, wherein the negative sucker 12 is communicated with the air passage 5.
Referring to fig. 3, in this embodiment, the negative pressure suction cup 12 is installed at the central portion 1 so as to act on a working surface in time, referring to fig. 5-6, a structure diagram and a working schematic diagram of the negative pressure suction cup 12 are shown, combining fig. 3 and 5, a sleeve 13 is installed at the top end of the negative pressure suction cup 12, and is connected with an end effector body through the sleeve 13, wherein an air pipe 14 is installed in the sleeve 13, one end of the air pipe 14 is communicated with the air hole 6, the other end of the air pipe is communicated with the negative pressure suction cup 12, an opening of the negative pressure suction cup 12 is covered by a film structure 15, the film structure 15 is made of TPU, and is fixedly connected with the outer side of the vacuum suction cup skirt 16, the existence of the film structure 15 enables the whole end effector to be a closed space, pressure stability of the whole air path system is ensured, the working range of the vacuum suction cup is improved when the soft end effector is not fully contacted with the working surface, good sealing performance and internal and external pressure difference of the cavity 9 are ensured, so that the adhesive material is well contacted with the working surface, and the film structure 15 is contracted towards a direction away from the adsorption surface under positive or negative pressure.
The sleeve 13 of the negative pressure sucker 12 is connected in a manner of secondary curing of the photosensitive material due to different materials of the soft adhesion end 2, and the harder mounting sleeve 13 can generate smaller deformation under larger normal force and different air pressures at two sides when the one-way valve is closed, so that the phenomenon of bad sucker contact caused by larger deformation of the positive and negative pressures of the soft material is avoided.
Referring to fig. 2, a plurality of normal pressure sucking discs 11 are distributed on each soft adhesion end 2 in an array manner, referring to fig. 7, each normal pressure sucking disc 11 comprises a skirt edge 16 and a mounting buckle 17, and the mounting buckle 17 is spliced with the soft adhesion end 2, wherein when the normal pressure sucking disc 11 is pressed to be in an adsorption state, the skirt edge 16 is flush with the dry adhesion material 3, and the optimal coupling working state of dry adhesion and sucking disc adsorption is achieved.
The normal pressure sucker 11 is made of Smooth-On Dragonskin 2A, is very soft and high in adaptability, is manufactured in batches through soles of a die, achieves installation limiting through the installation buckles 17, and finally achieves sealing through photosensitive glue.
Referring to fig. 2, when the atmospheric pressure suckers 11 are installed, each atmospheric pressure sucker 11 is distributed at the centroid position of each dry adhesive material 3, when the negative pressure drives the dry adhesive material 3 to approach the working surface, the centroid position of the dry adhesive material 3 is deformed by pressure to the maximum, and the atmospheric pressure sucker 11 is used for replacing the dry adhesive material 3 at the maximum position, so that the problem of poor adhesion of the dry adhesive material 3 is effectively solved, and the stability and safety of the end effector are improved.
Finally, it should be noted that: the foregoing is merely a preferred example of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (7)

1. A variable stiffness flexible end effector coupled with dry adhesion and vacuum adsorption, characterized in that: comprising the following steps:
the actuator body comprises a central part and a plurality of soft adhesion ends uniformly distributed along the circumferential direction of the central part, wherein a plurality of dry adhesion materials are adhered to one surface of each soft adhesion end to form an adhesion surface, a plurality of inner cavities which form a fold-shaped structure on the adhesion surface are uniformly arranged outwards from the central part, the inner cavities are communicated by air passages arranged in the soft adhesion ends, air holes are formed in the central part and are communicated with the air passages in the soft adhesion ends, an air hole external air pressure driving device is used for giving positive air pressure or negative air pressure to the air passages to control the expansion or contraction of the inner cavities and drive the soft adhesion ends to bend away from the central part or bend towards the central part;
the rigidity-changing layer is arranged at the part of each soft adhesion end far away from the adhesion surface and comprises a cavity formed by coating a film, and a plurality of fiber filaments are densely distributed in the cavity, wherein the cavity is communicated with the air passage;
the inner cavities are arranged in parallel, and the heights of the inner cavities gradually decrease from the center part to the outside according to an arithmetic progression;
in the original state of the soft adhesion end, one surface far away from the adhesion surface is an inclined surface and inclines towards the adhesion surface;
the normal pressure sucker and the negative pressure sucker are arranged on one side of the adhesion surface, wherein the negative pressure sucker is communicated with the air passage;
the opening of the negative pressure sucker is covered by a membrane structure, and the membrane structure is contracted towards a position far away from the adsorption surface to form a secondary negative pressure space under positive air pressure or negative air pressure, or the membrane structure bulges;
the normal pressure sucker comprises a skirt edge and a mounting buckle, the mounting buckle is spliced with the soft adhesion tail end, and the skirt edge is flush with the dry adhesion material when the normal pressure sucker is pressed to an adsorption state.
2. The dry-adhered and vacuum-adsorbed coupled variable stiffness flexible end effector of claim 1, wherein: the film is PVA film material, and the outside of PVA film material cladding dacron layer, the cellosilk is PET soft material.
3. The dry-adhered and vacuum-adsorbed coupled variable stiffness flexible end effector of claim 1, wherein: the negative pressure sucking disc passes through the sleeve and is connected with the executor body, wherein, install the trachea in the sleeve, trachea one end and gas pocket intercommunication, the other end and negative pressure sucking disc intercommunication.
4. A dry-stick and vacuum-stick coupled variable stiffness flexible end effector as recited in claim 3, wherein: the sleeve is connected with the end effector body through a mode of secondary curing of the photosensitive material.
5. The dry-adhered and vacuum-adsorbed coupled variable stiffness flexible end effector of claim 1, wherein: the plurality of the atmospheric pressure sucking discs are distributed on each soft adhesion end in an array manner.
6. A dry-stick and vacuum-stick coupled variable stiffness flexible end effector as recited in claim 5, wherein: and the normal pressure sucker is sealed by photosensitive glue after being installed.
7. A dry-stick and vacuum-stick coupled variable stiffness flexible end effector as recited in claim 5, wherein: and each normal pressure sucker is distributed at the centroid position of each dry adhesion material.
CN202210428861.4A 2022-04-22 2022-04-22 Variable-rigidity flexible end effector coupled with dry adhesion and vacuum adsorption Active CN114800584B (en)

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WO2024187332A1 (en) * 2023-03-13 2024-09-19 Shanghai Flexiv Robotics Technology Co., Ltd. Adhesion device and robot

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