CN115648275A - Variable-rigidity hybrid bimodal two-finger soft gripper and gripping method thereof - Google Patents
Variable-rigidity hybrid bimodal two-finger soft gripper and gripping method thereof Download PDFInfo
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- CN115648275A CN115648275A CN202211422102.3A CN202211422102A CN115648275A CN 115648275 A CN115648275 A CN 115648275A CN 202211422102 A CN202211422102 A CN 202211422102A CN 115648275 A CN115648275 A CN 115648275A
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Abstract
The invention discloses a variable-rigidity hybrid bimodal two-finger soft gripper and a gripping method thereof, belonging to the technical field of robot gripping and comprising a driving structure, a gripping structure, a rotating connection structure and a traction structure; the driving structure is rotationally connected with the grabbing structure through the rotational connecting structure, and the driving structure pulls the grabbing structure through the traction structure; the grabbing structure comprises two symmetrical claws, and each claw comprises a spring steel sheet, a plurality of heating sheets and a plurality of memory alloy sheets. The invention relates to a variable-rigidity two-finger soft hand, which has two grabbing modes of enveloping and clamping, can convert the grabbing modes in real time to adapt to the grabbing processes of different objects, can ensure the characteristics of holding force of a rigid body hand and flexibility of the soft hand, and can effectively avoid damaging or damaging the objects.
Description
Technical Field
The invention relates to the technical field of robot grabbing, in particular to a variable-rigidity hybrid bimodal two-finger soft gripper and a grabbing method thereof.
Background
In the robot grabbing operation, the traditional rigid manipulator realizes grabbing through rigid contact, and the risk that the manipulator and an operation target are damaged is easily caused. To achieve compliant operation, the robot needs to be equipped with expensive sensing equipment and complex closed-loop control algorithms. Therefore, in recent years, soft grips made of flexible materials have appeared, and the overall structure of the fingers is soft and adaptable. Meanwhile, the contact rigidity is low, the natural protection effect is achieved on the object, and the surface of the grabbed object is not easily damaged. However, softness also results in insufficient gripping power. It is important to develop various variable stiffness gripper mechanisms with the advantages of stiffness and soft hand feel. Therefore, the variable-rigidity hybrid bimodal two-finger soft gripper and the gripping method thereof are provided.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the variable-rigidity hybrid dual-mode two-finger soft gripper solves the problems that the traditional two-finger gripping action is simplified, a specific gripping mode suitable for an object is not considered, rigid hand gripping is easy to damage or destroy the object, and soft gripping force is insufficient.
The invention solves the technical problems through the following technical scheme, and the invention comprises the following steps: the device comprises a driving structure, a grabbing structure, a rotating connecting structure and a traction structure; the driving structure and the grabbing structure are in rotary connection through the rotary connection structure, and the driving structure pulls the grabbing structure through the traction structure;
the grabbing structure comprises two symmetrical claws, each claw comprises a spring steel sheet, a plurality of heating sheets and a plurality of memory alloy sheets, the spring steel sheet is connected with the driving structure in a rotating mode through a rotating connecting structure, the heating sheets are arranged on the outer side surface of the spring steel sheet at intervals, and the memory alloy sheets are arranged on the inner side surface of the spring steel sheet at intervals.
Furthermore, drive structure top support, top apron, digital steering wheel, the top apron sets up the upper end of top support, the digital steering wheel sets up inside the top support.
Furthermore, the outer surface of the digital steering engine is provided with a connecting block, the inside of the top support is provided with a mounting seat, and the connecting block is detachably connected with the mounting seat.
Furthermore, a silica gel sleeve matched with the shape of the paw is sleeved outside the paw.
Furthermore, the inner side surface of the silica gel sleeve is provided with a plurality of anti-slip strips.
Furthermore, the rotary connecting structure comprises a first fixing seat, a second fixing seat, a torsion spring and a cylindrical pin, wherein the second fixing seat is arranged at the top of the spring steel sheet, the first fixing seat is arranged at the lower end of the top support, and the second fixing seat is rotatably connected with the first fixing seat through the cylindrical pin and the torsion spring.
Furthermore, the traction structure comprises a traction rope and a plurality of connecting seats, the connecting seats are arranged on the inner side surface of the spring steel sheet at intervals and are arranged in a staggered mode with the memory alloy sheet, one end of the traction rope is connected with the digital steering engine, and the other end of the traction rope sequentially penetrates through the top support, the second fixing seat and each connecting seat and is fixedly connected with the connecting seat located at the tail end.
The invention also provides a variable-rigidity hybrid bimodal two-finger soft gripper grabbing method, which is used for grabbing an article and comprises the following steps:
s1: judging according to the properties of the contact surfaces of the two-finger soft body gripper and the object, and selecting an envelope gripping mode or a gripping mode for gripping;
s2: when an enveloping grabbing mode is selected, the traction rope drives the spring steel sheet to be bent from bottom to top under the rotation of the digital steering engine, and the bent deformation is fitted with the outer surface of an object as much as possible, so that an enveloping state is achieved; when the clamping mode is selected, the heating plate is powered by a direct current source, the temperature rises, the memory alloy sheet on the inner surface of the spring steel sheet is bent into a C shape along with the rise of the temperature, the inner sides of the claws are flat and non-concave under the limiting action of the silica gel sleeve, and finally the two claws are drawn to approach the center of the object through the drawing of the traction rope to form the clamping mode.
Furthermore, when the contact surface of the two-finger soft body gripper and the object has radian changes, such as an apple, a table tennis ball, a toy bear doll and the like, the object is gripped in an envelope gripping mode; when the contact surfaces of the two-finger soft gripper and the object have no radian change, such as square objects like magic cubes and flat objects, the object is gripped by the gripping mode, and the gripping mode classification is a summary result of rules obtained by deep reinforcement learning according to a large amount of data.
The invention relates to a variable-rigidity two-finger soft hand which has two grabbing modes of enveloping and clamping, can convert the grabbing modes in real time to adapt to grabbing processes of different objects, can ensure the characteristics of holding force of a rigid body hand and flexibility of the soft hand, and can effectively avoid damage or injury to the objects.
Drawings
FIG. 1 is an exploded schematic view of a variable stiffness hybrid bimodal two-finger gripper according to an embodiment of the invention;
FIG. 2 is a schematic diagram of the overall structure of a variable stiffness hybrid bimodal two-finger gripper according to an embodiment of the invention;
FIG. 3 is a schematic diagram of a gripping mode of a variable stiffness hybrid bimodal two-finger soft gripper according to an embodiment of the invention;
FIG. 4 is a schematic diagram of the gripping mode of the envelope of the variable stiffness hybrid dual-mode two-finger gripper according to an embodiment of the present invention.
Detailed Description
The following examples are given for the detailed implementation and specific operation of the present invention, but the scope of the present invention is not limited to the following examples.
As shown in fig. 1 and 2, the present embodiment provides a technical solution: a variable-rigidity hybrid bimodal two-finger soft gripper comprises a driving structure and a gripping structure;
the driving structure comprises a top support 11, a top cover plate 12 and a digital steering engine 13, wherein the top cover plate 12 is arranged at the upper end of the top support 11 and detachably connected with the top support, and the digital steering engine 13 is arranged inside the top support 11 and detachably connected with the top support. Wherein, top apron 12 is connected with UR5 arm end, and digital steering wheel 13 is controlled by the Arduino board and the software (ArduinoIDE) that contain the hardware.
The outer surface of the digital steering engine 13 is provided with a connecting block 131, the inside of the top support 11 is provided with a mounting seat 111, the connecting block 131 is detachably connected with the mounting seat 111 through a connecting bolt, and then the digital steering engine 13 is detachably connected with the top support 11.
The grabbing structure comprises two claws which are symmetrically arranged at the lower end of the top support 11, the two claws are rotatably connected with the top support 11, and grabbing actions are realized under the control of the digital steering engine 13.
The paw includes spring steel sheet 21 (elastic metal piece), a plurality of heating plate 22, a plurality of memory alloy piece 23, spring steel sheet 21's upper end with top support 11 lower extreme rotates to be connected, and is a plurality of heating plate 22 interval sets up spring steel sheet 21's outside surface and rather than fixed connection, and is a plurality of memory alloy piece 23 interval sets up spring steel sheet 21's inside surface and rather than fixed connection.
In this embodiment, the number of the heating plates 22 on a single gripper is two, and two heating plates 22 are longitudinally spaced apart from each other on the outer side surface of the spring steel plate 21. The memory alloy sheet 23 can be heated uniformly by the heat conduction of the spring steel sheet 21 better by the longitudinally distributed heating sheets 22. The heater chip 22 is controlled to turn the heating on and off by a dc source.
In the embodiment, the number of the memory alloy sheets 23 on a single paw is three, and three memory alloy sheets 23 are arranged on the inner side surface of the spring steel sheet 21 at intervals along the transverse direction. The mounting position of the memory alloy sheet 23 is designed to follow the position of the human finger joint.
In the present embodiment, the spring steel sheet 21 is spade-shaped.
In this embodiment, the outside cover of hand claw is equipped with rather than appearance assorted silica gel cover 24, the inboard surface lower extreme of silica gel cover 24 is provided with a plurality of antislip strips 241, and silica gel cover 24 uses with the cooperation of antislip strips 241, plays good anti-skidding effect when snatching the object.
In this embodiment, two finger software tongs of mixed bimodulus of variable rigidity still include and rotate connection structure, it includes first fixing base 43, second fixing base 41, torsional spring, cylindric lock 42 to rotate connection structure, second fixing base 41 sets up spring steel sheet 21 top and rather than dismantling the connection, first fixing base 43 sets up the lower extreme of top support 11 and rather than integrated into one piece, second fixing base 41 with first fixing base 43 passes through torsional spring and cylindric lock 42 and rotates the connection, and the torsional spring cover is established on the cylindric lock 42.
Become mixed bimodal two software tongs of rigidity still including pulling the structure, pull the structure and include haulage rope 31, a plurality of connecting seat 32 intervals set up the inboard surface of spring steel sheet 21 can dismantle rather than being connected, and with memory alloy piece 23 sets up in a staggered way, haulage rope 31 one end with digital steering wheel 13 is connected, by digital steering wheel 13 drive, the other end with pass top support 11, second fixing base 41 and each connecting seat 32 in proper order and with be located terminal connecting seat fixed connection. The connecting seats 32 are arranged on the inner side surface of the spring steel sheet 21, the traction ropes are sequentially connected and fixed at the tail end of the spring steel sheet 21, and when the variable-rigidity hybrid dual-mode two-finger soft gripper executes an enveloping or clamping mode, the bending action of the gripper can be controlled.
In this embodiment, the number of the coupling seats 32 on a single gripper is three.
It should be noted that, test tests show that the memory alloy sheet 23 carried by the variable-stiffness hybrid bimodal two-finger soft gripper can deform in an arch state at a temperature of about 50 ℃, the deformation can drive the spring steel sheet 21 to elastically deform, and the bending moment of the whole spring steel sheet 21 in the normal direction is correspondingly improved by changing the shape.
In the initial stage of heating, the entire spring steel sheet 21 remains entirely flat and is not itself pulled by the memory alloy sheet 23. After the heating temperature is increased to exceed 50 ℃, the memory alloy sheet 23 is completely deformed, and the spring steel sheet 21 is subjected to traction force and also changes from flat to arch. The whole deformation process takes about 20 seconds, and the variable-rigidity hybrid bimodal soft gripper can be quickly deformed in the actual use process.
As shown in fig. 3 and 4, the working principle is as follows: under the heating state of the heating plate 22, the memory alloy plate 23 shrinks towards the inner side of the paw due to the property, and is C-shaped in the overlooking angle, so that the spring steel plate 21 is driven to generate arch-shaped deformation, the bending moment of the spring steel plate 21 in the normal direction is greatly improved, the maximum grabbing force is improved, and the grabbing mode is switched to clamping; and under the heating state that the heating plate 22 is closed, the memory alloy plate 23 is flattened, the bending moment in the normal direction is small, so that the spring steel plate 21 can realize opposite-side bending, and the grabbing mode is switched to envelope.
To sum up, the variable-stiffness hybrid dual-modality two-finger soft gripper in the embodiment is a variable-stiffness two-finger soft gripper, has two gripping modalities of enveloping and gripping, and can convert the gripping modalities in real time to adapt to the gripping processes of different objects, and the designed variable-stiffness two-finger soft gripper can ensure the characteristics of holding force of both a rigid body hand and flexibility of the soft gripper, and can effectively avoid damage or injury to the objects.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (9)
1. The utility model provides a two fingers software tongs of mixed bimodal of variable rigidity which characterized in that includes: the device comprises a driving structure, a grabbing structure, a rotating connection structure and a traction structure; the driving structure and the grabbing structure are in rotary connection through the rotary connection structure, and the driving structure pulls the grabbing structure through the traction structure;
snatch the structure and include the hand claw that two symmetries set up, the hand claw includes spring steel sheet, a plurality of heating plate, a plurality of memory alloy piece, the spring steel sheet passes through rotate connection structure with drive structure rotates to be connected, and is a plurality of the heating plate interval sets up the outside of spring steel sheet is surperficial, and is a plurality of memory alloy piece interval sets up the inboard of spring steel sheet is surperficial.
2. The variable stiffness hybrid bimodal soft gripper of claim 1, wherein: the top cover plate is arranged at the upper end of the top support, and the digital steering engine is arranged inside the top support.
3. The variable stiffness hybrid bimodal two-finger grip of claim 2, wherein: the outer surface of the digital steering engine is provided with a connecting block, the inside of the top support is provided with a mounting seat, and the connecting block is detachably connected with the mounting seat.
4. The variable stiffness hybrid bimodal two-finger grip of claim 1, wherein: the outside cover of hand claw is equipped with rather than appearance assorted silica gel cover.
5. The variable stiffness hybrid bimodal two-finger grip of claim 4, wherein: the inner side surface of the silica gel sleeve is provided with a plurality of anti-slip strips.
6. The variable stiffness hybrid bimodal two-finger grip of claim 2, wherein: the rotary connecting structure comprises a first fixing seat, a second fixing seat, a torsion spring and a cylindrical pin, wherein the second fixing seat is arranged at the top of the spring steel sheet, the first fixing seat is arranged at the lower end of the top support, and the second fixing seat is rotatably connected with the first fixing seat through the cylindrical pin and the torsion spring.
7. The variable stiffness hybrid bimodal two-finger grip of claim 6, wherein: the traction structure comprises a traction rope and a plurality of connecting seats, the connecting seats are arranged on the inner side surface of the spring steel sheet at intervals and are arranged in a staggered mode with the memory alloy sheet, one end of the traction rope is connected with the digital steering engine, and the other end of the traction rope sequentially penetrates through the top support, the second fixing seat and each connecting seat and is fixedly connected with the connecting seat located at the tail end.
8. A method of gripping a variable stiffness hybrid bimodal two-finger soft grip, characterized in that the variable stiffness hybrid bimodal two-finger soft grip according to any one of claims 1 to 7 is used for gripping an article, comprising the steps of:
s1: judging according to the properties of the contact surfaces of the two-finger soft body gripper and the object, and selecting an envelope gripping mode or a gripping mode for gripping;
s2: when an enveloping grabbing mode is selected, the traction rope drives the spring steel sheet to be bent from bottom to top under the rotation of the digital steering engine, and the bent deformation is fitted with the outer surface of an object, so that an enveloping state is achieved; when the clamping mode is selected, the heating plate is powered by the direct current source, the temperature rises, the memory alloy sheet on the inner surface of the spring steel sheet is bent along with the rise of the temperature and is C-shaped, under the limiting action of the silica gel sleeve, the inner sides of the claws are flat and non-concave, and finally the two claws are drawn to approach the center of the object through the drawing of the traction rope to form the clamping mode.
9. The method of claim 8, wherein the gripping method comprises the following steps: in the step S1, when the contact surface of the two-finger gripper and the object has a change in curvature, the object is gripped in an envelope gripping mode; when the contact surface of the two-finger soft gripper and the object has no radian change, the object is gripped in a gripping mode.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211422102.3A CN115648275A (en) | 2022-11-14 | 2022-11-14 | Variable-rigidity hybrid bimodal two-finger soft gripper and gripping method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211422102.3A CN115648275A (en) | 2022-11-14 | 2022-11-14 | Variable-rigidity hybrid bimodal two-finger soft gripper and gripping method thereof |
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| CN115648275A true CN115648275A (en) | 2023-01-31 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116652999A (en) * | 2023-07-26 | 2023-08-29 | 中国科学院自动化研究所 | Soft manipulator and robot |
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- 2022-11-14 CN CN202211422102.3A patent/CN115648275A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116652999A (en) * | 2023-07-26 | 2023-08-29 | 中国科学院自动化研究所 | Soft manipulator and robot |
| CN116652999B (en) * | 2023-07-26 | 2023-11-24 | 中国科学院自动化研究所 | Underwater soft manipulator |
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