CN209755262U - Self-adaptive variable-rigidity soft hand grab - Google Patents
Self-adaptive variable-rigidity soft hand grab Download PDFInfo
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- CN209755262U CN209755262U CN201920465992.3U CN201920465992U CN209755262U CN 209755262 U CN209755262 U CN 209755262U CN 201920465992 U CN201920465992 U CN 201920465992U CN 209755262 U CN209755262 U CN 209755262U
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Abstract
The patent discloses a flexible body of variable rigidity of self-adaptation is grabbed structure by hand, including fixed chuck and a plurality of executive component. The fixed chuck comprises an annular chamber for arranging the executive component and an intermediate chamber for placing particles; the upper end of the middle chamber is provided with a middle vent hole, the inside of the middle chamber is full of granular articles, and the wall of the lower chamber is made of flexible soft materials. The executing component comprises a bending unit and a rigidity adjusting unit, the bending unit is of a semi-cylindrical flexible hollow structure, the hardness of materials on the inner side and the outer side of the bending unit is different, a bending air hole is reserved above the bending unit, and the periphery of the bending unit is wrapped by non-stretchable fibers at a certain angle. The upper end of the rigidity adjusting unit is of a semi-cylindrical flexible hollow structure, a rigidity vent hole is reserved above the rigidity adjusting unit, the lower end of the rigidity adjusting unit is a hemispherical cavity, the two cavities are communicated, and granular articles are fully distributed in the rigidity adjusting unit. The execution component is connected with the fixed chuck through the hollow curvature ventilation screw and the fixed ventilation screw. This patent can realize holding conversion of just, gentle, improves the software and holds the clamp force in hand.
Description
Technical Field
This patent belongs to software robot technical field, concretely relates to variable rigidity software that can "just", "gentle" conversion is held in hand.
Background
With the continuous development of robotics towards high speed, high precision and light weight, and the continuous maturity of printing technology and novel soft materials, people have conducted extensive research on soft robots. The soft robot is made of flexible materials, has infinite multi-degree of freedom and continuous deformation capability, can randomly change the shape and the size of the robot in a large range, and has wide application prospect in the fields of medical service, exploration and survey, disaster relief and rescue and the like.
In recent years, researchers mainly apply software robotics to human-computer interaction, medical rehabilitation and hand grasping, and remarkable results are achieved. In 2013, a ship-shaped flexible hand driven by gas is developed by Raphael Deimel et al, Berlin industry university, by utilizing silicon rubber and polymer fibers, fingers adopt a ship-shaped through cavity structure, the outside is wound by fibers, and one side is stretched to realize bending by adding a passive layer at one side for limiting. The flexible hand is added with the degree of freedom of the thumb and the palm in bending, and the palm consists of two bending units, so that the finger tip can be contacted with the thumb. The flexible hand is safe and simple, is easy to manufacture, can realize 31 to 33 grabbing postures, and can grab objects of about 500 g.
In 2014, Duntao et al, Shanghai university of transportation, developed a soft robot arm for minimally invasive cardiac surgery. The soft mechanical arm simulates an elephant nose structure, adopts soft medical silica gel materials, and achieves the purposes that the soft body tends to a target and avoids obstacles by driving a specific part through a rope.
the soft robot is a brand new direction for robot technology research, overcomes the defects of certain functions of the traditional robot, has a strong place for many aspects and has a good future development prospect.
However, the prior art still has difficulty in satisfying the requirements in terms of simulating soft hand grasping.
content of patent
The purpose of this patent is to provide one kind can realize "just", "gentle" conversion, can improve the clamp force of grabbing, and the effectual self-adaptation variable rigidity software of grabbing article is grabbed by hand.
The self-adaptive variable-rigidity soft hand gripper comprises a fixed chuck and a plurality of executing components, wherein the middle part of the fixed chuck is provided with a middle chamber, the upper cavity wall of the middle chamber is provided with a middle vent hole, the lower cavity wall is made of soft materials, and granular articles are placed inside the middle chamber; a plurality of executing components are arranged on the periphery of the middle chamber, and each executing component is composed of a bending unit and a rigidity adjusting unit; the rigidity adjusting unit is of a hollow structure, the upper end of the rigidity adjusting unit is of a semi-cylindrical flexible hollow structure, the lower end of the rigidity adjusting unit is of a hemispherical cavity, the two ends of the rigidity adjusting unit are communicated, granular articles are arranged in the rigidity adjusting unit, and a rigidity vent hole is reserved above the upper end of the rigidity adjusting unit; the bending unit is of a semi-cylindrical flexible hollow structure, a bending air hole is reserved at the upper end of the bending unit, and the outer side of the bending unit surrounds the non-stretchable fibers wound at a certain angle; the material hardness of the arc-shaped part in the bending unit is less than that of the plane part; the plane part in the bending unit is fixedly connected with the plane part of the semi-cylindrical flexible hollow structure in the rigidity adjusting unit; the middle part of the fixed chuck is used as a center, and the semi-cylindrical flexible hollow structure in the rigidity adjusting unit is arranged on the outer side of the bending unit along the radial direction.
The self-adaptive variable-rigidity soft body is held by hand, and the lower cavity wall is made of rubber or silica gel material.
The self-adaptive variable-rigidity soft body hand grab is characterized in that the periphery of the middle cavity on the fixing chuck is an annular cavity, and the upper part of each execution component extends into the annular cavity.
The self-adaptive variable-rigidity soft hand grab is characterized in that a hollow middle ventilation screw, a rigidity ventilation screw and a bending ventilation screw which are respectively communicated with a middle ventilation hole, a rigidity ventilation hole and a bending ventilation hole are arranged on the fixed chuck; the rigid ventilation screw and the bending ventilation screw are used for fixedly connecting the actuating component with the fixed chuck.
The self-adaptive variable-rigidity soft body is held by hand, and the diameter of the granular articles is less than 2 mm.
the beneficial effect of this patent:
When the middle vent hole of the middle chamber does not exhaust air, the lower chamber wall of the middle chamber is in a free state. After the particles contact with the operation object, the particles in the middle chamber indirectly contact with the operation object through the lower chamber wall, and the maximum contact area is automatically maintained. When the middle chamber is pumped through the middle vent hole, gaps among the particles in the middle chamber are compressed, the friction force is increased, and the whole lower chamber wall is in a hard state and tightly adsorbs an operation object; when the evacuation of the intermediate chamber 2 is stopped, the lower chamber wall is restored.
Because the material hardness of the arc-shaped part in the bending unit is less than that of the plane part; when the bending unit is inflated through the bending vent hole, the internal pressure is increased, and the bending unit can bend to a harder side due to the flexibility of materials and the restriction of surrounding fibers; when the inflation of the bending unit is stopped, the bending unit is restored.
when the rigidity adjusting unit is exhausted through the rigidity vent hole, gaps among particles in the rigidity adjusting unit are compressed, the contact area is increased, the friction force is increased, the rigidity adjusting unit is in a hard state and tightly adsorbs an operation object; when the air suction is stopped, the rigidity adjusting unit is restored to the original state and is in a softer state.
In particular use, the clamping of the object is accomplished by the cooperative cooperation of the intermediate chamber, the actuating member (the bending unit and the rigidity adjusting unit). When the soft hand grab is not completely contacted with the operation object, all the vent holes (including a middle vent hole, a rigidity vent hole and a bending vent hole) are in a natural state, and air is not pumped or inflated; when the soft hand grab is completely contacted with an operation object, the bending vent holes are inflated, the bending units are bent inwards in the radial direction (namely bent towards the center direction of the fixed chuck), due to the flexibility of materials, the lower cavity wall of the middle chamber and the rigidity adjusting unit can automatically adapt to the shape and the size of the operation object, the lower cavity wall and the executing part are contacted with the operation object in the complete direction, the contact area between the hand grab and the object is increased, then the middle chamber is exhausted through the middle vent holes, the rigidity adjusting unit is exhausted through the rigidity vent holes, the interparticle gaps in the middle chamber and the fixed adjusting unit are reduced, the friction force is increased, the rigidity of the lower cavity wall of the middle chamber and the rigidity adjusting unit is increased, the clamping force of the soft hand grab is increased, the operation object is tightly adsorbed, and the object is effectively clamped.
Moreover, because the lower end of the rigidity adjusting unit is a hemispheroidal chamber, when the bending unit is bent inwards in the radial direction, the hemispheroidal chamber moves inwards and upwards, and the outer wall of the received hemispheroidal chamber can be in contact with an operation object; after the fixed adjusting unit exhausts air, the hemispheroids with the adjusted rigidity can ensure that an operation object can be reliably clamped.
The outer side of the bending unit is surrounded by non-stretchable fibers (wire rods) wound according to a certain angle and used for restraining the non-stretchable fibers from expanding towards the periphery. The non-stretchable fiber (wire) can be generally selected from Kevlar wire or fishing line, and the movement forms of extension, bending, twisting and the like of the deformation part can be realized by adjusting the angle of the fiber. The bending unit consisting of non-stretchable fibers wound on the periphery of the flexible soft bending unit belongs to the prior art.
The diameter range of the granular articles is less than 2mm, and rice, coffee beans and the like can be selected.
Drawings
FIG. 1 is a perspective view of a soft hand grip;
FIG. 2 is a perspective view of a fixed chuck or the like;
Fig. 3 is a perspective view of a fixing chuck or the like;
FIG. 4 is a perspective view of the bending unit;
Fig. 5 is a perspective view of the stiffness adjusting unit;
Fig. 6 is a sectional view of the stiffness adjusting unit;
FIG. 7 is a perspective view of an actuator;
FIG. 8 is a cross-sectional view of the fixing chuck, etc.;
FIG. 9 is a cross-sectional view of the soft hand grip;
Fig. 10 is a flow chart of software hand-grasping control.
In the figure, the fixed chuck 1, the annular chamber 11, the intermediate chamber 12, the lower chamber wall 121;
the actuator 2, the curving unit 21, the curved portion 211 of the curving unit, the planar portion 212 of the curving unit;
The rigidity adjusting unit 22 comprises an arc-shaped part 221 of the semi-cylindrical flexible hollow structure in the rigidity adjusting unit, a plane part 222 of the semi-cylindrical flexible hollow structure in the rigidity adjusting unit and a hemispheroid chamber 223;
a camber vent screw 31, a rigidity vent screw 32, a middle vent screw 4, a first granular article 5 and a second granular article 6.
Detailed description of the preferred embodiments
the patent is further described with reference to the accompanying drawings.
referring to fig. 1 and fig. 9, the adaptive variable-rigidity soft hand gripper mainly comprises a fixed chuck 1 and 4 symmetrical execution units 2. The fixed chuck consists of two chambers, an annular chamber 11 and an intermediate chamber 12. The annular chamber 11 is an annular hollow structure, a plurality of holes are symmetrically distributed on the upper end surface of the annular chamber, and hollow bending ventilation screws 31 and hollow rigidity ventilation screws 32 which are respectively communicated with the trachea are placed in the annular chamber.
Referring to fig. 2, 3, 8 and 9, the middle chamber 12 is a closed soft material chamber, the side wall is the inner ring outer wall of the annular chamber 11, the upper chamber wall is provided with a middle vent hole for installing the hollow middle vent screw 4, the lower chamber wall 121 is made of soft material, such as rubber, silica gel and the like, and the first granular material 5 is placed inside. The middle ventilation screw 4 is communicated with the external trachea. After the lower cavity wall of the middle cavity 12 is contacted with the operation object, the particles in the middle cavity 12 are contacted with the operation object through the lower cavity wall, and the maximum contact area is automatically maintained. At the moment, when the middle chamber 12 is pumped through the middle ventilation screw 4, gaps among the particles are compressed, the friction force is increased, and the whole lower chamber wall is in a hard state and tightly adsorbs an operation object; when the evacuation of the intermediate chamber 2 is stopped, the lower chamber wall is restored.
Each actuator 2 is constituted by a bending unit 21 and a rigidity adjusting unit 22.
Referring to fig. 4-7, the bending unit 21 is a semi-cylindrical hollow structure made of flexible silicone material, and has an inner arc portion 211 with a hardness greater than that of the outer flat portion 212, and a bent air hole at the upper end, and two groups of non-stretchable fibers (wires) wound at a certain angle are surrounded by the outer side. When the bending unit is inflated, the internal pressure is increased, and the bending unit can bend to a harder side due to the flexibility of materials and the restriction of surrounding fibers; when the inflation of the bending unit is stopped, the bending unit is restored.
the rigidity adjusting unit 22 is a hollow structure, the upper end of the rigidity adjusting unit is a semicircular flexible hollow structure, a rigidity vent hole is reserved above the rigidity adjusting unit, the lower end of the rigidity adjusting unit is a hemispheroid cavity 223, the two ends of the rigidity adjusting unit are communicated, and the second granular articles 6 are arranged in the rigidity adjusting unit. The plane part 222 of the semi-cylindrical flexible hollow structure in the stiffness adjustment unit is fixedly connected with the plane part 212 in the bending unit by glue. The arc-shaped portion 221 of the semi-cylindrical flexible hollow structure in the stiffness adjustment unit and the arc-shaped portion 211 in the bending unit substantially form a cylinder.
When the rigidity adjusting unit is pumped, gaps among the particles in the rigidity adjusting unit are compressed, the contact area is increased, the friction force is increased, and the rigidity adjusting unit is in a hard state and tightly adsorbs an operation object; when the air suction is stopped, the rigidity adjusting unit is restored to the original state and is in a softer state.
The semi-cylindrical flexible hollow structure in the rigidity adjusting unit is arranged on the outer side of the bending unit (the bending unit is closer to the middle part of the fixed chuck) along the radial direction by taking the middle part of the fixed chuck as the center.
The bending ventilation screw 31 and the rigidity ventilation screw 32 respectively penetrate through the bending ventilation hole, the rigidity ventilation hole and holes on the upper end face of the annular chamber, and the execution part is fixedly connected with the annular chamber of the fixed chuck.
The cooperation of the intermediate chamber 2, the bending unit 21 and the stiffness adjusting unit 22 completes the gripping of the object. When the soft hand grab is not in complete contact with the operation object, the middle ventilation screw 4, the bending ventilation screw 31 and the rigidity ventilation screw 32 are in a natural state and do not exhaust or inflate; when the soft hand grab is in complete contact with an operation object, each bending unit is inflated through each bending ventilation screw 31 and is bent towards the inner side, due to the flexibility of materials, the lower cavity wall of the middle chamber 2 and the rigidity adjusting unit can automatically adapt to the shape and the size of the operation object and are in contact with the operation object, the contact area between the hand grab and the object is increased, then the middle chamber 12 is pumped through the middle ventilation screws 4, each rigidity adjusting unit is pumped through each rigidity ventilation screw 32, the gaps among particles are reduced, the friction force is increased, the rigidity of the lower cavity wall of the middle chamber 2 and the rigidity adjusting unit is increased, the clamping force of the soft hand grab is increased, and the object is effectively clamped.
The software hand-holding control flow chart 10. The switches of the electromagnetic valves are controlled by a single chip microcomputer, so that air exhaust of an air pipe communicated with the middle ventilation screw 4, the bending ventilation screw 31 and the rigidity ventilation screw 32 is realized, and the action of a soft hand is controlled.
The patent discloses a flexible body of variable rigidity of self-adaptation is grabbed structure by hand, mainly includes fixed chuck and executive component. The fixed chuck comprises two chambers, namely an annular chamber for arranging an execution part and a middle chamber for placing particles, wherein the annular chamber comprises a plurality of through holes and execution part assembling holes; the upper end of the middle chamber is provided with a middle vent hole, the inside of the middle chamber is full of granular articles, and the lower chamber wall is made of flexible soft materials. Each actuator comprises a bending unit and a stiffness adjustment unit, the two units being glued together. The bending unit is a flexible hollow structure in a semi-cylindrical shape, the hardness of materials on the inner side and the outer side is different, a bending air hole is reserved above the bending unit, and two groups of non-stretchable fibers (wires) wound at a certain angle are arranged on the periphery of the bending unit to restrict the bending unit from expanding towards the periphery. The upper end of the rigidity adjusting unit is of a semicircular flexible hollow structure, a rigidity vent hole is reserved above the rigidity adjusting unit, the lower end of the rigidity adjusting unit is of a hemispherical cavity, the two cavities are communicated, and granular articles are fully distributed in the rigidity adjusting unit. The execution component is connected with the fixed chuck through the hollow curvature ventilation screw and the fixed ventilation screw. This patent can realize holding "just", "gentle" conversion in hand, can improve the clamp force that the software was held in hand, and effectual snatching article.
Claims (5)
1. The utility model provides a variable rigidity software of self-adaptation is held in hand, includes fixed chuck and a plurality of executive component, characterized by: the middle part of the fixed chuck is provided with a middle chamber, the upper cavity wall of the middle chamber is provided with a middle vent hole, the lower cavity wall is made of soft materials, and granular articles are placed inside the middle cavity; a plurality of executing components are arranged on the periphery of the middle chamber, and each executing component is composed of a bending unit and a rigidity adjusting unit; the rigidity adjusting unit is of a hollow structure, the upper end of the rigidity adjusting unit is of a semi-cylindrical flexible hollow structure, the lower end of the rigidity adjusting unit is of a hemispherical cavity, the two ends of the rigidity adjusting unit are communicated, granular articles are arranged in the rigidity adjusting unit, and a rigidity vent hole is reserved above the upper end of the rigidity adjusting unit; the bending unit is of a semi-cylindrical flexible hollow structure, a bending air hole is reserved at the upper end of the bending unit, and the outer side of the bending unit surrounds the non-stretchable fibers wound at a certain angle; the material hardness of the arc-shaped part in the bending unit is less than that of the plane part; the plane part in the bending unit is fixedly connected with the plane part of the semi-cylindrical flexible hollow structure in the rigidity adjusting unit; the middle part of the fixed chuck is used as a center, and the semi-cylindrical flexible hollow structure in the rigidity adjusting unit is arranged on the outer side of the bending unit along the radial direction.
2. The adaptive variable stiffness soft grip of claim 1, wherein: the lower cavity wall is made of rubber or silica gel material.
3. the adaptive variable stiffness soft grip of claim 1, wherein: the periphery of the middle chamber on the fixed chuck is an annular chamber, and the upper part of each actuating component extends into the annular chamber.
4. the adaptive variable stiffness soft grip of claim 3, wherein: the fixed chuck is provided with a hollow middle ventilation screw, a rigidity ventilation screw and a bending ventilation screw which are respectively communicated with the middle ventilation hole, the rigidity ventilation hole and the bending ventilation hole; the rigid ventilation screw and the bending ventilation screw are used for fixedly connecting the actuating component with the fixed chuck.
5. The adaptive variable stiffness soft grip of claim 1, wherein: the diameter of the granular articles is less than 2 mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920465992.3U CN209755262U (en) | 2019-04-09 | 2019-04-09 | Self-adaptive variable-rigidity soft hand grab |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920465992.3U CN209755262U (en) | 2019-04-09 | 2019-04-09 | Self-adaptive variable-rigidity soft hand grab |
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| CN209755262U true CN209755262U (en) | 2019-12-10 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109807924A (en) * | 2019-04-09 | 2019-05-28 | 南京林业大学 | A kind of self-adapting changeable rigidity software hand is grabbed |
| CN114888830A (en) * | 2022-06-20 | 2022-08-12 | 北京航空航天大学 | Haptic unit |
-
2019
- 2019-04-09 CN CN201920465992.3U patent/CN209755262U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109807924A (en) * | 2019-04-09 | 2019-05-28 | 南京林业大学 | A kind of self-adapting changeable rigidity software hand is grabbed |
| CN114888830A (en) * | 2022-06-20 | 2022-08-12 | 北京航空航天大学 | Haptic unit |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191210 Termination date: 20210409 |
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| CF01 | Termination of patent right due to non-payment of annual fee |