CN210361345U - Soft robot hand imitating animal tongue - Google Patents
Soft robot hand imitating animal tongue Download PDFInfo
- Publication number
- CN210361345U CN210361345U CN201920719192.XU CN201920719192U CN210361345U CN 210361345 U CN210361345 U CN 210361345U CN 201920719192 U CN201920719192 U CN 201920719192U CN 210361345 U CN210361345 U CN 210361345U
- Authority
- CN
- China
- Prior art keywords
- tongue
- main body
- body structure
- imitated
- adhesion layer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The utility model relates to a soft robot hand imitating an animal tongue, which comprises an energy supply module, a tongue-shaped executing mechanism and an adhesion layer, wherein the tongue-shaped executing mechanism is connected with the energy supply module and comprises a semi-closed cavity with one end opened, the adhesion layer is butted with the energy supply module through the opening, the other end of the adhesion layer is of a tongue tip-shaped imitating structure, and silk-like nipple structures are evenly distributed on the surface of the adhesion layer; the cavity is internally provided with a tongue imitation main body structure, a plurality of telescopic rings are sleeved on the tongue imitation main body structure at equal intervals along the axial direction, and the tongue imitation main body structure is connected with the inner wall of the adhesion layer through the telescopic rings; a supporting rib is embedded in the middle of the interior of the tongue-imitated main body structure, a layer of connective tissue structure is respectively adhered to the two side surfaces of the tongue-imitated main body structure along the length direction, and a plurality of rectangular strip-shaped overturning layers which are arranged in parallel are adhered to the outer side surfaces of the tongue-imitated main body structure along the length direction; transverse muscles are embedded in two sides of the interior of the tongue-imitated main body structure respectively, and a layer of bending ribs is arranged between the transverse muscles and the inner wall of the tongue-imitated main body structure. The utility model discloses have and glue the function of getting, it is extensive to be suitable for the occasion.
Description
Technical Field
The utility model belongs to the technical field of the robot hand technique and specifically relates to a software robot hand of imitative animal tongue.
Background
The traditional industrial grabbing robot has the characteristics of super redundancy and low rigidity, and good flexibility and dexterity, but has the defects that the robot can only be applied to a structural environment generally, namely the grabbing space is limited, the capacity of bearing external load is poor, the working efficiency in the aspects of product sorting, transmission and the like is not high, and the robot is difficult to be widely applied to industrial and agricultural production occasions.
SUMMERY OF THE UTILITY MODEL
The applicant provides a soft robot hand with a reasonable structure and an animal tongue imitation function aiming at the defects in the prior art, and carries out bionic structure design on a tongue body and a surface microstructure thereof, so that the grabbing and sticking capabilities of the robot hand are improved.
The utility model discloses the technical scheme who adopts as follows:
a soft robot hand imitating an animal tongue comprises an energy supply module, a tongue-shaped executing mechanism and a control module, wherein the energy supply module is connected with the tongue-shaped executing mechanism; the tongue-shaped actuating mechanism has the structure that: the energy supply module comprises an adhesion layer of an outer layer, wherein a semi-closed cavity with an opening at one end is formed in the adhesion layer, the adhesion layer is in butt joint with the energy supply module through the opening, the other end of the adhesion layer is of a tongue tip-like structure, and silk-like nipple structures are uniformly distributed on the surface of the adhesion layer; the tongue imitation main body structure is arranged in the cavity and is in an elliptic cylinder shape, a plurality of telescopic rings are sleeved on the tongue imitation main body structure at equal intervals along the axial direction, the telescopic rings form a closed ring body by a continuous bending structure, and the tongue imitation main body structure is connected with the inner wall of the adhesion layer through the telescopic rings; a supporting rib is embedded in the middle of the interior of the tongue-imitated main body structure, the supporting rib is in a rectangular plate shape, a layer of connective tissue structure is respectively adhered to two side surfaces of the supporting rib along the length direction, and a plurality of rectangular strip-shaped overturning layers which are arranged in parallel are adhered to the outer side surfaces of the connective tissue structure along the length direction; the inside both sides of imitative tongue major structure have inlayed the transversus muscle respectively, just the inner wall setting along imitative tongue major structure of transversus muscle is equipped with the crooked muscle of one deck between the inner wall of transversus muscle and imitative tongue major structure.
The further technical scheme is as follows:
the transverse muscles are arranged inside the imitated tongue main body structure at intervals along the axial direction, and are symmetrically arranged on two sides of the imitated tongue main body structure.
Each transverse muscle is of an inwards concave arc-shaped plate-shaped structure, the bent muscle is the same as the transverse muscle in structure, one side surface of each transverse muscle is tightly attached to the surface of the transverse muscle, and the other side surface of each transverse muscle is tightly attached to the inner wall of the tongue-imitated main body structure.
The supporting rib is positioned on the longitudinal section of the imitated tongue main body structure and is superposed with the long axis on the cross section of the imitated tongue main body structure, and the length of the supporting rib is smaller than that of the imitated tongue main body structure; the connective tissue structures on the two side surfaces of the supporting rib are symmetrically arranged, and the overturning layers on the two connective tissue structures are also symmetrically arranged.
The telescopic ring, the overturning layer and the bending ribs are all made of shape memory alloy SMA materials and are electrically connected with a power supply device in the energy supply module through wires respectively.
The adhesion layer, the tongue-imitated main body structure, the supporting ribs and the transverse muscles are all made of organic silica gel materials.
The connective tissue structure is made of polyvinyl chloride or polypropylene.
The silk-like nipple structures are arrayed uniformly on the surface of the adhesive layer and made of microfiber materials.
The adhesion layer is of a tongue tip-like structure, in particular a semi-ellipsoidal structure.
The utility model has the advantages as follows:
the utility model has reasonable structure and convenient operation, provides electric energy, heat energy or magnetic energy through the energy supply module, provides flexible supporting force for the imitated tongue main body structure through the supporting rib, is embedded into the imitated tongue main body structure through the overturning layer and the bending rib, and deforms under the effect of an electric field, a thermal field or a magnetic field under the effect of the energy supply module, drives the imitated tongue main body structure and the adhesion layer to realize the bending at different angles, deforms under the effect of the same field effect through the telescopic ring, and drives the imitated tongue main body structure and the adhesion layer to stretch out and draw back along the radial direction; in the adhering and sticking process, the tongue-like main body structure transmits the deformation internal force to the adhesion layer, and the pressing and shearing of the silk-like nipple structure and the surface of the target object are caused, so that the grabbing and sticking effect is realized. The grabbing stability is greatly improved, the capacity of bearing external load is strong, and the device is suitable for grabbing objects in various space occasions.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 shows the tongue-shaped actuator of the present invention after the outer adhesive layer is removed.
Fig. 3 is a perspective view of fig. 2 looking into the interior of the simulated tongue body structure from the top thereof.
Fig. 4 is a schematic structural view of the tongue-shaped actuator according to the present invention after removing the main structure of the tongue-shaped actuator.
Fig. 5 is a schematic view of the tongue-imitated main body structure of the present invention.
Fig. 6 is an enlarged view of a portion a in fig. 1.
Fig. 7 is a schematic view of the working state of the present invention.
Fig. 8 is a schematic view showing a state in which the tongue-shaped actuator of the present invention is bent in a direction perpendicular to that of fig. 7.
Wherein: 1. an adhesion layer; 2. an energy supply module; 3. a silk-like nipple structure; 4. a connective tissue structure; 5. bending the ribs; 6. the transverse muscle; 7. turning over the layer; 8. a telescopic ring; 9. supporting ribs; 10. the tongue-imitated main body structure.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1-5, the soft robot hand imitating the animal tongue of the present embodiment includes an energy supply module 2, on which a tongue-shaped actuator is connected;
the structure of the tongue-shaped actuating mechanism is as follows:
the energy-saving device comprises an outer adhesion layer 1, wherein a semi-closed cavity with an opening at one end is formed in the adhesion layer 1, the adhesion layer 1 is in butt joint with an energy supply module 2 through the opening, the other end of the adhesion layer 1 is of a tongue tip-like structure, and silk-like nipple structures 3 are uniformly distributed on the surface of the adhesion layer 1;
an elliptic cylinder-shaped tongue imitation main body structure 10 is arranged in the cavity, a plurality of telescopic rings 8 are sleeved on the tongue imitation main body structure 10 at equal intervals along the axial direction, the telescopic rings 8 form a closed ring body by continuous bending structures, and the tongue imitation main body structure 10 is connected with the inner wall of the adhesion layer 1 through the telescopic rings 8;
a supporting rib 9 is embedded in the middle position inside the tongue-imitated main body structure 10, the supporting rib 9 is in a rectangular plate shape, a layer of connective tissue structure 4 is respectively adhered to two side surfaces of the supporting rib 9 along the length direction, and a plurality of rectangular strip-shaped overturning layers 7 which are arranged in parallel are adhered to the outer side surfaces of the connective tissue structure 4 along the length direction;
the inside both sides of imitative tongue major structure 10 are worn respectively and are inlayed horizontal muscle 6, and horizontal muscle 6 sets up along the inner wall of imitative tongue major structure 10, is equipped with one deck crooked muscle 5 between the inner wall of horizontal muscle 6 and imitative tongue major structure 10.
As shown in FIG. 1, the adhesion layer 1 has a tongue-tip-like structure, specifically, a semi-ellipsoidal structure.
As shown in fig. 4, in order to observe the perspective view of the present invention from the top of the artificial tongue main body structure 10 downwards, assuming that the artificial tongue main body structure 10 is a transparent body, the structure of the components embedded therein can be observed: the transverse muscles 6 are arranged inside the tongue imitation main body structure 10 at intervals along the axial direction, and the transverse muscles 6 positioned at two sides inside the tongue imitation main body structure 10 are symmetrically arranged.
Each transverse muscle 6 is of an inwards concave arc-shaped plate-shaped structure, the bent muscle 5 and the transverse muscle 6 are of the same structure, one side surface of each transverse muscle is tightly attached to the surface of the transverse muscle 6, and the other side surface of each transverse muscle is tightly attached to the inner wall of the tongue-imitated main body structure 10.
The supporting ribs 9 are positioned on the longitudinal section of the imitated tongue main body structure 10 and are superposed with the long axis on the cross section of the imitated tongue main body structure 10, and the length of the supporting ribs 9 is smaller than that of the imitated tongue main body structure 10; the connective tissue structures 4 on both sides of the support ribs 9 are symmetrically arranged, and the turning layers 7 on the two connective tissue structures 4 are also symmetrically arranged.
The telescopic ring 8, the overturning layer 7 and the bending ribs 5 are all made of shape memory alloy SMA materials and are electrically connected with a power supply device in the energy supply module 2 through conducting wires respectively.
The adhesion layer 1, the tongue-imitated main body structure 10, the support ribs 9 and the transverse muscle 6 are all made of organic silica gel.
The connective tissue structure 4 is made of polyvinyl chloride or polypropylene.
As shown in fig. 6, the filament-like nipple structures 3 are arranged in an array form, are uniformly arranged on the surface of the adhesion layer 1, and are made of microfiber material.
As shown in fig. 7, for the utility model discloses under the effect of 7 deformations on upset layers, snatch after the bending and glutinous state sketch map of getting the target object.
As shown in fig. 8, it is a schematic diagram of the state after bending under the effect of the deformation of the bending rib 5 of the present invention.
In the implementation process of the utility model, the energy supply module 2 provides power (such as electric power, heating power or magnetic force) for the tongue-shaped actuating mechanism, in the implementation, the energy supply module 2 provides electric energy for the tongue-shaped actuating mechanism, the power supply device is electrically connected with the turning layer 7, the telescopic ring 8 and the bending rib 5 through wires, the shape memory alloy SMA material adopted by the turning layer 7, the telescopic ring 8 and the bending rib 5 generates elastic deformation after being electrified, wherein the telescopic ring 8 can expand or contract under the driving of the energy supply module 2, during the expansion, the angle between the continuous bending structures is enlarged and gradually opened into a circular ring shape, because the telescopic ring is fixed between the outer surface of the tongue-imitated main body structure 10 and the inner surface of the adhesion layer 1, the circular ring shape forming process drives the tongue-imitated main body structure 10 and the adhesion layer 1 to deform, the surface area of the tongue-imitated main body structure is enlarged after being stretched, otherwise, after the telescopic ring, the original shape is recovered, and the surface areas of the tongue-like main body structure 10 and the adhesion layer 1 are driven to recover to the initial state, so that the tongue-shaped actuating mechanism expands or contracts along the radial direction; similarly, the turning layer 7 and the bending rib 5 are elastically deformed after being electrified, so as to drive the tongue-shaped executing mechanism to respectively bend in two vertical sections of the tongue-like main body structure 10, which are perpendicular to each other.
The silk-like nipple structure 3 adopts the micro-fine fiber material of micron order, imitates the silk-like nipple structure on animal tongue surface, and when snatching the target object, the bending deformation takes place for tongue actuating mechanism, and the target object is laminated on adhesion layer 1, and adhesion effect takes place for silk-like nipple structure 3 and target object surface: and the surface of the target object is pressed and sheared, so that the grabbing and sticking effects are realized.
The utility model discloses a glutinous mechanism of getting: firstly, according to the local action of the single silk-like nipple structure 3 and the surface of a target object, a geometric model of the single silk-like nipple structure 3 and a model of lateral contact adhesion of the single silk-like nipple structure and the surface of the target object are established. Various parameters which have influence on the adhesion performance, such as the geometric parameters and the contact direction of the single silk-like nipple structure 3, are combed out, and the local friction increasing effect of the parameters on the single silk-like nipple structure 3 is analyzed. Then, the overall effect of the silk-like papilla structure array and the surface of the target object is considered, and due to the fact that the tongue surface microstructures have different adhesion capacities on the target objects with different appearances, roughness and wet and slippery degrees, various interface effects including dry adhesion, wet adhesion and friction locking effects are taken into modeling factors. And then carrying out tongue surface-imitated microscale structure design according to biological data such as the structural morphology, the size, the distribution density, the inclination angle of the filamentous papilla and the like of the projections on the surface of the tongue of the animal, which are obtained by ultramicro morphology observation, and obtaining a method for preparing the cross-scale structure.
The above description is for the purpose of explanation and not limitation of the invention, which is defined in the claims, and any modifications may be made within the scope of the invention.
Claims (9)
1. A soft robot hand imitating an animal tongue is characterized in that: comprises an energy supply module (2) which is connected with a tongue-shaped actuating mechanism;
the tongue-shaped actuating mechanism has the structure that:
the energy-saving lamp comprises an outer adhesion layer (1), wherein a semi-closed cavity with an opening at one end is formed in the adhesion layer (1), the adhesion layer (1) is in butt joint with an energy supply module (2) through the opening, the other end of the adhesion layer (1) is of a tongue tip-like structure, and silk-like nipple structures (3) are uniformly distributed on the surface of the adhesion layer (1);
the tongue imitation main body structure (10) in an elliptic cylinder shape is arranged in the cavity, a plurality of telescopic rings (8) are sleeved on the tongue imitation main body structure (10) at equal intervals along the axial direction, the telescopic rings (8) form a closed ring body by continuous bending structures, and the tongue imitation main body structure (10) is connected with the inner wall of the adhesion layer (1) through the telescopic rings (8);
a supporting rib (9) is embedded in the middle of the interior of the tongue-imitated main body structure (10), the supporting rib (9) is in a rectangular plate shape, a layer of connective tissue structure (4) is respectively adhered to two side surfaces of the supporting rib (9) along the length direction, and a plurality of rectangular strip-shaped overturning layers (7) which are arranged in parallel are adhered to the outer side surfaces of the connective tissue structure (4) along the length direction;
the inside both sides of imitative tongue major structure (10) have inlayed horizontal muscle (6) respectively, just horizontal muscle (6) are equipped with one deck crooked muscle (5) along the inner wall setting of imitative tongue major structure (10) between the inner wall of horizontal muscle (6) and imitative tongue major structure (10).
2. The simulated animal tongue soft robotic hand of claim 1, wherein: the transverse muscles (6) are arranged inside the imitated tongue main body structure (10) at intervals along the axial direction, and the transverse muscles (6) located on two sides inside the imitated tongue main body structure (10) are symmetrically arranged.
3. The simulated animal tongue soft robotic hand of claim 2, wherein: each transverse muscle (6) is of an inwards concave arc-shaped plate-shaped structure, the bent ribs (5) are the same as the transverse muscles (6), one side surface of each transverse muscle is tightly attached to the surface of each transverse muscle (6), and the other side surface of each transverse muscle is tightly attached to the inner wall of the tongue-imitated main body structure (10).
4. The simulated animal tongue soft robotic hand of claim 1, wherein: the supporting ribs (9) are positioned on the longitudinal section of the imitated tongue main body structure (10) and are superposed with the long axis on the cross section of the imitated tongue main body structure (10), and the length of the supporting ribs (9) is smaller than that of the imitated tongue main body structure (10); the connective tissue structures (4) on the two side surfaces of the supporting ribs (9) are symmetrically arranged, and the overturning layers (7) on the two connective tissue structures (4) are also symmetrically arranged.
5. A soft robotic hand mimicking an animal tongue as claimed in any one of claims 1 to 4, wherein: the telescopic ring (8), the overturning layer (7) and the bending ribs (5) are all made of shape memory alloy SMA materials and are electrically connected with a power supply device in the energy supply module (2) through wires respectively.
6. The simulated animal tongue soft robotic hand of claim 5, wherein: the adhesion layer (1), the tongue-imitated main body structure (10), the support ribs (9) and the transverse muscles (6) are all made of organic silica gel materials.
7. The simulated animal tongue soft robotic hand of claim 5, wherein: the connective tissue structure (4) is made of polyvinyl chloride or polypropylene material.
8. The simulated animal tongue soft robotic hand of claim 5, wherein: the silk-like nipple structures (3) are arranged on the surface of the adhesion layer (1) uniformly in an array shape and are made of micro-fiber materials.
9. The simulated animal tongue soft robotic hand of claim 5, wherein: the tongue tip-like structure of the adhesion layer (1) is a semi-ellipsoidal structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920719192.XU CN210361345U (en) | 2019-05-17 | 2019-05-17 | Soft robot hand imitating animal tongue |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920719192.XU CN210361345U (en) | 2019-05-17 | 2019-05-17 | Soft robot hand imitating animal tongue |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210361345U true CN210361345U (en) | 2020-04-21 |
Family
ID=70260876
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920719192.XU Active CN210361345U (en) | 2019-05-17 | 2019-05-17 | Soft robot hand imitating animal tongue |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210361345U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110000803B (en) * | 2019-05-17 | 2024-04-02 | 江南大学 | Soft robot hand imitating animal tongue |
-
2019
- 2019-05-17 CN CN201920719192.XU patent/CN210361345U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110000803B (en) * | 2019-05-17 | 2024-04-02 | 江南大学 | Soft robot hand imitating animal tongue |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Kim et al. | SpinybotII: climbing hard walls with compliant microspines | |
| Zaidi et al. | Actuation technologies for soft robot grippers and manipulators: A review | |
| CN107972754B (en) | Shape memory alloy driven soft crawling robot | |
| CN108481305B (en) | Electromagnetic drive's imitative snakelike software robot | |
| US7654595B2 (en) | Articulated driving mechanism, method of manufacturing the mechanism, and holding hand and robot using the mechanism | |
| Baisch et al. | Design and fabrication of the Harvard ambulatory micro-robot | |
| JP4562782B2 (en) | Gripper and driving method thereof | |
| CN109676630B (en) | Snake-like winding soft actuator | |
| CN106347660A (en) | Nano self-power-generation bionic flapping-wing air vehicle | |
| CN108839722A (en) | One kind being based on the spring driven imitative caterpillar soft robot of SMA | |
| CN210361345U (en) | Soft robot hand imitating animal tongue | |
| CN101717063A (en) | Flexible microgripper through topological optimization | |
| US7064473B2 (en) | Actuator film material, actuator film and actuator using the same | |
| Zhu et al. | Three-dimensional programmable, reconfigurable, and recyclable biomass soft actuators enabled by designing an inverse opal-mimetic structure with exchangeable interfacial crosslinks | |
| Hu et al. | A 3D printed paper-based thermally driven soft robotic gripper inspired by cabbage | |
| CN110040189A (en) | A kind of Magnetic driving jump soft robot based on magnetic programming temperature-sensitive hydrogel | |
| Zhao et al. | Soft robotics: Research, challenges, and prospects | |
| CN111906811A (en) | Full-flexible pneumatic actuator | |
| CN110000803B (en) | Soft robot hand imitating animal tongue | |
| Jiang et al. | Light-driven untethered soft actuators based on biomimetic microstructure arrays | |
| Liu et al. | S 2 worm: A fast-moving untethered insect-scale robot with 2-DoF transmission mechanism | |
| Nakai et al. | Metamorphic robot made of low melting point alloy | |
| CN108974167B (en) | Novel spiral bionic memory alloy robot and manufacturing method thereof | |
| Hu et al. | Soft scalable crawling robots enabled by programmable origami and electrostatic adhesion | |
| CN109955275A (en) | The composite special-shaped cavity of thermal expansive fluid drives humanoid robot software hand |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |