CN215701777U - Rigid paper folding type dexterous hand modular driving knuckle driven by dielectric elastomer - Google Patents
Rigid paper folding type dexterous hand modular driving knuckle driven by dielectric elastomer Download PDFInfo
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- CN215701777U CN215701777U CN202120772957.3U CN202120772957U CN215701777U CN 215701777 U CN215701777 U CN 215701777U CN 202120772957 U CN202120772957 U CN 202120772957U CN 215701777 U CN215701777 U CN 215701777U
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Abstract
The utility model discloses a dielectric elastomer driven rigid paper folding type dexterous hand modular driving knuckle which comprises a knuckle, wherein the knuckle comprises a support unit, a driving assembly and a folding assembly, the support unit comprises two support bodies respectively positioned at two ends of the knuckle, the driving assembly comprises dielectric elastomer driving mechanisms, each dielectric elastomer driving mechanism is connected between the two support bodies, each dielectric elastomer driving mechanism comprises a dielectric elastomer driver, the dielectric elastomer drivers are bent and deformed to drive the knuckle to deform, the folding assembly comprises folding supporting mechanisms, each folding supporting mechanism is connected between the two support bodies, each folding supporting mechanism comprises a rigid paper folding unit, and the knuckle is deformed to drive the rigid paper folding units to fold and deform. The knuckle has multiple degrees of freedom, good flexibility and high response speed, the paper folding structure improves the rigidity and the load capacity of the knuckle, and the inherent flexibility of the dielectric elastomer material is combined with the folding characteristic of the paper folding structure to improve the environmental adaptability of the knuckle.
Description
Technical Field
The utility model belongs to the technical field of intelligent robots, and particularly relates to a rigid paper folding type dexterous hand modular driving knuckle driven by a dielectric elastomer.
Background
With the continuous improvement of the intelligent level and the operation capability of the robot, the dexterous hand has wide application prospect in the fields of aerospace, compact machinery, military, industry, medical appliances and the like. Traditional dexterous finger joint adopts spare parts such as motor, hydraulic pump, cylinder, gear, tendon rope to realize drive and motion transmission more, however mechanical mechanism's joint drive part is more, and the structure is comparatively complicated, and the manufacturing degree of difficulty is high, needs great working space to environmental suitability is poor, and it is little to be suitable for the object scope of snatching. Compared with the traditional mechanical structure joint, the flexible finger joint based on intelligent material driving has the advantages of simpler structure, convenience in control and high environmental adaptability, however, the application range of the flexible finger joint is limited by the characteristics of poorer rigidity and insufficient driving force. In addition, in recent years, the paper folding structure is widely concerned by virtue of the characteristics of good folding property and large folding-unfolding ratio, scientists also use the paper folding technology in the design of robots, the folding property of paper folding is added on the basis of keeping the advantages of intellectualization of the robots and the like, various paper folding robots are designed, and the adaptability of the paper folding robots to the environment is improved.
Reference patent application publication No.: CN111923068A, a finger joint of a tendon transmission dexterous hand. The utility model discloses a finger joint of imitative dexterous hand of tendon transmission uses less tendon rope to realize more degree of freedom, makes compact structure reasonable on the basis similar with people's hand size, utilizes structural characteristics to reach tendon rope transmission effect, possesses certain flexibility in high integration, can realize comparatively accurate position control. However, the tendon-driven finger joint provided by the design has only one degree of freedom and is low in flexibility.
Reference patent application publication No.: CN111673781A, a variable stiffness humanoid robot paw. The utility model discloses a change rigidity linear drive device and realize the change of finger joint rigidity, the relative motion of cooperation thumb has improved the adaptability that the robot claw snatched the target. However, the design adopts a built-in electromechanical system to realize the joint bending of a dexterous hand, the internal structure is complex, the adoption of elements such as a sliding block, a nut and a screw rod is more, the movement space is limited, the assembly is troublesome, and the load dead weight is lower.
Reference patent application publication No.: CN108177156A, a structural decoupling driven variable stiffness soft hand. The utility model discloses a through each partial action of shape memory alloy drive finger, change its young modulus of temperature control of shape memory alloy through the electric current simultaneously, realize that the rigidity of finger is variable in order to obtain more accurate action of snatching, have simpler structure and do not have mechanical fatigue and wearing and tearing problem, can also reduce the risk of manipulator and people's interaction in-process to a feasible structural model of software hand development is provided. But the current thermal drive effective power is lower and the drive time is longer.
SUMMERY OF THE UTILITY MODEL
Aiming at the defects in the prior art, the utility model provides the rigid paper folding type dexterous hand modularization driving knuckle driven by the dielectric elastomer, the knuckle has multiple degrees of freedom, good flexibility and high response speed, the paper folding structure improves the rigidity and the load capacity of the knuckle, and the inherent flexibility of the dielectric elastomer material is combined with the folding characteristic of the paper folding structure to improve the environmental adaptability of the knuckle.
The utility model provides the following technical scheme: a dielectric elastomer driven rigid paper-folded dexterous hand modular drive knuckle comprising a knuckle comprising:
the bracket unit comprises two bracket bodies which are respectively positioned at two ends of the knuckle;
the drive assembly comprises dielectric elastomer drive mechanisms, each dielectric elastomer drive mechanism is connected between the two support bodies, each dielectric elastomer drive mechanism comprises a dielectric elastomer driver, and the dielectric elastomer drivers are bent and deformed to drive the knuckles to deform;
the folding assembly comprises folding supporting mechanisms, each folding supporting mechanism is connected between the two support bodies, each folding supporting mechanism comprises a rigid paper folding unit, and the knuckle deformation drives the rigid paper folding unit to fold and deform.
Furthermore, the driving assembly comprises a plurality of dielectric elastomer driving mechanisms which are sequentially arranged along the circumferential direction of the knuckle, and the folding assembly comprises a plurality of folding supporting mechanisms which are sequentially arranged along the circumferential direction of the knuckle.
Furthermore, each dielectric elastomer driving mechanism comprises two dielectric elastomer drivers respectively connected with the two support bodies, the joint of the two dielectric elastomer drivers of the same dielectric elastomer driving mechanism is positioned at the length halving part of the knuckle, and the joint of the two dielectric elastomer drivers of the same dielectric elastomer driving mechanism bends and deforms towards the inner side of the knuckle,
each folding support mechanism comprises two rigid paper folding units respectively connected with the two support bodies, the joint of the two rigid paper folding units of the same folding support mechanism is symmetrically positioned at the length halving position of the knuckle, and the two rigid paper folding units of the same folding support mechanism are folded and deformed towards the inner side of the knuckle.
Further, the dielectric elastomer driver includes a substrate and a dielectric elastomer film stacked together, the substrate is provided as one layer or a plurality of layers stacked together, the dielectric elastomer film is provided as a plurality of layers, both surfaces of each of the dielectric elastomer films are covered with flexible electrodes, and the dielectric elastomer driver is bent toward the substrate side when a voltage is applied to the flexible electrodes.
Furthermore, the dielectric elastomer film is made of polyacrylate or silicon rubber, the substrate is made of a flexible material with rigidity higher than that of the dielectric elastomer film, and the flexible electrode is made of a mixture material of carbon black, silicon rubber and silicon oil.
Furthermore, the crease of each rigid paper folding unit is in a single-vertex six-crease rhombic pattern, and the folding assembly formed by the rigid paper folding units meets the motion requirements of knuckle stretching, compression and bending.
Furthermore, the support body is a hexagonal thin plate, the hexagonal thin plate comprises first sides and second sides which are alternately arranged, the first sides are used for being connected with the dielectric elastomer driving mechanism, and the second sides are used for being connected with the folding type supporting mechanism.
Furthermore, the input voltage of the dielectric elastomer driving mechanism connected with the three first side edges is independently controlled, the knuckles realize compression movement when the input voltages are the same, and the knuckles realize bending movement when the input voltages are different.
Furthermore, the support body is provided with a plurality of clamping plates for sticking the dielectric elastomer drivers connected with the support body, and the two dielectric elastomer drivers of the dielectric elastomer driving mechanism are stuck and connected.
Furthermore, the support body and the rigid paper folding unit are both manufactured by 3D printing, and the folding lines of the folding type supporting mechanism are realized by 3D printing of flexible materials at the joints of different plates.
Due to the application of the technical scheme, compared with the prior art, the utility model has the following advantages:
1) the utility model discloses a dielectric elastomer driven rigid paper folding type dexterous hand modularization driving knuckle, which can realize the stretching and bending movement of the knuckle through the electromechanical coupling of a dielectric elastomer driver, and the knuckle has multiple degrees of freedom, good flexibility and high response speed;
2) according to the rigid paper folding type dexterous hand modularization driving knuckle driven by the dielectric elastomer, the paper folding structure and the dielectric elastomer are combined, so that the rigidity and the load capacity of the knuckle can be improved, the controllability of the movement of the knuckle is ensured, and the environment adaptability of the knuckle is improved by combining the inherent flexibility of the dielectric elastomer material with the folding characteristic of the paper folding structure;
3) the utility model discloses a rigid paper folding type dexterous hand modularization driving knuckle driven by a dielectric elastomer, wherein the driving force of the knuckle can be increased by the multilayer structure design of a dielectric elastomer driver and the increase of the number of driving mechanisms;
4) the utility model discloses a dielectric elastomer driven rigid paper folding type dexterous hand modular driving knuckle.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a general view of a dexterous finger joint of the present invention;
FIG. 2 is a partial schematic view of a dexterous finger joint of the present invention not including a dielectrically elastic drive component;
FIG. 3 is a partial schematic view of a dexterous finger segment of the present invention not including a folding assembly;
FIG. 4 is a schematic diagram of a dielectric elastomer actuator according to the present invention;
FIG. 5 is a schematic diagram of the dielectric elastomer driver of the present invention before voltage is input;
FIG. 6 is a schematic diagram of the dielectric elastomer driver of the present invention after voltage input;
FIG. 7 is a schematic diagram of the knuckles when the input voltages of the dielectric elastomer drivers on different sides are the same in the present invention;
fig. 8 is a schematic diagram of the knuckles when the input voltages of the dielectric elastomer drivers on different sides are different in the present invention.
Wherein, 1, a bracket body; 11. a splint; 2. a dielectric elastomer drive mechanism; 21. a dielectric elastomer driver; 211. a substrate; 212. a dielectric elastomer film; 213. a flexible electrode; 3. a folding support mechanism; 31. a rigid paper folding unit; 32. transverse crease lines; 33. single apex six-fold diamond pattern.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise. In the present disclosure, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only relational terms determined for convenience in describing structural relationships of the parts or elements of the present disclosure, and do not refer to any parts or elements of the present disclosure, and are not to be construed as limiting the present disclosure. In the present disclosure, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and mean either a fixed connection or an integrally connected or detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present disclosure can be determined on a case-by-case basis by persons skilled in the relevant art or technicians, and are not to be construed as limitations of the present disclosure.
The following is a preferred embodiment of the present invention, but is not intended to limit the scope of the present invention.
Example one
Referring to fig. 1-3, there is shown, in diagrammatic form, a dielectric elastomer actuated rigid paper-folded dexterous hand modular actuation finger joint comprising a finger joint comprising:
the support unit comprises two support bodies 1 which are respectively positioned at two ends of a knuckle;
the drive assembly comprises dielectric elastomer drive mechanisms 2, each dielectric elastomer drive mechanism 2 is connected between the two support bodies 1, each dielectric elastomer drive mechanism 2 comprises a dielectric elastomer driver 21, and the dielectric elastomer drivers 21 are bent and deformed to drive the knuckles to deform;
folding assembly, above-mentioned folding assembly include foldable supporting mechanism 3, and every foldable supporting mechanism 3 is connected between two stake bodies 1, and foldable supporting mechanism 3 includes rigidity paper folding unit 31, and knuckle deformation drives the folding deformation of rigidity paper folding unit 31.
In the above, the stretching and bending motion of the knuckle is realized through the electromechanical coupling of the dielectric elastomer driver, the paper folding structure is combined with the dielectric elastomer driver, the rigidity and the load capacity of the knuckle can be improved, the controllability of the knuckle motion is ensured, and the environmental adaptability of the knuckle is improved by combining the inherent flexibility of the dielectric elastomer material with the folding characteristic of the paper folding structure.
In the preferred embodiment of the present invention, each driving assembly includes three dielectric elastomer driving mechanisms sequentially arranged along the circumferential direction of the knuckle, each dielectric elastomer driving mechanism includes two dielectric elastomer driving mechanisms 2 adjacent to each other, each folding assembly includes three folding supporting mechanisms 3 sequentially arranged along the circumferential direction of the knuckle, and each folding supporting mechanism includes one folding supporting mechanism 3.
In the above, by providing a plurality of dielectric elastomer driving mechanisms and a plurality of paper folding mechanisms, on one hand, the driving force, rigidity and load capacity of the knuckles can be increased, and on the other hand, the knuckles have a plurality of degrees of freedom, good flexibility and fast response speed.
In the preferred embodiment of the present invention, each dielectric elastomer driving mechanism 2 comprises two dielectric elastomer drivers 21 respectively connected to the two support bodies 1, the joint of the two dielectric elastomer drivers 21 of the same dielectric elastomer driving mechanism 2 is located at the bisector of the length of the knuckle, and the joint of the two dielectric elastomer drivers 21 of the same dielectric elastomer driving mechanism 2 is bent and deformed toward the inner side of the knuckle,
each folding support mechanism 3 comprises two rigid paper folding units 31 respectively connected with the two support bodies 1, the joint of the two rigid paper folding units 31 of the same folding support mechanism 3 is positioned at the halving position of the length of the knuckle, and the two rigid paper folding units 31 of the same folding support mechanism 3 are folded and deformed towards the inner side of the knuckle.
In the above, the dielectric elastomer driving mechanism and the folding support mechanism are symmetrically arranged, so that the generated compression displacement and bending angle are larger, and the working space is larger.
In the preferred embodiment of the present invention, the support body 1 is a hexagonal thin plate, and the hexagonal thin plate includes first sides and second sides alternately arranged, three first sides are used for connecting the dielectric elastomer driving mechanism 2, and three second sides are used for connecting the folding support mechanism 3.
In a preferred embodiment of the present invention, the input voltages of the three dielectric elastomer driving mechanisms connected to the three first sides are independently controlled, when the input voltages are the same, the knuckles realize compression movement, and when the input voltages are different, the knuckles realize bending movement.
In the preferred embodiment of the present embodiment, the folds of each rigid paper folding unit 31 are in a single-apex six-fold diamond pattern 33, and the folding assembly formed by the rigid paper folding units 31 meets the motion requirements of knuckle stretching, compression and bending.
In the preferred embodiment of the present embodiment, the holder body 1 is provided with a plurality of clamping plates 11 for attaching the dielectric elastomer drivers 21 connected thereto, and two dielectric elastomer drivers 21 of each dielectric elastomer driving mechanism 2 are attached.
In the preferred embodiment of the present embodiment, the support body 1 and the rigid paper folding unit 31 are both made by 3D printing, and the folding of the folding support mechanism 3 is realized by 3D printing of flexible materials at the joints of different plates.
Referring to fig. 4 to 6, in a preferred embodiment of the present embodiment, the dielectric elastomer driver 21 includes a substrate 211 and a dielectric elastomer film 212 stacked together, the substrate 211 is provided as one layer, the dielectric elastomer film 212 is provided as a plurality of layers, both surfaces of each layer of the dielectric elastomer film 212 are covered with flexible electrodes 213, and when a voltage is applied to the flexible electrodes 213, the dielectric elastomer driver 21 is bent toward the substrate 211 side.
In the foregoing, the multi-layer structure design of the dielectric elastomer driver can increase the driving force of the knuckle.
In the preferred embodiment of the present embodiment, the dielectric elastomer film 212 is made of polyacrylate or silicone rubber, the substrate 211 is made of flexible material having rigidity higher than that of the dielectric elastomer film 212, and the flexible electrode 213 is made of mixture material of carbon black, silicone rubber and silicone oil.
Referring to fig. 7 and 8, in the preferred embodiment of the present embodiment, every two dielectric elastomer driving mechanisms 2 are located on the same first side and the input voltages of the 4 dielectric elastomer drivers 21 included in the same driving mechanism are the same, so that the same bending deformation occurs; when the input voltages of the three dielectric elastomer driving mechanisms 2 connected with the three first side edges are the same, the knuckles realize compression movement, and when the input voltages disappear, the knuckles can automatically stretch and recover to the initial state; when the input voltages of three dielectric elastomer driving mechanisms 2 connected with the three first side edges are different, the knuckles realize bending motion, and the bending motion of the knuckles in different directions can be realized through the electromechanical coupling of the three dielectric elastomer driving mechanisms; increasing the number of dielectric elastomer drivers may also increase the driving force of the knuckles.
In the preferred embodiment of this embodiment, the single rigid origami unit 31 comprises two identical large triangular panels and four identical small triangular panels, thereby forming a single apex six-fold diamond pattern 33.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention, including any reference to the above-mentioned embodiments. Various modifications to the embodiments of the utility model will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A dielectric elastomer driven rigid paper folded dexterous hand modular drive knuckle comprising a knuckle, wherein the knuckle comprises:
the bracket unit comprises two bracket bodies which are respectively positioned at two ends of the knuckle;
the drive assembly comprises dielectric elastomer drive mechanisms, each dielectric elastomer drive mechanism is connected between the two support bodies, each dielectric elastomer drive mechanism comprises a dielectric elastomer driver, and the dielectric elastomer drivers are bent and deformed to drive the knuckles to deform;
the folding assembly comprises folding supporting mechanisms, each folding supporting mechanism is connected between the two support bodies, each folding supporting mechanism comprises a rigid paper folding unit, and the knuckle deformation drives the rigid paper folding unit to fold and deform.
2. The modular dexterous hand drive knuckle of claim 1, wherein said drive assembly comprises a plurality of said dielectric elastomer drive mechanisms arranged in series in a circumferential direction of said knuckle, and said folding assembly comprises a plurality of said folding support mechanisms arranged in series in a circumferential direction of said knuckle.
3. The modular dexterous hand drive knuckle of claim 1, wherein each said dielectric elastomer drive mechanism comprises two said dielectric elastomer drivers connected to said two support bodies, respectively, wherein the junction of two said dielectric elastomer drivers of the same dielectric elastomer drive mechanism is located at the bisection of the length of said knuckle and the junction of two said dielectric elastomer drivers of the same dielectric elastomer drive mechanism is deformed to bend toward the inside of said knuckle,
each folding support mechanism comprises two rigid paper folding units respectively connected with the two support bodies, the joint of the two rigid paper folding units of the same folding support mechanism is positioned at the length halving part of the knuckle, and the two rigid paper folding units of the same folding support mechanism are folded and deformed towards the inner side of the knuckle.
4. The dexterous hand modular drive knuckle of claim 1, wherein said dielectric elastomer driver comprises a substrate and a dielectric elastomer film stacked together, said substrate being provided as one layer or multiple layers stacked together, said dielectric elastomer film being provided as multiple layers, each of said dielectric elastomer films having both surfaces covered with a flexible electrode, said dielectric elastomer driver bending toward said substrate side when a voltage is applied to said flexible electrodes.
5. The modular dexterous hand drive knuckle of claim 4, wherein said dielectric elastomer membrane is a polyacrylate or silicone rubber material and said substrate is a flexible material having a stiffness greater than said dielectric elastomer membrane.
6. The dexterous hand modular drive knuckle of claim 1, wherein the folds of each of said rigid paper-folding units are in a single apex six-fold diamond pattern, said folding assembly of said rigid paper-folding units satisfying the motion requirements for knuckle stretch, compression and bending.
7. The modular dexterous hand drive knuckle of claim 1, wherein said support body is a hexagonal thin plate comprising alternating first and second sides, three of said first sides for connection to said dielectric elastomer drive mechanism and three of said second sides for connection to said folding support mechanism.
8. The modular dexterous hand drive finger of claim 7, wherein three said dielectric elastomer drive mechanisms connected to three said first sides are independently controlled by input voltages, wherein when input voltages are the same, the finger performs a compressive motion, and when input voltages are different, the finger performs a bending motion.
9. The modular dexterous hand drive knuckle of claim 1, wherein said support body is provided with a plurality of cleats for affixing said dielectric elastomer drivers to which it is attached, two of said dielectric elastomer drivers of said dielectric elastomer drive mechanism being adhesively attached.
10. The dexterous hand modular drive knuckle of claim 1, wherein said support body and said rigid paper folding unit are both made by 3D printing, and wherein said folding of said folding support mechanism is achieved by 3D printing of flexible material at the junction of different panels.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202120772957.3U CN215701777U (en) | 2021-04-15 | 2021-04-15 | Rigid paper folding type dexterous hand modular driving knuckle driven by dielectric elastomer |
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| CN202120772957.3U CN215701777U (en) | 2021-04-15 | 2021-04-15 | Rigid paper folding type dexterous hand modular driving knuckle driven by dielectric elastomer |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114800466A (en) * | 2022-04-06 | 2022-07-29 | 哈尔滨理工大学 | Software module based on paper folding structure and software robot |
| CN118238165A (en) * | 2024-05-29 | 2024-06-25 | 浙江大学 | Pneumatic multistable flexible driver for physical man-machine interaction |
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2021
- 2021-04-15 CN CN202120772957.3U patent/CN215701777U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114800466A (en) * | 2022-04-06 | 2022-07-29 | 哈尔滨理工大学 | Software module based on paper folding structure and software robot |
| CN114800466B (en) * | 2022-04-06 | 2023-10-31 | 哈尔滨理工大学 | Software module and software robot based on paper folding structure |
| CN118238165A (en) * | 2024-05-29 | 2024-06-25 | 浙江大学 | Pneumatic multistable flexible driver for physical man-machine interaction |
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