CN216139272U

CN216139272U - Snatch controllable software of scope and rigidity and grab device and mould

Info

Publication number: CN216139272U
Application number: CN202121922591.XU
Authority: CN
Inventors: 盖龄杰; 宗小峰
Original assignee: China University of Geosciences
Current assignee: China University of Geosciences
Priority date: 2021-08-17
Filing date: 2021-08-17
Publication date: 2022-03-29
Anticipated expiration: 2031-08-17

Abstract

The invention provides a soft gripping device with adjustable gripping range and controllable rigidity and a mould, which are used for connecting two soft fingers, and the device comprises: the soft main body cavity is provided with a plurality of chambers at intervals along the length direction at one side, the sectional area of each chamber is gradually reduced from the bottom to the top, and the distance between any two adjacent chambers is controlled by the air pressure in the main body cavity; the variable rigidity layer is arranged on the other side of the main body cavity and comprises an accommodating cavity and a porosity variable material arranged in the accommodating cavity, and the rigidity of the variable rigidity layer is controlled by the negative pressure in the accommodating cavity. The invention has the beneficial effects that: the problem of poor rigid-flexible coupling of a soft finger and a rigid support is solved, and the coupling is good and the flexibility is high; automatically adjusting the grabbing range; the variable-porosity materials are mutually stacked and extruded by sucking the variable-rigidity layer under negative pressure, so that the rigidity of the soft support structure is controllable, and the bearing capacity of the gripping device is enhanced.

Description

Snatch controllable software of scope and rigidity and grab device and mould

Technical Field

The invention relates to the technical field of soft robots, in particular to a soft gripping device with an adjustable gripping range and controllable rigidity and a mold.

Background

The soft robot is a new hot spot of the current robot technology, and compared with the traditional rigid robot, the soft robot is mostly made of flexible materials such as silicon rubber and the like, and has the advantages of large degree of freedom, soft deformation and better environmental adaptability. The soft gripper is an execution component for interaction between the soft robot and a target object, can replace human beings to complete gripping, sorting and other works in various complex environments, and is widely concerned by scientific research institutions and students all over the world.

Generally, soft hand grips consist of gripping means and soft finger structures. However, most of the current research is focused on soft finger structures, and the research on grasping devices is less. Through the research of the literature, the Chinese patent application with the application number of CN201810632541.4 discloses a soft gripper with a self-adaptive gripping diameter, and the device can self-adaptively adjust the gripping diameter by installing mechanical structures such as a spring, a sliding block and the like on a bracket, thereby avoiding the installation of fastening structures such as bolts and the like and having better detachability. In addition, the Chinese patent application 202010629657.X discloses a pneumatic soft manipulator, a negative pressure structure and a pneumatic push rod are mounted on a bracket of the device, fingers can be driven to translate inwards or outwards by negative pressure suction, and objects with different sizes can be grabbed to a certain extent.

However, in the case of the above two patents, the support portions of the currently available soft-body gripping devices are rigid, namely: the existing soft body grasping device does not achieve true full softening. The existing gripping devices based on rigid-flexible coupling have the following drawbacks: on one hand, the rigid support structure has freedom degree constraint, most of the rigid support structure can only do translational motion on a plane, and the grabbing range of the soft fingers is greatly limited; on the other hand, when applied to soft objects such as fruit and vegetable picking, the rigid support structure may damage the soft objects such as fruits and vegetables. Thirdly, the rigid support is combined with the soft gripper, so that the defect of poor rigid-flexible coupling exists, and the all-soft gripping device can effectively solve/avoid the problems. However, the soft support combined with the soft finger is made of soft materials such as silica gel, which leads to the inevitable defect of hard bearing of the soft support structure.

Disclosure of Invention

In view of the above, in order to overcome the above-mentioned drawbacks of the soft gripping device, embodiments of the present invention provide a soft gripping device with adjustable gripping range and controllable rigidity, and a mold.

The embodiment of the invention provides a soft gripping device with adjustable gripping range and controllable rigidity, which is used for connecting two soft fingers and comprises:

the soft main body cavity is provided with an opening at the bottom, a plurality of cavities are arranged at intervals along the length direction at the upper side, the cross section of each cavity is in an isosceles triangle shape, the cavities are communicated through a gas path, and the main body cavity is provided with a gas inlet and a gas outlet for charging and discharging gas into and from the main body cavity;

the variable rigidity layer is bonded with the bottom of the main body cavity and seals an opening in the bottom of the main body cavity, the variable rigidity layer comprises an accommodating cavity and a porosity variable material arranged in the accommodating cavity, and the accommodating cavity is provided with an air pipe for sucking air in the accommodating cavity;

the distance between any two adjacent chambers is controlled by the air pressure in the main cavity, and the rigidity of the variable rigidity layer is controlled by the negative pressure in the accommodating cavity.

Further, the top and bottom of each chamber are flush.

Further, all the cavities are uniformly distributed along the length direction of the main body cavity.

Furthermore, both ends of the main body cavity are provided with fingerstalls, the end part of the soft finger is provided with a plug-in connector, and the plug-in connector is plugged with the fingerstalls.

Further, the porosity variable material is a non-stretchable flexible sheet arranged in a stacked manner or a non-stretchable flexible strip arranged in a stacked manner.

Further, the porosity variable material is particles filled in the accommodating cavity.

The technical scheme of the soft gripping device with adjustable gripping range and controllable rigidity provided by the embodiment of the invention has the following beneficial effects:

the gripping device is designed by adopting soft materials, the problem that the rigid-flexible coupling of soft fingers and a rigid support in the traditional gripping device is poor can be effectively solved, the coupling is good, the softness is high, and soft objects such as fruits, vegetables and cakes are not easy to damage in the gripping process;

the grabbing range is adjusted in a pneumatic mode, so that the soft finger fixing device not only has the function of fixing soft fingers, but also has the function of automatically adjusting the grabbing range, not only can grab objects larger than the conventional size of the device, but also can grab objects smaller than the conventional size of the device, has more degrees of freedom, and can automatically adjust the grabbing range;

the variable rigidity layer is designed, and the variable porosity materials are mutually stacked and extruded by sucking the variable rigidity layer under negative pressure, so that the rigidity of the soft support structure is controllable, and the bearing capacity of the gripping device is enhanced.

The embodiment of the invention also provides a mold of the soft gripping device with adjustable gripping range and controllable rigidity, which comprises a first mold and a second mold;

the first die comprises a lower die and an upper die, wherein a plurality of die cavities arranged at intervals are arranged in an inner cavity of the lower die, a plurality of inserting blocks are arranged on the upper die, the sectional areas of the inserting blocks are gradually increased from bottom to top, the upper die and the lower die are covered, and each inserting block is inserted into one die cavity;

the second mould includes main mould and mould lid, wherein the main mould is upper end open-ended rectangular channel, mould lid lower part is equipped with the picture peg, the mould lid with the main mould notch lid closes, just the picture peg inserts in the main mould.

Further, the plug block is a wedge-shaped block.

Furthermore, a plurality of positioning holes are formed in the edge of the upper portion of the lower die, a plurality of positioning columns are arranged on the edge of the lower portion of the upper die, and each positioning column is inserted into one positioning hole to enable the upper die and the lower die to be covered.

The technical scheme of the grinding tool of the soft gripping device with the adjustable gripping range and the controllable rigidity, provided by the embodiment of the invention, has the beneficial effects that: the main body cavity is manufactured by a first mold through a silica gel injection molding method, the variable rigidity layer is manufactured by a second mold through a silica gel injection molding method, and the soft grasping device with adjustable grasping range and controllable rigidity is manufactured; the grabbing range can be automatically adjusted, and soft objects such as fruits, vegetables and cakes are not easy to damage in the grabbing process; the rigidity is controllable, and the bearing capacity of the gripping device is enhanced.

Drawings

FIG. 1 is a perspective view of a soft gripping device with adjustable gripping range and controllable rigidity according to the present invention;

FIG. 2 is a cross-sectional view of a soft gripping device with adjustable gripping range and controllable stiffness according to the present invention;

FIG. 3 is a perspective view of the body cavity 1 of FIG. 1;

FIG. 4 is a top view of the body cavity 1 of FIG. 3;

FIG. 5 is a schematic sectional view taken along line A-A in FIG. 4;

FIG. 6 is a schematic view of a soft finger;

FIG. 7 is a schematic view of the gripping device and two soft fingers in a first state (chamber and atmospheric pressure in the soft fingers);

FIG. 8 is a schematic view of the gripping device and two soft fingers in a second state (body cavity inspiration);

FIG. 9 is a schematic view of the gripping device and two soft fingers in a third state (with the body cavity inflated);

FIG. 10 is a schematic view of a fifth state of the gripping device and two soft fingers (body cavity inflated, soft finger inhaling);

FIG. 11 is a schematic view of a first mold;

fig. 12 is a schematic view of a second mold.

In the figure: 1-main body cavity, 101-cavity, 102-finger sleeve, 103-air inlet and outlet, 104-air channel, 2-variable rigidity layer, 201-accommodating cavity, 202-porosity variable material, 3-soft finger, 301-plug connector, 4-first mould, 401-lower mould, 401 a-model cavity, 401 b-finger sleeve cavity, 401 c-positioning hole, 402-upper mould, 402 a-insert block, 402 b-positioning column, 5-second mould, 501-main mould, 502-mould cover and 502 a-insert plate.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be further described with reference to the accompanying drawings.

Referring to fig. 1 and 2, an embodiment of the present invention provides a soft gripping device with adjustable gripping range and controllable rigidity, which is used for connecting two soft fingers 3, and includes a main body cavity 1 and a variable rigidity layer 2.

The main body cavity 1 is approximately columnar and is formed by injection molding of a soft material, the soft material can be selected from silica gel which is produced by American Smooth-on company and has the model of Econflex00-10, and the silica gel has high tensile strength and low shore rigidity and is suitable for manufacturing of soft tongs.

Referring to fig. 3, 4 and 5, the bottom of the main cavity 1 is open, and a plurality of chambers 101 are disposed at intervals along the length direction on one side of the main cavity, each chamber 101 has an isosceles triangle cross-sectional shape, the cross-sectional area of the isosceles triangle gradually decreases from the bottom to the top, and a reasonable distance should be maintained between two adjacent chambers 101. The chambers 101 are substantially the same in shape and size, the top and bottom are substantially flush, and the chambers 101 are uniformly distributed along the length of the main body cavity 1. The number of the chambers 101 may be determined according to the length of the body cavity 1, and is generally set to three or more.

The internal parts of the chambers 101 are relatively separated when the internal part of the main body cavity 1 is in positive pressure, and the internal parts of the chambers 101 are relatively close when the internal part of the main body cavity 1 is in negative pressure, that is, the distance between any two adjacent chambers 101 is controlled by the air pressure in the main body cavity 1. Meanwhile, the change of the distance between two adjacent chambers 101 can enable the body cavity 1 to achieve two opposite bending states as a whole.

In addition, an air passage 104 communicated with the outer wall is arranged in the main body cavity 1, the air passage 104 is arranged at the bottom of the main body cavity 1, and the air passage 104 is sequentially connected with the bottom of each chamber 101 so as to communicate each chamber 101. The main body cavity 1 is further provided with an air inlet and outlet 103 communicated with the outside, and the inside of the main body cavity 1 can be inflated through the air inlet and outlet 103. The gas inlet and outlet 103 is disposed on the chamber 101 in this embodiment.

The two ends of the main body cavity 1 are used for connecting the two soft fingers 3, in this embodiment, the two ends of the main body cavity 1 are both provided with finger sleeves 102, the end of each soft finger 3 is provided with a plug 301, and the plug 301 of the two soft fingers 3 are respectively plugged with the two finger sleeves 102.

Referring to fig. 1 and 2, the variable stiffness layer 2 is disposed on the other side of the main body cavity 1, i.e. on the side opposite to each of the chambers 101. The variable stiffness layer 2 includes a receiving cavity 201 and a porosity variable material 202 disposed inside the receiving cavity 201. The accommodating cavity 201 is connected with the bottom of the main cavity 1 in an adhesive manner, and the bottom opening of the main cavity 1 is sealed, so that a sealed cavity is formed inside the main cavity 1.

The accommodating cavity 201 is further provided with an air pipe, and the air pipe is used for sucking air into the accommodating cavity 201 to enable the inside of the accommodating cavity 201 to be at negative pressure, so that the compactness of the porosity variable material 202 is changed, and the rigidity of the variable rigidity layer 2 is controlled by the negative pressure in the accommodating cavity 201.

There are many options for the variable porosity material 202, and first the variable porosity material 202 may be a non-stretchable flexible sheet in a stacked arrangement or a non-stretchable flexible strip in a stacked arrangement. Wherein the non-retractable flexible sheet includes and is not limited to paper sheet, plastic sheet, etc., and the non-retractable flexible strip includes and is not limited to paper strip, plastic strip, etc. The non-telescopic flexible sheets and the non-telescopic flexible strips are mutually stacked and pressed, the negative pressure degree is different, the rigidity is different, and therefore the rigidity is adjusted.

The porosity variable material 202 may also be particles filled in the accommodating cavity. The particles comprise and are not limited to particles such as rice grains and coffee beans, gaps among the particles are small under the action of negative pressure, the degree of the negative pressure is different, the compaction degree among the particles is different, the rigidity is different, and the rigidity can be adjusted.

The working principle of the soft gripping device with adjustable gripping range and controllable rigidity matched with the two soft fingers 3 is as follows: the main body cavity 1 is inflated or sucked, so that positive pressure or negative pressure is kept in each chamber 101, the distance between two adjacent chambers 101 is changed, and the gripping device is further enabled to achieve a bending state in two directions. When the gripping device is bent, negative pressure is absorbed in the accommodating cavity 201, the degree of compaction of the variable porosity material 202 is changed, and the rigidity of the variable rigidity layer 2, namely the rigidity of the whole gripping device, is adjusted.

Referring to fig. 7-10, fig. 7 is a schematic view of the soft finger 3 being uninflated and inhaling and the main body cavity 1 being uninflated and inhaling in a natural state. Figure 8 is a schematic illustration of the soft finger 3 uninflated and inhaling, and the body chamber 1 inhaling. Figure 9 is a schematic view of the soft finger 3 uninflated and inhaled and the body cavity 1 inflated. Fig. 10 is a schematic view of the soft finger 3 inhaling and the main body cavity 1 inflating. It is obvious that the distance (range) between the two soft fingers 3 varies with the curvature and the bending direction of the gripping device in the natural state, the inflated state and the air suction state. Therefore, the gripping range of the soft fingers 3 can be adjusted, and the soft fingers can grip large-size objects and small-size objects.

In addition, in order to realize the processing and manufacturing of the soft gripping device with adjustable gripping range and controllable rigidity, the embodiment of the invention also provides a mold of the soft gripping device with adjustable gripping range and controllable rigidity, which comprises a first mold 4 and a second mold 5.

Referring to fig. 11, a main body cavity 1 is manufactured by a first mold 4 through silicone injection molding, the first mold 4 includes a lower mold 401 and an upper mold 402, wherein two ends of an inner cavity of the lower mold 401 are respectively provided with a finger stall cavity 401b, a plurality of mold cavities 401a are arranged between the two finger stall cavities 401b at intervals, the upper mold 402 is provided with a plurality of inserts 402a, the inserts 402a are wedge-shaped blocks, the cross-sectional area of each insert 402 is gradually increased from bottom to top, the upper mold 402 covers the lower mold 401, and each insert 402a is inserted into one of the mold cavities 401 a. The insert 402a is inserted inside the mold cavity 401a to injection mold the cavity 101.

In order to facilitate the upper mold 402 and the lower mold 401 to be accurately covered, a plurality of positioning holes 401c are formed in the upper edge of the lower mold 401, a plurality of positioning pillars 402b are formed in the lower edge of the upper mold 402, and each positioning pillar 402b is inserted into one positioning hole 401c to cover the upper mold 402 and the lower mold 401. Meanwhile, in order to facilitate demoulding, an arched handle is arranged at the back of the upper mould 402, and vaseline lubricant is uniformly coated on the inner wall of the first mould 4 when the mould is used.

The bottom of the main body cavity 1 manufactured at this time is opened, and then the main body cavity 1 is opened with an air inlet 103 and an air outlet 103. Preferably, a tubular joint may be bonded at the opening as the air inlet/outlet 103.

S2, manufacturing the accommodating cavity 201, disposing the porosity variable material 202 inside the accommodating cavity 201, and then bonding the accommodating cavity 201 to the side of the main cavity 1 away from all the chambers. The accommodating cavity is manufactured by injection molding of the second mold 5, and the accommodating cavity is made of silica gel.

Referring to fig. 12, in detail, the second mold 5 includes a main mold 501 and the mold cover 502, wherein the main mold 501 is a rectangular groove body, an insert plate 502a is disposed at a lower portion of the mold cover 502, the mold cover 502 is covered with the notch of the main mold 501, and the insert plate 502a is inserted into the main mold 501, so that a rectangular groove is formed by injection molding, and then the porosity variable material 202 is disposed in the rectangular groove and the notch is closed to form the variable stiffness layer 2. Then, holes are formed on the surface of the accommodating cavity 201, and a tubular joint is bonded to serve as an air suction hole.

And finally, adhering the variable stiffness layer 2 with the bottom of the main body cavity 1, and sealing the bottom of the main body cavity 1 to form a sealed cavity inside the main body cavity 1, so that the soft body gripping device with adjustable gripping range and controllable stiffness is manufactured.

In this document, the terms front, back, upper and lower are used to define the components in the drawings and the positions of the components relative to each other, and are used for clarity and convenience of the technical solution. It is to be understood that the use of the directional terms should not be taken to limit the scope of the claims.

The features of the embodiments and embodiments described herein above may be combined with each other without conflict.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. The utility model provides a snatch adjustable, controllable software of controllable rigidity and grab device for connect two software fingers, its characterized in that includes:

2. The soft gripping device with adjustable gripping range and controllable rigidity as claimed in claim 1, wherein: the top and bottom of each chamber are flush.

3. The soft gripping device with adjustable gripping range and controllable rigidity as claimed in claim 1, wherein: all the cavities are uniformly distributed along the length direction of the main body cavity.

4. The soft gripping device with adjustable gripping range and controllable rigidity as claimed in claim 1, wherein: the two ends of the main body cavity are both provided with fingerstalls, the end part of the soft finger is provided with a plug-in connector, and the plug-in connector is plugged with the fingerstalls.

5. The soft gripping device with adjustable gripping range and controllable rigidity as claimed in claim 1, wherein: the porosity variable material is a non-telescopic flexible sheet arranged in a stacked mode or a non-telescopic flexible strip arranged in a stacked mode.

6. The soft gripping device with adjustable gripping range and controllable rigidity as claimed in claim 1, wherein: the porosity variable material is particles filled in the accommodating cavity.

7. A mold, characterized in that: the soft gripping device with the adjustable gripping range and the controllable rigidity, which is used for manufacturing the soft gripping device with the adjustable gripping range and the controllable rigidity, comprises a first die and a second die;

8. A mold in accordance with claim 7, wherein: the plug-in block is a wedge-shaped block.

9. A mold in accordance with claim 7, wherein: the edge of the upper part of the lower die is provided with a plurality of positioning holes, the edge of the lower part of the upper die is provided with a plurality of positioning columns, and each positioning column is inserted into one positioning hole to cover the upper die and the lower die.