WO2020063277A1 - 一种链板式柔性手指 - Google Patents

一种链板式柔性手指 Download PDF

Info

Publication number
WO2020063277A1
WO2020063277A1 PCT/CN2019/104269 CN2019104269W WO2020063277A1 WO 2020063277 A1 WO2020063277 A1 WO 2020063277A1 CN 2019104269 W CN2019104269 W CN 2019104269W WO 2020063277 A1 WO2020063277 A1 WO 2020063277A1
Authority
WO
WIPO (PCT)
Prior art keywords
chain
artificial muscle
plate
flexible finger
plate type
Prior art date
Application number
PCT/CN2019/104269
Other languages
English (en)
French (fr)
Inventor
章军
王强
徐丁峰
唐正宁
吕兵
Original Assignee
江南大学
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 江南大学 filed Critical 江南大学
Priority to US17/278,378 priority Critical patent/US20210347063A1/en
Publication of WO2020063277A1 publication Critical patent/WO2020063277A1/zh

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0023—Gripper surfaces directly activated by a fluid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies

Definitions

  • the invention relates to the technical field of industrial robots, in particular to a chain plate type flexible finger.
  • the types of complex objects to be grasped 1 irregularly shaped objects with large differences in size (melons, fruits, vegetables); 2 brittle and brittle objects (poultry eggs, glass ceramic products); 3 soft objects that are easily deformed ( Bread, flexible packaging items); 4 special-shaped objects (challenge bottles, cosmetics bottles) with chaotic position status and difficult to straighten out; from the above, it can be seen that the material properties, shapes, sizes, and position status of complex objects vary greatly.
  • the traditional industrial manipulator is a clamp-type or parallel-moving structure, and can only grasp rigid workpieces of the same shape and size, consistent position and no damage.
  • Human-like dexterous hands need to perceive the spatial position and shape of complex objects, and need to accurately control the movement and grasping force, otherwise they will damage complex objects or cannot be reliably grasped, but human-like dexterous hands are still in the laboratory research stage.
  • the structure of a soft robot can be roughly divided into two types: a still water skeleton and a muscular still water skeleton.
  • the typical structure of most mollusks (such as worms and anemones) is that the muscles form a closed cavity, and the interior is filled with body fluids to form a still water skeletal structure.
  • the muscular still water skeletal structure does not have a closed fluid cavity.
  • the typical muscular still water skeletal structure consists of transverse and longitudinal muscles that oppose each other. When the transverse muscles contract, the body stretches longitudinally. When the longitudinal muscles contract, the body stretches laterally. The volume remains the same. Animal tongues, elephant noses, and octopus tentacles are muscular still-water skeletal structures.
  • Soft robots mimic mollusks in nature. They are made of soft materials that can withstand large strains. They have unlimited degrees of freedom and continuous deformation capabilities. The shape and size can be arbitrarily changed within the range, so it can change the configuration and make the formed soft robot reach any point in the working space. Due to the low resistance to pressure, the soft manipulator can be compatible with the contacting object by way of soft deformation, thereby greatly reducing the contact force, which makes it have good application potential in grasping soft and fragile objects.
  • the advantages of software robots (manipulators) are good structural flexibility and movement flexibility, large degrees of freedom, and strong adaptability. The disadvantages are limited load capacity, easy to bend or twist motion of the fingers, and large nonlinear deformation of the airbag in the fingers is not conducive to the mechanics of the fingers Modeling analysis.
  • the present invention aims at the shortcomings in the above existing production technology, focuses on the above-mentioned complex gripping objects, and provides a chain-chain flexible finger with a reasonable structure, which is used after being connected with the industrial robot body, and combines the advantages of a soft robot and a rigid smart manipulator, thereby Overcome the shortcomings of contradiction between applicable scope and suitable gripping force; reliably grasp objects in an enveloping manner, or directly drive a deformed super-flexible elastic skeleton to deform the ends elastically, thereby grasping objects reliably in a pinch manner; when grasping complex objects
  • the gripping range is wider, with flexible and adaptive gripping effects, which can adapt to changes in the size and shape of objects; it is suitable for the production and logistics fields such as gripping and sorting of food, agricultural products, and light industrial products.
  • a chain plate type flexible finger includes an elastic bellows artificial muscle.
  • the elastic bellows artificial muscle is a tubular structure with an inner cavity in the middle.
  • the outer wall is corrugated.
  • the top is an open end.
  • the top open end passes through a clamp and waves.
  • Mouth tube joints are connected, tracheal joints are installed on one side of the corrugated tube joints, and finger mounting plates are fixed on the top surface of the corrugated tube joints by screws;
  • a plastic ring frame is installed in the wave valley of the corrugated outer wall of the elastic bellows artificial muscle, adjacent
  • a chain plate is installed at the interval between the two plastic ring frames, and a plurality of chain plates are hinged sequentially in the axial direction on the side of the outer wall of the elastic muscle of the artificial corrugated tube;
  • a tension spring is also installed on the inner wall of the chain plate and the elastic ripple
  • the tube is placed between the outer walls of the artificial muscle and fixed by the plastic ring frame.
  • the installation structure of the plastic ring frame includes: a ring segment, which is sleeved in the trough of the outer wall of the elastic corrugated artificial muscle, a side plate extending outward on one side of the ring segment, and the end of the side plate is simultaneously passed through a hinge mandrel. It is hinged with two chain plates located at the upper and lower sides of the side plate, and two ends of the side plate are respectively provided with cylindrical rods connected with spring hooks at both ends of the tension spring.
  • each chain plate is provided with two hinge seats, and the ends of the side plates are locked at the interval between the two hinge seats at the upper end of each chain plate. Located between two hinge seats at the lower end of the chain plate above it.
  • Plastic ring frames are installed at equal intervals in the troughs of the outer wall of the elastic corrugated artificial muscle.
  • the length of the chain plate is an integer multiple of the wave length of the elastic bellows artificial muscle.
  • a tension spring is provided between two adjacent plastic ring frames.
  • a sealing ring is installed between the air pipe joint and the wave port pipe joint.
  • the elastic bellows artificial muscle is made of rubber.
  • the invention has a compact and reasonable structure, convenient operation, reliable use, and good flexibility and adaptability.
  • the elastic bellow artificial muscle in a proper original state is selected, a chain plate of an appropriate length is selected, and the plastic ring frame is adjusted to be different from the elastic bellow artificial muscle.
  • For the position of the trough choose a suitable tension spring to meet the safe grasping needs of special grasping objects of different shapes, sizes, and materials (such as soft materials such as paper cups and peaches).
  • the invention also has the following advantages:
  • the pneumatic system has a large gain, and the flexible pneumatic bellows has light muscles and no sealed frictional damping of the pistons and cylinders on the cylinders, piston rods and cylinder heads, which results in quick response and good cushioning.
  • FIG. 1 is a front sectional view of the present invention.
  • Fig. 2 is a left side view of the present invention.
  • FIG. 3 is a structural diagram of an elastic bellows artificial muscle according to the present invention.
  • FIG. 4 is a front view of a plastic ring frame of the present invention.
  • Fig. 5 is a left cross-sectional view taken along the A-A cross section in Fig. 4.
  • FIG. 6 is a front view of a chain plate of the present invention.
  • Fig. 7 is a left cross-sectional view taken along the line B-B in Fig. 6.
  • the chain-type flexible finger of this embodiment includes an elastic bellows artificial muscle 1, which is a tubular structure with an inner cavity in the middle, and its outer wall is corrugated.
  • the top is an open end.
  • the top open end is connected to the wave mouth pipe joint 7 through a clamp 6.
  • the wave mouth pipe joint 7 is provided with an air pipe joint 9 on one side, and the wave mouth pipe joint 7 has a finger mounting plate 8 fixed on the top surface by screws.
  • Elastic corrugated tube artificial muscle 1 a plastic ring frame 2 is installed in the wave valley of the corrugated outer wall, a chain plate 4 is installed at the interval between two adjacent plastic ring frames 2, and multiple chain plates 4 are in the elastic corrugated tube artificial muscle 1
  • One side of the outer wall is hinged sequentially in the axial direction; it also includes a tension spring 5, which is installed between the inner wall of the chain plate 4 and the outer wall of the elastic bellows artificial muscle 1, and fixed by a plastic ring frame 2.
  • the installation structure of the plastic ring frame 2 includes a ring segment, which is sleeved in the trough of the outer wall of the elastic bellows artificial muscle 1, and has side plates extending radially outward along the ring segment.
  • the end of the plate is hinged to the chain plate 4 located at the upper and lower sides of the side plate through a hinge mandrel 3 at the same time.
  • Cylindrical rods connected to the two-stage hooks of the tension spring 5 are respectively arranged on both sides of the side plate.
  • each link plate 4 are provided with two hinge seats, and a plastic ring connected to the hinge seat is snapped between the two hinge seats at the upper end of each link plate 4.
  • a plastic ring connected to the hinge seat is snapped between the two hinge seats at the upper end of each link plate 4.
  • the two hinge seats at the upper end of each chain plate 4 are snapped between the two hinge seats located at the lower end of the chain plate 4 above it.
  • the plastic ring frames 2 are installed at equal intervals or unequal intervals in the troughs of the outer wall of the elastic bellows artificial muscle 1.
  • the length of the chain plate 4 is an integer multiple of the wave distance of the elastic bellows artificial muscle 1.
  • a tension spring 5 is provided between two adjacent plastic ring frames 2.
  • a sealing ring 10 is installed between the trachea joint 9 and the corrugated pipe joint 7.
  • the elastic bellows artificial muscle 1 is made of rubber.
  • each flexible finger uses a high-speed on-off valve to control the pressure in the inner cavity of the elastic bellows artificial muscle 1 or any flexible finger in parallel. Later, a high-speed on-off valve is used to control the pressure in the inner cavity of the elastic bellows artificial muscle 1.
  • the flexible finger In the original state when the air is ventilated, the flexible finger may be in a straight state, or a bent state in the same or opposite direction as the inflation bending direction.
  • the chain plate 4 may be of equal or unequal pitch, and the length of the pitch of the chain plate 4 may or may not be an integer multiple of the original state of the elastic bellows artificial muscle 1 or the wave length after compression.
  • the elastic bellows artificial muscle 1 is made of rubber material, and its original state has the following four cases: (1) In the case of equidistant waves, it can be a longitudinal section with a "U" shape as shown in Fig. 3, or it can be It is a longitudinal section of “ ⁇ ” shape or “V” shape; (2) In the case of unequal wave distance, it can be any one of the above three longitudinal section shapes; (3) In the case of equal wave distance or unequal wave distance In the following, it may be composed of any two of the three vertical cross-sectional shapes; (4) In the case of equal or unequal wave distances, it may be composed of the three vertical cross-sectional shapes.
  • the tension spring 5 is not a performance tension spring.
  • the tension spring 5 is a series of tension springs with the same middle diameter of the spring.
  • the pitch and free length of the tension spring 5 and the material and diameter of the spring wire can be any of the four options. Three kinds, or any two kinds, or one kind are different, so as to obtain tension springs with different elastic parameters, it is convenient to install tension springs with different elastic parameters and different characteristics in different use states.
  • the elastic bellows artificial muscle 1 has good flexibility, and can be elastically bent and deformed at any point and in any direction. For example, the overall elastic deformation of the "S" shape on a plane, and the elastic bellows artificial muscle 1 is elastically bent and deformed. Small deformation resistance and low energy consumption.
  • the plastic ring frame 2 When inflated, the axial expansion of the elastic bellows artificial muscle 1 pushes the plastic ring frame 2 to move.
  • the plastic ring frame 2 is restricted by the skeleton of the chain plate 4 and overcomes the elastic force of the tension spring 5 to cause the chain plate flexible fingers to bend.
  • One or more chain plates 4 make compliant contact with the object to be grasped, and produce a contact force in the grasping state.
  • the contact point and the magnitude of this contact force are related to the inflation pressure and the tension spring 5 performance (spring parameters, pre-tensioned state). Impact) related.

Abstract

一种链板式柔性手指，由链板式骨架、气动弹性波纹管人工肌肉（1）、塑料环架（2）等组成。弹性波纹管人工肌肉的轴向膨胀由于受到链板式骨架限制，克服拉弹簧（5）的弹性力产生弯曲，使一个或多个链板（4）与被抓取物体产生顺应性接触，并产生抓持状态接触力。通过高速开关阀控制，精确控制弹性波纹管人工肌肉内腔的气压，满足垂直抓取圆柱形、方形、球形、椭球形等物体，或水平抓取球形、圆柱形、方形等物体。其柔性自适应性好，结构简单、使用可靠，适应抓取物体形状、竖横放置的变化。该机械手属于机器人、机电一体化的应用技术领域，与机器人本体联接，尤其适用于食品、农产品、轻工产品的抓取、分拣等生产和物流领域。

Description

一种链板式柔性手指 技术领域
本发明涉及工业机器人技术领域，尤其是一种链板式柔性手指。
 背景技术
针对轻工和食品行业的大规模生产状况，为满足形状复杂、物性多样的原材料、半成品、成品的物流和包装的需要，为解决简单劳动的用工成本高、劳动条件差等问题，需要物流抓取的末端抓持器。就抓取的复杂对象的种类：①形状不规则的、大小差别大的物体（瓜果、蔬菜）；②易碎的脆性物体（禽蛋、玻璃陶瓷制品）；③易变形的软性物体（面包、软包装物品）；④异形的、位置状态混乱且难理顺的物体（酒瓶、化妆品瓶）；从上可见，复杂对象的材料性质、形状尺寸及位置状态的差别较大。
 技术问题
传统工业机械手（末端抓持器）为夹钳式或平行移动式结构，只能抓取形状大小相同、位置状态一致、不会破损的刚性工件。仿人灵巧手需要感知复杂对象的空间位置和形状，需要精确控制运动和抓取力，否则会损坏复杂对象或不能可靠抓取，但目前仿人灵巧手尚处在实验室研究阶段。
目前，软体机器人结构大体可分为静水骨骼、肌肉性静水骨骼2种结构。大部分软体动物（如蠕虫、海葵）典型结构是肌肉构成封闭腔，内部充满体液，形成静水骨骼结构。肌肉性静水骨骼结构没有封闭的流体腔，典型的肌肉性静水骨骼结构由相互对抗的横肌和纵肌组成，当横肌收缩时身体向纵向伸展；当纵肌收缩时，身体向横向伸展，体积始终保持不变。动物的舌头、大象鼻子、章鱼触手都是肌肉性静水骨骼结构软体机器人模仿自然界中的软体动物，由可承受大应变的柔软材料制成，具有无限多自由度和连续变形能力，可在大范围内任意改变自身形状和尺寸，所以它能改变构型、使其形成的软体机械手到达工作空间内的任意一点。由于对压力的低阻抗，软体机械手可通过柔顺变形的方式与接触物体相容，从而大幅度降低接触力，使其在抓取柔软、易碎物体方面有很好的应用潜力。软体机器人（机械手）优点是具有良好的结构柔性和运动柔性、自由度大、适应强，缺点是载荷能力有限、手指容易发生侧弯或者扭转运动、手指内气囊非线性大变形不利于手指的力学建模分析。
 技术解决方案
本发明针对上述现有生产技术中的缺点，着重针对上述复杂抓持对象，提供一种结构合理的链板式柔性手指，与工业机器人本体连接后使用，结合软体机器人和刚性灵巧机械手的优点，从而克服适用范围与适合抓取力矛盾的缺陷；可靠地以包络方式抓持物体，或者直接驱动异形超柔弹性骨架使末端弹性变形、从而可靠地捏取方式抓持物体；抓取复杂对象时，抓取范围更广，具有柔性自适应的抓取效果，能够适应物体尺寸的变化和形状的不同；适用于食品、农产品、轻工产品的抓取、分拣等生产和物流领域。
本发明所采用的技术方案如下：
一种链板式柔性手指，包括弹性波纹管人工肌肉，所述弹性波纹管人工肌肉为中部设有内腔的管状结构，其外壁呈波纹状，顶部为开口端，顶部开口端通过卡箍与波口管接头连接，波口管接头一侧面上安装气管接头，波口管接头顶面上通过螺钉固定有手指安装板；弹性波纹管人工肌肉波纹状外壁的波谷中安装有塑料环架，相邻两个塑料环架之间间隔处安装有一块链板，多块链板在弹性波纹管人工肌肉外壁一侧沿轴向顺次铰接；还包括拉弹簧，拉弹簧安装于链板内壁与弹性波纹管人工肌肉外壁之间，并通过所述塑料环架固定。
其进一步技术方案在于：
所述塑料环架的安装结构包括：环形段，环形段套置在弹性波纹管人工肌肉外壁的波谷内，环形段一侧向外延伸有侧板，侧板端部通过一根铰链芯轴同时与位于该侧板上部和下部两块链板铰接，侧板两端分别设有与所述拉弹簧两端的簧钩相连接的圆柱杆。
每个链板的上端和下端均设有两个铰链座，每个链板上端的两个铰链座之间间隔处卡接有侧板的端部，每个链板上端两个铰链座卡入位于其上方的链板下端的两个铰链座之间。
塑料环架等间距安装于弹性波纹管人工肌肉外壁的波谷中。
链板长度为弹性波纹管人工肌肉波纹波距的整数倍。
相邻两个塑料环架之间设有一个拉弹簧。
气管接头与波口管接头之间安装有密封圈。
弹性波纹管人工肌肉采用橡胶材质。
 有益效果
本发明结构紧凑、合理，操作方便，使用可靠，柔性自适应性好，选择合适的原始状态下的弹性波纹管人工肌肉，选择合适长度的链板，调节塑料环架在弹性波纹管人工肌肉不同波谷的位置，选择合适拉弹簧，从而满足不同形状、尺寸以及材质的特殊抓取对象（如纸杯、水蜜桃等软性材质）的安全抓取需要。同时，本发明还具有如下优点：
1、具有链板骨架，符合关节型机械手的特点，所有关节仅在同一个平面内产生角位移，抓持接触力大、范围广。
2、通过高速开关阀控制，精确控制弹性波纹管人工肌肉内腔的气压，满足垂直抓取圆柱形、方形、球形、椭球形物体，或水平抓取球形、圆柱形、方形物体，适应抓取物体形状、竖横放置的变化。
3、气动系统增益大，弹性气动波纹管肌肉轻巧、无气缸上活塞与缸筒、活塞杆与缸盖的密封摩擦阻尼，从而反应敏捷、缓冲性好。
 附图说明
图1为本发明的主剖视图。
图2为本发明的左视图。
图3为本发明弹性波纹管人工肌肉的结构图。
图4为本发明塑料环架的主视图。
图5为图4中沿A-A截面的左剖视图。
图6为本发明链板的主视图。
图7为图6中沿B-B截面的左剖视图。
其中：1、弹性波纹管人工肌肉；2、塑料环架；3、铰链芯轴；4、链板；5、拉弹簧；6、卡箍；7、波口管接头；8、手指安装板；9、气管接头；10、密封圈。
 本发明的实施方式
下面结合附图，说明本发明的具体实施方式。
如图1、图2和图3所示，本实施例的链板式柔性手指，包括弹性波纹管人工肌肉1，弹性波纹管人工肌肉1为中部设有内腔的管状结构，其外壁呈波纹状，顶部为开口端，顶部开口端通过卡箍6与波口管接头7连接，波口管接头7一侧面上安装气管接头9，波口管接头7顶面上通过螺钉固定有手指安装板8；弹性波纹管人工肌肉1波纹状外壁的波谷中安装有塑料环架2，相邻两个塑料环架2之间间隔处安装有一块链板4，多个链板4在弹性波纹管人工肌肉1外壁一侧沿轴向顺次铰接；还包括拉弹簧5，拉弹簧5安装于链板4内壁与弹性波纹管人工肌肉1外壁之间，并通过塑料环架2固定。
如图4所和图5所示，塑料环架2的安装结构包括：环形段，环形段套置在弹性波纹管人工肌肉1外壁的波谷内，沿环形段径向外侧延伸有侧板，侧板端部通过一根铰链芯轴3同时与位于该侧板上部和下部的链板4铰接，侧板的两侧分别设有与拉弹簧5两段簧钩连接的圆柱杆。
如图6和图7所示，每个链板4的上端和下端均设有两个铰链座，每个链板4上端的两个铰链座之间间隔处卡接有与之连接的塑料环架2侧板的端部，每个链板4上端两个铰链座卡入位于其上方链板4下端的两个铰链座之间。
塑料环架2等间距或不等间距的安装于弹性波纹管人工肌肉1外壁的波谷中。
链板4长度为弹性波纹管人工肌肉1波纹波距的整数倍。
相邻的两个塑料环架2之间设有一个拉弹簧5。
气管接头9与波口管接头7之间安装有密封圈10。
弹性波纹管人工肌肉1采用橡胶材质。
本发明的实施原理和过程如下：
本发明由气压驱动，使用时由于控制体积小，根据压力变送器的反馈信号，每根柔性手指单独采用高速开关阀来控制弹性波纹管人工肌肉1内腔的压力、或者任意根柔性手指并联后采用高速开关阀来控制弹性波纹管人工肌肉1内腔的压力。
通大气时的原始状态下，柔性手指可以是伸直的、或与充气弯曲方向相同或相反的弯曲状态。
链板4可以是等节距或不等节距的，链板4的节距长度可以是、或不是弹性波纹管人工肌肉1原始状态或压缩后波距的整数倍。
任意相邻的两个塑料环架2之间有、或没有一个拉弹簧5。
弹性波纹管人工肌肉1是由橡胶材料制成的，其原始状态有以下四种情况：（1）等波距情况下，可以是如图3所示的”U”形状的纵截面、或可以是”Ω”形状或”V”形状的纵截面；（2）不等波距情况下，可以是上述三种纵截面形状中的任意一种；（3）等波距或不等波距情况下，可以是由这三种纵截面形状中的任意二种构成；（4）等波距或不等波距情况下，可以是由这三种纵截面形状构成。
拉弹簧5不是一种性能的拉弹簧，拉弹簧5是弹簧中径相同的一系列拉弹簧，拉弹簧5的螺距、自由长度，及其弹簧丝的材料和直径，这四种选择可以是任意三种、或任意两种、或一种不相同，从而得到不同弹性参数的拉弹簧，便于在不同使用状态时各处安装不同弹性参数、从而具有不同特性的拉弹簧。
如图1、图2所示，原始状态下等波距的”U”形状与”Ω”形状纵截面组合的弹性波纹管人工肌肉1，链板式柔性手指在此原始状态下拉弹簧5的预紧力为零。
弹性波纹管人工肌肉1的柔顺性好，可以在任意点、任意方向上整体性弹性弯曲变形，如在平面上“S”形状的整体性弹性变形，且弹性波纹管人工肌肉1弹性弯曲变形的变形抗力小、耗能少。
充气时，弹性波纹管人工肌肉1的轴向膨胀，推动塑料环架2运动，塑料环架2由于受到链板4骨架式限制，克服拉弹簧5的弹性力使链板式柔性手指产生弯曲，使一个或多个链板4与被抓取物体产生顺应性接触，并产生抓持状态接触力，此接触力的作用点和大小，均与充气压力、拉弹簧5性能（弹簧参数、预紧状态的影响）相关。
使用时，选择合适的原始状态下的弹性波纹管人工肌肉1，选择合适节距的链板4，调节塑料环架2在弹性波纹管人工肌肉1的波谷位置，选择合适拉弹簧5性能，从而满足不同形状、尺寸以及材质的特殊抓取对象（如纸杯、水蜜桃等软性材质）的安全抓取需要。

Claims (8)

  1. 一种链板式柔性手指，其特征在于：包括弹性波纹管人工肌肉（1），所述弹性波纹管人工肌肉（1）为中部设有内腔的管状结构，其外壁呈波纹状，顶部为开口端，顶部开口端通过卡箍（6）与波口管接头（7）连接，波口管接头（7）一侧面上安装气管接头（9），波口管接头（7）顶面上通过螺钉固定有手指安装板（8）；弹性波纹管人工肌肉（1）波纹状外壁的波谷中安装有塑料环架（2），相邻两个塑料环架（2）之间间隔处安装有一块链板（4），多块链板（4）在弹性波纹管人工肌肉（1）外壁一侧沿轴向顺次铰接；还包括拉弹簧（5），拉弹簧（5）安装于链板（4）内壁与弹性波纹管人工肌肉（1）外壁之间，并通过所述塑料环架（2）固定。
  2. 如权利要求1所述的一种链板式柔性手指，其特征在于：所述塑料环架（2）的安装结构包括：环形段，环形段套置在弹性波纹管人工肌肉（1）外壁的波谷内，环形段一侧向外延伸有侧板，侧板端部通过一根铰链芯轴（3）同时与位于该侧板上部和下部两块链板（4）铰接，侧板两端分别设有与所述拉弹簧（5）两端的簧钩相连接的圆柱杆。
  3. 如权利要求2所述的一种链板式柔性手指，其特征在于：每个链板（4）的上端和下端均设有两个铰链座，每个链板（4）上端的两个铰链座之间间隔处卡接有侧板的端部，每个链板（4）上端两个铰链座卡入位于其上方的链板（4）下端的两个铰链座之间。
  4. 如权利要求1所述的一种链板式柔性手指，其特征在于：塑料环架（2）等间距安装于弹性波纹管人工肌肉（1）外壁的波谷中。
  5. 如权利要求1所述的一种链板式柔性手指，其特征在于：链板（4）长度为弹性波纹管人工肌肉（1）波纹波距的整数倍。
  6. 如权利要求1所述的一种链板式柔性手指，其特征在于：相邻两个塑料环架（2）之间设有一个拉弹簧（5）。
  7. 如权利要求1所述的一种链板式柔性手指，其特征在于：气管接头（9）与波口管接头（7）之间安装有密封圈（10）。
  8. 如权利要求1所述的一种链板式柔性手指，其特征在于：弹性波纹管人工肌肉（1）采用橡胶材质。
PCT/CN2019/104269 2018-09-29 2019-09-04 一种链板式柔性手指 WO2020063277A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US17/278,378 US20210347063A1 (en) 2018-09-29 2019-09-04 Chain plate flexible finger

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201811147487.0 2018-09-29
CN201811147487.0A CN109262646B (zh) 2018-09-29 2018-09-29 一种链板式柔性手指

Publications (1)

Publication Number Publication Date
WO2020063277A1 true WO2020063277A1 (zh) 2020-04-02

Family

ID=65194780

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/104269 WO2020063277A1 (zh) 2018-09-29 2019-09-04 一种链板式柔性手指

Country Status (3)

Country Link
US (1) US20210347063A1 (zh)
CN (1) CN109262646B (zh)
WO (1) WO2020063277A1 (zh)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111452066A (zh) * 2020-04-07 2020-07-28 安徽大学 一种全柔性仿生气动式机械手
CN114368001A (zh) * 2022-01-19 2022-04-19 江苏科技大学 一种能够逐级弯曲的软体抓手及其制备方法

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109262646B (zh) * 2018-09-29 2020-10-20 江南大学 一种链板式柔性手指
CN111687870B (zh) * 2020-06-17 2021-04-13 西南交通大学 一种大范围调控摩擦力的刚柔结合抓取器
CN111702802B (zh) * 2020-07-10 2022-03-22 浙江理工大学 一种夹爪及应用该夹爪的夹具
CN112497262B (zh) * 2020-11-02 2022-08-02 天津大学 一种基于可重构虎克铰链副的仿人变胞手
CN113427504A (zh) * 2021-07-09 2021-09-24 北京理工大学 一种应用于空间机械臂的软抓手手指
CN113911225B (zh) * 2021-10-18 2022-09-09 杭州电子科技大学 一种管道外壁爬行机器人及其驱动方法
CN114193487B (zh) * 2021-11-25 2023-02-14 浙江大学 一种用于水果原位品质检测的柔性机械手和检测方法
CN114274138B (zh) * 2022-01-11 2023-11-07 浙江大学 一种仿生脊椎的液控软体机器人
CN114750187B (zh) * 2022-03-30 2022-12-02 江南大学 采用径向花边形弹性波纹管的人工肌肉、气缸及控制方法
US20240042623A1 (en) * 2022-08-02 2024-02-08 Soochow University Pneumatic soft grabbing sensing device
CN115056259A (zh) * 2022-08-16 2022-09-16 太仓奥林吉汽车零部件有限公司 一种非金属零部件转移用新型柔性抓手

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1666720A (zh) * 2005-04-04 2005-09-14 江南大学 螺旋弹簧式人工肌肉的柔性关节
CN101224580A (zh) * 2007-01-18 2008-07-23 江南大学 柔顺性的异形弹性波纹管的人工肌肉
CN101554730A (zh) * 2008-04-11 2009-10-14 江南大学 一种多关节柔性机械手
US20150360372A1 (en) * 2013-02-27 2015-12-17 Materialise N.V. Gripping apparatus and method of manufacturing a gripping apparatus
CN107107344A (zh) * 2014-09-17 2017-08-29 软机器人公司 附接轮毂和抓持器组件的软机器人致动器、加强致动器及电附着致动器
CN109262646A (zh) * 2018-09-29 2019-01-25 江南大学 一种链板式柔性手指

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL177003C (nl) * 1974-05-30 1985-07-16 Freudenberg Carl Fa Door mediumdruk bediende automaat-vinger.
FR2740529B1 (fr) * 1995-10-31 1998-01-09 Gazinox Tuyau metallique ployable muni d'un segment exterieur rapporte absorbant les vibrations sonores
US6772673B2 (en) * 2001-12-13 2004-08-10 Seiko Epson Corporation Flexible actuator
EP2335884B1 (de) * 2009-12-15 2012-09-05 FESTO AG & Co. KG Fluidisch betreibbarer Manipulator
US10189168B2 (en) * 2014-11-18 2019-01-29 Soft Robotics, Inc. Soft robotic actuator enhancements
CN107081744B (zh) * 2017-05-22 2023-07-14 清华大学 伸缩软管流体欠驱动多关节机器人手指装置
CN108436952B (zh) * 2018-02-27 2019-07-23 江南大学 一种电-气复合驱动柔性手指的仿鹰爪物流包装机械手

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1666720A (zh) * 2005-04-04 2005-09-14 江南大学 螺旋弹簧式人工肌肉的柔性关节
CN101224580A (zh) * 2007-01-18 2008-07-23 江南大学 柔顺性的异形弹性波纹管的人工肌肉
CN101554730A (zh) * 2008-04-11 2009-10-14 江南大学 一种多关节柔性机械手
US20150360372A1 (en) * 2013-02-27 2015-12-17 Materialise N.V. Gripping apparatus and method of manufacturing a gripping apparatus
CN107107344A (zh) * 2014-09-17 2017-08-29 软机器人公司 附接轮毂和抓持器组件的软机器人致动器、加强致动器及电附着致动器
CN109262646A (zh) * 2018-09-29 2019-01-25 江南大学 一种链板式柔性手指

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111452066A (zh) * 2020-04-07 2020-07-28 安徽大学 一种全柔性仿生气动式机械手
CN114368001A (zh) * 2022-01-19 2022-04-19 江苏科技大学 一种能够逐级弯曲的软体抓手及其制备方法

Also Published As

Publication number Publication date
US20210347063A1 (en) 2021-11-11
CN109262646B (zh) 2020-10-20
CN109262646A (zh) 2019-01-25

Similar Documents

Publication Publication Date Title
WO2020063277A1 (zh) 一种链板式柔性手指
CN104802178B (zh) 弹性波纹管单作用气缸驱动串联活页铰链骨架机械手
WO2019165878A1 (zh) 一种电-气复合驱动柔性手指的仿鹰爪物流包装机械手
US11485027B2 (en) Electric compound driving thickness irregularly shaped plate spring framework flexible manipulator
CN111360865B (zh) 指根软轴传递转动又偏心转位的快换手指变掌机械手
CN104175325B (zh) 串联活页铰链的自锁增力型柔顺末端抓持器
WO2016180338A1 (zh) 弹性波纹管单作用气缸驱动串联柔性铰链骨架机械手
CN113104576B (zh) 一种软体气爪
CN201419397Y (zh) 多维复合型柔性关节
CN107891419B (zh) 吞噬型抓取传送一体化柔性机器人
CN104924319A (zh) 一种可捏取和裹包抓取的柔性末端抓持器
CN110281257B (zh) 可多向弯曲的模块化双气腔柔性机械手指及其工作方法
CN111844119A (zh) 一种可变行程软体气动夹持装置及其工作方法
CN105643649A (zh) 六关节三指苹果抓取机械手
WO2020048467A1 (zh) 双驱动异形超柔弹性骨架的机械手
CN108555944B (zh) 一种靠伸缩圈伸缩来抓取物体的软体触手
CN212421348U (zh) 一种可变行程软体气动夹持装置
CN108673542B (zh) 一种电-气复合驱动串联柔性铰链骨架柔性机械手
CN103213140A (zh) 一种气动刚性可调的双柔性多指手爪
CN205343163U (zh) 双驱动气动单向弯曲柔性关节
CN203380896U (zh) 柔顺机构的气动串联柔性铰链多指手爪
CN209207554U (zh) 轻载弹性机械手
CN113618771B (zh) 一种随形柔性变刚度机器人抓手
CN206200966U (zh) 气动串联的柔性机械臂
CN2774718Y (zh) 一种气动柔性人工手指

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19865793

Country of ref document: EP

Kind code of ref document: A1

DPE1 Request for preliminary examination filed after expiration of 19th month from priority date (pct application filed from 20040101)
NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19865793

Country of ref document: EP

Kind code of ref document: A1