CN110253606B - A soft gripper imitating origami structure - Google Patents
A soft gripper imitating origami structureDownload PDFInfo
- Publication number
- CN110253606B CN110253606BCN201910621220.9ACN201910621220ACN110253606BCN 110253606 BCN110253606 BCN 110253606BCN 201910621220 ACN201910621220 ACN 201910621220ACN 110253606 BCN110253606 BCN 110253606B
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- Prior art keywords
- transmission rod
- gripper
- rod
- gripper body
- soft
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- 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.)
- Expired - Fee Related
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- 230000037431insertionEffects0.000description2
- 238000005086pumpingMethods0.000description2
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Images
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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- 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
- B25J15/10—Gripping heads and other end effectors having finger members with three or more 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
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
Translated fromChinese
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a soft gripper with a paper folding imitating structure.
Background
The gripper is a biomimetic device for gripping an object. The grip generally comprises a rigid grip and a soft grip, and compared with the traditional rigid grip, the soft grip has good environmental interactivity and man-machine safety, so that the grip is a research hotspot in recent years. The basic principle of the common soft grip is that a single soft finger is formed by molding a flexible material (such as silicon rubber) through a special process, and then two or more soft fingers are integrated to form the soft grip. The soft gripper drives the air cavity at the back of the soft finger to expand through inflation, the material at the back is stretched, the material at the inner side of the finger is difficult to stretch due to the embedded limiting layer (such as cloth strips), finally, the fingers are bent inwards due to the deformation difference of the materials at the two sides, and the object can be gripped by the combined action of a plurality of fingers. The soft gripper has certain flexibility, but the gripping range is still relatively limited due to the adoption of a gripping principle of driving by bending and deforming fingers and a fixed position mounting mode.
Many inventions have proposed solutions to the problem of soft grip attitude adjustment, but most require a more complex set of mechanical structures to achieve the goal, resulting in a bulky and complex control of the entire soft grip device.
In addition, due to the characteristics of the flexible material of the soft gripper, the soft gripper cannot generate enough rigidity to grip a target object with larger mass, namely when the external load is larger, the gripper may be disengaged to cause the failure of gripping.
Disclosure of Invention
The invention provides a soft gripper with a paper folding-imitating structure, which can solve the problems that the posture adjustment scheme of the soft gripper in the prior art is complex and the whole body is heavy.
A soft body tongs of imitative paper folding structure includes:
a mounting frame;
the gripper body is fixedly connected to the mounting frame at one end;
the driving part comprises a first transmission rod, a second transmission rod and a slide rail, two ends of the first transmission rod and the second transmission rod are respectively hinged with a slide block matched with the slide rail, the slide rails correspond to the slide blocks one to one, the slide rails are connected to the gripper body, and the slide blocks drive the gripper body to contract inwards or expand outwards when moving on the slide rails; and the number of the first and second groups,
and the power part is arranged on the mounting rack and used for respectively driving the first transmission rod and the second transmission rod to move up and down.
Preferably, the power part comprises a first power device and a second power device, the first power device is fixedly arranged on the mounting frame and is in driving connection with the first transmission rod; the second power device is fixedly arranged on the mounting frame and is in driving connection with the second transmission rod.
Preferably, the first power device is a first cylinder, and the second power device is a second cylinder.
Preferably, the gripper body is connected to the mounting rack through a supporting guide rod, one end of the supporting guide rod is connected to the gripper body, the other end of the supporting guide rod is connected to the mounting rack, the first transmission rod and the second transmission rod are arranged in a cross mode, and a first abdicating hole and a second abdicating hole which are used for containing the supporting guide rod to penetrate are formed in the first transmission rod and the second transmission rod respectively.
Preferably, the first transmission rod and the second transmission rod are both in a C-shaped structure, and the first transmission rod comprises a first connecting rod and first driving arms arranged at two ends of the first connecting rod; the second transmission rod comprises a second connecting rod and second driving arms arranged at two ends of the second connecting rod; the sliding blocks are respectively hinged on the first driving arm and the second driving arm.
More preferably, the slide rail comprises an outer frame and an inner frame, the inner frame being embedded within the grip body.
Preferably, the tongs body is an air bag type tongs, and an air suction hose penetrating to the inside is arranged on the tongs body.
Preferably, the gripper body is of an integrated structure.
Preferably, the gripper body comprises four fingers, one ends of the four fingers are fixedly connected to the supporting guide rod, and any one finger is arranged between two adjacent sliding rails and connected to the sliding rail.
More preferably, this internal packing particulate matter that is provided with of tongs.
The invention provides a soft gripper with a paper folding imitating structure, a power part drives a first transmission rod and a second transmission rod to move, the first transmission rod and the second transmission rod drive a sliding block to move, the sliding block can drive a sliding rail to turn over when moving, and the sliding rail drives a gripper body to contract or expand inwards when turning over, so that the gripping and loosening actions are realized, and objects with different appearance characteristics are gripped by adjusting the posture of the gripper body and driving through only one set of device, so that the whole implementation scheme has the advantages of simple structure, light weight and low manufacturing cost; the device has two grabbing modes, namely a four-finger mode and a two-finger mode, and can flexibly adapt to grabbing of target objects with various appearance characteristics and different placing positions.
Drawings
FIG. 1 is a first schematic structural view of a soft gripper with a paper folding structure according to the present invention;
FIG. 2 is a second schematic structural view of a soft gripper with a paper folding structure according to the present invention;
FIG. 3 is an exploded view of FIG. 1;
FIG. 4 is a schematic structural diagram of the first driving rod in FIG. 3;
fig. 5 is an exploded view of the slide rail and slider of fig. 3.
Description of reference numerals:
11. the robot comprises a first air cylinder, afirst air cylinder 12, asecond air cylinder 13, amounting frame 21, afirst transmission rod 211, afirst connecting rod 212, afirst driving arm 214, afirst abdicating hole 22, asecond transmission rod 23, asliding block 231, afirst assembly 232, asecond assembly 24, asliding rail 241, anouter frame 242, aninner frame 30, agripper body 31, anair suction hose 32 and a support guide rod.
Detailed Description
An embodiment of the present invention will be described in detail below with reference to the accompanying drawings, but it should be understood that the scope of the present invention is not limited to the embodiment.
The first embodiment is as follows:
as shown in fig. 1 to 5, an embodiment of the invention provides a soft gripper with a paper folding structure, including:
amounting frame 13; as shown in fig. 3, themounting frame 13 has an insertion column, the insertion column can be inserted into a terminal socket of a DOBOT such as a desktop robot, and themounting frame 13 is provided with a through hole for receiving a piston rod of thefirst cylinder 11 and a piston rod of thesecond cylinder 12 to pass through.
Thegripper body 30 is fixedly connected to themounting frame 13 at one end; in this embodiment, thegripper body 30 has four fingers and is a four-finger integrated structure, the interior of thegripper body 30 is a cavity structure, thesuction hose 31 penetrating thegripper body 30 is arranged on the gripper body, the shape of thegripper body 30 is as shown in fig. 1 to 3, and the structure is similar to the shape of a folded paper in the south, east, west and north states (non-suction negative pressure state). The middle part of thehand grip body 30 is connected to themounting frame 13 through a supportingguide rod 32, one end of the supportingguide rod 32 is connected to thehand grip body 30, the other end of the supportingguide rod 32 is connected to themounting frame 13, the supportingguide rod 32 is in threaded connection with themounting frame 13, thefirst transmission rod 21 and thesecond transmission rod 22 are arranged in a cross shape, a certain gap is formed between thefirst transmission rod 21 and thesecond transmission rod 22, thefirst transmission rod 21 is higher than thesecond transmission rod 22 by about 5mm to avoid movement interference, and thefirst transmission rod 21 and thesecond transmission rod 22 are respectively provided with a first abdicatinghole 214 and a second abdicating hole for accommodating the supportingguide rod 32 to pass through.
The driving part comprises afirst driving rod 21, asecond driving rod 22 and asliding rail 24, two ends of thefirst driving rod 21 and thesecond driving rod 22 are respectively hinged with a slidingblock 23 matched with the slidingrail 24, thesliding rails 24 correspond to thesliding blocks 23 one by one, the slidingrails 24 are connected to thegripper body 30, and when thesliding blocks 23 move on thesliding rails 24, thegripper body 30 is driven to contract inwards or expand outwards; and the number of the first and second groups,
and the power part is arranged on themounting frame 13 and is used for respectively driving thefirst transmission rod 21 and thesecond transmission rod 22 to move up and down.
As shown in fig. 5, theslide rail 24 includes anouter frame 241 and aninner frame 242, both theouter frame 241 and theinner frame 242 are L-shaped structures, and the two are connected by bolts to form a rectangular structure, wherein theinner frame 242 is embedded in thegrip body 30, and thegrip body 30 is wrapped on theinner frame 242 to form a skeleton structure. Theslider 23 includes afirst assembly 231 and asecond assembly 232, which are clamped on theouter frame 241 and connected by bolts, and a sliding pair is formed between theslider 23 and theouter frame 241.
Specifically, as shown in fig. 1 and 2, the power unit includes a first power device and a second power device, the first power device is afirst cylinder 11 or a first electric telescopic rod, the second power device is asecond cylinder 12 or a second electric telescopic rod, the first power device and the second power device are respectively fixedly mounted on themounting frame 13 through bolts, the front ends of the piston rods of thefirst cylinder 11 and thesecond cylinder 12 are respectively connected to afirst transmission rod 21 and asecond transmission rod 22 through a threaded connection mode, and when thefirst cylinder 11 and thesecond cylinder 12 are stretched, thefirst transmission rod 21 and thesecond transmission rod 22 are respectively driven to move up and down. Thefirst transmission rod 21 and thesecond transmission rod 22 are both in a C-shaped structure, and thefirst transmission rod 21 comprises a first connectingrod 211 and first drivingarms 212 arranged at two ends of the first connectingrod 211; thesecond transmission rod 22 includes a second link and second driving arms provided at both ends of the second link; thesliding block 23 is hinged to thefirst driving arm 212 and the second driving arm, and thesliding block 23 is hinged to thefirst driving arm 212 and the second driving arm, so that when thefirst driving rod 21 and thesecond driving rod 22 move up and down, theouter frame 241 is driven by thesliding block 23 to drive theinner frame 242 to fold or expand inwards, and theinner frame 242 is embedded into thegripper body 30, so that the gripper can fold along with the folding of theinner frame 242 and expand along with the expansion of theinner frame 242, thereby realizing the gripping and releasing actions.
Further, thegripper body 30 is internally provided with particles filled with particles, such as corn grits and other particles, according to the particle interference principle, when the cavity inside thegripper body 30 is large, the variable quantity of the gripper body is large, and the influence of the particles on the rigidity of thegripper body 30 is small; when the air in thegripper body 30 is pumped out, the inner space is compressed and deformed, and the particles support and rub against each other, so that the rigidity of thegripper body 30 is improved, and the gripping performance can be further improved.
If a target object with external characteristics such as a sphere and a cube is to be grabbed, a four-finger mode is adopted for grabbing, at the moment, thefirst air cylinder 11 and thesecond air cylinder 12 simultaneously extend out of the piston rods to enable thefirst transmission rod 21 and thesecond transmission rod 22 to linearly move and press down, thefirst transmission rod 21 applies force to the slidingblock 23 through hinges at two ends, thesliding block 23 transmits the force to the slidingrail 24 to enable thesliding block 23 to slide along thesliding rail 24 while rotating around the hinges, the force applied to the sliding rail frame perpendicularly by the sliding block enables the twosliding rails 24 parallel to the Y axis to inwards converge and rotate around a central point, similarly, thesecond transmission rod 22 applies force to thesliding block 23 through the hinges at two ends to enable thesliding block 23 to slide along thesliding rail 24 while rotating around the hinges, the force applied to the slidingrail 24 perpendicularly by the slidingblock 23 enables the two sliding rails parallel to the X axis to inwards converge and rotate around the central point, and as thesliding rail 24 is connected with fingers at two adjacent sides, and finally, the four fingers are simultaneously gathered inwards to realize the fitting and grabbing of the target object. When the mass of the target object is larger, negative pressure can be formed by pumping air into the finger through theair pumping hose 31, and the particulate matter in the cavity increases the rigidity of the soft hand according to the principle of particle interference.
If a target object with a large width ratio, such as a cuboid, a sign pen, a cucumber and the like, needs to be grabbed in a two-finger mode, at this time, a piston rod of thefirst cylinder 11 is kept in a fully retracted state, thesecond cylinder 12 extends out of the piston rod first to enable thesecond transmission rod 22 to move linearly and press down, thesecond transmission rod 22 applies force to theslider 23 through hinges at two ends to enable theslider 23 to slide along theslide rail 24 while rotating around the hinges, and as theslide rail 24 is connected with fingers at two adjacent sides, the force applied to theslide rail 24 by theslider 23 perpendicularly enables the twoslide rails 24 parallel to the X axis to gather together and rotate around a central point, so that the four fingers turn inwards by taking theslide rail 24 parallel to the Y axis as a central axis, and the Y axis as a symmetry axis, and the two small fingers at two sides are attached together to form a big finger to form a posture of the two big fingers taking the X axis as a symmetry axis. After the target object is determined to be in the grabbing range, thefirst cylinder 11 extends out of the piston rod again to enable thefirst transmission rod 21 to move linearly and press downwards, thefirst transmission rod 21 acts on thesliding block 23 through the hinges at the two ends, the slidingblock 23 slides along the slidingrail 24 while rotating around the hinges, and the force which is perpendicularly acted on the slidingrail 24 by thesliding block 23 enables the two big fingers to be gathered together to achieve attaching grabbing of the target object. Similarly, when the target object has a large mass, negative pressure can be generated by sucking the inside of the finger through thesuction hose 31, and the particulate matter in the cavity increases the rigidity of thegrip body 30 according to the principle of particle interference.
Example two:
in another embodiment, different from the first embodiment, thegripper body 30 includes four fingers, one end of each of the four fingers is fixedly connected to thesupport guide bar 32, and any one of the fingers is disposed between twoadjacent slide rails 24 and connected to theslide rails 24, wherein the connection manner may be bonding or other manners known in the art for connecting the fingers to theinner frame 242.
Example three:
on the basis of the first embodiment or the second embodiment, hook parts which are drawn inwards can be further arranged on the slidingrail 24, when some objects with heavier mass are grabbed, the objects cannot be effectively clamped only by the rigidity of thehand grab body 30, the object can be firmly clamped by the hook parts on the slidingrail 24 by means of the clamping force of the slidingrail 24 driven by thesliding block 23, and therefore switching between the soft hand grab and the common hand grab is achieved. Wherein, the hook part can be detachably arranged at the end part of theslide rail 24 far away from thesupport guide rod 32.
The above disclosure is only for a few specific embodiments of the present invention, however, the present invention is not limited to the above embodiments, and any variations that can be made by those skilled in the art are intended to fall within the scope of the present invention.
Claims (8)
1. The utility model provides a software tongs of imitative paper folding structure which characterized in that includes:
a mounting frame;
the gripper body is fixedly connected to the mounting frame at one end;
the driving part comprises a first transmission rod, a second transmission rod and a slide rail, two ends of the first transmission rod and the second transmission rod are respectively hinged with a slide block matched with the slide rail, the slide rails correspond to the slide blocks one to one, the slide rails are connected to the gripper body, and the slide blocks drive the gripper body to contract inwards or expand outwards when moving on the slide rails; and the number of the first and second groups,
the power part is arranged on the mounting rack and is used for respectively driving the first transmission rod and the second transmission rod to move up and down;
the gripper body is connected to the mounting frame through a supporting guide rod, one end of the supporting guide rod is connected to the gripper body, the other end of the supporting guide rod is connected to the mounting frame, the first transmission rod and the second transmission rod are arranged in a cross shape, and a first abdicating hole and a second abdicating hole for allowing the supporting guide rod to penetrate through are respectively formed in the first transmission rod and the second transmission rod;
the first transmission rod and the second transmission rod are both in a C-shaped structure, and the first transmission rod comprises a first connecting rod and first driving arms arranged at two ends of the first connecting rod; the second transmission rod comprises a second connecting rod and second driving arms arranged at two ends of the second connecting rod; the sliding blocks are respectively hinged on the first driving arm and the second driving arm.
2. The soft gripper with the imitated origami structure as claimed in claim 1, wherein the power part comprises a first power device and a second power device, the first power device is fixedly arranged on the mounting frame and is in driving connection with the first transmission rod; the second power device is fixedly arranged on the mounting frame and is in driving connection with the second transmission rod.
3. The soft gripper with the imitated paper folding structure as claimed in claim 2, wherein the first power device is a first air cylinder, and the second power device is a second air cylinder.
4. The tuck-paper-structure-imitating soft gripper according to claim 1, wherein the slide rail includes an outer frame and an inner frame, and the inner frame is embedded in the gripper body.
5. The soft gripper with the imitated folded paper structure as claimed in claim 1, wherein the gripper body is an air bag type gripper, and an air suction hose penetrating to the inside is arranged on the gripper body.
6. The soft hand grip of the imitation origami structure of claim 5, wherein the hand grip body is of an integral structure.
7. The soft gripper with the imitated origami structure according to claim 5, wherein the gripper body comprises four fingers, one end of each of the four fingers is fixedly connected to the supporting guide rod, and any one finger is arranged between two adjacent sliding rails and is connected to the sliding rail.
8. The soft hand grip of a simulated origami structure of claim 1, wherein the body of said hand grip is filled with particulate matter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910621220.9ACN110253606B (en) | 2019-07-10 | 2019-07-10 | A soft gripper imitating origami structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910621220.9ACN110253606B (en) | 2019-07-10 | 2019-07-10 | A soft gripper imitating origami structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110253606A CN110253606A (en) | 2019-09-20 |
| CN110253606Btrue CN110253606B (en) | 2022-03-25 |
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| CN201910621220.9AExpired - Fee RelatedCN110253606B (en) | 2019-07-10 | 2019-07-10 | A soft gripper imitating origami structure |
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Families Citing this family (6)
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| CN111618893B (en)* | 2020-06-08 | 2021-09-28 | 鹏城实验室 | Variable curvature winding type bionic arm and capture device |
| CN111591751B (en)* | 2020-06-08 | 2022-02-11 | 鹏城实验室 | Initial vertical bend winding arm and capture apparatus |
| CN114044062B (en)* | 2021-11-18 | 2023-06-09 | 长春工业大学 | Paper folding crawling robot based on two-rod tensioning mechanism |
| CN114083557B (en)* | 2021-12-06 | 2023-04-25 | 浙江工业大学 | A special-shaped graspable storage-release device based on the performance of advanced composite materials |
| CN115446860B (en)* | 2022-08-04 | 2025-04-18 | 浙江大学 | A magnetically driven soft gripper based on a foldable structure |
| CN115351808A (en)* | 2022-09-02 | 2022-11-18 | 清华大学 | Flexible gripper based on origami structure |
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| CN110253606A (en) | 2019-09-20 |
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