技术领域Technical Field
本发明涉及软体驱动器设备技术领域，尤其涉及一种基于交叉纤维干扰变刚度软体伸长驱动器、及软体抓手。The present invention relates to the technical field of soft drive equipment, and in particular to a soft elongation drive with variable stiffness based on cross-fiber interference, and a soft gripper.
背景技术Background Art
机器人抓手可以代替人手来抓取物体，已被广泛应用于生产生活的方方面面，为实现工业自动化发挥了重要作用。衡量一个机械手的设计水平的高低主要取决于抓取可靠性、操作灵活性、环境适应性等评价指标。然而，传统机械手主要由刚性材料制成，通常质量较大，灵活性欠缺，在处理复杂多变的应用场景时面临很大的挑战。近年来，应用软材料设计制造的软体手引起了国内外学者和机构的广泛关注，并为我们改进机械手提供了新的思路。软体手以材料学和机械学为基础，利用软体材料本身的机械智能，使抓手具有灵活、高效的抓取性能。Robotic grippers can replace human hands to grasp objects. They have been widely used in all aspects of production and life, and have played an important role in realizing industrial automation. The design level of a robot arm mainly depends on evaluation indicators such as grasping reliability, operational flexibility, and environmental adaptability. However, traditional robots are mainly made of rigid materials, usually have a large mass and lack flexibility, and face great challenges in dealing with complex and changing application scenarios. In recent years, soft hands designed and manufactured using soft materials have attracted widespread attention from scholars and institutions at home and abroad, and have provided us with new ideas for improving robots. Based on materials science and mechanics, soft hands use the mechanical intelligence of soft materials themselves to make grippers have flexible and efficient grasping performance.
软体驱动器是软体抓手的核心执行部件，对软体抓手的性能提高具有重要意义。具有伸长功能的软体驱动器是最常见的驱动器之一，可被应用于软体抓手中，并为调整抓手的抓取范围提供了一种很有前景的解决方案。然而，软体伸长驱动器在高载荷的情况下，难以保持其拉伸形状的稳定性。例如，当软体抓手需要抓取较重且较大的物体时，由于软体伸长驱动器的柔软特性，导致负载能力差，难以抵抗来自被抓物体的反向作用力，就会造成抓取不稳定的情况发生。The soft actuator is the core actuator of the soft gripper and is of great significance to the performance improvement of the soft gripper. The soft actuator with extension function is one of the most common actuators, which can be used in soft grippers and provides a promising solution for adjusting the grasping range of the gripper. However, the soft extension actuator has difficulty maintaining the stability of its stretched shape under high loads. For example, when the soft gripper needs to grasp heavier and larger objects, due to the soft characteristics of the soft extension actuator, the load capacity is poor and it is difficult to resist the reverse force from the grasped object, which will cause unstable grasping.
近年来，变刚度技术被开发出来，并被视作是解决软体驱动器柔软问题的一种有效途径。现有变刚度技术有两类，一类是通过智能材料法变刚度，另一类是通过结构间的互相挤压变刚度(俗称干扰法)。前者通过施加光、电、热等外界刺激改变材料本身的分子特性，从而从软状态变为硬状态。后者通过将颗粒介质、层状介质等聚集在一个薄膜内，然后施加负压，使介质之间压紧而改变刚度。In recent years, variable stiffness technology has been developed and is regarded as an effective way to solve the softness problem of soft actuators. There are two types of existing variable stiffness technologies, one is to change stiffness through the smart material method, and the other is to change stiffness through mutual extrusion between structures (commonly known as interference method). The former changes the molecular properties of the material itself by applying external stimuli such as light, electricity, and heat, thereby changing from a soft state to a hard state. The latter changes stiffness by gathering granular media, layered media, etc. in a thin film, and then applying negative pressure to compress the media.
然而，现有的变刚度技术在应用于伸长驱动器时有很大的局限性。不论是智能材料法变刚度还是负压干扰法变刚度，都难以应用于伸长驱动器中。这是因为变刚度材料/变刚度结构自身不具有拉伸性，无法随着伸长驱动器的拉伸而拉伸。以颗粒干扰法为例，当颗粒干扰结构被拉伸时，就会因为拉伸而出现一个空腔区域，无法全局变刚度，即变刚度功能失效。同样，层干扰法也是如此。However, the existing variable stiffness technology has great limitations when applied to elongation actuators. Whether it is the variable stiffness method of smart materials or the variable stiffness method of negative pressure interference, it is difficult to apply it to elongation actuators. This is because the variable stiffness material/variable stiffness structure itself is not stretchable and cannot be stretched as the elongation actuator is stretched. Taking the particle interference method as an example, when the particle interference structure is stretched, a cavity area will appear due to the stretching, and the global stiffness cannot be changed, that is, the variable stiffness function fails. The same is true for the layer interference method.
发明内容Summary of the invention
有鉴于此，为了解决现有变刚度结构难以应用于软体伸长驱动器中，导致驱动器在工作时硬度较低，易发生变形和抓取松弛的问题，本发明的实施例提供了一种基于交叉纤维干扰变刚度软体伸长驱动器、及软体抓手。In view of this, in order to solve the problem that the existing variable stiffness structure is difficult to apply to soft extension actuators, resulting in low stiffness of the actuator during operation, prone to deformation and loose grasping, an embodiment of the present invention provides a variable stiffness soft extension actuator based on cross-fiber interference, and a soft gripper.
本发明的实施例提供一种基于交叉纤维干扰变刚度软体伸长驱动器，包括：An embodiment of the present invention provides a cross-fiber interference variable stiffness soft body extension driver, comprising:
波纹管，其两端封闭，且设有第一通气孔和第二通气孔；A bellows, with both ends closed and provided with a first vent hole and a second vent hole;
以及设置于所述波纹管内的变刚度结构，所述变刚度结构包括两纤维单元和软体套，每一所述纤维单元包括底座和纤维束，所述纤维束一端固定连接所述底座，两所述纤维单元设置于所述软体套内，且两底座分别密封连接所述软体套的两端，两所述纤维束并拢设置于所述软体套内，两底座分别连接所述波纹管两端，所述第一通气孔连通所述波纹管与所述软体套之间的空间，所述第二通气孔连通所述软体套内部。And a variable stiffness structure arranged in the bellows, the variable stiffness structure includes two fiber units and a soft cover, each of the fiber units includes a base and a fiber bundle, one end of the fiber bundle is fixedly connected to the base, the two fiber units are arranged in the soft cover, and the two bases are respectively sealed and connected to the two ends of the soft cover, the two fiber bundles are arranged side by side in the soft cover, the two bases are respectively connected to the two ends of the bellows, the first vent hole is connected to the space between the bellows and the soft cover, and the second vent hole is connected to the inside of the soft cover.
进一步地，所述纤维束的一端固定于所述底座的一半区域。Furthermore, one end of the fiber bundle is fixed to a half area of the base.
进一步地，所述软体套为圆柱形，所述纤维束为半圆柱形。Furthermore, the soft cover is cylindrical, and the fiber bundle is semi-cylindrical.
进一步地，所述软体套与所述波纹管同轴设置。Furthermore, the software sleeve is coaxially arranged with the bellows.
进一步地，所述纤维束包括多根圆柱形纤维条。Furthermore, the fiber bundle includes a plurality of cylindrical fiber strips.
进一步地，所述波纹管包括上端开口的管体、以及与所述管体上端口密封连接的端盖，所述第一通气孔和第二通气孔设置于所述端盖上。Furthermore, the bellows comprises a tube body with an open upper end, and an end cover sealedly connected to the upper end of the tube body, and the first vent hole and the second vent hole are arranged on the end cover.
另外在上述基于交叉纤维干扰变刚度软体伸长驱动器的基础上，本发明的实施例还提供了一种软体抓手，包括两上述的基于交叉纤维干扰变刚度软体伸长驱动器，还包括V形的支架和两摇臂，两所述摇臂分别与所述支架的两端铰接，每一所述驱动器连接所述摇臂和所述支架，以驱动所述摇臂相对所述支架转动。In addition, based on the above-mentioned cross-fiber interference-based variable-stiffness soft-body extension driver, an embodiment of the present invention also provides a soft gripper, including two of the above-mentioned cross-fiber interference-based variable-stiffness soft-body extension drivers, and also including a V-shaped bracket and two rocker arms, the two rocker arms are respectively hinged to the two ends of the bracket, and each of the drivers is connected to the rocker arm and the bracket to drive the rocker arm to rotate relative to the bracket.
进一步地，所述支架的外侧设有两上安装板，每一所述摇臂靠近所述支架一端设有下安装板，每一所述驱动器的两端分别安装于所述上安装板和所述下安装板上。Furthermore, two upper mounting plates are provided on the outer side of the bracket, a lower mounting plate is provided at one end of each rocker arm close to the bracket, and two ends of each driver are respectively mounted on the upper mounting plate and the lower mounting plate.
进一步地，所述摇臂为L形，其中部与所述支架一端铰接、上端形成所述下安装板、下端用于夹持物品。Furthermore, the rocker arm is L-shaped, with the middle part hinged to one end of the bracket, the upper end forming the lower mounting plate, and the lower end being used for clamping objects.
进一步地，所述摇臂下端设有接触气囊。Furthermore, a contact airbag is provided at the lower end of the rocker arm.
本发明的实施例提供的技术方案带来的有益效果是：The technical solution provided by the embodiment of the present invention has the following beneficial effects:
1、本发明的一种基于交叉纤维干扰变刚度软体伸长驱动器，驱动器内部的变刚度结构可跟随驱动器拉伸，有效提高软体伸长驱动器的拉伸成形稳定性。1. The invention relates to a variable stiffness soft body elongation driver based on cross-fiber interference. The variable stiffness structure inside the driver can follow the stretching of the driver, thereby effectively improving the stretching forming stability of the soft body elongation driver.
2、本发明的一种基于交叉纤维干扰变刚度软体伸长驱动器，解决了传统颗粒干扰变刚度/层干扰变刚度中，因拉伸而出现的局部空腔问题，具有全局可变刚度的特性。2. The cross-fiber interference variable stiffness software elongation driver of the present invention solves the problem of local cavity caused by stretching in traditional particle interference variable stiffness/layer interference variable stiffness, and has the characteristic of global variable stiffness.
3、本发明的一种基于交叉纤维干扰变刚度软体伸长驱动器，具有通用性，可适用于绝大多数的软体伸长驱动器。3. The cross-fiber interference variable-stiffness soft-body elongation actuator of the present invention is universal and applicable to most soft-body elongation actuators.
4、本发明的一种软体抓手，可自动调节抓取距离，实现稳定的调节抓取范围，并可有效抵抗物体的反向作用力，提高软体抓手在调节抓取间距时的稳定性。4. The soft gripper of the present invention can automatically adjust the gripping distance to achieve a stable adjustment of the gripping range, and can effectively resist the reverse force of the object, thereby improving the stability of the soft gripper when adjusting the gripping distance.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1是本发明一种基于交叉纤维干扰变刚度软体伸长驱动器100的示意图；FIG1 is a schematic diagram of a cross-fiber interference variable stiffness soft body elongation actuator 100 according to the present invention;
图2是本发明一种基于交叉纤维干扰变刚度软体伸长驱动器的俯视图；FIG2 is a top view of a cross-fiber interference variable stiffness soft body elongation actuator according to the present invention;
图3是本发明一种基于交叉纤维干扰变刚度软体伸长驱动器的爆炸图；FIG3 is an exploded view of a cross-fiber interference variable stiffness soft body elongation actuator according to the present invention;
图4是图2中的A-A剖面示意图；Fig. 4 is a schematic cross-sectional view taken along line A-A in Fig. 2;
图5是变刚度结构的爆炸图；FIG5 is an exploded view of a variable stiffness structure;
图6、图7是纤维束的受力示意图；Figures 6 and 7 are schematic diagrams of the force on the fiber bundle;
图8是波纹管伸长时两纤维单元的纤维束错开的示意图；FIG8 is a schematic diagram showing the fiber bundles of two fiber units being staggered when the corrugated tube is stretched;
图9是波纹管的注塑模具的示意图；FIG9 is a schematic diagram of an injection mold for a bellows;
图10是本发明一种软体抓手的常态示意图；FIG10 is a normal schematic diagram of a soft gripper of the present invention;
图11、12是本发明一种软体抓手的抓取状态示意图。11 and 12 are schematic diagrams of the gripping state of a soft gripper of the present invention.
图中：100-基于交叉纤维干扰变刚度软体伸长驱动器、1-波纹管、2-变刚度结构、3-管体、4-端盖、5-第一通气孔、6-第二通气孔、7-软体套、8-纤维单元、9-纤维束、10-底座、11-外模具、12-内模具、101-支架、102-摇臂、103-上安装板、104-下安装板、105-接触气囊。In the figure: 100-variable stiffness soft elongation driver based on cross-fiber interference, 1-bellows, 2-variable stiffness structure, 3-tube body, 4-end cover, 5-first vent hole, 6-second vent hole, 7-soft cover, 8-fiber unit, 9-fiber bundle, 10-base, 11-outer mold, 12-inner mold, 101-bracket, 102-rocker arm, 103-upper mounting plate, 104-lower mounting plate, 105-contact airbag.
具体实施方式DETAILED DESCRIPTION
为使本发明的目的、技术方案和优点更加清楚，下面将结合附图对本发明实施方式作进一步地描述。下面介绍的是本发明的多个可能实施例中的较优的一个，旨在提供对本发明的基本了解，但并不旨在确认本发明的关键或决定性的要素或限定所要保护的范围。In order to make the purpose, technical solution and advantages of the present invention clearer, the embodiments of the present invention will be further described below in conjunction with the accompanying drawings. The following is a preferred embodiment of the present invention, which is intended to provide a basic understanding of the present invention, but is not intended to confirm the key or decisive elements of the present invention or to limit the scope of protection.
在这里示出和讨论的所有示例中，任何具体值应被解释为仅仅是示例性的，而不是作为限制。因此，示例性实施例的其它示例可以具有不同的值。In all examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.
对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为授权说明书的一部分。Technologies, methods, and apparatus known to ordinary technicians in the relevant field may not be discussed in detail, but where appropriate, such technologies, methods, and apparatus should be considered part of the authorization specification.
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步讨论。同时，应当明白，为了便于描述，附图中所示出的各个部分的尺寸并不是按照实际的比例关系绘制的。It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further discussed in the subsequent drawings. At the same time, it should be understood that for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.
在本发明的描述中,需要说明的是,除非另有明确的规定和限定,术语“安装”、“连接”应做广义理解,例如,可以是固定连接,也可以是可拆卸连接,或一体地连接；可以是机械连接,也可以是电连接；可以是直接相连,也可以通过中间媒介间接相连,可以是两个元件内部的连通。对于本领域的普通技术人员而言,可以具体情况理解上述术语在本发明中的具体含义。In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
请参考图1、2、3、4和5，本发明的实施例提供了一种基于交叉纤维干扰变刚度软体伸长驱动器100，包括波纹管1和变刚度结构2。Please refer to Figures 1, 2, 3, 4 and 5. An embodiment of the present invention provides a variable-stiffness soft elongation driver 100 based on cross-fiber interference, including a bellows 1 and a variable-stiffness structure 2.
如图3和4所示，所述波纹管1空心设置，在所述波纹管1内部充气后会进行直线伸长运动。所述波纹管1两端封闭，且设有第一通气孔5和第二通气孔6。As shown in Figures 3 and 4, the bellows 1 is hollow and will perform a linear extension motion after being inflated. Both ends of the bellows 1 are closed and a first vent hole 5 and a second vent hole 6 are provided.
具体的，所述波纹管1包括管体3和端盖4，所述管体3的下端封闭、上端开口。所述端盖4与所述管体3的上端口可通过胶水粘接连接，实现所述端盖4与所述管体3之间的密封连接。Specifically, the corrugated tube 1 includes a tube body 3 and an end cap 4, wherein the lower end of the tube body 3 is closed and the upper end is open. The end cap 4 and the upper end of the tube body 3 can be connected by gluing to achieve a sealed connection between the end cap 4 and the tube body 3.
所述第一通气孔5设置于所述端盖4上靠近边缘位置，第二通气孔6设置于所述端盖4的中心处。所述第一通气孔5和所述第二通气孔6均可以与气管插接，实现充气或抽气。The first vent hole 5 is arranged near the edge of the end cover 4, and the second vent hole 6 is arranged at the center of the end cover 4. Both the first vent hole 5 and the second vent hole 6 can be plugged into the air pipe to realize inflation or deinflation.
所述波纹管1可以采用硅胶注塑制作，所述管体3采用的注塑模具如图9所示，该注塑模具包括两外模具11和内模具12，其中两所述外模具11拼接形成具有波纹的内腔，所述内模具12具有波纹状的内芯，所述内模具12的内芯插入两所述外模具11的内腔内。在制作所述管体3时，由所述注塑模具上方开口处倒入液体硅胶，静置等待硅胶固化，随后脱模，即可获得所述管体3。类似的，采用硅胶注塑可制作获得所述端盖4。The bellows 1 can be made by silicone injection molding. The injection mold used for the tube body 3 is shown in FIG9 . The injection mold includes two outer molds 11 and an inner mold 12, wherein the two outer molds 11 are spliced to form an inner cavity with corrugations, and the inner mold 12 has a corrugated inner core, and the inner core of the inner mold 12 is inserted into the inner cavity of the two outer molds 11. When making the tube body 3, liquid silicone is poured into the upper opening of the injection mold, and the silicone is left to solidify, and then demolded to obtain the tube body 3. Similarly, the end cap 4 can be made by silicone injection molding.
如图4和5所示，所述变刚度结构2设置于所述波纹管1内，所述变刚度结构2主要包括两纤维单元8和软体套7，每一所述纤维单元8包括底座10和纤维束9。As shown in FIGS. 4 and 5 , the variable stiffness structure 2 is disposed in the corrugated tube 1 . The variable stiffness structure 2 mainly includes two fiber units 8 and a soft sleeve 7 . Each of the fiber units 8 includes a base 10 and a fiber bundle 9 .
所述软体套7为中空的圆柱，且两端开口，由硅胶制成。两所述纤维单元8容置于所述软体套7内。所述纤维束9一端固定连接所述底座10，这里所述纤维束包括多根圆柱形纤维条，各所述纤维条的一端与所述底座10粘接固定连接、另一端自由设置。优选的，所述纤维束9的一端固定于所述底座10的一半区域。如本实施例中，所述底座10为圆形，所述纤维束9为半圆柱形且一端恰好粘接于所述底座10的半圆形区域。The soft cover 7 is a hollow cylinder with both ends open and is made of silicone. The two fiber units 8 are housed in the soft cover 7. One end of the fiber bundle 9 is fixedly connected to the base 10, where the fiber bundle includes a plurality of cylindrical fiber strips, one end of each of which is bonded and fixedly connected to the base 10, and the other end is freely set. Preferably, one end of the fiber bundle 9 is fixed to a half area of the base 10. As in the present embodiment, the base 10 is circular, the fiber bundle 9 is semi-cylindrical, and one end of the fiber bundle 9 is bonded to a semi-circular area of the base 10.
两所述纤维单元8设置于所述软体套7内，且两底座10分别密封连接所述软体套7的两端，两所述纤维束9并拢设置于所述软体套7内。这里两所述底座10分别嵌入所述软体套7的两端并与所述软体套7的两端通过胶水粘接实现密封连接，两所述纤维束9恰好并拢形成一圆柱、容置于所述软体套7内。The two fiber units 8 are arranged in the soft cover 7, and the two bases 10 are respectively sealed to the two ends of the soft cover 7, and the two fiber bundles 9 are arranged side by side in the soft cover 7. Here, the two bases 10 are respectively embedded in the two ends of the soft cover 7 and are sealed and connected with the two ends of the soft cover 7 by glue, and the two fiber bundles 9 are just close together to form a cylinder and accommodated in the soft cover 7.
在进行所述变刚度结构2制作时，所述纤维束9的纤维条采用Po lyjet 3D打印技术，直接3D打印软胶材质。所述软体套7可采用Po lyjet 3D打印技术3D打印，也可以采用模具注塑制作。本实施例中，所述纤维条的刚度为邵氏刚度70A，所述软体套的刚度为邵氏刚度30A。When manufacturing the variable stiffness structure 2, the fiber strips of the fiber bundle 9 are directly 3D printed with soft rubber material using Polyjet 3D printing technology. The soft cover 7 can be 3D printed using Polyjet 3D printing technology, or can be manufactured using mold injection molding. In this embodiment, the stiffness of the fiber strips is Shore stiffness 70A, and the stiffness of the soft cover is Shore stiffness 30A.
所述变刚度结构2在完成制作后，整体放入所述波纹管1内，且在放入时应尽量保证所述软体套7与所述波纹管1同轴设置。并且使两所述纤维单元8的两底座10分别连接所述波纹管1两端，如本实施例中两所述底座10分别与所述管体3的底面和所述端盖4的顶面粘接连接。After the variable stiffness structure 2 is manufactured, it is placed in the corrugated tube 1 as a whole, and the soft sleeve 7 should be placed coaxially with the corrugated tube 1 as much as possible. The two bases 10 of the two fiber units 8 are respectively connected to the two ends of the corrugated tube 1. For example, in this embodiment, the two bases 10 are respectively bonded to the bottom surface of the tube body 3 and the top surface of the end cover 4.
在完成所述变刚度结构2和所述波纹管1的组装后，所述第一通气孔5连通所述波纹管1与所述软体套7之间的空间。位于上方的所述底座10的中心设有穿孔，所述穿孔与所述第二通气孔6上下对齐，使所述第二通气孔6连通所述软体套7内部。After the variable stiffness structure 2 and the bellows 1 are assembled, the first vent hole 5 communicates with the space between the bellows 1 and the soft cover 7. A through hole is provided at the center of the base 10 located above, and the through hole is aligned with the second vent hole 6 in the vertical direction, so that the second vent hole 6 communicates with the inside of the soft cover 7.
基于交叉纤维干扰变刚度软体伸长驱动器100工作时，可通过第一通气孔对所述波纹管1内通气，在气压作用下所述波纹管1伸长、弯曲。由于两所述纤维单元8的纤维束9之间没有阻碍，两所述纤维单元的纤维束可以如图8所示的很柔顺的错开。并且为了适应所述波纹管1弯曲，两所述纤维单元的纤维束之间可以如图6所示的扭转、和/或所述图7所述的弯曲。随后通过所述第二通气孔6对所述软体套7内抽负压，使纤维束9变硬，从而可以改变所述驱动器100整体的刚度。这样就克服了变刚度材料/变刚度结构自身不具有拉伸性，无法随着伸长驱动器的拉伸而拉伸的问题。When the variable-rigidity soft stretch driver 100 based on cross-fiber interference is working, the bellows 1 can be ventilated through the first vent hole, and the bellows 1 stretches and bends under the action of air pressure. Since there is no obstruction between the fiber bundles 9 of the two fiber units 8, the fiber bundles of the two fiber units can be staggered very smoothly as shown in Figure 8. And in order to adapt to the bending of the bellows 1, the fiber bundles of the two fiber units can be twisted as shown in Figure 6, and/or bent as shown in Figure 7. Then, negative pressure is drawn into the soft sleeve 7 through the second vent hole 6 to harden the fiber bundles 9, thereby changing the overall stiffness of the driver 100. In this way, the problem that the variable-rigidity material/variable-rigidity structure itself does not have stretchability and cannot stretch with the stretching of the stretch driver is overcome.
另外在上述基于交叉纤维干扰变刚度软体伸长驱动器100的基础上，本发明的实施例还提供了一种软体抓手。如图10所示，所述软体抓手主要包括两上述的基于交叉纤维干扰变刚度软体伸长驱动器100、V形的支架101和两摇臂102。In addition, based on the above-mentioned cross-fiber interference-based variable stiffness soft body extension driver 100, an embodiment of the present invention further provides a soft body gripper. As shown in FIG10 , the soft body gripper mainly includes two of the above-mentioned cross-fiber interference-based variable stiffness soft body extension drivers 100, a V-shaped bracket 101 and two rocker arms 102.
所述支架101岔开一定角度，用于安装两所述摇臂102及两所述驱动器100。具体的，两所述摇臂102分别与所述支架101的两端铰接，如本实施例中所述摇臂102为L形，所述摇臂102的中部通过一铆钉与所述支架101的一端连接且使所述摇臂102可绕所述支架101的一端转动。The bracket 101 is separated at a certain angle for mounting the two rocker arms 102 and the two drivers 100. Specifically, the two rocker arms 102 are respectively hinged to the two ends of the bracket 101. For example, the rocker arm 102 in this embodiment is L-shaped, and the middle of the rocker arm 102 is connected to one end of the bracket 101 through a rivet so that the rocker arm 102 can rotate around the one end of the bracket 101.
每一所述驱动器100连接所述摇臂102和所述支架101，以驱动所述摇臂102相对所述支架101转动。具体的，所述支架101的外侧设有两上安装板103，每一所述摇臂102靠近所述支架一端设有下安装板104，这里所述摇臂102上端直接形成所述下安装板104，每一所述驱动器100的两端分别安装于所述上安装板103和所述下安装板104之间，所述驱动器100伸长可驱动两所述摇臂102转动，使两所述摇臂102的下端相对靠近。Each of the actuators 100 is connected to the rocker arm 102 and the bracket 101 to drive the rocker arm 102 to rotate relative to the bracket 101. Specifically, two upper mounting plates 103 are provided on the outer side of the bracket 101, and each of the rocker arms 102 is provided with a lower mounting plate 104 near one end of the bracket, where the upper end of the rocker arm 102 directly forms the lower mounting plate 104, and the two ends of each of the actuators 100 are respectively installed between the upper mounting plate 103 and the lower mounting plate 104, and the actuator 100 can drive the two rocker arms 102 to rotate by extending, so that the lower ends of the two rocker arms 102 are relatively close to each other.
所述摇臂102的下端用于夹持物品。优选的，所述摇臂102下端设有接触气囊105，通过所述接触气囊105与物体直接接触，可以起到缓冲的作用，防止损坏物体。The lower end of the rocker arm 102 is used to clamp an object. Preferably, a contact airbag 105 is provided at the lower end of the rocker arm 102, and the contact airbag 105 directly contacts the object to play a buffering role and prevent damage to the object.
上述软体抓手是基于仿生人手的设计思路而设计，模拟了人手的手指开合姿态，可以灵巧的抓取多尺寸多形状的物体。如图11和12所示，在抓取时，我们先驱动两所述驱动器100的波纹管1伸长、和/或弯曲，使两摇臂102的下端夹住物体，然后对变刚度结构100内部施加真空，使其刚度提高，再将物体提起，这样可以抵抗抓取过程中来自物体对抓取的反向作用力，具有抓取稳定的有益效果。The above-mentioned soft gripper is designed based on the design concept of bionic human hands, simulating the opening and closing posture of human fingers, and can flexibly grasp objects of various sizes and shapes. As shown in Figures 11 and 12, when grasping, we first drive the bellows 1 of the two drivers 100 to extend and/or bend, so that the lower ends of the two rocker arms 102 clamp the object, and then apply vacuum to the inside of the variable stiffness structure 100 to increase its stiffness, and then lift the object, so that the reverse force from the object to the grasping process can be resisted, which has the beneficial effect of stable grasping.
在本文中，所涉及的前、后、上、下等方位词是以附图中零部件位于图中以及零部件相互之间的位置来定义的，只是为了表达技术方案的清楚及方便。应当理解的是，它们是相对的概念，可以根据使用、放置的不同方式而相应地变化，所述方位词的使用不应限制本申请请求保护的范围。In this document, the directional words such as front, back, top, and bottom are defined by the positions of the components in the drawings and the positions of the components relative to each other, just for the sake of clarity and convenience in expressing the technical solution. It should be understood that they are relative concepts and can change accordingly according to different ways of use and placement, and the use of the directional words should not limit the scope of protection claimed in this application.
在不冲突的情况下，本文中上述实施例及实施例中的特征可以相互结合。In the absence of conflict, the above embodiments and features in the embodiments may be combined with each other.
以上所述仅为本发明的较佳实施例，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210997633.9ACN115416013B (en) | 2022-08-19 | 2022-08-19 | Variable-rigidity soft extension driver based on cross fiber interference and soft gripper |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210997633.9ACN115416013B (en) | 2022-08-19 | 2022-08-19 | Variable-rigidity soft extension driver based on cross fiber interference and soft gripper |
| Publication Number | Publication Date |
|---|---|
| CN115416013A CN115416013A (en) | 2022-12-02 |
| CN115416013Btrue CN115416013B (en) | 2024-08-30 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210997633.9AActiveCN115416013B (en) | 2022-08-19 | 2022-08-19 | Variable-rigidity soft extension driver based on cross fiber interference and soft gripper |
| Country | Link |
|---|---|
| CN (1) | CN115416013B (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117047755A (en)* | 2023-08-01 | 2023-11-14 | 华南理工大学 | Variable stiffness force feedback teleoperation rod based on fiber blocking principle |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11446545B2 (en)* | 2017-12-06 | 2022-09-20 | Arizona Board Of Regents On Behalf Of Arizona State University | Soft robotic haptic interface with variable stiffness for rehabilitation of sensorimotor hand function |
| CN109176489B (en)* | 2018-10-11 | 2020-06-19 | 燕山大学 | Continuous variable-rigidity flexible robot |
| KR102353298B1 (en)* | 2020-05-28 | 2022-01-20 | 중앙대학교 산학협력단 | Mechanism for variable stiffness using electro-stiction force |
| CN114367967B (en)* | 2020-10-14 | 2024-05-28 | 中南大学 | Continuous body snake-shaped arm combining pneumatic muscle and super-elastic rod |
| CN114274125B (en)* | 2022-01-21 | 2023-12-05 | 哈尔滨工业大学 | Soft robot based on woven fiber bundles and driving method thereof |
| Title |
|---|
| Stiffness-Tunable Soft Bellows Actuators by Cross-Fiber Jamming Effect for Robust Grasping;Ling-JieGai 等;《EEE/ASME TRANSACTIONS ON MECHATRONICS》;20231031;第28卷(第5期);全文* |
| Publication number | Publication date |
|---|---|
| CN115416013A (en) | 2022-12-02 |
| Publication | Publication Date | Title |
|---|---|---|
| CN111571623A (en) | A Variable Stiffness Pneumatic Soft Gripper | |
| CN111360866B (en) | Pneumatic soft gripper with automatically adjustable working space, mechanical arm and gripping method | |
| CN111300459B (en) | A multi-degree-of-freedom human-like rigid-flexible mixed hand and its manufacturing process | |
| CN115416013B (en) | Variable-rigidity soft extension driver based on cross fiber interference and soft gripper | |
| CN104015197A (en) | Corrugated double-inner-cavity gas-powered flexible micro finger, control method and grabbing system | |
| CN113601542B (en) | Variable-rigidity flexible manipulator based on bionic adhesion | |
| CN110253606B (en) | A soft gripper imitating origami structure | |
| CN112549055A (en) | Humanoid pneumatic type soft robot finger | |
| CN111660317A (en) | Gripper module and pneumatic universal gripper capable of continuously adjusting gripping posture | |
| CN111452066A (en) | A fully flexible bionic pneumatic manipulator | |
| CN113232035A (en) | Multi-joint rigid-flexible coupling bionic soft finger | |
| CN111906811A (en) | A fully flexible pneumatic actuator | |
| WO2019140929A1 (en) | Humanoid manipulator | |
| CN113580177B (en) | Rigidity-variable humanoid hand rigid-flexible hybrid robot | |
| CN115383774A (en) | Soft body driver and soft body tongs based on annular cross fiber interference | |
| CN116100597A (en) | Soft manipulators and robots based on conductive twisted fibers and shape memory alloys | |
| CN110561469B (en) | Pneumatic finger of software of embedded skeleton | |
| Zhu et al. | Design and fabrication of a soft-bodied gripper with integrated curvature sensors | |
| CN118809645A (en) | A rigid-flexible coupling gripper capable of multi-modal dexterous operation | |
| CN216139271U (en) | A high-load soft arm and its mold using wire interference variable stiffness technology | |
| CN113771070A (en) | Segmented bending soft finger based on variable stiffness and local thin wall and its fabrication method | |
| CN213859336U (en) | Pneumatic soft robot system for realizing coating and grabbing of small-particle objects | |
| CN117901162B (en) | Rigid-flexible coupling handle | |
| CN116890332B (en) | Adjustable fluid-driven artificial muscle module based on folding assembly and its assembly method | |
| CN118269076A (en) | Multi-degree-of-freedom pneumatic flexible bionic manipulator |
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |