CN110202607A - A kind of gas line double drive brace type software hand - Google Patents
A kind of gas line double drive brace type software hand Download PDFInfo
- Publication number
- CN110202607A CN110202607A CN201910354675.9A CN201910354675A CN110202607A CN 110202607 A CN110202607 A CN 110202607A CN 201910354675 A CN201910354675 A CN 201910354675A CN 110202607 A CN110202607 A CN 110202607A
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- China
- Prior art keywords
- software
- refers
- wire body
- double drive
- matrix
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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.)
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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
- B25J15/0233—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by chains, cables or ribbons
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of gas line double drive brace type software hands, it is desirable to provide a kind of to use different driving mode according to the difference of grabbed article, grasping force is big, the high software hand of grasp stability.Including at least two finger units, each finger unit includes that software refers to body, restraint layer, matrix and line driving mechanism, and constraint is placed on software and refers between body and matrix；Software refers to that the coefficient of dilatation of body is greater than restraint layer；Line driving mechanism includes the multiple wire body guide pads for driving wire body and being installed on matrix, and driving wire body one end is fixedly connected by spool with matrix, and the other end of wire body is driven to connect with cable actuated mechanism, and driving wire body is oriented to by multiple wire body guide pads；Software refers to that body includes multiple gas chamber, and multiple gas chamber are interconnected, and controls the indoor gas pressure of air chamber by pneumatic control mechanism.Software hand of the invention has bigger grasping force and bending angle under same air pressure, has higher grasp stability.
Description
Technical field
The present invention relates to soft robot technical fields, are moved and line driving more specifically, it relates to a kind of by gas drive
Double drive brace type software hand.
Background technique
With the continuous progress of technology, manipulator is seen everywhere on automatic production line.But conventional robot is simultaneously endless
It is suitable for the crawl of any industrial article entirely: due to manipulator and is crawled object for rigid contact, in the process of grasping
Some breakables can be damaged；Since the adaptive ability of manipulator is poor, also very for some complex-shaped articles
Hardly possible realizes crawl.Therefore in some specific areas, conventional robot is no longer satisfied production requirement.
In order to adapt to the use needs of specific area, soft robot comes into being.Software hand be it is one such, with biography
System manipulator compare, mostly use greatly the flexible materials such as silicon rubber make, can continuous modification, therefore have better flexibility
And adaptability, there is in principle infinite degrees of freedom, be able to solve the problems of conventional robot.And it makes simply,
It is cheap, it is with short production cycle, it is easily controllable.It is now widely used for robot end, the fields such as medical rehabilitation.
Currently, software hand is mainly pneumatic multi-chamber structure, by inflating to gas chamber, so that software hand is whole to one
Fixed direction bending, the crawl to fragile article, software article, complicated shape article etc. is realized by the cooperation of two software hands.
But since current software hand own material properties are softer, when grabbing object, grasp force is smaller, and rigidity is smaller, is easy to become
Shape.It is insecure when object is laid particular stress in crawl, it easily falls, affects the use function of software hand.
Summary of the invention
In view of the technical drawbacks of the prior art, it is an object of the present invention to provide one kind can be according to grabbed object
The difference of product uses different driving mode, the high software hand of grasp stability.
The technical solution adopted to achieve the purpose of the present invention is:
A kind of gas line double drive brace type software hand, including at least two finger units, each finger unit include
Software refers to body, restraint layer, matrix and line driving mechanism, and the constraint is placed on the software and refers between body and matrix；It is described soft
Body refers to that the coefficient of dilatation of body is greater than the coefficient of dilatation of the restraint layer；The line driving mechanism includes driving wire body and is installed on institute
Multiple wire body guide pads on matrix are stated, described driving wire body one end is fixedly connected by spool with described matrix, the driving
The other end of wire body is connect with cable actuated mechanism, and the driving wire body is oriented to by multiple wire body guide pads；It is described soft
Body refers to that body includes multiple gas chamber, and multiple gas chamber are interconnected, and controls the gas by pneumatic control mechanism
The indoor gas pressure of chamber.
It further include soft body support mechanism, the soft body support mechanism includes being installed on the software to refer to software branch on the outside of body
Dagger, the soft body support column is fixedly installed in the software refers to, and is connect with control mechanism is clamped.
The pulling force of the driving wire body can decomposite the component for referring to body finger tip perpendicular to the software.
The software each of refers in body that described gas chamber one end is closed end, and the other end is open end, multiple described
It is closed by the restraint layer open end of gas chamber.
Each gas chamber is independently arranged, and gap, each air chamber are formed between the adjacent gas chamber
The outer shape of room is wedge shape.
The software is provided with multiple support guide pipes with referring to, the soft body support column is led by the support guide pipe
To.
The software refers to body and matrix is silica gel material；The restraint layer is polydimethyl siloxane material.
The driving wire body is any one of nylon wire, carbon line, wire, litzendraht wire and synthetic thread.
The soft body support column is polyurethane material.
Compared with prior art, the beneficial effects of the present invention are:
1, software hand of the invention has that line drives and pneumatic driving structure in use can be according to being grabbed
The article taken is different, selects single driving or dual-driving-mode.Under double drive mode, for crawl lay particular stress on article grasp force compared with
Greatly, increase the rigidity of software finger, can stronger crawl article, grasp stability is high.
2, software hand of the invention further improves software by supporting role of the soft body support mechanism to finger part
The rigidity of finger.Meanwhile the soft body support column that can replace different-stiffness changes the rigidity of software finger, is suitable for different field
Use need, use scope is wide.
3, software hand getting of the invention makes of flexible material, has good adaptability, flexibility, energy when clamping object
Enough clamp breakables and complex-shaped article.
4, software of the invention is hand-made makees simply, and fabrication cycle is short, low manufacture cost, more convenience and safety.
5, the section components of software hand of the invention can be made of 3D printing, and production is simple, and assembly readily facilitates dimension
Shield and replacement.
Detailed description of the invention
Fig. 1 show the overall assembling structure chart of gas line double drive brace type software hand of the invention；
Fig. 2 show the structural schematic diagram of finger unit；
Fig. 3 show A to cross-sectional view；
Fig. 4 show software finger semi-cutaway；
Fig. 5 show the left view of finger unit shown in Fig. 2.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
A kind of structural schematic diagram of gas line double drive brace type software hand of the present invention is as Figure 1-Figure 5, including at least two
A finger unit, each finger unit include that software refers to body 6, restraint layer 5, matrix 4 and line driving mechanism 3.The software
Refer to that body 6, restraint layer 5 and matrix 4 are bonded as one.The restraint layer 5 is placed in the software and refers between body 6 and matrix 4.It is described soft
Body refers to that the coefficient of dilatation of body 6 is greater than the coefficient of dilatation of the restraint layer 5.The line driving mechanism 3 includes driving wire body 3-3 and peace
Loaded on multiple wire body guide pad 3-2 in described matrix 4, described driving one end wire body 3-3 passes through spool 3-1 and described matrix 4
It is fixedly connected, the other end of the driving wire body 3-3 is connect with cable actuated mechanism.The driving wire body 3-3 passes through multiple institutes
State wire body guide pad 3-2 guiding.Wherein, the wire body guide pad 3-2 and the integrated moulding by casting of described matrix 4.The software refers to
Body 6 includes multiple gas chamber 6-2, and multiple gas chamber 6-2 are interconnected by gas passage 6-1, the gas in end
Fluid chamber side is provided with venthole 6-3, and gas is pneumatically controlled by the gas chamber of venthole 6-3 disengaging connection to pass through
Gas pressure in gas chamber 6-2 described in mechanism controls processed.In use, each software is referred to that one end of body is fixedly mounted
In on bracket 1, the other end is free end.The quantity of finger unit is determined according to the article grabbed, at least by two finger lists
Member, which is worked in coordination, completes grasping movement.
In order to improve the rigidity of software hand, software hand of the invention further includes soft body support mechanism 2, the soft body support machine
Structure 2 includes the soft body support column 2-3 for being installed on the software and referring to 6 outside of body, and the soft body support column 2-3 is by being installed on software
Refer to that the software tip catheter 2-1 of 6 end of body is fixedly installed in the software and refers on body 6, and is connect with control mechanism 2-4 is clamped.
In order to guarantee the traffic direction of soft body support column, the software, which refers to, is provided with multiple support guide pipe 2-2, the software on body 6
Support column 2-3 is oriented to by the support guide pipe 2-2.In the present embodiment, the soft body support column 2-3 and the software end
Conduit 2-1 interference fit, with the support guide pipe 2-2 clearance fit.
Wherein, the pulling force of the driving wire body 3-3 can decomposite the component for referring to body finger tip perpendicular to the software.Specifically
Setting are as follows: the line of centres and restraint layer of spool 3-1 and multiple wire body guide pad 3-2 are longitudinally angled, can will drive
Pulling force is decomposed into the pulling force longitudinally perpendicular with restraint layer along moving-wire body 3-3, becomes driving software and refers to the curved power of body, drives
Wire body 3-3 passes through spool 3-1 and wire body guide pad 3-2, refers to that body provides pulling force for software.
In the present embodiment, each of the software refers in body 6 one end the gas chamber 6-2 is closed end, and the other end is
It is closed by the restraint layer 5 and matrix 4 open end of open end, multiple gas chamber 6-2.Each gas chamber
6-2 is independently arranged, and gap is formed between the adjacent gas chamber 6-2, and the shape of each gas chamber 6-2 is wedge shape.
Wherein, the software refers to body 6 and matrix 4 is silica gel material；The restraint layer is dimethyl silicone polymer (PDMS)
Material.
The soft body support column is polyurethane material.
The driving wire body is nylon wire, can also use carbon line, wire, litzendraht wire, synthetic thread equal strength is higher
Line.
The bracket 1, wire body guide pad 3-2, spool 3-1, support guide pipe 2-2, software tip catheter 2-1 are beaten using 3D
It is printed to, material therefor is ABS resin.
In use, the software in each finger unit is referred to that body part one end is fixed on bracket 1, the drive of line driving mechanism
Moving-wire body passes through bracket and connect with cable actuated mechanism, and clamping drive mechanism is installed on bracket 1, and soft body support column passes through folder
The retained part of tight driving mechanism.
If grabbing light matter body, pneumatic mode can be only enabled.Under pneumatic mode, the compression in pneumatic drive mechanism is empty
Gas enters software and refers in the gas chamber 6-2 of body 6, and each gas chamber 6-2 expands around under the influence of air pressure, restraint layer
5 constrain the vertical and horizontal of gas chamber bottom to extend, the anamorphic stretching under gas pressure at the top of gas chamber, due to adjacent
There are gap between gas chamber, longitudinal elongation is leading factor, so that software is referred to that body is whole to cavity bottom lateral bend, thus real
Existing flexure operation.
When grabbing heavy objects, start gas line double drive mode, refers to that body bending becomes in pneumatic drive mechanism driving software
While shape, cable actuated mechanism (can be using stepper motor etc.) pulls software to refer to body 6 by driving wire body 3-3, due to driving
There are certain angles for moving-wire body 6 and 5 longitudinal direction of restraint layer, therefore wire body is driven to refer to that the pulling force in direction along body can be analyzed to software
Refer to the pulling force in body direction perpendicular to software, and then software is driven to refer to the flexure operation of body, software is made to refer to that body has bigger grasp force.
Line driving mechanism can be used as Auxiliary support in the process of grasping.
In flexure operation, the retained part of clamping drive mechanism 2-4 is in relaxation state, and soft body support column 2-3 can be with
It moves freely, thus, software refers to that 6 end of body can draw soft body support column 2-3 during bending and move down.In promptly object
When body, the retained part of clamping drive mechanism 2-4 clamps the upper end of soft body support column 2-3, provides support force to soft body support column,
Soft body support column can not recycle, and entire software refers to that body 6 is difficult to reduce bending curvature under the support of soft body support column 2-3, thus
Largely improve the rigidity that software refers to body 6.
Software hand of the invention realizes crawl object motion by the mutual cooperation of multiple finger units.Software of the invention
In hand, the driving method of line driving is increased, can implement respectively pneumatically to grab gentle line pair for light and small object, heavy objects
Driving crawl two ways, due to increasing the pulling force of line, has bigger under gas line dual-driving-mode under same air pressure
Grasping force, bending angle and rigidity.Meanwhile joined brace type structure in software hand, it can under two kinds of drive modes
Largely increase rigidity of the software hand after grabbing object, make software hand of the invention have bigger grasping force and
Higher grasp stability can grab heavier object, and expand software hand of the invention uses field.
The above is only a preferred embodiment of the present invention, it is noted that for the common skill of the art
For art personnel, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications
Also it should be regarded as protection scope of the present invention.
Claims (9)
1. a kind of gas line double drive brace type software hand, which is characterized in that including at least two finger units, each finger
Unit includes that software refers to body, restraint layer, matrix and line driving mechanism, the constraint be placed on the software refer to body and matrix it
Between；The software refers to that the coefficient of dilatation of body is greater than the coefficient of dilatation of the restraint layer；The line driving mechanism includes driving wire body
With the multiple wire body guide pads being installed in described matrix, described driving wire body one end connects by the way that spool and described matrix are fixed
It connects, the other end of the driving wire body is connect with cable actuated mechanism, and the driving wire body passes through multiple wire body guide pads
Guiding；The software refers to that body includes multiple gas chamber, and multiple gas chamber are interconnected, and passes through pneumatic control mechanism control
Make the indoor gas pressure of the air chamber.
2. gas line double drive brace type software hand according to claim 1, which is characterized in that further include soft body support machine
Structure, the soft body support mechanism include being installed on the software to refer to that soft body support column on the outside of body, the soft body support column are fixed
It is installed on the software refers to, and is connect with control mechanism is clamped.
3. gas line double drive brace type software hand according to claim 1 or 2, which is characterized in that the driving wire body
Pulling force can decomposite the component for referring to body finger tip perpendicular to the software.
4. gas line double drive brace type software hand according to claim 3, which is characterized in that the software refers to every in body
A described gas chamber one end is closed end, and the other end is open end, the open ends of multiple gas chamber by it is described about
The closing of beam layer.
5. gas line double drive brace type software hand according to claim 3, which is characterized in that each gas chamber is only
It erects and sets, form gap between the adjacent gas chamber, the outer shape of each gas chamber is wedge shape.
6. gas line double drive brace type software hand according to claim 3, which is characterized in that the software refers to and is arranged with it
There are multiple support guide pipes, the soft body support column is oriented to by the support guide pipe.
7. gas line double drive brace type software hand according to claim 3, which is characterized in that the software refers to body and matrix
For silica gel material；The restraint layer is polydimethyl siloxane material.
8. gas line double drive brace type software hand according to claim 2, which is characterized in that the driving wire body is nylon
Any one of line, carbon line, wire, litzendraht wire and synthetic thread.
9. gas line double drive brace type software hand according to claim 2, which is characterized in that the soft body support column is poly-
Urethane material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910354675.9A CN110202607B (en) | 2019-04-29 | 2019-04-29 | Pneumatic-line dual-drive supporting type soft hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910354675.9A CN110202607B (en) | 2019-04-29 | 2019-04-29 | Pneumatic-line dual-drive supporting type soft hand |
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| Publication Number | Publication Date |
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| CN110202607A true CN110202607A (en) | 2019-09-06 |
| CN110202607B CN110202607B (en) | 2022-06-24 |
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| CN201910354675.9A Active CN110202607B (en) | 2019-04-29 | 2019-04-29 | Pneumatic-line dual-drive supporting type soft hand |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111037539A (en) * | 2019-12-30 | 2020-04-21 | 浙江清华柔性电子技术研究院 | Flexible telescopic unit, flexible telescopic mechanism and hybrid drive variable-degree-of-freedom soft robot |
| CN111687867A (en) * | 2020-06-11 | 2020-09-22 | 哈尔滨工业大学 | Soft mechanical arm with active rigidity changing function |
| CN111791247A (en) * | 2020-07-01 | 2020-10-20 | 北方工业大学 | Variable-rigidity line-driven flexible gripper and variable-rigidity control method thereof |
| CN111791248A (en) * | 2020-07-09 | 2020-10-20 | 北京理工大学 | Flexible manipulator for cold environment |
| CN112589821A (en) * | 2020-12-04 | 2021-04-02 | 浙江大学 | Linear pneumatic antagonistic driving soft finger |
| CN113427504A (en) * | 2021-07-09 | 2021-09-24 | 北京理工大学 | Be applied to soft finger of grabbing of space arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111037539A (en) * | 2019-12-30 | 2020-04-21 | 浙江清华柔性电子技术研究院 | Flexible telescopic unit, flexible telescopic mechanism and hybrid drive variable-degree-of-freedom soft robot |
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| CN111687867A (en) * | 2020-06-11 | 2020-09-22 | 哈尔滨工业大学 | Soft mechanical arm with active rigidity changing function |
| CN111791247A (en) * | 2020-07-01 | 2020-10-20 | 北方工业大学 | Variable-rigidity line-driven flexible gripper and variable-rigidity control method thereof |
| CN111791247B (en) * | 2020-07-01 | 2021-12-10 | 北方工业大学 | Variable-rigidity line-driven flexible gripper and variable-rigidity control method thereof |
| CN111791248A (en) * | 2020-07-09 | 2020-10-20 | 北京理工大学 | Flexible manipulator for cold environment |
| CN112589821A (en) * | 2020-12-04 | 2021-04-02 | 浙江大学 | Linear pneumatic antagonistic driving soft finger |
| CN112589821B (en) * | 2020-12-04 | 2022-02-18 | 浙江大学 | Linear pneumatic antagonistic driving soft finger |
| CN113427504A (en) * | 2021-07-09 | 2021-09-24 | 北京理工大学 | Be applied to soft finger of grabbing of space arm |
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| CN110202607B (en) | 2022-06-24 |
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