CN111745681A - Multi-degree-of-freedom pneumatic soft manipulator with accurate positioning function - Google Patents
Multi-degree-of-freedom pneumatic soft manipulator with accurate positioning function Download PDFInfo
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- CN111745681A CN111745681A CN202010523545.6A CN202010523545A CN111745681A CN 111745681 A CN111745681 A CN 111745681A CN 202010523545 A CN202010523545 A CN 202010523545A CN 111745681 A CN111745681 A CN 111745681A
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- pneumatic
- soft
- unit
- guide rail
- soft actuator
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- 238000005452 bending Methods 0.000 claims abstract description 19
- 238000001514 detection method Methods 0.000 claims abstract description 14
- 229920002379 silicone rubber Polymers 0.000 claims description 27
- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 claims description 13
- 239000000758 substrate Substances 0.000 claims description 12
- 239000004945 silicone rubber Substances 0.000 claims description 10
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 230000003044 adaptive effect Effects 0.000 claims description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 230000001965 increasing effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- 230000005489 elastic deformation Effects 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a multi-degree-of-freedom pneumatic soft manipulator with an accurate positioning function, which comprises: the pneumatic guide rail comprises a plurality of pneumatic guide rail bodies which are uniformly distributed in the same circumference, and one end of each of the plurality of pneumatic guide rail bodies is connected with a pneumatic device; the pneumatic sliding block comprises a soft actuator and a connecting block, the soft actuator is connected to the pneumatic guide rail body in a sliding mode through the connecting block, and the soft actuator comprises a soft actuator body, a self-adaptive unit, a variable stiffness unit and a bending unit; the detection unit is arranged on the pneumatic sliding block and used for detecting the air pressure, the moving distance and the external environment of the pneumatic sliding block; and the control unit is connected with the detection unit and the pneumatic sliding block. The invention can increase the contact area between the soft actuator body and the object to be grabbed, improve the grabbing stability, and improve the rigidity and the bending degree of the soft actuator body, thereby being beneficial to grabbing some harder and heavier objects.
Description
Technical Field
The invention relates to the technical field of soft robots, in particular to a multi-degree-of-freedom pneumatic soft manipulator with an accurate positioning function.
Background
Most of the conventional robots are made of rigid materials, and the elastic deformation of the rigid materials is small and almost no elastic deformation capability exists. These rigid robots are often used in situations where specialization and a high degree of precision are required, and it is difficult for them to exhibit a high degree of deformation adaptability to different situations. The requirements of robots in special fields are more and more strict, such as industrial fragile article grabbing, complex terrain exploration, narrow space operation and the like.
Soft robots have become an indispensable part of the field of robots, because they are easy to manufacture, inexpensive, have a large deformation amount, and can adapt to a variety of complex environments.
The soft mechanical arm is made of soft materials, has great advantages for grabbing industrial fragile or soft products, and can further improve the industrial automation degree. At present, the common structures of the soft body driver are fiber reinforced type, pneumatic muscle type and air cavity type, and the common driving modes are physical driving, fluid driving and air driving. The air cavity type actuator circulates in each communicated air cavity through the filled air and drives the whole actuator to realize bending, and the action similar to the bending and grabbing of human fingers is realized. However, the soft end effector has a large bending degree, and the contact area between the end and the object is small, so that the gripping is often unstable and the soft end effector is easy to fall off. The grabbing range of the existing soft manipulator is fixed, the grabbing force is small, the adaptability of grabbing irregular objects is poor, and the problems influence the popularization and application of the soft manipulator.
Disclosure of Invention
The invention mainly solves the technical problems in the prior art, and provides the multi-degree-of-freedom pneumatic soft manipulator which has a large grabbing range, is stable in grabbing, can adapt to the surface shape of an irregular object and has an accurate positioning function.
The technical problem of the invention is mainly solved by the following technical scheme:
the invention provides a multi-degree-of-freedom pneumatic soft manipulator with an accurate positioning function, which comprises:
the pneumatic guide rail comprises a plurality of pneumatic guide rail bodies which are uniformly distributed in the same circumference, one end of each of the pneumatic guide rail bodies is connected with a pneumatic device, and the pneumatic device is used for driving the pneumatic guide rail to rotate;
the pneumatic sliding blocks are sleeved on the pneumatic guide rail bodies in a one-to-one correspondence mode, the pneumatic sliding blocks can slide back and forth along the pneumatic guide rails, each pneumatic sliding block comprises a soft actuator and a connecting block, the soft actuators are connected to the pneumatic guide rail bodies in a sliding mode through the connecting blocks, each soft actuator comprises a soft actuator body, an adaptive unit, a rigidity changing unit and a bending unit, each adaptive unit is arranged at the tail of the corresponding soft actuator body and used for adapting to the shape of a grabbed object after being deformed, each rigidity changing unit is arranged on the inner side of the corresponding soft actuator body and used for improving the rigidity of the corresponding soft actuator body, and each bending unit is arranged on the outer side of the corresponding soft actuator body and used for driving the corresponding soft actuator body to bend;
the detection unit is arranged on the pneumatic guide rail and the pneumatic sliding block and is used for detecting the air pressure, the moving distance and the external environment of the pneumatic sliding block;
and the control unit is connected with the detection unit and the pneumatic sliding block.
Furthermore, the soft body actuator body comprises a silicon rubber substrate and a constraint layer, the constraint layer is arranged on the outer side of the silicon rubber substrate, and grabbing protrusions which are arranged in a zigzag manner are arranged on the inner side of the silicon rubber substrate.
Further, the self-adaptive unit comprises a sealed silicon rubber cavity, the silicon rubber cavity is formed in the end, away from the restraint layer, of one side of the silicon rubber base body, a plurality of first acrylic balls capable of flowing are filled in the silicon rubber cavity, and when the silicon rubber cavity is in contact with an object, the shape of the first acrylic balls after extrusion deformation is matched with the shape of the object.
Further, the rigidity changing unit comprises a rigidity changing cavity and a negative pressure unit, the rigidity changing cavity is arranged on the silicon rubber base body and located on the inner side of the grabbing bulge, a plurality of second acrylic balls are arranged in the rigidity changing cavity, and the negative pressure unit is used for generating negative pressure to the rigidity changing cavity to enable the second acrylic balls to be closely arranged together.
Furthermore, the bending unit comprises a plurality of cavities which are arranged at intervals, the cavities are arranged on the outer side of the constraint layer, all the cavities are communicated with each other, the cavities are also connected with the air inlet unit, and the air inlet unit is used for inflating the cavities to bend the constraint layer.
Further, the detection unit is including setting up baroceptor, displacement sensor and camera, baroceptor and displacement sensor install on the pneumatic slider, the camera is fixed through the dog the end of pneumatic guide rail body.
Further, the pneumatic device is a pneumatic motor.
The invention has the beneficial effects that: the external environment is transmitted to the control unit through the detection unit, the control unit calculates the position of an object, then, the pneumatic device is started to drive the soft actuator to generate different displacements in three directions of the pneumatic guide rail, the pneumatic guide rail is rotated by a set angle, the optimal grabbing position of the soft manipulator is accurately found, the grabbing precision is improved, and the self-adaptive unit, the rigidity-changing unit and the bending unit are arranged on the soft actuator body, so that the contact area between the soft actuator body and the grabbed object can be increased, the grabbing stability is improved, the rigidity and the bending degree of the soft actuator body can be improved, and the grabbing of some harder and heavier objects is facilitated.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a multi-degree-of-freedom pneumatic soft manipulator with accurate positioning function according to the present invention;
FIG. 2 is a partial structural view of the multi-degree-of-freedom pneumatic soft manipulator with accurate positioning function according to the present invention;
fig. 3 is a schematic structural diagram of the software actuator of the multi-degree-of-freedom pneumatic software manipulator with accurate positioning function according to the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, and the scope of the present invention will be more clearly and clearly defined.
Referring to fig. 1-3, the multi-degree-of-freedom pneumatic soft manipulator with accurate positioning function of the present invention comprises:
the pneumatic guide rail 1 comprises a plurality of pneumatic guide rail bodies 11 which are uniformly distributed in the same circumference, one end of each pneumatic guide rail body 11 is connected with the pneumatic device 2, and the pneumatic device 2 is used for driving the pneumatic guide rail 11 to rotate; preferably, the pneumatic device 2 is a pneumatic motor.
The pneumatic sliding blocks 3 are sleeved on the pneumatic guide rail bodies 11 in a one-to-one correspondence mode, each pneumatic sliding block 3 comprises a soft actuator and a connecting block 31, each soft actuator is connected to the pneumatic guide rail body 11 in a sliding mode through the connecting block 31, each soft actuator comprises a soft actuator body 32, a self-adaptive unit 33, a variable stiffness unit 34 and a bending unit 35, each self-adaptive unit 33 is arranged at the tail of each soft actuator body 32 and used for adapting to the shape of a grabbed object after being deformed, each variable stiffness unit 34 is arranged on the inner side of each soft actuator body 32 and used for improving the stiffness of each soft actuator body 32, and each bending unit 35 is arranged on the outer side of each soft actuator body 32 and used for driving the soft actuator body 32 to bend; in the embodiment of the invention, the external pneumatic control device can provide power for the pneumatic guide rail body 11, and when the soft actuator body 32 grabs an object, the external pneumatic control device provides power to enable the connecting block 31 to drive the soft actuator body 32 to contract inwards so as to provide partial clamping force for clamping the object; when the soft actuator body 32 releases the object, the connecting block 31 drives the soft actuator body 32 to slide outwards through the external pneumatic device, so that the function of quickly releasing the object is realized, and the working efficiency of the invention can be effectively improved.
The detection unit 4 is arranged on the pneumatic guide rail 1 and the pneumatic sliding block 3, and the detection unit 4 is used for detecting the air pressure, the moving distance and the external environment of the pneumatic sliding block 3; specifically, the detection unit 4 includes an air pressure sensor 41, a displacement sensor 42 and a camera 43, the air pressure sensor 41 and the displacement sensor 42 are mounted on the pneumatic slider 3, and the camera 43 is fixed at the end of the pneumatic guide rail body 11 via a stopper 44. In the invention, the air pressure sensor 41 and the displacement sensor 42 can reflect the pressure in the soft actuator body 32 and the movement condition of the soft actuator body 32 in real time, feed back the state of the soft actuator body 32 to the control unit, complete signal processing through the control unit and timely adjust the state of the soft actuator body 32, prevent the soft actuator body 32 and a grabbed object from being damaged due to overlarge air pressure, and control the stroke of the pneumatic slider 3 to prevent overtravel.
And the control unit is connected with the detection unit 4 and the pneumatic slide block 3.
The invention transmits the external environment to the control unit through the detection unit 4, the control unit calculates the position of the object, then, the pneumatic device 2 is started to drive the soft actuator 32 to generate different displacements in three directions of the pneumatic guide rail 1, the pneumatic guide rail 1 is rotated by a set angle, the optimal grabbing position of the soft manipulator is accurately found, the grabbing precision is improved, and the self-adaptive unit 33, the rigidity-changing unit 34 and the bending unit 35 are arranged on the soft actuator body 32, so that the contact area between the soft actuator body 32 and the grabbed object can be increased, the grabbing stability is improved, the rigidity and the bending degree of the soft actuator body 32 can be improved, and the grabbing of some harder and heavier objects is facilitated.
Specifically, the soft body actuator 32 of the present invention comprises a silicon rubber substrate 321 and a constraint layer 322, wherein the constraint layer 322 is disposed on the outer side of the silicon rubber substrate 321, and the inner side of the silicon rubber substrate 321 is provided with the grabbing protrusions 323 arranged in a zigzag manner. The grabbing bulge 323 is beneficial to increasing the friction force between the soft actuator body 32 and the object to be grabbed, so that the grabbing is more stable.
Specifically, the adaptive unit 33 includes a closed silicone rubber cavity 331, the silicone rubber cavity 331 is disposed at an end of the silicone rubber substrate 321 on a side away from the constraining layer 322, the silicone rubber cavity 331 is filled with a plurality of first acrylic balls 332 capable of flowing, and when the silicone rubber cavity 331 is in contact with an object, a shape of the plurality of first acrylic balls 332 after being extruded and deformed is adapted to a shape of the object. Thereby improving the contact area between the soft actuator body 32 and the object to be grabbed and increasing the stability of the object to be grabbed.
The variable stiffness unit 34 comprises a variable stiffness cavity 341 and a negative pressure unit 342 which are connected with each other, the variable stiffness cavity 341 is arranged on the silicon rubber base 321 and is positioned on the inner side of the grabbing bulge 323, a plurality of second acrylic balls 343 are arranged in the variable stiffness cavity 341, and the negative pressure unit 342 is used for generating negative pressure on the variable stiffness cavity 341 so that the second acrylic balls 343 are closely arranged together. The negative pressure unit 342 can output the gas in the variable stiffness cavity 341 outwards, so that the air pressure in the variable stiffness cavity 341 is smaller than the external atmospheric pressure, and the second acrylic balls 343 of the variable stiffness cavity 341 are in contact with each other, thereby enhancing the stiffness of the soft actuator body 32 and being capable of grabbing objects with larger mass.
The bending unit 35 of the present invention includes a plurality of cavities 351 spaced apart from each other, the cavities 351 are disposed outside the constraining layer 322, all the cavities 351 are communicated with each other, the cavities 351 are further connected to an air inlet unit 352, and the air inlet unit 352 is used for inflating the cavities 351 to bend the constraining layer 322. The bending angle of the soft actuator body 32 can be controlled by the change of the external input air pressure. In this embodiment, the cavity 351 is formed by a plurality of U-shaped outer walls, and a gap is formed between two adjacent outer walls, so that the soft actuator body 32 can be bent toward the side for grabbing an object.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that are not thought of through the inventive work should be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope defined by the claims.
Claims (7)
1. The utility model provides a pneumatic software manipulator of multi freedom with accurate locate function which characterized in that includes:
the pneumatic guide rail comprises a plurality of pneumatic guide rail bodies which are uniformly distributed in the same circumference, one end of each of the pneumatic guide rail bodies is connected with a pneumatic device, and the pneumatic device is used for driving the pneumatic guide rail to rotate;
the pneumatic sliding blocks are sleeved on the pneumatic guide rail bodies in a one-to-one correspondence mode, each pneumatic sliding block comprises a soft actuator and a connecting block, the soft actuators are connected to the pneumatic guide rail bodies in a sliding mode through the connecting blocks, each soft actuator comprises a soft actuator body, a self-adaptive unit, a rigidity changing unit and a bending unit, the self-adaptive unit is arranged at the tail of the soft actuator body and used for adapting to the shape of a grabbed object after being deformed, the rigidity changing unit is arranged on the inner side of the soft actuator body and used for improving the rigidity of the soft actuator body, and the bending unit is arranged on the outer side of the soft actuator body and used for driving the soft actuator body to bend;
the detection unit is arranged on the pneumatic guide rail and the pneumatic sliding block and is used for detecting the air pressure, the moving distance and the external environment of the pneumatic sliding block;
and the control unit is connected with the detection unit and the pneumatic sliding block.
2. The pneumatic soft manipulator with the multiple degrees of freedom and the accurate positioning function as claimed in claim 1, wherein the soft actuator body comprises a silicon rubber substrate and a constraint layer, the constraint layer is arranged on the outer side of the silicon rubber substrate, and the inner side of the silicon rubber substrate is provided with the grabbing protrusions which are arranged in a zigzag manner.
3. The multi-degree-of-freedom pneumatic soft manipulator with the accurate positioning function as claimed in claim 2, wherein the adaptive unit comprises a closed silicone rubber cavity, the silicone rubber cavity is arranged at the end of one side of the silicone rubber substrate, which is away from the constraint layer, the silicone rubber cavity is filled with a plurality of first acrylic balls capable of flowing, and when the silicone rubber cavity is in contact with an object, the shape of the plurality of first acrylic balls after being extruded and deformed is adapted to the shape of the object.
4. The multi-degree-of-freedom pneumatic soft manipulator with the accurate positioning function as claimed in claim 3, wherein the variable stiffness unit comprises a variable stiffness cavity and a negative pressure unit which are connected with each other, the variable stiffness cavity is arranged on the silicon rubber substrate and is located on the inner side of the grabbing protrusion, a plurality of second acrylic balls are arranged in the variable stiffness cavity, and the negative pressure unit is used for generating negative pressure to the variable stiffness cavity to enable the second acrylic balls to be closely arranged together.
5. The multi-degree-of-freedom pneumatic soft manipulator with the accurate positioning function as claimed in claim 4, wherein the bending unit comprises a plurality of cavities arranged at intervals, the cavities are arranged outside the constraint layer, all the cavities are communicated with each other, and the cavities are further connected with an air inlet unit, and the air inlet unit is used for inflating the cavities to bend the constraint layer.
6. The multi-degree-of-freedom pneumatic soft manipulator with the accurate positioning function as claimed in claim 1, wherein the detection unit comprises a pneumatic sensor, a displacement sensor and a camera, the pneumatic sensor and the displacement sensor are mounted on the pneumatic slider, and the camera is fixed at the end of the pneumatic guide rail body through a stopper.
7. The multi-degree-of-freedom pneumatic soft manipulator with accurate positioning function as claimed in claim 1, wherein the pneumatic device is a pneumatic motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010523545.6A CN111745681A (en) | 2020-06-10 | 2020-06-10 | Multi-degree-of-freedom pneumatic soft manipulator with accurate positioning function |
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| CN202010523545.6A CN111745681A (en) | 2020-06-10 | 2020-06-10 | Multi-degree-of-freedom pneumatic soft manipulator with accurate positioning function |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112248018A (en) * | 2020-10-13 | 2021-01-22 | 武汉轻工大学 | Flexible paw and manipulator |
| CN113752282A (en) * | 2021-08-19 | 2021-12-07 | 安徽大学 | Pneumatic control rigidity-variable two-finger manipulator |
| CN114434474A (en) * | 2022-03-08 | 2022-05-06 | 哈尔滨工业大学（深圳） | Pneumatic rigidity-variable soft gripper |
| CN114603591A (en) * | 2022-03-15 | 2022-06-10 | 浙江理工大学 | Pneumatic software grasping system of general type of fruit letter sorting case packer |
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