CN113103212B - Self-growing flexible arm gripper device - Google Patents
Self-growing flexible arm gripper device Download PDFInfo
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- CN113103212B CN113103212B CN202110480335.8A CN202110480335A CN113103212B CN 113103212 B CN113103212 B CN 113103212B CN 202110480335 A CN202110480335 A CN 202110480335A CN 113103212 B CN113103212 B CN 113103212B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0015—Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion
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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
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0408—Connections means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0012—Constructional details, e.g. manipulator supports, bases making use of synthetic construction materials, e.g. plastics, composites
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of robots, in particular to a self-growing flexible arm gripper device. The method comprises the following steps: the soft robot main body is made of flexible materials, grows and extends through inflation, and the mechanical gripper is arranged at the growing end of the soft robot main body. The soft robot main body is of an outward turning cylindrical structure, one end of the outward turning cylindrical structure is sealed, the sealed end of the outward turning cylindrical structure is turned inwards to penetrate through the outward turning cylindrical structure, and the outward turning cylindrical structure is turned outwards to grow and stretch under the action of inflation. The self-growing movement mode of the soft robot main body improves the environmental adaptability of the robot, the flexible characteristic of the soft robot main body avoids the rigid impact between the robot and equipment, and the safety coefficient of the robot is improved.
Description
Technical Field
The invention relates to the field of robots, in particular to a self-growing flexible arm gripper device.
Background
The mechanical gripper is important detection and maintenance equipment in the aerospace and industrial fields, can replace manual work to enter a complex environment between equipment to complete detection and maintenance work in cooperation with the mechanical arm, and is rapidly developed in recent years.
The current mechanical arm mostly still adopts a rigid structure as a main body, is difficult to adapt to the complex environment between some equipment, the working space of the mechanical arm is limited by the size of the mechanical arm, and the mechanical arm is easy to generate rigid impact so that the safety coefficient of the mechanical arm is low, and the defects of the mechanical arm such as complex structure, easy abrasion of parts, high maintenance cost, poor fitting degree and the like are not well solved, so that the flexible mechanical arm gripper overhauling equipment is developed to make up the defects of the rigid mechanical arm. In recent years, the appearance of the flexible mechanical arm breaks through the structural design of the traditional mechanical arm, the safety coefficient is high under the flexible characteristic, the environmental adaptability is good, the flexible mechanical arm is particularly suitable for crowded equipment room environments, and the movement mode of the tip growth enables the flexible mechanical arm to have wide working space, so that the flexible mechanical arm gradually becomes the key point of research of various circles.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides the self-growing flexible arm gripper device which has the advantages that the self-growing motion mode of the soft robot main body improves the environmental adaptability of the robot, the flexible characteristic of the soft robot main body avoids the rigid impact between the robot and equipment, and the safety coefficient of the robot is improved.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a self-growing flexible arm gripper comprising:
a soft robot body, made of flexible material and growing and stretching by inflation,
and the mechanical gripper is arranged at the growing end of the soft robot main body.
The soft robot main body is of an outward turning cylindrical structure, one end of the outward turning cylindrical structure is sealed, the sealed end of the outward turning cylindrical structure is turned inwards to penetrate through the outward turning cylindrical structure, and the outward turning cylindrical structure is turned outwards to grow and stretch under the action of inflation.
Furthermore, the main body of the soft robot is made of PE plastic.
Further, a self-growing flexible arm gripper further comprises:
-a flexible cover, on which a mechanical grip is arranged,
the elastic piece is arranged on the flexible cover, and the flexible cover is connected to the growing end of the soft robot main body through the elastic piece.
Furthermore, the flexible cover is in a closing-up cup shape, the elastic piece is in an elastic rope shape and is arranged at the opening of the flexible cover, and the flexible cover is restrained at the growing end of the soft robot main body by the tightening force of the elastic piece.
Further, a self-growing flexible arm gripper further comprises:
and the sealed container is stored with the sealed end of the soft robot main body, and the other end of the soft robot main body is connected with the sealed container.
Further, a self-growing flexible arm gripper further comprises:
a connecting part which is cylindrical and is arranged at one side of the sealed container, one end of the soft robot body is connected with the connecting part,
and the growth outlet is arranged on one side of the sealed container, the growth outlet is positioned in the center of the connecting part, and the sealed end of the soft robot body penetrates into the sealed container from the growth outlet for storage.
Further, a self-growing flexible arm gripper further comprises:
-an air inlet, the air inlet being arranged on the sealed container.
Further, the mechanical gripper is a tool detachably mounted on the flexible cover for enabling inspection and maintenance.
Further, the soft robot body can be mounted on a robot arm in the prior art.
The self-growing flexible arm gripper device has the beneficial effects that:
the self-growing movement mode of the soft robot main body improves the environmental adaptability of the robot, the flexible characteristic of the soft robot main body avoids the rigid impact between the robot and equipment, and the safety coefficient of the robot is improved.
The innovativeness of the self-growing flexible arm gripper device is as follows: 1. compared with the motion mode of tail propulsion of a rigid mechanical arm, the flexible arm tip growing mode can carry the mechanical arm to enter a more complex environment to realize operation, such as the interior of a complex pipeline or a crowded equipment room; 2. the soft robot main body 1 and the equipment environment can be passively deformed to improve the environmental compliance of the mechanical arm; 3. the flexible characteristic of the mechanical arm can avoid rigid impact with equipment to improve the safety coefficient of the mechanical arm; 4. the high stow ratio of the flexible robotic arm curl storage allows the mechanical gripper to achieve a wider working space with minimal bulk.
Drawings
The invention is described in further detail below with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic diagram of the overall construction of a self-growing flexible arm gripper;
FIG. 2 is a schematic structural view of a flexible cover;
fig. 3 is a schematic diagram of the growth motion of the soft robot body, which shows the growth and elongation of the soft robot body under the action of inflation.
In the figure: a soft robot main body 1; a flexible cover 2; a mechanical gripper 3; an elastic member 4; a connecting portion 5; an air inlet 6; a sealed container 7; and a growth outlet 8.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Referring now to the embodiments illustrated in fig. 1-3, a self-growing flexible arm gripper comprises:
a soft robot body 1, which is made of flexible material and grows and stretches by inflation,
a mechanical gripper 3 arranged at the growing end of the soft robot body 1.
The soft robot main body 1 is made of flexible materials, so that the soft robot main body 1 is convenient to inflate, deform, grow and extend, the mechanical gripper 3 is arranged at the growing end of the soft robot main body 1, complex path planning can be achieved, and the mechanical gripper 3 is carried to any position of an equipment room to complete maintenance tasks. The self-growing motion mode of the soft robot main body 1 improves the environmental adaptability of the robot. The flexible characteristic of the soft robot main body 1 avoids the rigid impact between the robot and the equipment, and the safety factor of the robot is improved.
The present embodiment will be described with reference to fig. 1-3, wherein the soft robot body 1 is an everting cylindrical structure, one end of the everting cylindrical structure is sealed, the sealed end of the everting cylindrical structure is everted to penetrate through the everting cylindrical structure itself, and the everting cylindrical structure can grow and extend in an everting manner under the action of inflation.
In the following, referring to fig. 1-3, the soft robot body 1 is made of PE plastic.
The soft robot main body 1 made of PE plastic can be conveniently inflated, deformed, grown and extended, and the environmental adaptability of the robot is improved.
Referring now to the present embodiment as illustrated in fig. 1-3, a self-growing flexible arm gripper further comprises:
a flexible cover 2, a mechanical grip 3 being provided on the flexible cover 2,
an elastic member 4 arranged on the flexible cover 2, wherein the flexible cover 2 is connected to the growing end of the soft robot main body 1 through the elastic member 4.
The soft robot main body 1 is inflated to grow and extends to drive the flexible cover 2 to move, and drive the mechanical gripper 3 on the flexible cover 2 to move to any position of the equipment room to complete maintenance tasks. The function of the elastic element 4 is to allow the mechanical gripper 3 to be attached to the growing end of the soft robot body 1.
The present embodiment is described below with reference to fig. 1 to 3, wherein the flexible cover 2 is in a closed cup shape, the elastic element 4 is in a elastic rope shape, the elastic element 4 is disposed at an opening of the flexible cover 2, and the flexible cover 2 is constrained at a growing end of the soft robot body 1 by a tightening force of the elastic element 4.
The flexible cover 2 is a connecting tool for connecting the soft robot main body 1 and the mechanical gripper 3, the flexible cover 2 is in a closing cup shape, the flexible cover 2 can be tightly constrained at the growth end of the soft robot main body 1 through the tightening force of the elastic rope at the opening of the flexible cover 2, and the flexible cover 2 is used for carrying the mechanical gripper 3.
Referring now to the present embodiment as illustrated in fig. 1-3, a self-growing flexible arm gripper further comprises:
a sealed container 7, wherein the sealed end of the soft robot body 1 is stored in the sealed container 7, and the other end of the soft robot body 1 is connected to the sealed container 7.
The sealed container 7 is a supporting box body which is used for storing the soft robot main body 1 and inputting driving air pressure. The storage scheme of inversion improves the storage ratio of the soft robot main body 1 and enlarges the working space of the robot.
Referring now to the present embodiment as illustrated in fig. 1-3, a self-growing flexible arm gripper further comprises:
a connecting part 5 which is cylindrical and is arranged at one side of the sealed container 7, one end of the soft robot body 1 is connected with the connecting part 5,
a growth outlet 8 arranged on one side of the sealed container 7, the growth outlet 8 being located in the center of the connecting part 5, the sealed end of the soft robot body 1 penetrating from the growth outlet 8 into the sealed container 7 for storage.
The connecting part 5 is convenient for connecting the cylindrical soft robot body 1 to the sealed container 7, and the growth outlet 8 is used as a passage for the soft robot body 1 stored in the sealed container 7 to enter and exit. The growth outlet 8 is also a passage for gas to enter the soft robot body 1 so that the soft robot body 1 grows elongate.
Referring now to the present embodiment as illustrated in fig. 1-3, a self-growing flexible arm gripper further comprises:
an air inlet 6, the air inlet 6 being arranged on the sealed container 7.
The air inlet 6 is used for pumping air into the sealed container 7, and then the air enters the sealed container 7 and then enters the soft robot body 1 from the growth outlet 8 so that the soft robot body 1 grows and extends.
The present embodiment will be described with reference to fig. 1-3, wherein the mechanical gripper 3 is a tool for inspection and maintenance that is detachably mounted on the flexible cover 2.
The present embodiment will be described with reference to fig. 1 to 3, in which the soft robot body 1 can be attached to a robot arm in the related art. And further, any area can be reached through complicated path planning to carry out maintenance work.
The working principle of the invention is as follows: the soft robot main body 1 is stored in a sealed container 7 in an inverted mode, a mechanical gripper 3 is arranged on a flexible cover 2, the flexible cover 2 is sleeved at the growing end of the soft robot main body 1, after the sealed container 7 is inflated, the soft robot main body 1 starts to move forwards with the tip end turned outwards against the flexible cover 2, and an elastic piece 4 at the tail end of the flexible cover 2 can establish constraint between the flexible cover 2 and the soft robot main body 1, so that the flexible cover 2 cannot be separated from the soft robot main body 1 in the moving process and is always kept at the tip end. The robot can realize complex path planning through a steering device on the robot main body, carry the mechanical gripper 3 to reach any position between equipment to complete maintenance tasks, and finally realize a self-growing flexible arm gripper device. The self-growing movement mode improves the environmental adaptability of the robot; the flexible characteristic of the soft robot main body 1 avoids rigid impact between the robot and equipment, and the safety coefficient of the robot is improved; the storage scheme of enstrophe has improved the main part and has accomodate the ratio, has enlarged the robot work space.
Claims (7)
1. The utility model provides a from flexible arm tongs device of growing which characterized in that: the method comprises the following steps:
-a soft robot body (1) made of flexible material and growing and elongating by inflation,
-a mechanical gripper (3) arranged at the growing end of the soft robot body (1);
the soft robot main body (1) is of an outward-turning cylindrical structure, one end of the outward-turning cylindrical structure is sealed, the sealed end of the outward-turning cylindrical structure is turned inwards to penetrate through the outward-turning cylindrical structure, and the outward-turning cylindrical structure is turned outwards to grow and stretch under the action of inflation;
further comprising:
-a flexible cover (2), a mechanical gripper (3) being arranged on the flexible cover (2),
the elastic piece (4) is arranged on the flexible cover (2), and the flexible cover (2) is connected to the growing end of the soft robot main body (1) through the elastic piece (4);
the flexible cover (2) is in a closing-up cup shape, the elastic piece (4) is in an elastic rope shape, the elastic piece (4) is arranged at an opening of the flexible cover (2), and the flexible cover (2) is restrained at a growing end of the soft robot main body (1) by tightening force of the elastic piece (4).
2. A self-growing flexible arm gripper apparatus according to claim 1, wherein: the soft robot main body (1) is made of PE plastic.
3. A self-growing flexible arm gripper apparatus according to claim 1, wherein: further comprising:
the sealed container (7), the sealed end of the soft robot body (1) is stored in the sealed container (7), and the other end of the soft robot body (1) is connected to the sealed container (7).
4. A self-growing flexible arm gripper apparatus according to claim 3, wherein: further comprising:
a connecting part (5) which is cylindrical and is arranged at one side of the sealed container (7), one end of the soft robot body (1) is connected to the connecting part (5),
-a growth outlet (8) arranged on one side of the sealed container (7), the growth outlet (8) being located in the centre of the connection portion (5), the sealed end of the soft robot body (1) penetrating from the growth outlet (8) into the sealed container (7) for storage.
5. A self-growing flexible arm gripper apparatus according to claim 4, wherein: further comprising:
-an air inlet (6), the air inlet (6) being arranged on the sealed container (7).
6. A self-growing flexible arm gripper apparatus according to claim 5, wherein: the mechanical gripper (3) is detachably mounted on the flexible cover (2) and is used for realizing detection and maintenance.
7. A self-growing flexible arm grip apparatus according to any one of claims 1 to 6, wherein: the soft robot main body (1) can be installed on a mechanical arm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110480335.8A CN113103212B (en) | 2021-04-30 | 2021-04-30 | Self-growing flexible arm gripper device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110480335.8A CN113103212B (en) | 2021-04-30 | 2021-04-30 | Self-growing flexible arm gripper device |
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| CN113103212A CN113103212A (en) | 2021-07-13 |
| CN113103212B true CN113103212B (en) | 2022-05-17 |
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| CN202110480335.8A Active CN113103212B (en) | 2021-04-30 | 2021-04-30 | Self-growing flexible arm gripper device |
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| US11788916B2 (en) * | 2020-12-11 | 2023-10-17 | The Board Of Trustees Of The Leland Stanford Junior University | Distributed sensor networks deployed using soft growing robots |
| US11731268B2 (en) * | 2021-12-03 | 2023-08-22 | Korea Advanced Institute Of Science And Technology | Hyper elastic soft growing robot |
| CN114407075A (en) * | 2022-03-15 | 2022-04-29 | 哈尔滨工业大学 | Growing type multi-arm cooperative soft robot |
| CN114872082A (en) * | 2022-03-15 | 2022-08-09 | 哈尔滨工业大学 | Self-growing soft robot and hardening method thereof |
| CN115067214A (en) * | 2022-05-30 | 2022-09-20 | 北京工业大学 | Flexible milking robot |
| CN115091490B (en) * | 2022-08-25 | 2022-11-08 | 中国科学院沈阳自动化研究所 | Plant growth simulation soft mechanical arm capable of achieving rigidity and steering decoupling |
| CN117442142B (en) * | 2023-12-22 | 2024-03-19 | 南方科技大学 | Growing type mechanical arm |
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