Soft manipulator embedded with rubber hoses

A technology of rubber hoses and manipulators, applied in manipulators, chucks, manufacturing tools, etc., can solve the problems of complex environment, poor environmental adaptability, and low transmission efficiency, and achieve the effect of eliminating complex processes and improving adaptability.

Active Publication Date: 2018-11-06
HOHAI UNIV CHANGZHOU
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The rigid and low-degree-of-freedom end-effectors used in traditional robot manipulators usually have large inertia and high cost, limited types of actions that can be performed, low safety factor, poor environmental adaptability, low reliability, low transmission ef

Method used

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  • Soft manipulator embedded with rubber hoses
  • Soft manipulator embedded with rubber hoses
  • Soft manipulator embedded with rubber hoses

Examples

Experimental program
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Embodiment 1

[0030] Such as Figure 6 As shown, a soft manipulator embedded in a rubber hose includes 3 soft tentacles of the same specification and a rigid frame for installing the soft tentacles. The inside of the tentacles is injected with layered glue. One layer is a composite layer of silica gel and fiber, and rubber hose 11 is laid in a continuous U shape in the middle layer of silica gel. The rubber hose is a high-elastic latex tube, and the outer layer is silica gel. Set the length of each tentacle as L, the width as W, and the width of the continuous U-shaped laying of the rubber hose as W 1 , The opening distance of a single U-shape is L 1 , where 1 / 21 / W1 / L1 / W,L 1 The value of / L, under the condition that the air pressure P of the air pump is constant, the bending degree of the tentacle is the same as W 1 / W is proportional to L 1 / L is inversely proportional to W 1 The larger the / W, the wider the U-shaped width of the rubber hose laying, L 1 The smaller the / L, the den...

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Abstract

The invention discloses a soft manipulator embedded with rubber hoses. The soft manipulator comprises three soft tentacles of the same specification, and a rigid fixing frame for mounting the soft tentacles. The corresponding high-elasticity rubber pipe is embedded in each tentacle, and traditional complex manipulator manufacturing processes are omitted; during layering glue injection, inextensible fibers are doped in a silica gel layer of one side of each tentacle, and thus the tentacles can bend to one side more easily during bending; the surface of the other side of each tentacle is grooved, and the surface stiffness of the tentacles is lowered, so that driving force required by the soft manipulator at a certain bending degree is lower; and a cylindrical boss is formed at the tail end of each tentacle during bending so as to increase the wrapping capacity for different objects, and objects in different shapes can be better grabbed. Through reasonable layout of the rubber hoses and the optimal design of the structure of the manipulator, grabbing of the objects in different shapes is achieved by controlling pressure, grabbing operation on the various objects is achieved without replacing the manipulator, and the manipulator is applicable to complex production line.

Description

technical field [0001] The invention belongs to the field of soft robots, and in particular relates to a soft manipulator embedded in a rubber hose. Background technique [0002] At present, in traditional industries, most of the objects are grasped by the manipulator made of rigid materials, which has a certain grasping efficiency and accuracy for a single variety and a specific shape of objects. However, it does not perform well when faced with objects that need to handle multiple complex shapes. The current manipulator is based on the mechanical structure to realize the bending of the finger joints. The fingers of the manipulator are formed by connecting multiple joints in series. The mechanical structure is driven by micro motors, push cylinders, and wire rope traction to achieve the contraction movement of the fingers and achieve the purpose of precise control. It is relatively complicated, the control process is cumbersome, and the economy is poor for applications tha...

Claims

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Application Information

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IPC IPC(8): B25J15/10B25J15/12
CPCB25J15/10B25J15/12
Inventor 王延杰张鹏王柯力徐望舒王家乐骆敏舟
Owner HOHAI UNIV CHANGZHOU
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