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Double-joint variable-cross-section soft-body hand with wedged transverse-pattern structure

A double-joint, variable-section technology, used in manipulators, chucks, manufacturing tools, etc., can solve the problems of large differences in human fingers, inability to adjust posture, unstable grasping, etc., to achieve large grasping force and grasping range. , grab stable effect

Inactive Publication Date: 2019-11-26
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Most of the existing soft fingers have constant stiffness and constant section, which is quite different from human fingers
Moreover, due to the smooth surface and long finger length of the existing soft fingers, when grasping objects of different sizes, there are problems such as the inability to adjust the posture, the friction force is small, the grasping range is small, the grasping is easy to fall off, and the grasping is unstable, etc. shortcoming

Method used

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  • Double-joint variable-cross-section soft-body hand with wedged transverse-pattern structure
  • Double-joint variable-cross-section soft-body hand with wedged transverse-pattern structure
  • Double-joint variable-cross-section soft-body hand with wedged transverse-pattern structure

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0038] A double-joint variable-section soft hand with a wedge-shaped cross-stripe structure, the soft hand includes three identical soft fingers and a support, the soft fingers include a first joint and a second joint, wherein the first joint includes a first base 1. The first inextensible layer 2 arranged under the first base and the Kevlar wire 3 wound outside the combination of the first base and the first inextensible layer. The first base is provided with a first gas channel with one end open 1-2. The second joint includes a second base body 4 and a second inextensible layer 5 arranged under the second base body. The joint protrusion 4-3 is separated by the separation groove 4-2 on the second base body. The inside of the joint protrusion Gas chambers 4-5 are formed, and each gas chamber communicates through a second gas channel 4-4, and the second gas channel extends to the upper surface of the second base body in contact with the first base body to form an air inlet hole ...

Embodiment 2

[0043] When a soft finger described in the above technical solution is in use, compressed air enters the first gas channel 1-2 of the first joint of the soft finger through the gas chamber channel, and the air pressure in the first gas channel 1-2 The Kevlar wire 3 constrains the radial expansion of the first gas channel 1-2, and the first non-extensible layer 2 constrains the axial elongation of the first gas channel 1-2 on the plane side, so the first gas channel 1-2 The axial elongation of the arc surface of a gas channel 1-2 becomes the dominant factor, which makes the first joint bend to the plane side as a whole to realize the bending action. When the first joint is bent, the ground coffee powder filled in the first particle-filled cavity 2-1 of the first inextensible layer 2 is squeezed and interfered, which increases the stiffness of the first joint.

[0044] Compressed air enters the second gas channel 4-4 through the air inlet 4-1, and then enters the five gas chambe...

Embodiment 3

[0046] Three soft fingers cooperate to bend to grasp and pick up objects. Two air sources respectively control the first joint and the second joint. When grabbing a small object, the first joint ventilates first and bends inward. When approaching the object, the second joint inhales air first, bends in the opposite direction to increase the grabbing space, and then ventilates and bends inward to grab the object; When it comes to large objects, the second joint inhales air first, bends in the opposite direction to increase the grasping space, then the first joint and the second joint ventilate at the same time, bends inwards, and grasps the object. Depending on the gripping situation, the ventilation sequence can be changed.

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Abstract

The invention discloses a double-joint variable-cross-section soft-body hand with a wedged transverse-pattern structure. The double-joint variable-cross-section soft-body hand structurally comprises abracket and three soft-body fingers fixed on the bracket. The soft-body hand has the characteristics of being low in mass, easy to control, low in price, easy to manufacture and the like, can clamp complex fragile objects, and has high flexibility, safety and adaptability; and compared with other existing soft-body fingers, the soft-body fingers of the soft-body hand have the advantages of beinggreater in bending and higher in responding speed under a same atmospheric pressure due to variable-cross-section cavities, and similar to the human finger profile.

Description

technical field [0001] The invention relates to the field of soft robots, in particular to a double-joint variable-section soft hand with a wedge-shaped cross-stripe structure. Background technique [0002] Most of the existing mechanical grippers are of rigid structure, which has poor self-adaptive ability to the grasped objects. Traditional manipulators generally have rigid contact with the objects to be grasped, making it difficult to grasp fragile objects, and their structures are complex and flexible. limited degree, poor safety and adaptability; in order to achieve compliant grasping, under-actuated methods are often used, which brings about the problems of complex structure and difficult control of the designed mechanical gripper; and most of the traditional manipulators are aimed at Designed for specific tasks, it can only complete the grasping of specific objects, and the universal interchangeability is relatively poor. With the development of industry, manipulator...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/12
CPCB25J15/12
Inventor 刘守锋赵鹏飞王福军时贝超田延岭
Owner TIANJIN UNIV
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