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Variable-rigidity soft module with bionic glass sponge skeleton structure and clamp holder

A skeleton structure and software module technology, applied in the direction of chucks, manipulators, manufacturing tools, etc., can solve the problems of poor variable stiffness and other problems, and achieve the effects of light weight, wide range of variable stiffness, excellent deformation ability and safety

Active Publication Date: 2020-04-17
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] In order to solve the problem of poor rigidity variable capacity of the existing software modules and the inability of the existing software modules to ensure its light weight and flexible movement, and to realize the function of large load and large-scale variable stiffness, the present invention further provides an imitation glass sponge skeleton Structural variable stiffness software module and holder

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  • Variable-rigidity soft module with bionic glass sponge skeleton structure and clamp holder
  • Variable-rigidity soft module with bionic glass sponge skeleton structure and clamp holder
  • Variable-rigidity soft module with bionic glass sponge skeleton structure and clamp holder

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specific Embodiment approach 1

[0036] Specific implementation mode one: as Figures 1 to 6, the variable stiffness software module imitating a glass sponge skeleton structure according to the embodiment of the present invention includes at least three air cavities 1, a variable stiffness structure 2, three air tubes 3, a rigid base 4, a flexible heating layer 5, an elastic body 6 and a central Constraining layer 7; the variable stiffness structure 2 is set on the flexible heating layer 5, and the flexible heating layer 5 is provided with a central restricting layer 7, and the elastic body 6 is wrapped on the side wall and both ends of the variable stiffness structure 2 and filled in the flexible heating layer In the layer 5, three air cavities 1 are arranged on the elastic body 6 located in the flexible heating layer 5, and the open ends of the three air cavities 1 communicate with the corresponding air tubes 3, and the air tubes 3 are connected to the rigid base 4 and the ends of the air tubes 3 One end is...

specific Embodiment approach 2

[0047] Specific implementation mode two: as Figure 7 Shown, a kind of clamper, described clamper comprises three above-mentioned variable stiffness soft body modules and a base plate, three variable stiffness soft body modules are respectively fixed on the rigid base plate by respective rigid bases, the rigidity of the variable stiffness soft body modules The position and angle of the base connected to the bottom plate can be adjusted to accommodate objects of different sizes. The variable stiffness software module includes a variable stiffness mechanism 2 , a rigid base 4 , a flexible heating layer 5 , a silicone body 6 , and a central restriction layer 7 . The three variable-stiffness software modules are respectively fixed on the rigid base plate through the base, and the position and angle of the module base connected to the base plate can be adjusted to accommodate items of different sizes.

[0048] The software modules can be assembled in parallel to form a gripper, an...

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Abstract

The invention relates to the technical field of variable-rigidity soft robots, in particular to a variable-rigidity soft module with a bionic glass sponge skeleton structure and a clamp holder, and solves the problem that an existing soft module is poor in rigidity change. The variable-rigidity structure of the module is sleeved on a flexible heating layer, a central limiting layer is arranged inthe flexible heating layer, an elastic main body wraps the side wall and the two ends of the variable-rigidity structure and fills the flexible heating layer, at least one air cavity is formed in theelastic main body located in the flexible heating layer, and the variable-rigidity structure is of a bionic glass sponge skeleton structure. The soft module can be used for designing a soft clamp holder, and the function of grabbing objects of different sizes, different weights and different shapes is achieved by combining the soft body passive deformation capacity and the variable rigidity capacity of the soft module. The design of the variable-rigidity soft module of the bionic glass sponge skeleton is achieved, and the soft module can be further applied to manufacturing of variable-rigiditysoft holders, robot hands, variable-rigidity soft arms and the like.

Description

technical field [0001] The invention relates to the technical field of a variable stiffness soft robot, in particular to a variable stiffness soft robot module and a holder with a skeleton structure imitating a glass sponge. Background technique [0002] In recent years, with the development of new materials and rapid prototyping technology, there has been an upsurge of research on soft robots worldwide. Soft robots involve the disciplines of bionics, robotics, soft materials, and control, and are inspired by imitating molluscs and structures in nature. Soft robots have the advantages of light weight, suppleness, easy deformation, and interactive safety, but low stiffness characteristics affect their load, precise motion, and operational performance, which is a key factor limiting their applications. In order to improve their performance, scholars have studied various variants. Stiffness methods and technologies have also become one of the most popular research directions i...

Claims

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Application Information

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IPC IPC(8): B25J15/12B25J15/08B25J15/10
CPCB25J15/12B25J15/08B25J15/10
Inventor 闫继宏石培沛许志东杨凯赵杰
Owner HARBIN INST OF TECH
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