A Micro Pneumatic Layer Blocking Mechanism with Resistance Adjustment and Position Sensing Functions
A technology of sensing function and resistance force, used in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve the problems of complex overall system and mutual interference of modules, and achieve simple overall structural design, small overall size and quality, and enhanced freedom. effect of exercise
Active Publication Date: 2022-02-18
BEIHANG UNIV
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Problems solved by technology
In order to solve the above problems, most of the existing research simply stacks and integrates variable stiffness mechanisms, multi-degree-of-freedom mechanisms, and sensing systems, which makes the overall system complicated and there may be problems of mutual interference between modules.
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Embodiment Construction
[0014] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.
[0015] The present invention is a miniature pneumatic layer blocking mechanism with the functions of resistance adjustment and position perception. The mechanism is composed of a resistance adjustment module based on a sheet driver, a position sensing module and a retraction mechanism based on a scroll spring. Such as figure 1 shown;
[0016] The resistance adjustment module is composed of an inflated sheet driver 1, an elastic film 2, a high friction coefficient layer 3, a thermoplastic polyurethane-fiber cloth strip 5 and a rigid frame 8;
[0017] The working principle of the resistance adjustment module can be briefly described as: when air pressure is charged into the chip driver 1, the driver 1 will expand as figure 2 shown. The height of the high friction coefficient layer 3 and the positive pressure of the high friction coefficient layer 3 ...
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The invention discloses a micro pneumatic layer blocking mechanism with the functions of resistance adjustment and position sensing. The mechanism consists of the following parts: a resistance adjustment module, a position sensing module and a retraction mechanism. Among them, the resistance adjustment module is composed of a sheet driver, an elastic film, a high friction coefficient layer, a thermoplastic polyurethane-fiber cloth strip and a rigid frame. Adjusting the air pressure in the chip driver can change the resistance on the strip; the position sensing module is composed of conductive tape and electrodes, and the displacement of the strip at each moment can be obtained by detecting the level signal after the electrodes and the conductive tape are in contact with each other in sequence and direction of motion; the retraction mechanism consists of a miniature scroll spring that provides restoring force when the strap is retracted. The micro pneumatic layer blocking mechanism in the present invention can assist the soft robot to realize variable stiffness, multi-degree-of-freedom movement and real-time position perception.
Description
technical field [0001] The invention belongs to the technical field of soft robots. A micro-pneumatic layer blocking mechanism designed by the present invention can assist the software mechanism to realize integrated variable stiffness, multi-degree-of-freedom movement and real-time position perception. In addition, the mechanism can also be used in other traditional robotic fields, such as articulated robots. Background technique [0002] In recent years, soft robot technology has shown explosive development, and it is an emerging multidisciplinary frontier hot research direction. Soft robots have the unparalleled flexibility and safety of traditional rigid robots, and have been widely used in bionics, medical, special and other fields. [0003] Insufficient output force, lack of multi-degree-of-freedom movement ability, and lack of real-time position sensing and feedback are important factors restricting the development of current soft robots. In order to solve the abov...
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IPC IPC(8): B25J9/10B25J11/00
CPCB25J9/10B25J11/00
Inventor 陈殿生蒋永康王敏徐颖
Owner BEIHANG UNIV