Heavy-load net-shaped soft body grabbing mechanism based on paper folding structure and fiber interference
A technique of grasping mechanism and origami structure, applied in the fields of grasping, software clamping, and mechanical devices
Active Publication Date: 2021-04-30
JIANGXI UNIV OF SCI & TECH
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Problems solved by technology
[0007] Aiming at the above-mentioned problems and defects existing in the prior art, the present invention provides a large-load net-like software grasping mechanism based on origami structure and fiber interference, which has the ability to change stiffness through negative pressure drive, and solves the problem of stable grasping. Problems with volume and large mass objects; at the same time, because the mechanism is made of flexible materials, it has strong adaptability, no need to adjust the grabbing angle, and has high versatility
Method used
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[0039] Here, the present invention will be further described in detail by taking the tubular origami structure as an example.
[0040] When grasping an object, the net-like soft grasping mechanism spreads and falls on the surface of the grasped object as a whole, and the origami tightening structure 102 tightens under negative pressure, wraps the grasped object in the circumferential direction, and makes the fibers interfere with the structure 101 is attached to the surface of the object, and the rigidity of the fiber interference structure 101 increases under the action of negative pressure to maintain the stability of grasping. Finally, the cable in the center of the fiber interference structure 101 is used for lifting and transportation.
[0041] Such as Figure 5 As shown, the shaded part in the figure represents the object to be grasped. The mesh soft grasping mechanism is first laid on the surface of the object to be grasped, and then a vacuum pump is used to draw negati...
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The invention discloses a heavy-load net-shaped soft body grabbing mechanism based on a paper folding structure and fiber interference. The net-shaped soft body grabbing mechanism is integrally cobweb-shaped and comprises paper folding tightening structures and fiber interference structures; the multiple paper folding tightening structures are parallel to one another and distributed in the circumferential direction, the multiple fiber interference structures are scattered outwards from the center and distributed in the radial direction, and the paper folding tightening structures and the fiber interference structures are arranged in a crossed mode. The heavy-load net-shaped soft body grabbing mechanism has variable rigidity capacity through negative-pressure driving, and the purpose of stably grabbing large-size and large-mass objects is achieved; and meanwhile, the mechanism is made of a flexible material, so that the adaptability is relatively high, the grabbing angle does not need to be adjusted, and the universality is relatively high.
Description
technical field [0001] The invention belongs to the technical field of mechanical devices, relates to the field of software clamping and grasping, and in particular relates to a large-load mesh software grasping mechanism based on origami structure and fiber interference. Background technique [0002] Traditional mainstream robots are made of metal and other hard materials, loaded with connected electronic instruments and components. They can build cars, carry heavy objects, and even dismantle bombs. In some special environments, the soft body structure of robots is crucial. [0003] The rapid development of science and technology has made the work that can only be done by humans manual in the past replaced by robots, but the work involving flexible and fragile objects is still irreplaceable. Soft robot is a new type of flexible robot that can be driven only by air. In recent years, with the development of soft robot technology, soft grippers have gradually replaced human m...
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IPC IPC(8): B25J15/00
CPCB25J15/0023
Inventor 胡俊峰颜小金曾彬温涛
Owner JIANGXI UNIV OF SCI & TECH