A large-load mesh soft grasping mechanism based on origami structure and fiber interference
A technology of grasping mechanism and origami structure, which is applied in the fields of software clamping, mechanical devices and grasping, to achieve the effect of rapid shrinkage, change of stiffness and high versatility
Active Publication Date: 2022-04-01
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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Embodiment
[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 large-load net-like soft body grasping mechanism based on origami structure and fiber interference. The net-like soft body grasping mechanism is in the shape of a spider as a whole, including an origami tightening structure and a fiber interference structure; multiple origami tightening structures Parallel to each other and distributed in the circumferential direction, a plurality of fiber interference structures spread out from the center and distributed in the radial direction, and the origami tightening structure and the fiber interference structures are arranged to cross each other. The invention solves the problem of stably grasping large-volume and heavy-mass objects through negative pressure driving and has the ability to change stiffness; at the same time, because the mechanism is made of flexible materials, it has strong adaptability and does not need to adjust the grasping angle, and has a high versatility.
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...
Claims
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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