A finger-palm cooperative soft gripper

Abstract

The application discloses a kind of finger palm coordination soft gripper, belong to manipulator technical field, solve the technical problem that existing technology is difficult to meet the softness of gripper and gripper load capacity and the poor fit of gripper and target object leads to the decline of gripping stability.It action part, the action part includes base, multiple fingers connected with the base and palm part;Rope drive assembly, the rope drive assembly includes setting in the base wire winder and respectively with multiple finger connection rope body;Pressure drive assembly, the pressure drive assembly includes setting in the palm part pressure chamber, respectively setting in multiple finger pressure pipe, and for adjusting the pressure of medium in the pressure chamber and the pressure pipe multiple adjusting part.The application finger palm coordination soft gripper can be better used for the gripping work of various target objects, while meeting the softness and load capacity of gripper.Structure is light, simple to use.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical hand, in particular to a finger-palm cooperative soft gripper. BACKGROUND

[0002] With the development of material science, bionics, manufacturing technology and computer technology, soft material robots have attracted extensive attention of researchers in the field of robots due to their superior environmental adaptability and interactive safety. These robots can replace human beings and replicate human behaviors, and play an important role in repetitive labor and complex special environments. Throughout the years, robot gripper has been an important branch of robot research, and researchers expect to develop soft robot dexterous hands like human hands by using soft robot technology. In recent years, researchers at home and abroad have developed soft robot grippers for medical care, production, exploration and other fields.

[0003] The existing soft robot gripper is mainly composed of a plurality of bendable fingers, and the fingers output bending movement under external stimulation. The plurality of fingers form an envelope space by bending to realize the grasping of objects. By changing the number and spatial layout of the fingers, two-finger grippers, three-finger grippers, five-finger grippers and the like can be constructed. Although these soft grippers are rich in form and function, their performance in actual grasping tasks is still inferior to that of human hands. There are mainly some deficiencies as follows: (1) it is difficult to simultaneously satisfy the softness of the gripper and the load capacity of the gripper; (2) the poor fit between the gripper and the target object leads to a decrease in grasping stability. SUMMARY

[0004] The purpose of the present application is to provide a finger-palm cooperative soft gripper to solve the technical problems in the prior art that it is difficult to simultaneously satisfy the softness of the gripper and the load capacity of the gripper and the poor fit between the gripper and the target object leads to a decrease in grasping stability.

[0005] To achieve the above-mentioned purpose, the present application provides the following technical solutions:

[0006] The present application provides a finger-palm cooperative soft gripper, comprising:

[0007] an action part, the action part comprising a base, a plurality of fingers connected with the base, and a palm part;

[0008] a rope driving assembly, the rope driving assembly comprising a winding device arranged in the base and a plurality of rope bodies respectively connected with the plurality of fingers, the rope body comprising a connecting rope and a driving rope;

[0009] a pressure driving assembly, the pressure driving assembly comprising a pressure cavity arranged in the palm part, a plurality of pressure pipes respectively arranged in the plurality of fingers, and a plurality of adjusting parts for adjusting the medium pressure in the pressure cavity and the pressure pipes.

[0010] Optionally or preferably, the rope body is a flexible polyurethane material; the rope body is used to make the fingers in the initial state curved.

[0011] Optionally or preferably, the fingers include a plurality of knuckles, and each of the knuckles is provided with a channel one close to the palm portion, a channel two away from the palm portion, and a channel three between the channel one and the channel two.

[0012] The channel one is used to set a connecting rope, the channel two is used to set the driving rope, and the channel three is used to set the pressure pipe; the plurality of knuckles are connected through the connecting rope, the driving rope, and the pressure pipe.

[0013] The plurality of knuckles form a deformation zone therebetween, and the deformation zone is used to make the plurality of knuckles curved or vertical.

[0014] Optionally or preferably, the number of the fingers is two, and the fingers are symmetrically arranged about the palm portion; the number of the knuckles is not less than three, an adjacent knuckle to the base is a terminal knuckle, and a farthest knuckle away from the base is a tip knuckle.

[0015] Optionally or preferably, the driving rope is sequentially communicated to the terminal knuckle through the channel two from the tip knuckle and wound on the winding device.

[0016] Optionally or preferably, the pressure pipe is provided with a constraint fiber, the constraint fiber is cross-wound on the outside of the pressure pipe, the radial expansion deformation of the constraint fiber wound on the pressure pipe is constrained, and when the internal and external pressure difference is greater than zero, the difference between the deformation amounts on the upper and lower sides of the pressure pipe is used to control the bending angle of the pressure pipe towards the side close to the palm portion.

[0017] Optionally or preferably, the adjusting portion includes a one-way flow channel one and a one-way flow channel two, the one-way flow channel one is used to make the medium in the pressure cavity unidirectionally pass into the pressure pipe, and the one-way flow channel two is used to make the medium in the pressure pipe unidirectionally pass into the pressure cavity.

[0018] Based on the above technical solutions, the embodiments of the present application can at least produce the following technical effects:

[0019] (1) large gripping force: the fingers of the application are composed of two force output drivers, rope driving assembly and pressure driving assembly, the rope driving assembly provides gripping force by the strain energy stored in the deformation of flexible materials, the pressure driving assembly realizes stiffness enhancement by internal pressure, thereby providing greater output torque, the cooperation of palm and fingers, that is, after the palm is squeezed by the target object, the internal fluid flows into the pressure driving assembly of the fingers, so that the stiffness increases, further enhancing the gripping force of the fingers, and the greater the object mass, the greater the pressure increase in the fingers, the greater the gripping force of the fingers;

[0020] (2) good gripping stability: the palm of the application is a completely soft air bag, when the target object squeezes the palm, the palm reduces its stiffness by bleeding pressure into the fingers, which enables the palm to form a conformal covering with any geometric feature of the target object, effectively solving the contradiction between the flexibility and gripping force of the traditional gripper, and the dual increase effect of the covering area and the gripping force is a reliable guarantee for the gripping stability of the gripper. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is the structure schematic diagram of the finger-palm cooperative soft gripper of the application;

[0022] Figure 2 is the working principle schematic diagram of the rope driving assembly of the finger-palm cooperative soft gripper of the application in the initial state Figure 1 ;

[0023] Figure 3 is the working principle schematic diagram of the rope driving assembly of the finger-palm cooperative soft gripper of the application in the gripping state Figure 2 ;

[0024] Figure 4 is the working principle schematic diagram of the pressure driving assembly of the finger-palm cooperative soft gripper of the application in the initial state Figure 1 ;

[0025] Figure 2 is the working principle schematic diagram of the pressure driving assembly of the finger-palm cooperative soft gripper of the application in the gripping state Figure 6

[0026] Figure 7 is the principle schematic diagram of the finger-palm cooperative soft gripper of the application in the initial state;

[0027] Figure 8 is the principle schematic diagram of the finger-palm cooperative soft gripper of the application in the straightened state of fingers;

[0028] Figure 9 is the principle schematic diagram of the finger-palm cooperative soft gripper of the application in the gripping state;

[0029] Figure 10 is the two-finger gripping schematic diagram of the finger-palm cooperative soft gripper of the application;

[0030] Figure 1 Fig. 1 is a schematic diagram of the cross section of the finger joint of the finger-palm cooperative soft gripper.

[0031] Fig. 1 is a schematic diagram of the cross section of the finger joint of the finger-palm cooperative soft gripper.Fig. 1 is a schematic diagram of the cross section of the finger joint of the finger-palm cooperative soft gripper. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present application will be apparently and completely described with reference to the drawings in the embodiments of the present application; obviously, the described embodiments are only part of the embodiments of the present application, but not all the embodiments; all other embodiments obtained by a person of ordinary skill in the art without any creative work based on the embodiments in the present application belong to the protection scope of the present application.

[0033] Please refer to Figure 9 , Figure 10 and Figures 2-3 , a finger-palm cooperative soft gripper, comprising a motion part for realizing the gripping action, the motion part comprising a base 1, the upper end surface of the base 1 is provided with fingers 2, in the embodiment, the number of the fingers 2 is two, and a palm part 3 is arranged between the two fingers 2; when the gripper performs the gripping action, the target object 8 contacts and squeezes the palm part 3, and the two fingers 2 hold the target object 8 inward. The above-mentioned motion part realizes reliable gripping of the target object 8 under the joint action of the rope driving assembly and the pressure driving assembly.

[0034] The rope driving assembly comprises a wire winder 5 arranged in the base 1 and a rope body 4 connected with the two fingers 2 respectively, in the embodiment, the rope body 4 comprises a connecting rope 41 and a driving rope 42, wherein the driving rope 42 is made of flexible polyurethane material by 3D printing, and through the connecting rope 41 and the driving rope 42, the fingers 2 are in the inward bending state in the initial undriven state.

[0035] Specifically, each finger 2 includes three knuckles 21, for the convenience of description, in the embodiment, the three knuckles 21 are respectively a tip knuckle 212, a second knuckle and an end knuckle 211 from the direction away from the palm part 3 to the direction close to the palm part 3; wherein each knuckle 21 is provided with a channel one 22, a channel two 23 and a channel three 24, wherein the channel three 24 is provided through the center of the knuckle 21, for arranging the pressure pipe 7; the channel one 22 is provided adjacent to the channel three 24 and on the side close to the palm part 3, for arranging the connecting rope 41, the connecting rope 41 is used to keep the connection between the plurality of knuckles 21; the channel two 23 is provided adjacent to the channel three 24 and on the side away from the palm part 3, the channel two 23 is used to arrange the driving rope 42; the connecting rope 41 and the driving rope 42 are connected to the tip knuckle 212, the second knuckle and the end knuckle 211 in turn through the channel one 22 and the channel two 23 respectively, and the end of the connecting rope 41 is fixedly connected to the inside of the tip knuckle 212 and the end knuckle 211. One end of the driving rope 42 connected to the end knuckle 211 penetrates the end knuckle 211 and is fixedly connected to the wire winder 5 arranged in the base 1, the wire winder 5 can realize the winding and unwinding action of the driving rope 42 by forward rotation and reverse rotation.

[0036] The plurality of knuckles 21 form a deformation zone, the deformation zone includes the driving rope 42, the pressure pipe 7 and the connecting rope 41; through the driving rope 42 and the pressure pipe 7, the deformation zone is deformed, and then the plurality of knuckles 21 are in a curved or vertical state.

[0037] It is easy to understand that the two fingers 2 are symmetrically arranged with respect to the palm part; when the driving ropes 42 of the two fingers 2 penetrate the fourth knuckles and are fixedly connected to the wire winder 5, the connecting ends need to be staggered by an arc to ensure that the deformation zones between the two fingers 2 and the plurality of knuckles 21 can be simultaneously curved or vertical when the wire winder 5 winds and unwinds the driving rope 42, and the distance of the staggered connecting ends can be adaptively changed according to the size of the base 1 and the wire winder 5.

[0038] Please refer to Figures 4-5 In the actual working state, the finger 2 is affected by the rope body 4 and is in a curved state in the initial state without force; through the forward rotation of the wire winder 5, the driving rope 42 is tightened, so that the deformation zone changes from the curved state to the straight state, and then the finger 2 is in the straight state. The finger 2 in the straight state is used for grabbing the target object 8, after the target object 8 is grabbed, the wire winder 5 is reversed, so that the driving rope 42 is loosened, so that the deformation zone changes from the straight state to the curved state, and then the finger 2 returns to the curved state in the initial state without force.

[0039] The pressure driving assembly comprises a pressure cavity 6 arranged in the palm part 3, pressure pipes 7 arranged in the two fingers 2 respectively, and an adjusting part for adjusting the pressure of the medium in the pressure cavity 6 and the pressure pipe 7 of each finger 2; in this embodiment, the pressure cavity 6 and the pressure pipe 7 are filled with gas medium.

[0040] The pressure pipe 7 is provided with constraint fibers 71, when the pressure inside the pressure pipe 7 increases, i.e. the pressure difference between the inside of the pressure pipe 7 and the outside environment is greater than zero, the pressure pipe 7 is bent to one side of the palm part 3 under the action of the constraint fibers 71.

[0041] In this embodiment, the arrangement of the constraint fibers 71 can adopt the following method:

[0042] A long constraint fiber 71 is arranged in the pressure pipe 7 along the axial direction, which is as close as possible to the inner wall of one side of the pressure pipe 7, a plurality of short constraint fibers 71 are arranged radially on the long constraint fiber 71, one end of each short constraint fiber 71 is connected to the long constraint fiber 71, and the other end is connected to the inner wall of the pressure pipe 7; the number and angle of the long constraint fiber 71 and the short constraint fiber 71 can be adjusted as needed to achieve the required directional bending ability; finally, the long constraint fiber 71 and the short constraint fiber 71 are filled with soft materials such as rubber and silicone to protect the constraint fibers and fix their positions in the pressure pipe 7. Therefore, the arranged constraint fibers 71 will prevent the side of the pressure pipe 7 from collapsing or deforming when it is subjected to pressure, so that the pressure pipe 7 bends directionally when the internal and external pressures are different. It should be noted that the position of the constraint fibers 71 arranged in the pressure pipe 7 should be away from the side of the pressure pipe 7 in the direction of directional bending.

[0043] Please refer to Figures 6-8 It is easy to understand that when the pressures in the pressure pipes 7 of the two fingers 2 increase, the two pressure pipes 7 are both subjected to the action of the internal constraint fibers 71 and bent to one side of the palm part 3, thereby driving the fingers 2 to bend to the palm part 3, and further realizing the grasping of the target object 8.

[0044] Please refer to ​ Specifically, the adjusting part comprises a one-way flow channel one 31 and a one-way flow channel two 32, the one-way flow channel one 31 is used for one-way transmission of the medium in the pressure cavity 6 to the pressure pipe 7; the one-way flow channel two 32 is used for one-way transmission of the medium in the pressure pipe 7 to the pressure cavity 6.

[0045] In actual working process, when the grabbing action is performed, the one-way flow passage two 32 is closed, the pressure cavity 6 in the palm part 3 receives extrusion from the target object 8, the medium in the pressure cavity 6 flows into the pressure pipe 7 through the one-way flow passage one 31, the pressure in the pressure cavity 11 increases, and under the action of the internal constraint fiber 71, the palm part 3 is bent, so that the grabbing action is realized; when the grabbing action is completed, the one-way flow passage two 32 is opened, under the action of pressure, the medium in the pressure pipe 7 flows back to the pressure cavity 6 through the one-way flow passage two 32, and the pressure pipe 7 changes from the bent state to the straight state, so that the target object 8 is released.

[0046] The application provides a finger-palm cooperative soft gripper, which realizes reliable grabbing of the target object 8 through the cooperation of the rope driving assembly and the pressure driving assembly, and the cooperative working process is as follows:

[0047] When the target object 8 is grabbed, the one-way flow passage one 31 is opened, the one-way flow passage two 32 is closed, the winding device 5 is positively rotated, the two fingers 2 in the bent state are straightened through the driving rope 42, the gripper is moved to the position of the target object 8 or the target object is placed on the palm part 3 of the gripper, at this time, the winding device 5 is reversely rotated, the fingers 2 in the straight state are restored to the bent state through the relaxation of the driving rope 42; at this time, the pressure cavity 6 in the palm part 3 receives extrusion from the target object 8, and under the action of the adjusting part and the pressure pipe 7, the fingers 2 are bent to grab the target object 8; at this time, the greater the pressure of the pressure cavity 6 in the palm part 3 received from the target object 8, the greater the gripping force of the fingers 2 on the target object; meanwhile, since the pressure cavity 6 in the palm part 3 is made of flexible material, the palm part 3 and the target object 8 can form a wrapping state when the target object is grabbed, so that the stability of the grabbing is improved.

[0048] After the target object 8 is grabbed, the fingers 2 are controlled to change from the bent state to the straight state through the winding device 5 and the adjusting part, and the specific process is described above and will not be repeated here.

[0049] In the description of the application, it should be noted that, unless otherwise specified and limited, the terms "mounting", "provided with", "sleeved / connected", "connected" and the like should be understood in a broad sense, for example, "connected" can be fixed connection, can also be detachable connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be the communication between two elements. For ordinary skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0050] While embodiments of the application have been shown and described, it is to be understood that the embodiments described are merely exemplary of the principles and application of the present application. Numerous modifications and adaptions can be effected without departing from the spirit and scope of the present application, which is not limited to the exact construction and arrangement described. It is intended, therefore, to cover all modifications and adaptions that fall within the scope of the claims and their equivalents.

Claims

1. A finger-palm cooperative soft gripper, characterized in that, The utility model relates to a kind of robot hand, including: Action part, the action part includes base (1), multiple fingers (2) connected with the base (1) and palm part (3); Rope drive assembly, the rope drive assembly includes winding device (5) arranged in the base (1) and rope body (4) connected with multiple fingers (2) respectively, the rope body (4) includes connecting rope (41) and drive rope (42);The rope body (4) is used to make the finger (2) in initial state be curved; Pressure drive assembly, the pressure drive assembly includes pressure cavity (6) arranged in the palm part (3), pressure pipe (7) arranged in multiple fingers (2) respectively, and multiple adjusting parts for adjusting the medium pressure in the pressure cavity (6) and the pressure pipe (7);The finger (2) includes multiple knuckles (21), the knuckle (21) is arranged with channel one (22) close to the palm part (3), channel two (23) away from the palm part (3) and channel three (24) arranged between the channel one (22) and the channel two (23) respectively; The channel one (22) is used to arrange connecting rope (41), the channel two (23) is used to arrange the drive rope (42), and the channel three (24) is used to arrange the pressure pipe (7);Multiple knuckles (21) are connected by connecting rope (41), drive rope (42) and pressure pipe (7); Multiple knuckles (21) form deformation zone, and deformation zone is used to make multiple knuckles (21) be curved or vertical; The pressure pipe (7) is provided with constraint fiber (71), and the constraint fiber (71) is cross-wound on the outside of the pressure pipe (7). The radial expansion deformation of the winding place of the constraint fiber on the pressure pipe is constrained. When the internal and external pressure difference is greater than zero, the bending angle of the pressure pipe (7) towards the side close to the palm part (3) is controlled by the difference between the deformation amounts on the upper and lower sides of the pressure pipe. The adjusting part includes one-way channel one (31) and one-way channel two (32), the one-way channel one (31) is used for one-way transmission of medium in the pressure cavity (6) to the pressure pipe (7);The one-way channel two (32) is used for one-way transmission of medium in the pressure pipe (7) to the pressure cavity (6).

2. The finger-palm synergy soft gripper of claim 1, wherein, The number of fingers (2) is two, and two fingers (2) are symmetrically arranged about the palm part (3);The number of knuckles (21) is not less than three, and the knuckle (21) arranged adjacent to the base (1) is the terminal knuckle (211), and the farthest knuckle (21) away from the base (1) is the tip knuckle (212).

3. The finger-palm synergy soft gripper of claim 2, wherein, The drive rope (42) is sequentially communicated to the terminal knuckle (211) through the channel two (23) from the tip knuckle (212) and wound on the winding device (5).

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