Bionic paper folding gripper and manipulator

Abstract

The bionic paper folding gripper comprises a mounting frame, a paper folding structure, a plurality of closing driving wires, a plurality of opening traction wires, a first driving part and a second driving part, and the paper folding structure comprises a plurality of first paper folding units, a plurality of second paper folding units, a plurality of third paper folding units and a plurality of fourth paper folding units. The paper folding structure has a grabbing state and a releasing state, and the first driving piece is used for driving the paper folding structure to move from a folding state to an opening state; the second driving piece drives the paper folding structure to move from the opening state to the closing state through the multiple closing driving lines and the multiple opening traction lines. According to the technical scheme, the bionic paper folding gripper can be suitable for complex working environments and object grabbing.

Description

Technical Field

[0001] The present invention relates to the technical field of robot end effectors, and in particular to a bionic origami gripper and a manipulator. Background Art

[0002] Existing robot grippers are mainly divided into two categories: rigid and flexible. Rigid grippers can grasp large mass targets, but when handling fragile objects (such as glass products and biological organisms), complex control systems or mechanical structures are required to ensure safe grasping. In contrast, flexible grippers use the flexible properties of materials to significantly reduce the collision force during grasping and reduce damage to the target, but their grasping force is relatively small and it is difficult to cope with the grasping of large mass targets. Summary of the invention

[0003] The main purpose of the present invention is to provide a bionic origami gripper, which is suitable for grasping different objects.

[0004] To achieve the above-mentioned purpose, the bionic origami gripper proposed in the present invention comprises:

[0005] Mounting frame;

[0006] A plurality of origami structures, comprising a plurality of first origami units, a second origami unit, a plurality of third origami units and a fourth origami unit, wherein the first origami units, the second origami units, the plurality of third origami units and the fourth origami units are mutually nested, the second origami unit is located between the plurality of first origami units and the plurality of third origami units, the second origami unit is provided with a plurality of first wire holes, the plurality of first wire holes are distributed at intervals along the circumference of the second origami unit, the plurality of third origami units are located between the second origami unit and the fourth origami unit, the fourth origami unit is provided with a plurality of second wire holes, the plurality of second wire holes are distributed at intervals along the circumference of the fourth origami unit, the plurality of second wire holes correspond one to one with the plurality of first wire holes, the origami structure has a grasping state and a releasing state, in the grasping state, the origami structure is enclosed to form a clamping space;

[0007] A plurality of closing drive lines, each of the closing drive lines correspondingly passes through two adjacent second wire holes;

[0008] A plurality of open puller wires, each of which is simultaneously passed through two adjacent first wire holes and two adjacent second wire holes;

[0009] A first driving member, mounted on the mounting frame, the first driving member being connected to the first paper folding unit and configured to drive the paper folding structure to move from a closed state to an open state; and

[0010] A second driving member is installed on the mounting frame, and the second driving member is connected to the plurality of closing driving lines and the plurality of opening pulling lines, and drives the origami structure to move from the open state to the closed state through the plurality of closing driving lines and the plurality of opening pulling lines.

[0011] Optionally, the origami unit is based on the Miura origami structure, and the folds are pre-cut by an engraving machine, and then formed after folding and bonding the two ends.

[0012] Optionally, the thickness of the origami structure is between 0.095 mm and 0.090 mm.

[0013] Optionally, the bionic origami gripper further comprises a wire passing drum, which is mounted on the mounting frame, and is provided with a plurality of wire threading holes, wherein the wire passing holes are spaced apart along the circumference of the wire passing drum, and the plurality of closing drive wires and the plurality of opening pulling wires are each correspondingly passed through one of the wire threading holes.

[0014] Optionally, the mounting bracket is made of PLA material by 3D printing.

[0015] Optionally, the mounting frame includes a mounting seat and a first mounting rod and a second mounting rod, the first mounting rod and the second mounting rod are both mounted on the mounting seat and spaced apart from each other, the first driving member is mounted on the first mounting rod, the second driving member is mounted on the second mounting rod, and the mounting seat is used to be installed on a manipulator.

[0016] Optionally, the bionic origami gripper further includes a flexible sensor, and the flexible sensor is installed on the inner side of the origami structure.

[0017] Optionally, the bionic origami gripper further includes a pressure sensor, and the pressure sensor is installed on the inner side of the origami structure.

[0018] Optionally, the first driving member is a stepping motor.

[0019] Optionally, the second driving member is a stepping motor.

[0020] The present invention also proposes a manipulator, comprising a manipulator arm and the bionic origami gripper as described above, wherein the manipulator arm is connected to a mounting base of the bionic origami gripper.

[0021] The technical solution of the present invention is to set up an origami structure, which includes a plurality of first origami units, a second origami unit, a plurality of third origami units and a fourth origami unit. The first origami unit, the second origami unit, the plurality of third origami units and the fourth origami unit are mutually nested and arranged. The second origami unit is located between the plurality of first origami units and the plurality of third origami units. The second origami unit is provided with a plurality of first wire holes, and the plurality of first wire holes are distributed at intervals along the circumference of the second origami unit. The plurality of third origami units are located between the second origami unit and the fourth origami unit. The fourth origami unit is provided with a plurality of second wire holes, and the plurality of second wire holes are distributed at intervals along the circumference of the fourth origami unit and are connected to the first origami unit. The positions of the wire holes correspond to each other, and the origami structure has a grasping state and a releasing state. In the grasping state, the origami structure is enclosed to form a clamping space; each closing drive line is simultaneously passed through two adjacent first wire holes and two adjacent second wire holes; each opening pull line is correspondingly passed through two adjacent second wire holes; the first drive member is installed on the mounting frame, and the first drive member is connected to the first origami unit, and is used to drive the origami structure from the closed state to the open state; the second drive member is installed on the mounting frame, and the second drive member is connected to multiple closing drive lines and multiple opening pull lines, and drives the origami structure from the open state to the closed state through multiple closing drive lines and multiple opening pull lines. In this way, through the characteristics of the origami structure, the bionic origami gripper of the present application has a multi-stable property, and utilizes its stable property and the characteristics of rapid conversion, small stable conversion energy, and variable envelope size, so that it has adaptive and rapid grasping capabilities for targets with different surface characteristics and different motion modes. The first driving member, the second driving member, the closing driving wire and the opening pulling wire are used to drive the origami curved surface, so as to achieve the grasping of different objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0023] Figure 1 It is a structural schematic diagram of an embodiment of the bionic origami gripper of the present invention;

[0024] Figure 2 for Figure 1 Schematic diagram of the structure of the origami structure;

[0025] Figure 3 for Figure 1 Schematic diagram of the structure of the origami structure;

[0026] Figure 4for Figure 1 Schematic diagram of the usage and variation structure of the bionic origami gripper;

[0027] Figure 5 for Figure 1 Schematic diagram of the multi-stable changes of the origami structure during passive triggering.

[0028] Description of Figure Numbers:

[0029] 10. Mounting frame; 11. First mounting rod; 12. Second mounting rod; 13. Mounting seat; 20. Origami structure; 21. First folding unit; 22. Second folding unit; 221. First wire hole; 23. Third folding unit; 24. Fourth folding unit; 241. Second wire hole; 30. Closing drive line; 40. Opening pull line; 50. First drive member; 60. Second drive member; 70. Wire tray

[0030] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0033] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing in the full text is to include three parallel solutions. Taking "A and / or B" as an example, it includes solution A, or solution B, or a solution that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0034] The invention provides a bionic origami gripper.

[0035] In the embodiment of the present invention, Figures 1 to 5 As shown, the bionic origami gripper includes a mounting frame 10 , an origami structure 20 , a closing drive line 30 , an opening pulling line 40 , a first drive member 50 and a second drive member 60 .

[0036] Specifically, the plurality of origami structures 20 include a plurality of first origami units 21, a second origami unit 22, a plurality of third origami units 23 and a fourth origami unit 24, wherein the plurality of first origami units 21, the second origami units 22, the plurality of third origami units 23 and the fourth origami units 24 are mutually nested and arranged, the second origami unit 22 is located between the plurality of first origami units 21 and the plurality of second origami units 23, the second origami unit 22 is provided with a plurality of first wire holes 221, and the plurality of first wire holes 221 are distributed along the circumferential direction of the second origami unit 22, the plurality of third origami units 23 are located between the second origami unit 22 and the fourth origami unit 24, the fourth origami unit 24 is provided with a plurality of second wire holes 241, and the plurality of second wire holes 241 are distributed along the circumferential direction of the fourth origami unit 24 and are spaced apart from the first origami unit 21. The positions of the wire holes 221 correspond to each other, and the origami structure 20 has a grasping state and a releasing state. In the grasping state, the origami structure 20 is enclosed to form a clamping space; each closing drive line 30 is simultaneously passed through two adjacent first wire holes 221 and two adjacent second wire holes 241; each opening pull line 40 is correspondingly passed through two adjacent second wire holes 241; the first driving member 50 is installed on the mounting frame 10, and the first driving member 50 is connected to the origami structure 20, and is used to drive the origami structure 20 to move from a closed state to an open state; the second driving member 60 is installed on the mounting frame 10, and the second driving member 60 is connected to multiple closing drive lines 30 and multiple opening pull lines 40, and drives the origami structure 20 from an open state to a closed state through multiple closing drive lines 30 and multiple opening pull lines 40.

[0037] Specifically, the mounting frame 10 is used to provide support and mounting positions for other components. A plurality of first paper folding units 21, a second paper folding unit 22, a plurality of third paper folding units 23 and a fourth paper folding unit 24 are mutually nested to form a nested structure. The second paper folding unit 22 is located between the first paper folding unit 21 and the second paper folding unit 22. A plurality of third paper folding units 23 are located between the second paper folding unit 22 and the fourth paper folding unit 24. The second paper folding unit 22 is provided with a plurality of first wire holes 221, and the plurality of first wire holes 221 are distributed at intervals along the circumference of the second paper folding unit 22. The fourth paper folding unit 24 is provided with a plurality of second wire holes 241, and the plurality of second wire holes 241 are distributed at intervals along the circumference of the fourth paper-folding unit 24, the first wire hole 221 and the second wire hole 241 provide a passage for the closing drive line 30, and the second wire hole 241 provides a passage for the opening pulling line 40. The origami structure 20 has two states, namely a grasping state and a releasing state. In the grasping state, multiple first paper-folding units 21, second paper-folding units 22, multiple third paper-folding units 23 and fourth paper-folding units 24 are enclosed to form a clamping space for grasping objects. In the releasing state, multiple first paper-folding units 21, second paper-folding units 22, multiple third paper-folding units 23 and fourth paper-folding units 24 are stored to release the grasped objects.

[0038] The first driving member 50 and the second driving member 60 are both installed on the mounting frame 10. The driving end of the first driving member 50 is connected to the first paper folding unit 21 to drive the paper folding structure 20 to move from a release state to a grasping state to grasp an object. The driving end of the second driving member 60 is simultaneously connected to the opening pulling line 40 and the closing driving line 30 to drive the paper folding structure 20 to move from a grasping state to a release state to release the grasped object.

[0039] Through the characteristics of the origami structure 20, the bionic origami gripper of the present application has multi-stable properties. By utilizing its stable properties and the characteristics of rapid conversion, small steady-state conversion energy and variable envelope size, it has the ability to adaptively and quickly grasp targets with different surface characteristics and different motion modes.

[0040] The bionic origami gripper of the present application has a driving state and a non-driving state. Specifically, when no driving and constraint are applied, the origami structure 20 can quickly move from the release state to the grasping state, thereby realizing fast passive grasping. Compared with traditional grippers, the bionic origami gripper of the present application has the characteristics of superior sensitivity, fast grasping speed and low triggering energy.

[0041] When the driving device is applied, the shape of the origami catching surface is controlled by the first driving member 50 and the second driving member 60. Specifically, the second driving member 60 controls the pulling of the closing rope and the pulling rope, and the first driving member 50 is coordinated to adjust the position of the origami catching surface, thereby changing the size of the curved surface envelope. Combined with the stepper motor line drive system and the force feedback system carried by the gripper system, the feedback loop is used to achieve precise control of the catching surface size and the catching force.

[0042] The technical solution of the present invention is to set up an origami structure 20, which includes a plurality of first origami units 21, a second origami unit 22, a plurality of third origami units 23 and a fourth origami unit 24. The first origami units 21, the second origami units 22, the plurality of third origami units 23 and the fourth origami units 24 are mutually nested and arranged. The second origami unit 22 is located between the plurality of first origami units 21 and the plurality of third origami units 23. The second origami unit 22 is provided with a plurality of first wire holes 221, and the plurality of first wire holes 221 are distributed at intervals along the circumference of the second origami unit 22. The plurality of third origami units 23 are located between the second origami unit 22 and the fourth origami unit 24. The fourth origami unit 24 is provided with a plurality of second wire holes 241, and the plurality of second wire holes 241 are distributed at intervals along the circumference of the fourth origami unit 24. Corresponding to the position of the first wire-passing hole 221, the origami structure 20 has a grasping state and a releasing state. In the grasping state, the origami structure 20 is enclosed to form a clamping space; each closing drive line 30 is simultaneously passed through two adjacent first wire-passing holes 221 and two adjacent second wire-passing holes 241; each opening pull line 40 is correspondingly passed through two adjacent second wire-passing holes 241; the first driving member 50 is installed on the mounting frame 10, and the first driving member 50 is connected to the first origami unit 21, and is used to drive the origami structure 20 to move from a closed state to an open state; the second driving member 60 is installed on the mounting frame 10, and the second driving member 60 is connected to multiple closing drive lines 30 and multiple opening pull lines 40, and drives the origami structure 20 from an open state to a closed state through multiple closing drive lines 30 and multiple opening pull lines 40. In this way, through the characteristics of the origami structure 20, the bionic origami gripper of the present application has a multi-stable property. By utilizing the properties of its steady state and the characteristics of rapid conversion, small steady state conversion energy, and variable envelope size, it has the ability to adapt and quickly grasp targets with different surface characteristics and different motion modes. The first driving member 50, the second driving member 60, the closing driving line 30, and the opening pulling line 40 are used to drive the origami curved surface to achieve grasping suitable for different objects. This meets the use needs of different users.

[0043] In some embodiments, the origami unit is based on the Miura origami structure 20, and the folds are pre-cut by an engraving machine, and then formed after folding and bonding at both ends. Specifically, the origami is folded from ordinary cardboard, specifically, it is composed of 15x9 variable-angle Miura origami units arranged, and the paper surface has the characteristics of light weight, large folding and unfolding ratio, multi-stability, and high impact resistance. When no drive and constraint are applied, the origami surface can achieve sensitive and rapid steady-state changes, thereby achieving rapid passive capture. Compared with traditional grasping, the bionic origami gripper of the present application has superior sensitivity and low trigger energy characteristics.

[0044] When the driving device is applied, the shape of the origami catching surface is controlled by the first driving member 50 and the second driving member 60. Specifically, the second driving member 60 controls the pulling of the closing rope and the pulling rope, and the first driving member 50 is coordinated to adjust the position of the origami catching surface, thereby changing the size of the curved surface envelope. Combined with the stepper motor line drive system and the force feedback system carried by the gripper system, the feedback loop is used to achieve precise control of the catching surface size and the catching force.

[0045] In some embodiments, the thickness of the origami structure 20 is between 0.095 mm and 0.090 mm. Specifically, it is easy to understand that if the thickness of the origami structure 20 is less than 0.090 mm, the origami structure 20 is too thin, so that the gripping force of the bionic origami gripper is low. If the thickness of the origami structure 20 is greater than 0.095 mm, the origami structure 20 is too thick, so that the flexibility of the bionic origami gripper is low.

[0046] Therefore, the thickness of the origami structure 20 is set between 0.095 mm and 0.090 mm, so that the origami structure 20 has a certain structural strength and a certain flexibility. For example, the thickness of the origami structure 20 can be 0.095 mm, 0.094 mm, 0.093 mm, 0.092 mm, 0.091 mm, or 0.090 mm.

[0047] In some embodiments, the bionic origami gripper further includes a wire tray 70, which is mounted on the mounting frame 10. The wire tray 70 is provided with a plurality of threading holes, which are spaced apart along the circumference of the wire tray 70, and each closing drive line 30 and each opening pull line 40 are correspondingly passed through a threading hole. Specifically, each closing drive line 30 is correspondingly passed through a threading hole, and each opening pull line 40 is correspondingly passed through a threading hole, so that the closing drive line 30 and the opening pull line 40 are limited by the threading holes to prevent the closing drive line 30 and the opening pull line 40 from being scattered. In addition, in other embodiments, the bionic origami gripper is not provided with a wire tray 70.

[0048] In some embodiments, the mounting bracket 10 is made of PLA material by 3D printing. As we know, 3D printing has the effect of saving materials, improving material utilization, and reducing costs. When applied to the technical solution of the present application, it can reduce the production cost of the mounting bracket 10. In addition, in other embodiments, the mounting bracket 10 is made of metal materials (such as iron, aluminum, steel, etc.).

[0049] In some embodiments, the mounting frame 10 includes a mounting seat 13 and a first mounting rod 11 and a second mounting rod 12. The first mounting rod 11 and the second mounting rod 12 are both mounted on the mounting seat 13 and are spaced apart from each other. The first driving member 50 is mounted on the first mounting rod 11, and the second driving member 60 is mounted on the second mounting rod 12. The mounting seat 13 is used to be installed on the manipulator. Specifically, the first mounting rod 11 is used to provide a mounting position for the first driving member 50, and the second mounting rod 12 is used to provide a mounting position for the second driving member 60, that is, during installation, the first driving member 50 can be installed on the first mounting rod 11, and the second driving member 60 can be installed on the second mounting rod 12, so that it is helpful to reduce the difficulty of installing the first driving member 50 and the second driving member 60. Optionally, the first driving member 50 and the second driving member 60 are both stepping motors. In addition, in other embodiments, the first driving member 50 and the second driving member 60 are both cylinders.

[0050] In some embodiments, the bionic origami gripper further includes a flexible sensor, which is mounted on the inner side of the origami structure 20. Specifically, the flexible sensor refers to a sensor made of a flexible material, which has good flexibility, ductility, can be bent or even folded freely, and has a flexible and diverse structural form. When applied in this solution, the curvature of the curved surface is measured by the flexible sensor to form a closed loop feedback control, and has an anti-escape function. In addition, in other embodiments, the bionic origami gripper is not provided with a flexible sensor.

[0051] In some embodiments, the bionic origami gripper further includes a pressure sensor, which is installed on the inner side of the origami structure 20. Specifically, the pressure sensor is used to detect the clamping force to avoid excessive clamping force when grasping a flexible object, thereby preventing the object from being damaged. That is, the setting of the pressure sensor can achieve precise clamping. In addition, in other embodiments, the bionic origami gripper is not provided with a pressure sensor.

[0052] The present invention also provides a manipulator, which includes a manipulator arm and a bionic origami gripper. The specific structure of the bionic origami gripper refers to the above embodiment. Since the manipulator adopts all the technical solutions of all the above embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here. Among them, the manipulator arm is connected to the mounting seat 13 of the bionic origami gripper.

[0053] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. A bionic origami gripper, characterized in that: include: Mounting frame; A plurality of origami structures, comprising a plurality of first origami units, a second origami unit, a plurality of third origami units and a fourth origami unit, wherein the first origami units, the second origami units, the plurality of third origami units and the fourth origami units are mutually nested, the second origami unit is located between the plurality of first origami units and the plurality of third origami units, the second origami unit is provided with a plurality of first wire holes, the plurality of first wire holes are distributed at intervals along the circumference of the second origami unit, the plurality of third origami units are located between the second origami unit and the fourth origami unit, the fourth origami unit is provided with a plurality of second wire holes, the plurality of second wire holes are distributed at intervals along the circumference of the fourth origami unit, the plurality of second wire holes correspond one to one with the plurality of first wire holes, the origami structure has a grasping state and a releasing state, in the grasping state, the origami structure is enclosed to form a clamping space; A plurality of closing drive lines, each of the closing drive lines correspondingly passes through two adjacent second wire holes; A plurality of open puller wires, each of which is simultaneously passed through two adjacent first wire holes and two adjacent second wire holes; A first driving member, mounted on the mounting frame, the first driving member being connected to the first paper folding unit and configured to drive the paper folding structure to move from a closed state to an open state; as well as A second driving member is installed on the mounting frame, and the second driving member is connected to the plurality of closing driving lines and the plurality of opening pulling lines, and drives the origami structure to move from the open state to the closed state through the plurality of closing driving lines and the plurality of opening pulling lines.

2. The bionic origami gripper according to claim 1, characterized in that: The origami unit is based on the Miura origami structure, with the folds pre-cut by an engraving machine, and is formed after folding and gluing the two ends.

3. The bionic origami gripper according to claim 1, characterized in that: The thickness of the origami structure is between 0.095 mm and 0.090 mm.

4. The bionic origami gripper according to claim 1, characterized in that: The bionic origami gripper also includes a wire drum, which is installed on the mounting frame. The wire drum is provided with a plurality of wire threading holes, and the wire threading holes are spaced apart along the circumference of the wire drum. The plurality of closing drive wires and the plurality of opening pulling wires are each correspondingly passed through one of the wire threading holes.

5. The bionic origami gripper according to claim 1, characterized in that: The mounting frame is made of PLA material by 3D printing.

6. The bionic origami gripper according to claim 1, characterized in that: The mounting frame includes a mounting seat and a first mounting rod and a second mounting rod. The first mounting rod and the second mounting rod are both mounted on the mounting seat and spaced apart from each other. The first driving member is mounted on the first mounting rod, and the second driving member is mounted on the second mounting rod. The mounting seat is used to be mounted on a manipulator.

7. The bionic origami gripper according to claim 1, characterized in that: The bionic origami gripper also includes a flexible sensor, which is installed on the inner side of the origami structure.

8. The bionic origami gripper according to claim 1, characterized in that: The bionic origami gripper also includes a pressure sensor, which is installed on the inner side of the origami structure.

9. The bionic origami gripper according to claim 1, characterized in that: The first driving member is a stepping motor; The second driving component is a stepping motor.

10. A robot, characterized in that: The manipulator comprises a manipulator arm and a bionic origami gripper as claimed in claims 1 to 9, wherein the manipulator arm is connected to a mounting base of the bionic origami gripper.

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