Mechanical finger module for rigid-flexible coupling robot

Abstract

The utility model belongs to the technical field of robots, and discloses a mechanical finger module of a rigid-flexible coupling robot, which consists of a plurality of module pieces capable of working independently, the module pieces are connected in sequence, each module piece comprises a flexible main driving module and a motion module, the motion module is provided with two symmetrical rigid connecting parts, and the rigid connecting parts are connected with the flexible main driving module. A plurality of variable stiffness modules and flexible adjusting modules are annularly arrayed between the flexible main driving module and the flexible main driving module, the variable stiffness modules and the flexible adjusting modules are distributed in a staggered mode, two symmetrical first flexible main driving air cavities are fixed in the flexible main driving module, two second flexible main driving air cavities are symmetrically installed between the two first flexible main driving air cavities, and air is input through corresponding areas; the device is bent towards an area where gas is not input, then the grabbing action is completed, manual operation is not needed, soft and fragile non-cooperative target grabbing operation is safe and high in efficiency, the deformation amplitude is large, and accurate grabbing can be achieved.

Description

Technical Field

[0001] The utility model belongs to the technical field of mechanical arms, and in particular relates to a mechanical finger module for a rigid-flexible coupling robot. Background Art

[0002] With the continuous development of robot technology, robots are widely used in various fields. Especially in the fields of industrial automation, medical surgery, space exploration, etc., robots need to perform more delicate and complex operation tasks. Robots are generally divided into two types: rigid robots and flexible robots.

[0003] Rigid gripping manipulators and other mechanical construction processes consume a lot of non-cooperative targets and have low spatial adaptability. Flexible manipulators in the prior art usually use soft manipulators. However, since most soft manipulators can only be constructed under special working conditions such as small loads, the scenes when simple rigid and flexible manipulators grasp soft and fragile non-cooperative targets are single, and when existing flexible manipulators grasp objects, due to their limited range of change of direction, they cannot achieve accurate grasping, and the grasping efficiency of soft and fragile non-cooperative targets is low. Utility Model Content

[0004] The purpose of the utility model is to provide a mechanical finger module for a rigid-flexible coupling robot to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a mechanical finger module for a rigid-flexible coupling robot, comprising N independently working modules, N≥1, the N modules are connected in sequence, and the modules include a flexible main drive module and a motion module sleeved on the flexible main drive module, the motion module includes two symmetrically arranged rigid connection components, a plurality of variable stiffness modules and flexible adjustment modules are connected in a ring array between the two rigid connection components, and the variable stiffness modules and flexible adjustment modules are staggered;

[0006] The flexible main drive modules each include two first flexible main drive air cavities fixed inside the motion module, the two first flexible main drive air cavities are symmetrically arranged, and two second flexible main drive air cavities are symmetrically installed between the two first flexible main drive air cavities, and one side of the two first flexible main drive air cavities and the two second flexible main drive air cavities is provided with an air inlet.

[0007] Preferably, the outer circumferences of the two first flexible main drive air cavities and the two second flexible main drive air cavities are each provided with a flexible inner main drive air cavity, and the interior of the flexible inner main drive air cavity is connected with the interior of the first flexible main drive air cavity and the interior of the second flexible main drive air cavity.

[0008] Preferably, the variable stiffness module comprises a diamond fold surface and a variable stiffness interlayer with variable stiffness, and the variable stiffness interlayer is composed of a plurality of stacked sandpaper sheets.

[0009] Preferably, a hollow soft air cavity is formed inside the diamond fold surface, and the variable stiffness interlayer is arranged inside the soft air cavity.

[0010] Preferably, the circumferential surface of the rigid connection component is convex to form an outer convex portion, and the circumferential surface of the rigid connection component is concave to form an inner concave portion matching the outer convex portion, and the inner concave portion and the outer convex portion are sequentially arranged on the outer circumferential surface of the rigid connection component in an annular array.

[0011] Preferably, the variable stiffness module and the flexibility adjustment module are both provided with folds along their diagonals.

[0012] Preferably, the mechanical finger module for the rigid-flexible coupling robot further includes a variable stiffness driver for driving the variable stiffness module and an adjustment module driver for driving the flexibility adjustment module.

[0013] Preferably, the flexible adjustment module, the flexible connecting component, the flexible inner main driving air cavity, the flexible outer main driving air cavity, the first flexible main driving air cavity and the second flexible main driving air cavity are all made of flexible material polyurethane, and the rigid connecting component is made of photosensitive resin.

[0014] Preferably, folds are provided along the variable stiffness module and the flexible adjustment module connected thereto, and the diamond fold surface 16 is folded along the folds to form a multi-stable structural component, and the multi-stable structural component is connected to the rigid connection component by bolts.

[0015] Preferably, a through hole is provided on the rigid connecting component.

[0016] Compared with the prior art, the beneficial effects of the utility model are:

[0017] The utility model sets a flexible inner main driving air cavity, a flexible outer main driving air cavity, a first flexible main driving air cavity, a second flexible main driving air cavity and an air inlet, inputs gas into the main driving air cavity, the flexible outer main driving air cavity, the first flexible main driving air cavity and the second flexible main driving air cavity through the air inlet, inputs gas into the interior of the main driving air cavity, the flexible outer main driving air cavity, the first flexible main driving air cavity and the second flexible main driving air cavity through the corresponding area, and makes the device bend toward the area where gas is not input, thereby completing the grasping action without manual operation, and the grasping operation of soft and fragile non-cooperative targets is safe and efficient, the deformation amplitude is large, and precise grasping can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A three-dimensional diagram of the utility model when in use;

[0019] Figure 2This is a structural schematic diagram of the motion module of the rigid-flexible coupling component of the utility model;

[0020] Figure 3 This is a structural principle diagram of the variable stiffness module in the utility model;

[0021] Figure 4 This is a schematic diagram of the structure of the flexible main drive module of the utility model;

[0022] Figure 5 It is a schematic diagram of the structure of the motion module after the rigidity changes in the utility model after bending to one side;

[0023] Figure 6 This is a schematic diagram of the structure of the motion module and the main drive module of the utility model;

[0024] In the figure: 100, flexible main drive module; 200, motion module; 1, rigid connection component; 2, flexible adjustment module; 3, variable stiffness module; 4, bolt; 15, flexible connection component; 16, diamond fold surface; 17, variable stiffness interlayer; 18, soft air cavity; 21, flexible inner main drive air cavity; 22, flexible outer main drive air cavity; 23, first flexible main drive air cavity; 24, second flexible main drive air cavity; 25, air inlet. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0026] See also Figure 1-Figure 6 As shown, the utility model provides the following technical solutions:

[0027] Depend on Figure 1 It can be seen that a mechanical finger module for a rigid-flexible coupling robot includes N independently working modules, N≥1, and the N modules are connected in sequence, and the modules include a flexible main driving module 100 and a motion module 200 sleeved on the flexible main driving module 100, and the motion module 200 includes two symmetrically arranged rigid connection components 1, and a plurality of variable stiffness modules 3 and flexible adjustment modules 2 are connected between the two rigid connection components 1 in a ring array, and the variable stiffness modules 3 and the flexible adjustment modules 2 are staggered.

[0028] Among them, the flexible main drive module 100 adopts the existing pneumatic flexible drive to ensure that the overall rigid-flexible coupling robot can achieve multi-degree-of-freedom operation;

[0029] The motion module 200 is a specific improved part of the utility model, refer to Figure 2 As shown, the motion module 200 includes a rigid connection component 1 made of photosensitive resin material, a flexible adjustment module 2 made of polyurethane material and connected to the rigid connection component 1, a variable stiffness module 3 for changing the surface stiffness, and a metal connection bolt 4.

[0030] Depend on Figure 3 It can be seen that each variable stiffness module 3 includes a flexible connecting component 15, a symmetrically arranged flexible diamond folded surface 16 and a variable stiffness interlayer 17 matched with the diamond folded surface. The flexible diamond folded surface 16 is made by a lamination process and the material is polyurethane. The variable stiffness interlayer 17 is covered with flexible diamond folded surfaces 16 on both sides to form a soft air cavity 18. The flexible connecting component 15 is connected to the flexible adjustment module 2 by bolts 4.

[0031] Further integration Figure 3 It can be seen that the variable stiffness module 3 is composed of a soft air cavity 18, a flexible rhombus crease surface 16 and an internal variable stiffness interlayer 17. The variable stiffness interlayer 17 is composed of multiple sandpapers of exactly the same shape and size, wherein each sandpaper has a pre-formed crease so that the bending deformation only occurs near the crease. It can be seen that when the variable stiffness module 3 and the flexible adjustment module 2 connected by the bolt 4 are bent and deformed by negative pressure, the position and bending angle of the flexible rhombus crease surface 16 and the rhombus crease surface 16 of the flexible adjustment module 2 change, thereby driving the variable stiffness interlayer 17 to bend, and the state of the motion module 200 changes;

[0032] The variable stiffness module 3 uses the "layer blocking principle". When the upper end of the variable stiffness module 3 is fixed, the variable stiffness driver applies negative pressure to the soft air cavity 18, so that the variable stiffness module 3 and the diamond fold surface 16 of the flexible adjustment module 2 are folded and bent, and the lower end of the variable stiffness module 3 rotates around the center. The diamond fold surface 16 is folded and bent along the fold, and the variable stiffness interlayer 17 is folded and bent. Relative slip occurs between the layers. The negative pressure in the cavity causes static friction between the variable stiffness interlayer 17, which hinders the relative slip. The bending of the variable stiffness interlayer 17 is hindered, which is manifested as an increase in bending stiffness, even if the surface stiffness increases. Based on this and combined with Figure 3 It can be known from the principle that the sides of the flexible connection components 15 of the flexible adjustment module 2 and the variable stiffness module 3 that are close to each other can conflict with each other.

[0033] The two form Figure 2As shown in the figure above, when the four symmetrically arranged flexible connection components 15 and the bolt holes reserved in the flexible adjustment module 2 are connected by bolts 4, so that the folds of the variable stiffness interlayer 17 of the variable stiffness module 3 and the folds of the flexible adjustment module 2 are in the best state. Correspondingly, the folds of the soft air cavity 18 and the flexible adjustment module 2 are in the same state. When the rigid connection component 1 rotates around the center, the folding angles of the soft air cavity 18 and the flexible adjustment module 2 are consistent, that is, the overall appearance is as follows: Figure 5 The folded state with increased stiffness is shown.

[0034] Depend on Figure 4 It can be seen that the flexible main driving modules 100 include two first flexible main driving air cavities 23 fixed inside the motion module 200, the two first flexible main driving air cavities 23 are symmetrically arranged, and two second flexible main driving air cavities 24 are symmetrically installed between the two first flexible main driving air cavities 23, one side of the two first flexible main driving air cavities 23 and the two second flexible main driving air cavities 24 is provided with an air inlet 25, and three air cavities are provided on the two first flexible main driving air cavities 23 and the two second flexible main driving air cavities 24. During negative pressure driving, the side away from the center shrinks, and during positive pressure driving, the side away from the center expands and deforms.

[0035] The main part of the motion module 200 is as follows Figure 2 As shown, its driving force comes from the flexible main driving module 100 placed inside, and its upper and lower ends are respectively fixed to the corresponding rigid connecting components 1, and the multi-module assembly type, the air inlet holes 25 are connected to form a closed flexible inner main driving air cavity 21 (the gas can only flow from the air inlet 25 at the upper and lower end covers), as shown Figure 6 After the variable stiffness module 3 and the flexible adjustment module 2 are folded, when negative pressure is applied to the flexible inner main driving air cavity 21 in the flexible main driving module 100, the flexible inner main driving air cavity 21 contracts and deforms, and then positive pressure is applied to the flexible outer main driving air cavity 22 symmetrical thereto, and the flexible outer main driving air cavity 22 expands and deforms. Due to the changes in the flexible inner main driving air cavity 21 and the flexible outer main driving air cavity 22, the motion module 200 will produce the following Figure 5 As shown in the deformation, the rigid connection parts 1 at the upper and lower ends change from being parallel in space to being inclined to one side, and the flexible main drive module 100 bends to one side, driving the inner flexible adjustment module 2 to bend and deform, driving the inner variable stiffness module 3 to increase the folding angle, and the motion module 200 bends to one side.

[0036] Each motion module 200 is composed of a rigid connection component 1, a flexible adjustment module 2, a variable stiffness module 3 and a bolt 4. A flexible main drive module 100 is integrated inside each motion module 200. Figure 6 As shown. Air inlets are provided at the top and bottom of each module, and the modules are connected with each other by bolts 4, which has high reliability and connection strength.

[0037] In the present invention, regarding how the mechanical finger module for the rigid-flexible coupling robot is composed of a modular finger for the rigid-flexible coupling robot, Figure 1 It can be seen that multiple rigid-flexible coupling robot mechanical finger modules constitute a modular finger for a rigid-flexible coupling robot, and multiple rigid-flexible coupling robot mechanical finger modules are connected and fixed by the rigid connection components 1 at the upper and lower ends of each module through bolts 4, and the pneumatic drive assembly is used to drive the flexible inner main drive air cavity 21 and the flexible outer main drive air cavity 22 to contract or expand, and drive the variable stiffness module soft air cavity 18 and the flexible adjustment module 2 to fold and bend. Specifically:

[0038] like Figure 1 The rigid-flexible coupling robot shown has modular variable stiffness fingers connected by bolts through three components, and the internal flexible main drive modules 100 are connected by air holes. Each module includes a motion module 200 and a main flexible main drive module 100, and each motion module 200 includes a rigid connection component 1, a flexible adjustment module 2, a variable stiffness module 3 and a bolt 4. The variable stiffness module 3 includes a flexible connection component 15, a variable stiffness interlayer 17 and a soft air cavity 18 composed of two rhombus fold surfaces 16. Each internal flexible main drive module 100 is composed of four main drive air cavities.

[0039] The soft air cavity 18 of the variable stiffness module 3 is driven by negative pressure to fold and bend the rhombus folded surface 16, the stiffness of the variable stiffness module 3 is increased, the flexibility adjustment module 2 is driven by negative pressure, and the rhombus folded surface 16 of the flexibility adjustment module 2 is folded and bent, as shown in FIG. Figure 5 As shown. The flexible inner main driving air cavity 21 is driven by negative pressure, the air cavity contracts, and the flexible outer main driving air cavity 22 is driven by positive pressure, the air cavity expands, the flexible main driving module 100 is bent inward as a whole, and the motion module 200 is bent inward. Based on this, as Figure 1 The rigid-flexible coupled robot shown consists of three modules and has modular fingers, which are bent inward as a whole.

[0040] In summary, when the modular variable stiffness finger of the rigid-flexible coupling robot provided by the utility model performs bending grasping, its operation is as follows:

[0041] Take grasping a non-cooperative target (soft and fragile object) as an example;

[0042] First, a motion module 200 is fixed (bolted) at each end of the gripper base, so that the flexible main drive module 100 can be smoothly connected to the cylinder and fixed in the motion module 200. Three groups of motion modules 200 and flexible main drive modules 100 are connected in sequence to form two three-joint rigid-flexible coupled modular fingers;

[0043] Then the negative pressure drives the soft air cavity 18 of the variable stiffness module 3, so that the diamond crease surface 16 of the variable stiffness module 3 is bent along the prefabricated crease, and the variable stiffness interlayer 17 of the variable stiffness module 3 is further folded and bent along the prefabricated crease. The negative pressure in the cavity causes static friction to be generated between the multiple layers of sandpaper constituting the variable stiffness interlayer 17, which hinders relative sliding, and manifests as an increase in bending stiffness, thereby increasing the surface stiffness of the modular variable stiffness finger.

[0044] At this time, the variable stiffness module 3 folds at an appropriate angle to adapt to the stiffness of the clamping target surface, and the flexible adjustment module 2 and the diamond fold surface 16 of the variable stiffness module 3 are folded at the same angle. Through the adjustment of the flexible main driving module 100, the flexible inner main driving air cavity 21 is driven by negative pressure, the air cavity shrinks, and the flexible outer main driving air cavity 22 is driven by positive pressure, the air cavity expands, and the flexible main driving module 100 is bent inward as a whole, and the motion module 200 is bent inward. Based on this, the modular finger of the rigid-flexible coupling robot composed of three modules is bent inward as a whole.

[0045] The motion modules 200 of the second and third knuckles of the two fingers, whose surface stiffness increases after folding, are bent inward and aligned with the target. The flexible main driving module 100 of the first knuckle is adjusted to make the rigid-flexible coupled fingers fit the target and complete the envelope grasping, thereby increasing the clamping contact area between the fingers and the target.

[0046] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A mechanical finger module for a rigid-flexible coupling robot, characterized in that: The invention comprises N independently operable modules, N≥1, the N modules being connected in sequence, and the modules comprising a flexible main drive module (100) and a motion module (200) sleeved on the flexible main drive module (100), the motion module (200) comprising two symmetrically arranged rigid connection components (1), a plurality of variable stiffness modules (3) and flexible adjustment modules (2) being connected in an annular array between the two rigid connection components (1), and the variable stiffness modules (3) and flexible adjustment modules (2) being arranged in an alternating manner; The flexible main drive modules (100) each include two first flexible main drive air cavities (23) fixed inside the motion module (200), the two first flexible main drive air cavities (23) are symmetrically arranged, and two second flexible main drive air cavities (24) are symmetrically installed between the two first flexible main drive air cavities (23), and an air inlet (25) is arranged on one side of the two first flexible main drive air cavities (23) and the two second flexible main drive air cavities (24).

2. The mechanical finger module for a rigid-flexible coupling robot according to claim 1, characterized in that: The outer circumferences of the two first flexible main drive air cavities (23) and the two second flexible main drive air cavities (24) are each provided with a flexible inner main drive air cavity (21), and the interior of the flexible inner main drive air cavity (21) is connected with the interior of the first flexible main drive air cavity (23) and the interior of the second flexible main drive air cavity (24).

3. The mechanical finger module for a rigid-flexible coupling robot according to claim 2, characterized in that: The variable stiffness module (3) comprises a diamond fold surface (16) and a variable stiffness interlayer (17) with variable stiffness, wherein the variable stiffness interlayer (17) is composed of a plurality of stacked sandpaper sheets.

4. The mechanical finger module for a rigid-flexible coupling robot according to claim 3, characterized in that: A hollow soft air cavity (18) is formed inside the diamond-shaped fold surface (16), and the variable stiffness interlayer (17) is arranged inside the soft air cavity (18).

5. The mechanical finger module for a rigid-flexible coupling robot according to claim 4, characterized in that: The circumferential surface of the rigid connection component (1) is convex outward to form an outer convex portion, and the circumferential surface of the rigid connection component (1) is concave inward to form an inner concave portion matching the outer convex portion, and the inner concave portion and the outer convex portion are arranged in sequence on the outer circumferential surface of the rigid connection component (1) in an annular array.

6. The mechanical finger module for a rigid-flexible coupling robot according to claim 5, characterized in that: The variable stiffness module (3) and the flexibility adjustment module (2) are both provided with folds along their diagonals.

7. The mechanical finger module for a rigid-flexible coupling robot according to claim 6, characterized in that: It also includes a variable stiffness driver for driving the variable stiffness module (3) and an adjustment module driver for driving the flexibility adjustment module (2).

8. The mechanical finger module for a rigid-flexible coupling robot according to claim 7, characterized in that: The flexible adjustment module (2), the flexible connecting component (15), the flexible inner main driving air cavity (21), the flexible outer main driving air cavity (22), the first flexible main driving air cavity (23) and the second flexible main driving air cavity (24) are all made of a flexible material, polyurethane, and the rigid connecting component (1) is made of a photosensitive resin.

9. The mechanical finger module for a rigid-flexible coupling robot according to claim 8, characterized in that: Folds are provided along the variable stiffness module (3) and the flexible adjustment module (2) connected thereto, and the rhombus-shaped fold surface (16) is folded along the folds to form a multi-stable structural component, and the multi-stable structural component is connected to the rigid connection component (1) via bolts (4).

10. The mechanical finger module for a rigid-flexible coupling robot according to claim 9, characterized in that: The rigid connection component (1) is provided with a through hole.

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