Pneumatic type soft manipulator with tactile perception function

Abstract

The utility model relates to a pneumatic type soft manipulator with a touch sensing function, which belongs to the technical field of robots and comprises a mounting seat, a mounting frame and a frame, a flexible sleeve is sleeved on the outer side of the frame, a flexible touch sensing element is arranged on the outer side of the flexible sleeve, and an adjusting component is arranged in the frame. The adjusting assembly comprises an adjusting rod, one end of the adjusting rod is fixedly connected with a rotary knob, the other end of the adjusting rod is fixedly connected with a driving gear, the outer side of the driving gear is meshed with a driven gear, the inner side of the driven gear is fixedly connected with a connecting shaft, and the upper end of the connecting shaft is fixedly connected with a lead screw; the outer side of the lead screw is in threaded connection with a threaded sleeve, and the threaded sleeve is connected with a flexible touch sensing element. According to the pneumatic type soft manipulator with the tactile sensing function, the position of the flexible tactile sensing element is adjusted, the application range is widened, and practicability is high.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, concretely is a pneumatic soft manipulator with tactile perception function. BACKGROUND

[0002] In recent years, the application of flexible materials in the design and manufacture of soft manipulators has attracted widespread attention from scholars at home and abroad and has been continuously researched. The biggest difference between a soft manipulator and a rigid manipulator is that the body material is flexible. Since soft materials have more complex and rich response characteristics than rigid materials, this not only brings flexibility and compliance in function, but also has more possibilities in the design and control method of soft manipulators. As a branch of the field of soft robots, soft manipulators are developing rapidly and will certainly play an important application value in many fields of production and life due to their good flexibility, safety, and complex environmental adaptability and other performance advantages.

[0003] The prior art with the publication number CN110340921A discloses a pneumatic soft manipulator with tactile perception function, which is composed of an electrothermal phase change actuator, a soft manipulator, and a flexible tactile sensing unit. The electrothermal phase change actuator is provided with a flexible heating film and a liquid phase change material. The present application evaporates the liquid phase change material by heating the flexible heating film, adjusts the pressure in the cavity of the electrothermal phase change actuator, dynamically adjusts the bending state of the soft manipulator, and completes the grabbing operation. At the same time, the flexible tactile sensing unit senses the time-varying information of the grabbing force during the grabbing process of the soft manipulator, and uses it as a feedback source to adjust the bending state of the soft manipulator, thereby forming a closed-loop feedback control.

[0004] The above-mentioned pneumatic soft manipulator with tactile perception function has a fixed position of the flexible tactile sensing unit, which cannot be adjusted, resulting in a low application range and causing inconvenience in use. Therefore, a pneumatic soft manipulator with tactile perception function is proposed to solve the above-mentioned problems. UTILITY MODEL CONTENT

[0005] In view of the deficiencies of the prior art, the utility model provides a pneumatic soft manipulator with tactile perception function, which has the advantages of convenient position adjustment, solves the problem of the prior art that the position of the flexible tactile sensing unit of the pneumatic soft manipulator with tactile perception function is fixed and cannot be adjusted, resulting in a low application range and causing inconvenience in use.

[0006] In order to achieve the above object, the utility model provides the following technical scheme: A pneumatic soft manipulator with tactile perception function, including mounting seat, mounting frame and frame, the outside of frame is sleeved with flexible sleeve, the outside of flexible sleeve is provided with flexible tactile perception element, the inside of frame is provided with adjusting assembly,

[0007] The adjusting assembly includes an adjusting rod, one end of the adjusting rod is fixedly connected with a knob, the other end of the adjusting rod is fixedly connected with a main gear, the outer side of the main gear is engaged with a slave gear, the inner side of the slave gear is fixedly connected with a connecting shaft, the upper end of the connecting shaft is fixedly connected with a lead screw, the outer side of the lead screw is threadedly connected with a threaded sleeve, and the threaded sleeve is connected with the flexible tactile perception element.

[0008] Further, the mounting frame is fixedly connected to the top of the mounting seat, and the frame is fixedly connected to the top of the mounting frame.

[0009] Further, the outer wall of the flexible sleeve is fixedly connected with a connecting cavity, the number of the connecting cavities is multiple, and the multiple connecting cavities are equidistantly distributed along the outer wall of the flexible sleeve.

[0010] Further, the adjusting rod is rotatably installed on the inner side of the frame, the knob is located on the outer side of the flexible sleeve, and the main gear and the slave gear are both located in the frame.

[0011] Further, the main gear and the slave gear are both conical gears, and the lower end of the connecting shaft is connected with the inside of the frame through a bearing.

[0012] Further, the inside of the frame is fixedly connected with a fixed block, the number of the fixed blocks is two, a guide rod is fixedly connected between the two fixed blocks, the outer side of the threaded sleeve is fixedly connected with a movable sleeve, and the movable sleeve is sleeved on the outer wall of the guide rod.

[0013] Further, a connecting block is fixedly connected between the movable sleeve and the flexible tactile perception element, the inside of the flexible sleeve and the frame is provided with a strip-shaped opening, and the connecting block penetrates through the inside of the strip-shaped opening.

[0014] Compared with the prior art, the utility model provides a pneumatic soft manipulator with tactile perception function, which has the following advantages:

[0015] The pneumatic soft manipulator with tactile perception function drives the adjusting rod to rotate through the rotation of the knob, drives the main gear and the driven gear to transmit, thereby driving the connecting shaft to rotate, the connecting shaft drives the lead screw to rotate synchronously, thereby driving the threaded sleeve to move, and driving the movable sleeve to move along the outer wall of the guide rod, so that the position of the flexible tactile perception element is adjusted, the application range is improved, the practicality is high, and the problem of inconvenient use caused by the low application range of the flexible tactile sensing unit with a fixed position in the prior art pneumatic soft manipulator with tactile perception function is solved. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a sectional view of the utility model structure;

[0017] Figure 2 It is the utility model Figure 1 The enlarged structure diagram of A shown in the utility model;

[0018] Figure 3 It is the position diagram of the flexible tactile perception element of the utility model.

[0019] In the figure: 1, mounting seat; 2, mounting frame; 3, frame; 4, flexible sleeve; 5, connecting cavity; 6, flexible tactile perception element; 7, adjusting rod; 8, knob; 9, main gear; 10, driven gear; 11, connecting shaft; 12, lead screw; 13, threaded sleeve; 14, connecting block; 15, fixed block; 16, guide rod; 17, movable sleeve; 18, strip-shaped port. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0021] Please refer to Figures 1 to 3 A pneumatic soft manipulator with tactile perception function in the embodiment includes a mounting seat 1, a mounting frame 2 and a frame 3, the mounting frame 2 is fixedly connected to the top of the mounting seat 1, the frame 3 is fixedly connected to the top of the mounting frame 2, the outer side of the frame 3 is sleeved with a flexible sleeve 4, the outer wall of the flexible sleeve 4 is fixedly connected with a connecting cavity 5, the number of the connecting cavities 5 is set to be multiple, the multiple connecting cavities 5 are equidistantly distributed along the outer wall of the flexible sleeve 4, and the outer side of the flexible sleeve 4 is provided with a flexible tactile perception element 6.

[0022] In the embodiment, the inside of the frame 3 is provided with an adjusting assembly, the adjusting assembly comprises an adjusting rod 7, the adjusting rod 7 is rotatably installed on the inside of the frame 3, one end of the adjusting rod 7 is fixedly connected with a knob 8, the knob 8 is located on the outside of the flexible sleeve 4, the other end of the adjusting rod 7 is fixedly connected with a main gear 9, the outside of the main gear 9 is engaged with a slave gear 10, the main gear 9 and the slave gear 10 are located in the inside of the frame 3, the main gear 9 and the slave gear 10 are both conical gears, the inside of the slave gear 10 is fixedly connected with a connecting shaft 11, the lower end of the connecting shaft 11 is connected with the inside of the frame 3 through a bearing, the upper end of the connecting shaft 11 is fixedly connected with a lead screw 12, the outside of the lead screw 12 is threadedly connected with a threaded sleeve 13, the threaded sleeve 13 is connected with the flexible tactile sensing element 6.

[0023] Wherein, the inside of the frame 3 is fixedly connected with a fixed block 15, the number of the fixed block 15 is two, the two fixed blocks 15 are fixedly connected with a guide rod 16, the outside of the threaded sleeve 13 is fixedly connected with a movable sleeve 17, the movable sleeve 17 is sleeved on the outer wall of the guide rod 16, at the same time, the movable sleeve 17 and the flexible tactile sensing element 6 are fixedly connected with a connecting block 14, the inside of the flexible sleeve 4 and the inside of the frame 3 are provided with a strip-shaped opening 18, the connecting block 14 penetrates through the inside of the strip-shaped opening 18.

[0024] The working principle of the above embodiment is as follows:

[0025] In use, the knob 8 is rotated to drive the adjusting rod 7 to rotate, and drive the main gear 9 and the slave gear 10 to drive the connecting shaft 11 to rotate, and the connecting shaft 11 drives the lead screw 12 to rotate synchronously, thereby driving the threaded sleeve 13 to move, and driving the movable sleeve 17 to move along the outer wall of the guide rod 16, so as to adjust the position of the flexible tactile sensing element 6.

[0026] The mounting mode, the connecting mode or the setting mode disclosed in the embodiment are all common mechanical modes, as long as the beneficial effects can be achieved, and the specific structure and working principle of the electrical elements appearing in the text are not described in detail.

[0027] It should be noted that, in this document, the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0028] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting; it is not intended to exclude myriad other embodiments of the present application that other inventors can develop based on the same general inventive concepts embodied by the described embodiments. That is, although the present application is described in terms of particular embodiments and implementations, it is to be understood that the terminology used is for the purpose of descriptive clarity and that it is intended to be limited only by the words recited in the appended claims. The scope of the present application shall be limited only by the claims.

[0029] While the embodiments of the present application have been shown and described with respect to particular embodiments thereof, it will be understood by those skilled in the art that various changes in form and details can be made therein without departing from the spirit and scope of the application. Therefore, the scope of the application should not be limited by the embodiments, but should be defined only in accordance with the following claims and their equivalents.

Claims

1. A pneumatic soft robot hand with tactile sensing function, comprising a mounting seat (1), a mounting frame (2) and a frame (3), characterized in that: The outer side of the frame (3) is sleeved with a flexible sleeve (4), and the outer side of the flexible sleeve (4) is provided with a flexible tactile sensing element (6), and the inside of the frame (3) is provided with an adjusting assembly; The adjusting assembly comprises an adjusting rod (7), one end of the adjusting rod (7) is fixedly connected with a knob (8), the other end of the adjusting rod (7) is fixedly connected with a main gear (9), the outer side of the main gear (9) is engaged with a slave gear (10), the inner side of the slave gear (10) is fixedly connected with a connecting shaft (11), the upper end of the connecting shaft (11) is fixedly connected with a lead screw (12), the outer side of the lead screw (12) is threadedly connected with a threaded sleeve (13), and the threaded sleeve (13) is connected with the flexible tactile sensing element (6).

2. The soft pneumatic robotic hand with tactile sensing function according to claim 1, wherein: The mounting bracket (2) is fixedly connected to the top of the mounting seat (1), and the frame (3) is fixedly connected to the top of the mounting bracket (2).

3. The soft pneumatic robotic hand with tactile sensing capability of claim 1, wherein: A plurality of connecting cavities (5) are fixedly connected to the outer wall of the flexible sleeve (4), and the plurality of connecting cavities (5) are equidistantly distributed along the outer wall of the flexible sleeve (4).

4. The soft pneumatic robotic hand with tactile sensing capability of claim 1, wherein: The adjusting rod (7) is rotatably installed on the inner side of the frame (3), the knob (8) is located on the outer side of the flexible sleeve (4), and the main gear (9) and the slave gear (10) are located in the frame (3).

5. The soft pneumatic robotic hand with tactile sensing capability of claim 1, wherein: The main gear (9) and the slave gear (10) are both conical gears, and the lower end of the connecting shaft (11) is connected with the inside of the frame (3) through a bearing.

6. The soft pneumatic robotic hand with tactile sensing capability of claim 1, wherein: The inside of the frame (3) is fixedly connected with a fixed block (15), the number of the fixed block (15) is two, a guide rod (16) is fixedly connected between the two fixed blocks (15), the outer side of the threaded sleeve (13) is fixedly connected with a movable sleeve (17), and the movable sleeve (17) is sleeved on the outer wall of the guide rod (16).

7. The soft pneumatic robotic hand with tactile sensing capability of claim 6, wherein: The movable sleeve (17) and the flexible tactile sensing element (6) are fixedly connected with a connecting block (14), and the inside of the flexible sleeve (4) and the frame (3) is provided with a strip-shaped opening (18), and the connecting block (14) penetrates the inside of the strip-shaped opening (18).

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