Double-stage three-finger type soft robot hand

Abstract

The utility model provides a kind of double-segment three-finger type soft manipulator, it is related to soft manipulator technical field, the manipulator includes mechanical arm connecting frame, soft driver movable frame, driver connecting piece and three independent control double-segment soft driver, the mechanical arm connecting frame is detachably installed in the upper portion of soft driver movable frame, the driver connecting piece is detachably installed in the lower portion of soft driver movable frame, the double-segment soft driver is detachably fixed in the lower portion of driver connecting piece;The double-segment soft driver sequentially includes first drive section and second drive section and snap connection section from bottom to top, first drive section and second drive section inside are equipped with first air cavity passage and second air cavity passage respectively;The utility model effectively solves the problem that traditional rigid manipulator is unstable when facing fragile or irregular objects, such as uneven contact, has higher application value.

Description

Technical Field

[0001] This utility model relates to the field of soft robotic hand technology, and in particular to a two-segment three-finger soft robotic hand. Background Technology

[0002] With the development of modern industry, automation and robotics technologies are playing an increasingly important role in various fields such as manufacturing, healthcare, and services. In these applications, robotic arms, as an important component of robotic systems, are used to perform various grasping, handling, and manipulation tasks. Traditional rigid robotic arm designs often focus on precise control and high load capacity, but they have limitations when handling fragile, irregularly shaped, or variable-sized objects.

[0003] Soft robotic arms, as a novel type of robotic hand, have demonstrated great potential for operation in unstructured environments due to the flexibility of their materials and the adaptability of their structures. They can better adapt to changes in the shape of objects, reduce the risk of damage, and simulate the grasping motion of a human hand to some extent. However, the design of existing soft robotic arms still faces some challenges: 1. Balancing strength and stability: While providing flexible grasping, soft robotic arms often sacrifice some grasping strength and stability, which limits their use in applications requiring large loads or precise control; 2. Complexity and cost: Some soft robotic arm designs may be overly complex, leading to increased manufacturing costs and processing difficulties, which is not conducive to large-scale production and application; 3. Adaptability and flexibility: Existing designs still have room for improvement in adapting to objects of different shapes and sizes, especially in rapidly changing operating environments; 4. Control strategies: The control strategies of soft robotic arms are relatively immature, requiring more advanced algorithms to achieve precise control of the robotic arm's movements; 5. Material selection: Although soft robotic arms use flexible materials, the selection and application of materials still need further optimization to meet different working environments and operational requirements.

[0004] Existing soft robotic arms have limitations in grasping performance, especially in situations requiring precise control and adaptation to objects of different shapes. To improve the adaptability and grasping efficiency of soft robotic arms, it is necessary to improve and optimize their structure. Addressing the shortcomings of existing technologies, this invention proposes a two-segment, three-finger soft robotic arm, aiming to solve the aforementioned problems through innovative design, providing a soft robotic arm that combines strength and stability, is cost-effective, highly adaptable, and easy to control. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by proposing a dual-segment, three-finger soft robotic hand.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A two-segment, three-finger soft manipulator includes a manipulator arm connecting frame, a soft actuator movable frame, an actuator connector, and three independently controlled two-segment soft actuators. The manipulator arm connecting frame is detachably mounted on the upper part of the soft actuator movable frame, the actuator connector is detachably mounted on the lower part of the soft actuator movable frame, and the two-segment soft actuators are detachably fixed to the lower part of the actuator connector. The two-segment soft actuators, from bottom to top, include a first driving segment, a second driving segment, and a locking connection segment. The first driving segment and the second driving segment are respectively provided with a first air chamber channel and a second air chamber channel. The first air chamber channel and the second air chamber channel are each provided with an independent air passage interface. The first air chamber channel and the second air chamber channel are respectively connected to different air pressure controllers through the air passage interface.

[0007] Preferably, both the first driving section and the second driving section are provided with toothed grooves, the length of the toothed groove of the first driving section is less than the length of the toothed groove of the second driving section, the cavity width of the first air cavity channel is greater than the cavity width of the second air cavity channel, and the wall thickness of the first air cavity channel is less than the wall thickness of the second air cavity channel.

[0008] More preferably, the air passage interface includes a first air passage interface and a second air passage interface, wherein the first air passage interface is connected to the first air chamber channel, and the second air passage interface is connected to the second air chamber channel.

[0009] More preferably, the dual-segment soft actuator is integrally cast from flexible silicone material.

[0010] More preferably, the driver connector includes two metal fasteners that are detachably fastened together by bolts. Each metal fastener has a locking groove at its bottom, which forms a fixing groove after the two metal fasteners are connected together. The fixing groove is used to fasten the locking connection section of the two-stage soft driver.

[0011] More preferably, the inner wall of the engagement groove is provided with anti-slip texture.

[0012] More preferably, the soft actuator movable frame includes a fixed part and a plurality of mounting plates disposed on the outer periphery of the fixed part. The soft actuator movable frame is connected to the robotic arm connecting frame through the fixed part. Each mounting plate is provided with a mounting groove. The actuator connector is connected to the actuator movable frame through bolts and nuts disposed in the mounting grooves.

[0013] More preferably, each mounting plate of the movable frame of the soft actuator is provided with a strip groove in the middle, the strip groove being used to accommodate an air tube connected to the two-stage soft actuator.

[0014] More preferably, the software driver's movable frame is made of metal.

[0015] More preferably, the robotic arm connecting frame is manufactured by 3D printing, the bottom end of the robotic arm connecting frame is connected to the soft actuator movable frame by bolts, and the top end of the robotic arm connecting frame is connected to different robotic arms by bolts.

[0016] The beneficial effects of this utility model are as follows: This utility model provides a two-segment, three-finger soft robotic hand. The overall structure of the robotic hand is arranged in a three-finger shape, with each finger structure composed of a two-segment soft actuator. Each two-segment soft actuator can be independently controlled by air pressure. The two-segment soft actuators are connected to the soft actuator movable frame through actuator connectors, and the distance and angle between the two-segment soft actuators can be quickly adjusted during installation. This allows it to meet the grasping needs of target objects of different sizes and shapes, and also to achieve diverse grasping actions. By setting different drive segments, the two-segment soft actuators enable the robotic hand to handle objects of different shapes, sizes, and hardness. It maintains stable and reliable grasping performance when handling objects. The robotic arm connector, as the end effector connected to the robotic arm, can achieve a fixed connection between the robotic arm and the robotic hand through a bolt structure. The robotic arm is made using 3D printing technology and can be quickly customized according to different models and sizes, thus giving the device good versatility and expandability. This invention achieves lightweight while ensuring strength, which helps reduce the load on the end effector of the robotic arm, improves system response speed and energy efficiency. At the same time, this invention effectively solves the problems of unstable grasping and uneven contact of traditional rigid robotic hands when facing fragile or irregular objects, and has high application value. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of one embodiment of the present utility model; Figure 2 This is a schematic diagram of the structure of a two-segment software driver in a non-working state according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the working state of a two-stage software driver according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the internal structure of a two-stage software driver according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of a driver connector according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of the movable frame of the software driver according to an embodiment of the present invention; Figure 7 This is a top view of an embodiment of the present invention; Figure 8 for Figure 7 Enlarged view of point A in the middle; Reference numerals: 1-Dual-stage soft actuator; 101-First drive stage; 1011-First air chamber channel; 1012-First air path interface; 102-Second drive stage; 1021-Second air chamber channel; 1022-Second air path interface; 103-Snap-fit ​​connection stage; 2-Actuator connector; 201-Metal fastener; 202-Snap-fit ​​groove; 3-Soft actuator movable frame; 301-Fixing part; 302-Mounting plate; 3021-Mounting groove; 3022-Strip groove; 4-Robot arm connecting frame. Detailed Implementation

[0018] To provide a better understanding of the purpose, structure, features and functions of this utility model, detailed descriptions are provided below with reference to the embodiments.

[0019] like Figures 1-8 The illustration shows a two-segment, three-finger soft robotic hand. The robotic hand includes a robotic arm connecting frame 4, a soft actuator movable frame 3, an actuator connector 2, and three independently controlled two-segment soft actuators 1. The robotic arm connecting frame 4 is detachably mounted on the upper part of the soft actuator movable frame 3, the actuator connector 2 is detachably mounted on the lower part of the soft actuator movable frame 3, and the two-segment soft actuators 1 are detachably fixed to the lower part of the actuator connector 2. Each two-segment soft actuator 1 can be independently pneumatically controlled to achieve diverse grasping actions. Each two-segment soft actuator 1, from bottom to top, includes a first drive segment 101, a second drive segment 102, and a locking connection segment 103. The first drive segment 101 and the second drive segment 102 are respectively equipped with a first pneumatic... The first air chamber 1011 and the second air chamber 1021 are each provided with independent air passage interfaces, including a first air passage interface 1012 and a second air passage interface 1022. The first air passage interface 1012 is connected to the first air chamber 1011, and the second air passage interface 1022 is connected to the second air chamber 1021. The independent air passage interfaces facilitate air tube connection and allow for quick replacement and maintenance. The first air chamber 1011 and the second air chamber 1021 are connected to different air pressure controllers through two different air passage interfaces. In this way, the pressure inside the two air chambers can be adjusted by the air pressure controllers to achieve different bending curvatures and bending angles.

[0020] like Figures 2-4As shown, this utility model discloses a two-segment, three-finger soft manipulator. Both the first driving segment 101 and the second driving segment 102 are provided with toothed grooves. The length of the toothed groove in the first driving segment 101 is shorter than the length of the toothed groove in the second driving segment 102. The cavity width of the first air chamber channel 1011 is greater than the cavity width of the second air chamber channel 1021, and the wall thickness of the first air chamber channel 1011 is less than the wall thickness of the second air chamber channel 1021. The larger cavity width and thinner wall thickness of the first air chamber channel 1011 give the first driving segment 101 higher flexibility and bendability. The smaller cavity width and thicker wall thickness of the second air chamber channel 1021 enable the second driving segment 102 to provide stronger pneumatic actuation. Output force and support stiffness; when both air chamber channels are inflated simultaneously, the dual-segment soft actuator 1 exhibits a large bending shape to achieve enveloping gripping. When only the first air chamber channel 1011 is inflated, flexible and conformal gripping can be achieved; when only the second air chamber channel 1021 is inflated, a supporting and lifting function can be achieved. The three dual-segment soft actuators 1 are evenly distributed at 120°. In conjunction with the independent inflation and deflation of the two air chamber channels, when working together, the bending direction, angle, and stiffness of each drive segment of the dual-segment soft actuator 1 can be precisely adjusted, thereby enhancing the adaptability of the soft manipulator to objects of different shapes, sizes, and textures, thus ensuring stable gripping and precise operation of the soft manipulator.

[0021] This utility model discloses a two-segment three-finger soft manipulator. The two-segment soft actuator 1 is integrally cast from flexible silicone material. The first drive segment 101 and the second drive segment 102 of the two-segment soft actuator 1 are formed into a continuous structure through integral molding, which ensures the uniformity of airtightness and strength.

[0022] like Figure 5 As shown, this utility model discloses a dual-segment, three-finger soft manipulator. The driver connector 2 includes two metal fasteners 201, which are preferably CNC machined aluminum alloy structures. The two metal fasteners 201 are detachably fastened together by bolts. In some embodiments, each of the metal fasteners 201 has a locking groove 202 at its bottom. After the two metal fasteners 201 are connected together, a fixing groove is formed between the two locking grooves 202. The fixing groove is used to fasten the locking connection segment 103 of the dual-segment soft driver 1.

[0023] In some embodiments, the inner wall of the engaging groove is provided with anti-slip texture. By setting the anti-slip texture, the friction with the outer surface of the engaging connection section 103 is enhanced, and relative sliding is prevented, thereby ensuring the stable and reliable gripping performance of the dual-segment soft actuator 1 and effectively preventing displacement or rotation of the actuator during inflation. The engaging connection section 103 and the fixed groove are interference-fitted, thereby achieving a more stable connection of the dual-segment soft actuator 1 and preventing the dual-segment soft actuator 1 from disengaging from the actuator connector 2 when gripping heavier objects, thereby significantly improving the reliability of the soft manipulator. During the assembly stage, the angle of each dual-segment soft actuator 1 can be flexibly adjusted to optimize the gripping angle of the manipulator. After adjustment, the metal fasteners 201 are tightened.

[0024] In other embodiments, the inner wall of the engagement groove is provided with a flexible pad, which can reduce the indentation damage of the metal fastener 201 to the flexible silicone dual-segment soft actuator 1, thereby improving the service life of the dual-segment soft actuator 1.

[0025] This utility model discloses a two-segment three-finger soft manipulator. The soft actuator movable frame 3 is made of metal material, preferably by metal CNC machining, which makes the machining accuracy of the soft actuator movable frame 3 high and the quality stable, reducing the deformation of the soft actuator movable frame 3 caused by the manipulator when grasping heavy objects.

[0026] like Figure 6 As shown, this utility model discloses a two-segment, three-finger soft robotic arm. The soft actuator movable frame 3 includes a fixed part 301 and multiple mounting plates 302 disposed on the outer periphery of the fixed part 301. The soft actuator movable frame 3 is connected to the robotic arm connecting frame 4 through the fixed part 301. Each mounting plate 302 is provided with a mounting groove 3021 for mounting the actuator connector 2. In some embodiments, the soft actuator movable frame 3 and the actuator connector 2 are connected by bolts and nuts, with the bolts installed in the mounting groove 3021 of the soft actuator connector 2. During the assembly stage, the distance between the three two-segment soft actuators 1 can be flexibly set, and correspondingly, the bolts and nuts in the mounting groove 3021 are tightened after adjustment.

[0027] like Figure 7 , Figure 8 As shown, in a further embodiment, each mounting plate 302 of the movable frame 3 of the soft actuator is provided with a strip groove 3022 in the middle. The strip groove 3022 is used to accommodate the air pipe connected to the two-stage soft actuator 1. When the position of the actuator connector 2 and the two-stage soft actuator 1 changes, the air pipe can move within the strip groove 3022.

[0028] In some embodiments, the movable frame 3 of the soft actuator not only serves as a mounting base for the actuator but also bears the function of load transfer. The movable frame 3 of the soft actuator has through holes and reinforcing ribs inside to reduce overall weight and improve structural rigidity. The fixing part 301 of the movable frame 3 of the soft actuator has multiple bolt mounting holes, and correspondingly, the bottom end of the robotic arm connecting frame 4 also has the same bolt mounting holes. The robotic arm connecting frame 4 and the movable frame 3 of the soft actuator are connected by bolts, which ensures balanced force on the robotic arm during the grasping process and avoids deformation caused by uneven loading.

[0029] This utility model discloses a two-segment, three-finger soft robotic arm. The robotic arm connecting frame 4 is manufactured by 3D printing and is preferably made of high-strength, lightweight nylon composite material. The robotic arm connecting frame 4 has an overall disc-shaped structure with multiple bolt mounting holes on its upper part for easy matching and installation with the flange at the end of the robotic arm. Because the robotic arm connecting frame 4 is manufactured using 3D printing technology, it can be quickly customized according to the flange size of different robotic arm models, thus facilitating connection with different robotic arms. Therefore, it has the advantages of being lightweight, having a flexible structure, and being easy to replace.

[0030] During operation, the control system controls the inflation volume of the first air chamber channel 1011 and the second air chamber channel 1021 of the three dual-stage soft actuators 1 via a pneumatic controller, thereby controlling the first drive section 101 and the second drive section 102 of the three dual-stage soft actuators 1 respectively. When the three dual-stage soft actuators 1 operate simultaneously, a wrap-around flexible grasp can be achieved; when some actuators operate while others remain stationary, the object can be rotated, moved, or released. By independently controlling the air pressure changes, the robotic arm can achieve adaptive grasping of target objects of different sizes, shapes, and materials. During the grasping process, the second drive section 102 first provides support and gripping force, while the first drive section 101 flexibly conforms under lower air pressure, thereby achieving stable grasping while maintaining the integrity of the object.

[0031] This utility model has been described by the above-described embodiments; however, these embodiments are merely examples for implementing this utility model. It must be noted that the disclosed embodiments do not limit the scope of this utility model. Conversely, any modifications and refinements made without departing from the spirit and scope of this utility model are within the scope of patent protection of this utility model.

Claims

1. A two-segment, three-finger soft robotic hand, characterized in that: The robotic arm includes a robotic arm connecting frame, a soft actuator movable frame, an actuator connector, and three independently controlled two-stage soft actuators. The robotic arm connecting frame is detachably mounted on the upper part of the soft actuator movable frame, the actuator connector is detachably mounted on the lower part of the soft actuator movable frame, and the two-stage soft actuators are detachably fixed to the lower part of the actuator connector. The dual-stage software driver includes, from bottom to top, a first drive stage, a second drive stage, and a snap-fit ​​connection stage. The first drive stage and the second drive stage are respectively provided with a first air chamber channel and a second air chamber channel. The first air chamber channel and the second air chamber channel are each provided with an independent air path interface. The first air chamber channel and the second air chamber channel are respectively connected to different air pressure controllers through the air path interface.

2. The dual-segment, three-finger soft robotic hand according to claim 1, characterized in that: Both the first driving section and the second driving section are provided with toothed grooves. The length of the toothed groove in the first driving section is less than the length of the toothed groove in the second driving section. The cavity width of the first air cavity channel is greater than the cavity width of the second air cavity channel. The wall thickness of the first air cavity channel is less than the wall thickness of the second air cavity channel.

3. The dual-segment, three-finger soft robotic hand according to claim 1, characterized in that: The air passage interface includes a first air passage interface and a second air passage interface. The first air passage interface is connected to a first air chamber channel, and the second air passage interface is connected to a second air chamber channel.

4. A two-segment, three-finger soft robotic hand according to claim 1, characterized in that: The two-segment software driver is integrally cast from flexible silicone material.

5. A two-segment, three-finger soft robotic hand according to claim 1, characterized in that: The driver connector includes two metal fasteners that are detachably fastened together by bolts. Each metal fastener has a locking groove at its bottom. When the two metal fasteners are connected together, they form a fixing groove, which is used to fasten the locking connection section of the two-stage software driver.

6. A two-segment, three-finger soft robotic hand according to claim 5, characterized in that: The inner wall of the locking groove is provided with anti-slip texture.

7. A two-segment, three-finger soft robotic hand according to claim 1, characterized in that: The soft actuator movable frame includes a fixed part and multiple mounting plates disposed on the outer periphery of the fixed part. The soft actuator movable frame is connected to the robotic arm connecting frame through the fixed part. Each mounting plate is provided with a mounting groove. The actuator connector is connected to the actuator movable frame through bolts and nuts disposed in the mounting grooves.

8. A two-segment, three-finger soft robotic hand according to claim 7, characterized in that: Each mounting plate of the movable frame of the soft actuator has a strip groove in the middle for accommodating an air tube connected to the two-stage soft actuator.

9. A two-segment, three-finger soft robotic hand according to claim 1, characterized in that: The software driver's movable frame is made of metal.

10. A two-segment, three-finger soft robotic hand according to claim 1, characterized in that: The robotic arm connecting frame is made by 3D printing. The bottom end of the robotic arm connecting frame is connected to the soft actuator movable frame by bolts, and the top end of the robotic arm connecting frame is connected to different robotic arms by bolts.

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