阅读说明：本技术 一种基于真空驱动器的仿生软体大负载机械手 (Bionic soft heavy-load manipulator based on vacuum driver ) 是由 姚建涛 李海利 赵无眠 张帅 魏纯杰 王亚蒙 许允斗 *** 于 2019-09-16 设计创作，主要内容包括：本发明公开了一种基于真空驱动器的仿生软体大负载机械手,属于机器人末端执行器。本发明仿生于自然界中具有缠绕行为的动物,如蟒蛇、章鱼等,以真空软体驱动器等效替代缠绕动物身体的收缩行为,从优化软体驱动器结构布局的角度来提高软体机械手的负载能力。本发明的基本构造原理是通过柔性保持架将真空软体驱动器布置成螺旋状,通过真空软体驱动器的收缩作用勒紧物体,达到抓持的目的。(The invention discloses a bionic soft heavy-load manipulator based on a vacuum driver, and belongs to a robot end effector. The invention is bionic on animals with winding behavior in nature, such as python, octopus, etc., and uses the vacuum soft driver to equivalently replace the shrinkage behavior of the winding animal body, thereby improving the load capacity of the soft manipulator from the perspective of optimizing the structural layout of the soft driver. The basic construction principle of the invention is that the vacuum soft driver is arranged into a spiral shape through the flexible retainer, and the object is tightened through the contraction action of the vacuum soft driver, so as to achieve the purpose of grasping.)

1. A bionic soft heavy-load manipulator based on a vacuum driver is characterized by comprising a connecting seat, a flexible retainer connected with the connecting seat, and a spiral sealing tube positioned on an interlayer of the flexible retainer, wherein the spiral sealing tube is internally packaged with a spiral supporting frame, and two ends of the sealing tube are connected with an air source together; the diameter of the sealing tube is larger than that of the spiral support frame.

2. The vacuum driver-based bionic soft heavy-load manipulator as claimed in claim 1, wherein the spiral support frame is a spiral elastic structure and can stretch and retract along the axial direction.

3. The vacuum driver-based bionic soft heavy-load manipulator as claimed in claim 1, wherein the sealing tube is of a cylindrical film structure; the diameter of the sealing pipe exceeds the outer diameter of the spiral support frame by 10 percent.

4. The vacuum driver-based bionic soft heavy-load manipulator as claimed in claim 1, wherein the axis of the spiral support frame is matched with the axis of the sealing tube.

5. The vacuum driver-based bionic soft heavy-load manipulator as claimed in claim 1, wherein the bottom outlet of the sealing tube passes through an annular ring to be connected with the top outlet of the sealing tube and is clamped by a small clamp to form a driver interface.

6. The vacuum driver-based bionic soft heavy-load manipulator as claimed in claim 1, wherein the flexible retainer is a silica gel material double-layer structure; the bottom layer of the flexible retainer is of a cylindrical tubular structure, and the upper layer of the flexible retainer is of an inverted funnel-shaped structure; three layers of U-shaped protruding structures are distributed on the bottom layer relative to the axis of the cylinder; the U-shaped convex structure protrudes outwards from the outside and protrudes inwards from the inside, and three inner grooves are formed between the inner layer of silica gel and the outer layer of silica gel for mounting the sealing tube; on the inner groove, six annular rings are arranged per layer for fixing the sealing tube.

7. The bionic soft heavy-load manipulator based on the vacuum driver as claimed in claim 1, wherein the top of the bottom layer of the flexible retainer is provided with an annular rib rigidly connected with the flexible retainer; the cross section of the convex rib is trapezoidal.

Technical Field

The invention relates to a bionic soft heavy-load manipulator based on a vacuum driver, belonging to a robot end effector.

Background

The robot end gripping device is a very important part of the robot structure, and the traditional robot end gripping device is generally a rigid structure, but in some situations where the gripped object is very fragile, the rigid gripping device is easy to damage the gripped object. In recent years, flexible clamping devices are concerned by people, and are applied to medical robots, antique archaeological excavation, disaster distress rescue, service robots and the like due to the advantages of safety, flexibility, softness and the like. From the driving mode, the clamping device can be divided into: tendon drive, fluid drive and functional material drive. The tendon driving mode has good execution, quick action and accurate positioning, but the rigidity is generally overlarge; the fluid driving mode has good flexibility, strong adaptability, light weight and wide application prospect; the functional material is generally made of memory alloy, high molecular polymer material and the like, and the material is directly deformed by electrifying and heating the material, so that the material has unique application in special occasions. Among the three driving methods, the fluid driving is currently used most widely, but some disadvantages of the current fluid driving device are to be solved: 1. the rigidity of the positive pressure driving soft mechanical arm is increased along with the increase of the internal air pressure, and the flexibility of the positive pressure driving soft mechanical arm is gradually reduced; 2. the positive pressure type driver has generally low shrinkage, for example, the artificial muscle shrinkage is generally lower than 38%; 3. the load capacity is weak, and the method for improving the load capacity mainly focuses on developing a large-load software driver, but due to the influence of the inherent characteristics of the software material, the research progress is slow, and the large-scale improvement of the load capacity is very difficult.

Disclosure of Invention

the technical problem to be solved by the invention is to provide a bionic soft heavy-load manipulator based on a vacuum driver, the bionic soft heavy-load manipulator is bionic to animals with winding behaviors in nature, such as python, octopus and the like, the vacuum soft driver is used for equivalently replacing the shrinkage behaviors of the winding animal body, and the load capacity of the soft manipulator is improved from the perspective of optimizing the structural layout of the soft driver. The basic construction principle of the invention is that the vacuum soft driver is arranged into a spiral shape through the flexible retainer, and the object is tightened through the contraction action of the vacuum soft driver, so as to achieve the purpose of grasping.

In order to solve the technical problem, the technical scheme provided by the application is as follows: a bionic soft heavy-load manipulator based on a vacuum driver is characterized by comprising a connecting seat, a flexible retainer connected with the connecting seat, and a spiral sealing tube positioned on an interlayer of the flexible retainer, wherein the spiral sealing tube is internally packaged with a spiral supporting frame, and two ends of the sealing tube are connected with an air source together; the diameter of the sealing tube is larger than that of the spiral support frame.

The further technical scheme is that the spiral support frame is of a spiral elastic structure and can stretch out and draw back along the axial direction.

The further technical proposal is that the sealing tube is a cylindrical film structure; the diameter of the sealing pipe exceeds the outer diameter of the spiral support frame by 10 percent.

the further technical proposal is that the axle center of the spiral support frame is inosculated with the axle center of the sealing tube.

the further technical scheme is that the bottom outlet of the sealing pipe penetrates through an annular ring to be connected with the top outlet of the sealing pipe, and a small clamping hoop is used for clamping to form an actuator interface.

The further technical proposal is that the flexible retainer is a double-layer structure made of silica gel material; the bottom layer of the flexible retainer is of a cylindrical tubular structure, and the upper layer of the flexible retainer is of an inverted funnel-shaped structure; three layers of U-shaped protruding structures are distributed on the bottom layer relative to the axis of the cylinder; the U-shaped convex structure protrudes outwards from the outside and protrudes inwards from the inside, and three inner grooves are formed between the inner layer of silica gel and the outer layer of silica gel for mounting the sealing tube; on the inner groove, six annular rings are arranged per layer for fixing the sealing tube.

The further technical proposal is that the top of the bottom layer of the flexible retainer is provided with an annular convex rib which is rigidly connected with the flexible retainer; the cross section of the convex rib is trapezoidal.

Adopt the produced beneficial effect of above-mentioned technical scheme to lie in:

1. Good flexibility: the internal pressure of the whole driver structure in the working state is lower than the atmospheric pressure, so that the driver structure has good flexibility no matter in the normal state or the working state, and does not show great rigidity as a positive pressure pneumatic manipulator in the working state.

2. High safety: the whole structure comprises silica gel, a sealing pipe, a spiral supporting frame, a hoop, a resin material interface and the like, only a small part of metal materials are used, and the structure has a small amount of elastic potential energy and is safer for loaded objects and personnel.

3. High shrinkage: when the driver generates vacuum inside, the spiral support frame has high shrinkage rate, and the sealing tube is tightly attached to the spiral support frame, so the invention has high shrinkage rate.

4. The load capacity is large: the invention combines the food-tangling principle with the negative pressure principle, the negative pressure principle provides power, the food-tangling principle is used for grasping, the loading capacity is large, and the stability is good.

5. The applicability is strong: the invention has good flexibility and large holding force, and is suitable for occasions which can not be competed by a plurality of rigid manipulators, such as clamping fragile and small objects, and the like.

Drawings

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

FIG. 1 is a left side elevational view of the general assembly;

3 FIG. 3 2 3 is 3 a 3 sectional 3 view 3 taken 3 along 3 line 3 A 3- 3 A 3 of 3 FIG. 3 1 3; 3

FIG. 3 is a perspective view of the general assembly;

FIG. 4 is a perspective view of the driver installed inside the gripping body;

In the figure: 1. a connecting seat; 2. a screw A; 3. a nut A; 4. a connecting cover; 5. a screw B; 6. a nut B; 7. tabletting; 8. a spiral support frame; 9. a flexible cage; 10. a large hoop; 11. a sealing tube; 12. a nut C; 13. a screw C; 14. a driver interface; 15. a small hoop; 16. a screw D; 17. and a nut D.

Detailed Description

The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.

In the schematic diagrams of the soft gripping device based on the negative pressure principle and the food-entangling principle shown in fig. 1 and fig. 2, the driver is integrally a tubular structure containing a spiral support frame 8 in a sealing tube 11, and the spiral support frame 8 is a spiral elastic structure and can be stretched and contracted along the axial direction. The sealing tube 11 is of a cylindrical film structure. The diameter of the sealing tube 11 is slightly larger than the outer diameter of the spiral supporting frame 8, and more than 10% of the sealing tube is most suitable. The spiral support frame 8 is installed in the sealing pipe 11 and is installed symmetrically in the center, after the spiral support frame 8 and the sealing pipe 11 are installed, the vacuum soft driver penetrates through the bottom of the inner layer of the flexible retainer 9 through the annular ring and is installed in the three layers of inner grooves, and the driver interface 14 is connected with the vacuum soft driver and is clamped by the small clamp 15. The flexible retainer 9 is a silica gel material double-layer structure. The bottom layer of the flexible retainer 9 is of a cylindrical tubular structure, and the upper layer of the flexible retainer is of an inverted funnel-shaped structure. Three layers of U-shaped protruding structures are distributed on the bottom layer relative to the axis of the cylinder, the outer portion protrudes outwards, the inner portion protrudes inwards, three inner grooves are formed between the inner layer of silica gel and the outer layer of silica gel, and a vacuum driver is installed. On the cylindrical inner groove, six annular rings are arranged on each layer for fixing the negative pressure driver so that the negative pressure driver is not loosened. Because the inside three-layer inside groove of flexible holder is twined by single negative pressure software driver, so should be equipped with between the adjacent layer and supply the driver to follow the first floor to the second floor, the second floor to the ascending bulge of third layer, the holder is equipped with corresponding two-layer protrusion inside and outside, reserves the installation that inside great space supplied driver and driver interface, avoids interfering. The top of the bottom layer of the flexible retainer is provided with a structure (an annular convex rib with six threaded holes) corresponding to the rigid connecting part. The driver in the design adopts the design that both ends ventilate simultaneously, and driver interface connection department designs for cylindrically, and its external diameter slightly is less than 8 external diameters of spiral support frame, is equipped with a layer of bead in driver interface connection department, and the bead cross section is trapezoidal, can prevent that spiral support frame 8 from coming off from driver interface connection department. The driver interface 14 is of a tubular structure and comprises three channels, wherein a channel I14-1 and a channel II 14-2 are connected with a driver, a channel III 14-3 is tightly hooped by a small hoop 15 after being connected with an air source, the channel III is led out from a through hole arranged on the flexible retainer 9 and is connected with an external air source, and the flexible retainer 9 and the vacuum soft driver component group are installed. When the rigid connecting component group is installed, the connecting cover 4 and the connecting seat 1 are installed in advance through the screw A2 and the nut A3, and the connecting seat is provided with a group of four flange threaded holes for being connected with the connecting cover. The connecting cover is provided with a group of four flange threaded holes and another group of six flange threaded holes which can be respectively connected with the connecting seat and the flexible retainer. And then, mounting the whole assembly body of the connecting cover 4 and the connecting seat 1 and the pressing sheet 7 on the flexible retainer, plugging the pressing sheet 7 into the lower part of the top rib at the bottom layer of the flexible retainer 9, and aligning the upper hole of the pressing sheet 7 with the upper hole of the top rib of the flexible retainer 9. Six threaded counter bores are distributed on the connecting cover 4 and correspond to threaded holes in the pressing sheet 7, namely the connecting cover 4 and the pressing sheet 7 clamp the convex ribs of the flexible retainer 9 in the middle and are connected through a screw A2 and a nut A3, in addition, a large clamp 10 is used for clamping a cylinder at the top of the flexible retainer 9 and the connecting seat 1, and after the parts are installed, the flexible manipulator device is integrally installed.

In the schematic view of the internal installation of the flexible retainer in fig. 4, the first driver interface channel 14-1 is connected to the bottom port of the vacuum driver, the second driver interface channel 14-2 is connected to the top port of the negative pressure driver, the third driver interface channel 14-3 is led out through the through hole of the flexible retainer, and the driver interface 14 and the driver are clamped by a small clamp 15, and fig. 4 is a schematic view of the internal installation.

When the manipulator grabs an object, an external air source exhausts air from the interior of the driver of the soft manipulator through the third channel 14-3, so that the interior of the driver is changed into a negative pressure state, the driver contracts radially, the inner wall of the flexible retainer 9 is tightened, the inner cavity of the flexible retainer 9 contracts inwards, and the object is grabbed. And then the soft mechanical arm is integrally moved through the flange connecting device at the top of the soft mechanical arm, so that the grabbed object is moved. When the manipulator unloads the object, an external air source inflates air into the driver inside the soft manipulator through the third channel 14-3, so that the inside of the driver is changed into a positive pressure state, the driver radially extends to support the flexible retainer 9 to expand outwards, and the grabbed object is unloaded.