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CN-117532640-B - Adjustable limiting layer soft machine gripper based on paper folding structure

CN117532640BCN 117532640 BCN117532640 BCN 117532640BCN-117532640-B

Abstract

The invention relates to the technical field of soft robots, in particular to an adjustable limiting layer soft robot gripper based on a paper folding structure, which comprises a main body structure unit, wherein two paper folding structure units are symmetrically arranged at the bottom of the main body structure unit, a sucker mechanism is arranged in the middle of the bottom of the main body structure unit, the paper folding structure unit comprises a paper folding actuator, the paper folding actuator is made of multi-section bending soft materials, a limiting layer is arranged on the paper folding actuator, the paper folding actuator is provided with an inflatable cavity, the paper folding actuator can be bent, a steering engine device for rolling and controlling the limiting layer is arranged in the main body structure unit, and a driving control system unit matched with the sucker mechanism, the steering engine device and the paper folding actuator is arranged on the main body structure unit. The limiting layer can adjust the length, so that the motion track and range of the paper folding actuator are various, and the effect of good grabbing adaptability and large grabbing range is achieved while the target object is effectively grabbed.

Inventors

  • YANG YANG
  • ZHU KEJIN
  • XIE YUAN
  • YAN SHAOYANG

Assignees

  • 南京信息工程大学

Dates

Publication Date
20260512
Application Date
20231226

Claims (9)

  1. 1. The utility model provides an adjustable limit layer software machine tongs based on paper folding structure, includes main body structure unit (1), its characterized in that, main body structure unit (1) bottom symmetry is equipped with two paper folding structure units (2), be equipped with sucking disc mechanism in the middle of main body structure unit (1) bottom, paper folding structure unit (2) are including paper folding executor (13), paper folding executor (13) are multistage bending software material, be equipped with limit layer (11) on paper folding executor (13), paper folding executor (13) are equipped with inflatable cavity, paper folding executor (13) can buckle, be equipped with the steering wheel device that is used for rolling control limit layer (11) in main body structure unit (1), be equipped with on main body structure unit (1) with sucking disc mechanism and steering wheel device and paper folding executor (13) matched drive control system unit; The bottom end of the limiting layer (11) is fixed with the bottom end of the paper folding actuator (13), and the paper folding actuator (13) is sequentially provided with a first connecting block (16), a second connecting block (17), a third connecting block (18) and a fourth connecting block (19) from top to bottom, and the upper end of the limiting layer (11) sequentially penetrates through the fourth connecting block (19), the third connecting block (18), the second connecting block (17) and the first connecting block (16).
  2. 2. The flexible mechanical gripper with the adjustable limiting layer based on the paper folding structure according to claim 1, wherein the main body structure unit (1) comprises a shell supporting piece (6), a base (12) is fixed at the bottom of the shell supporting piece (6), and a rectangular groove for fixing a paper folding actuator (13) is formed in the bottom of the base (12).
  3. 3. The flexible robot gripper with the adjustable limiting layers based on the paper folding structure according to claim 1, wherein the steering gear device comprises two steering gears (9) fixed on the upper side of a base (12) through a steering gear support (8), a rotating shaft (10) is installed in a matched mode on the steering gears (9), and the rotating shafts (10) of the two steering gears (9) are respectively fixedly connected with the top ends of the two limiting layers (11) and are in rolling matching.
  4. 4. An adjustable limit layer soft machine gripper based on a paper folding structure according to claim 3, wherein the sucker mechanism comprises a sucker support (14) fixed with the bottom of the base (12), and a sucker (15) is fixedly arranged at the bottom of the sucker support (14).
  5. 5. The flexible robot gripper with the adjustable limiting layer based on the paper folding structure according to claim 4, wherein the driving control system unit comprises a positive pressure air path control module, a negative pressure air path control module and a circuit control module.
  6. 6. The flexible mechanical gripper with the adjustable limiting layer based on the paper folding structure according to claim 5, wherein the positive pressure air path control module comprises a positive pressure air pump (21) arranged in the main body structure unit (1), the positive pressure air pump (21) is in butt joint with two pressure regulating valves (22) through three-way connectors, and the two pressure regulating valves (22) are in butt joint communication with a cavity of the paper folding actuator (13) through two rubber hoses (20) respectively.
  7. 7. The flexible mechanical gripper with adjustable limiting layers based on the paper folding structure of claim 6, it is characterized in that the method comprises the steps of, the negative pressure air path control module comprises a negative pressure air pump arranged in the main body structure unit (1), and the negative pressure air pump is connected with the sucker (15) through a plastic pipe.
  8. 8. The flexible robot gripper with the adjustable limiting layer based on the paper folding structure according to claim 7, wherein the circuit control module comprises a controller (23) and a Bluetooth module (24), a controller support (7) is fixed on the shell support (6), the controller (23) and the Bluetooth module (24) are both arranged on the controller support (7), the controller (23) can control two steering engines (9) and a positive pressure air pump (21) and a negative pressure air pump through dupont wires and the Bluetooth module (24), and the controller (23) can control the two steering engines.
  9. 9. The flexible robot gripper with the adjustable limiting layer based on the paper folding structure according to claim 2, wherein an upper-layer bottom plate (5) is fixed at the top end of the shell supporting piece (6), a plurality of connecting rods (4) are fixedly installed on the upper-layer bottom plate (5), and semicircular hanging pieces (3) are fixedly installed at the other ends of the connecting rods (4).

Description

Adjustable limiting layer soft machine gripper based on paper folding structure Technical Field The invention relates to the technical field of soft robots, in particular to an adjustable limiting layer soft robot gripper based on a paper folding structure. Background The paper folding technology for obtaining inspiration from the traditional paper folding art is applied to the field of space engineering, and the advantages of portability, expandability, miniaturization, light weight and the like lay a foundation for being applied to the field of space structures. In recent years, due to the vigorous development of technologies such as material science, bionics and intelligent manufacturing, compared with the traditional rigid robots, the soft robot has excellent flexibility and environmental self-adaptability, and becomes a rising development branch in the robot field. Researchers combine paper folding technology with soft robot technology by using a pneumatic driving method, and interdisciplinary interleaving in two fields is provided. Paper folding designs have other advantages, such as the desired shape or motion can be strongly guided by kinematics, and a variety of materials of construction (from compliant paper to steel sheet), which have been considered a promising method of machine-deployable. Related studies have been studied at present. The prior art soft gripper based on the double-folded paper design is driven by fluid input, and the double-folded paper soft actuator generates quasi-sequential deployment and bending motion, which is guided by the asymmetric unfolding of the low-stretching paper folding assembly. The advantage between deployment and bending can be changed by changing the deployment behavior, thus enabling pre-programming of the motion. However, the limiting layer of the adopted gripper is printed in advance, the movement track of the gripper is limited, the adaptability of the gripper to grasp objects is poor, and the gripping range of the gripper is limited. Therefore, in order to solve the problems, we propose an adjustable restriction layer soft machine gripper based on a paper folding structure. Disclosure of Invention The invention aims to solve the defects in the prior art, and provides an adjustable limiting layer soft machine gripper based on a paper folding structure. In order to achieve the above purpose, the present invention adopts the following technical scheme: the utility model provides an adjustable restriction layer software machine tongs based on paper folding structure, includes main body structure unit, main body structure unit bottom symmetry is equipped with two paper folding structure units, is equipped with sucking disc mechanism in the middle of the main body structure unit bottom, and paper folding structure unit includes paper folding executor, and paper folding executor is multistage software material of bending, is equipped with the restriction layer on the paper folding executor, and paper folding executor is equipped with can the inflatable cavity, and paper folding executor can buckle, is equipped with the steering wheel device that is used for rolling control restriction layer in the main body structure unit, is equipped with on the main body structure unit with sucking disc mechanism and steering wheel device and paper folding executor matched drive control system unit. Preferably, the main body structure unit comprises a shell supporting piece, a base is fixed at the bottom of the shell supporting piece, and a rectangular groove for fixing the paper folding actuator is formed in the bottom of the base. Preferably, the limiting layer bottom is fixed with the paper folding actuator bottom, and the paper folding actuator is installed connecting block one, connecting block two, connecting block three, connecting block four from top to bottom in proper order, and the upper end of limiting layer passes connecting block four, connecting block three, connecting block two and connecting block one in proper order. Preferably, the steering engine device comprises two steering engines fixed on the upper side of the base through a steering engine support, a rotating shaft is installed in a matched mode, and the rotating shafts of the two steering engines are respectively fixedly connected with the top ends of the two limiting layers and are wound and matched. Preferably, the sucker mechanism comprises a sucker support fixed with the bottom of the base, and a sucker is fixedly arranged at the bottom of the sucker support. Preferably, the driving control system unit comprises a positive pressure air path control module, a negative pressure air path control module and a circuit control module. Preferably, the positive pressure air path control module comprises a positive pressure air pump arranged in the main body structure unit, wherein the positive pressure air pump is in butt joint with two pressure regulating valves through a three-way joint, and the two p