CN-121989284-A - Rigidity-flexibility coupling soft hand with changeable configuration

CN121989284ACN 121989284 ACN121989284 ACN 121989284ACN-121989284-A

Abstract

The invention discloses a rigid-flexible coupling soft hand with a changeable configuration, which comprises a plurality of rigid-flexible coupling soft fingers, a switching frame system and a super-structure energy-absorbing palm center, wherein the root parts of the rigid-flexible coupling soft fingers are connected with the switching frame system, the super-structure energy-absorbing palm center is arranged on the switching frame system and is positioned in a space surrounded by the rigid-flexible coupling soft fingers, the switching frame system is used for driving the rigid-flexible coupling soft fingers to switch between a first configuration and a second configuration, the first configuration is that the rigid-flexible coupling soft fingers are parallel and opposite and are used for flexibly coating and grabbing a static target, and the second configuration is that the rigid-flexible coupling soft fingers are converged towards each other to form a cage-shaped configuration and are used for capturing a dynamic target. The invention solves the problem that a single gripper is difficult to take into account both the flexible grabbing of a static target and the efficient capturing of a dynamic target.

Inventors

QU JUNTIAN
HUANG YEDONG
MAO BAIJIN
SHI XULONG
Xiang Yuyaocen
CHEN PEIZHENG

Assignees

清华大学深圳国际研究生院

Dates

Publication Date: 20260508
Application Date: 20260410

Claims (10)

1. A configuration-variable rigid-flexible coupling soft hand is characterized by comprising a plurality of rigid-flexible coupling soft fingers, a switching frame system and a super-structure energy absorption palm center, wherein root parts of the rigid-flexible coupling soft fingers are connected with the switching frame system, the super-structure energy absorption palm center is arranged on the switching frame system and located in a space surrounded by the rigid-flexible coupling soft fingers, the switching frame system is used for driving the rigid-flexible coupling soft fingers to switch between a first configuration and a second configuration, the first configuration is that the rigid-flexible coupling soft fingers are parallel and opposite to each other and used for capturing a static target, the second configuration is that the rigid-flexible coupling soft fingers are converged to form a cage-shaped configuration and used for capturing a dynamic target, and in capturing the dynamic target, the dynamic target is firstly contacted with the rigid-flexible coupling soft fingers, part of kinetic energy of the dynamic target is absorbed by deformation of the rigid-flexible coupling soft fingers and then collides with the super-structure energy absorption palm center, and the rest of the dynamic target is dissipated and absorbed by the super-structure energy absorption palm center, and capturing is completed.
2. The rigid-flexible coupling soft hand according to claim 1, wherein the rigid-flexible coupling soft finger comprises a gripping portion and a swinging portion, the gripping portion comprises a strain limiting layer, a deformation layer, a plurality of hard blocks and an elastic rebound member which are bonded seamlessly from bottom to top, the rigidity of the deformation layer is smaller than that of the strain limiting layer, at least one gripping driving cavity is arranged in the gripping portion, the elastic rebound member is arranged along the length direction of the gripping portion, the swinging portion comprises an exoskeleton restraining sheath and a soft brake, the exoskeleton restraining sheath is arranged outside the soft brake, and at least one pneumatic driving cavity is arranged in the swinging portion.
3. The rigid-flexible coupling soft hand according to claim 2, wherein the plurality of hard blocks are hard dovetail blocks, two adjacent hard dovetail blocks are mutually clamped with a groove part through a protruding part, and a gap is reserved between the two adjacent hard dovetail blocks.
4. A rigid-flexible coupling mollusk hand according to claim 2 or 3, wherein the pneumatic driving chamber in the swinging part is an inclined air chamber, and the axis of the inclined air chamber forms an acute included angle with the length direction of the swinging part.
5. The rigid-flexible coupling soft hand of claim 1, wherein the super-structure energy-absorbing palm comprises a cell array, the cell array is formed by arranging a plurality of three-dimensional cell unit arrays, each three-dimensional cell unit comprises a hard outer framework, a soft phase energy dissipation structure and a hard energy absorption structure, the soft phase energy dissipation structure and the hard energy absorption structure are arranged in a space surrounded by the hard outer framework, and the hard energy absorption structure is matched with the hard outer framework through a buckle locking mechanism.
6. The rigid-flexible coupling mollusk hand of claim 5, wherein the soft phase energy dissipation structure comprises two buckling beams arranged in a cross-shape.
7. The soft rigid-flexible coupled hand of claim 5, wherein the cell array of the super-structure energy-absorbing palm is divided into multiple layers in the thickness direction, and the three-dimensional cell units of different layers have different mechanical response characteristics.
8. The soft rigid-flex coupled hand of claim 7, wherein the cell array of the super-structure energy-absorbing palm core comprises, from top to bottom, a contact layer with negative stiffness characteristics, a cushioning layer with quasi-zero stiffness characteristics, and a support layer with positive stiffness characteristics.
9. The soft rigid-flex hand of claim 1, wherein said switching frame system comprises a multi-bar linkage, a synchronizing ring, a fixed ring, at least one elastic element, and a position locking mechanism, wherein one end of said multi-bar linkage is connected to said soft rigid-flex finger and the other end is connected to said synchronizing ring, said synchronizing ring is slidably sleeved outside said fixed ring, said elastic element provides an elastic force to said synchronizing ring tending to said first configuration, and said position locking mechanism is used to lock said synchronizing ring in a position corresponding to said first configuration or said second configuration.
10. The rigid-flexible coupling soft hand according to claim 9, wherein the position locking mechanism is a bolt self-locking mechanism and comprises a double-hole limiting deflector rod, a clamping pin and an elastic driving piece, the double-hole limiting deflector rod is arranged on the fixed ring, two limiting holes are formed in the double-hole limiting deflector rod, and the clamping pin can be selectively clamped into one of the limiting holes under the action of the elastic driving piece so as to achieve position locking.

Description

Rigidity-flexibility coupling soft hand with changeable configuration Technical Field The invention relates to the technical field of robots, in particular to a soft robot hand for grabbing and capturing targets, and particularly relates to an allosteric soft hand capable of switching configurations according to target states (static or dynamic) so as to achieve stable grabbing and efficient capturing. Background With the improvement of the technological level and the demands of production and life, compared with the traditional rigid mechanical gripper, the soft gripper has been widely focused by people with excellent properties and potential scientific research and production values, the rigid-flexible coupling is used as a front design mode, the soft gripper is endowed with a plurality of excellent characteristics breaking through inherent disadvantages, and a feasible solution idea is provided for multi-mode gripping and smart operation of the soft gripper, so that the soft gripper has great development prospect. The traditional rigid grabber has long development time and wide practical range, and takes the dominant role in industrial production for a long time by virtue of extremely high precision and excellent property. However, the rigid mechanical arm is difficult to adapt to safe interaction in an unstructured environment, has poor grabbing capability for complex irregularly-shaped fragile objects, and is easy to damage operators, environments and operated objects. The revolutionary breakthrough of soft grips has gained widespread attention. With inherent flexibility and continuous compliant deformation characteristics, soft grips have become one of the most popular research routes for compliant operation, human-machine interaction, and unstructured environmental applications. The existing soft hand mainly comprises soft and rigid-flexible coupling types from the structure, however, the existing soft hand has the function mainly focused on grabbing a static target, namely a pure soft structure or a rigid-flexible coupling structure. When facing a dynamic target moving at high speed, such grippers often have insufficient response speed, cannot quickly form an effective constraint space, and lack an efficient energy absorption mechanism to dissipate the kinetic energy of the target, resulting in failure of capture or bouncing of the target. Thus, there is a great need in the art for an innovative gripper solution that combines the delicate advantages of compliance when gripping static targets, with the rapid response and high energy absorption capability when capturing dynamic targets. Disclosure of Invention The invention aims to overcome the defect that the existing soft gripper cannot effectively take the static target compliant gripping and the dynamic target efficient capturing into consideration. Specifically, how to make a tongs not only can be like traditional software hand safe, self-adaptation snatch static object, can be when facing the dynamic object again, switch to a configuration that can be firstly through soft finger deformation absorption part kinetic energy, then thoroughly dispel surplus kinetic energy through the palm heart structure to realize reliable passive capture. In order to solve the technical problems, the invention adopts the following technical scheme: A configuration-variable rigid-flexible coupling soft hand comprises a plurality of rigid-flexible coupling soft fingers, a switching frame system and a super-structure energy absorption palm center, wherein root parts of the rigid-flexible coupling soft fingers are connected with the switching frame system, the super-structure energy absorption palm center is arranged on the switching frame system and located in a space surrounded by the rigid-flexible coupling soft fingers, the switching frame system is used for driving the rigid-flexible coupling soft fingers to switch between a first configuration and a second configuration, the first configuration is that the rigid-flexible coupling soft fingers are parallel and opposite to each other and used for static target grabbing, the second configuration is that the rigid-flexible coupling soft fingers are converged towards to form a cage-shaped configuration and used for dynamic target grabbing, and in dynamic target grabbing, the dynamic target is firstly contacted with the rigid-flexible coupling soft fingers, part of kinetic energy of the dynamic target is absorbed by deformation of the rigid-flexible coupling soft fingers, then collides with the super-structure energy absorption palm center, and the rest of the dynamic target is dissipated and absorbed by the super-structure energy absorption palm center, and the dynamic target grabbing is completed. In some embodiments, at least one of the following technical means is further included: The rigid-flexible coupling soft finger comprises a gripping part and a swinging part, wherein the gripping part comprises a strain lim