CN102941566A - Object moving robot with soft fingers - Google Patents
Object moving robot with soft fingers Download PDFInfo
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- CN102941566A CN102941566A CN2012104967607A CN201210496760A CN102941566A CN 102941566 A CN102941566 A CN 102941566A CN 2012104967607 A CN2012104967607 A CN 2012104967607A CN 201210496760 A CN201210496760 A CN 201210496760A CN 102941566 A CN102941566 A CN 102941566A
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Abstract
The invention discloses an object moving robot with soft fingers. The object moving robot comprises a travelling mechanism, an actuating mechanism, a grabbing mechanism and a controller which are sequentially connected, wherein the controller is used for controlling a motor to run, the travelling mechanism comprises a base plate connected with at least three omnidirectional wheels, the actuating mechanism comprises an actuating motor and a mechanical arm combination driven by the actuating motor, and the grabbing mechanism comprises a cylinder, the soft fingers and an evacuating device. The soft fingers are latex sleeves with built-in hard particles, the latex sleeves can be internally evacuated by the evacuating device, and the cylinder is connected with the mechanical arm combination and is kept vertical. The object moving robot has the advantages that objects can be grabbed by the aid of clamping force and frictional force controlled by negative pressure of the latex sleeves, a manipulator is controlled to stably reach a designated position by a three-degree-of-freedom moving system of the omnidirectional wheels, the objects can be moved, difficulty in designing the manipulator is greatly reduced, and special-shaped surface grabbing capacity of the manipulator is also improved.
Description
Technical field
The present invention relates to the technical field of robot, especially a kind of soft finger moves the thing robot.
Background technology
The research of manipulator is the emphasis of robot research all the time, Robot Type is various, but imitative type hand is the main direction of robot mechanical arm research always, mostly the research of manipulator is to study by profiling, wishing can be the same with staff, reaches the purpose that stronger crawl object ability is arranged by multivariant joint motions design.But, finger motion control difficulty height complicated because of the joint designs that relates in the design of profiling hand, because the mechanical property of finger control, it is low to grasp different in nature face adaptive capacity.Manufacturing cost is higher, and manufacture difficulty and requirement are also higher.
We attempt the mechanism of motion finger crawl object is analyzed, in conjunction with the design principle of American scientist about the mechanical arm of " multifunctional pliers " function, the pattern that hope can be simplified, defeat a force with a tenderness by finger structure arranges a manipulator, and manipulator is reached the adaptation of different different in nature faces and crawl purpose by plastic deformation and friction.So that new action implementation constantly appears in robot research and application development, change the thinking of manipulator design method.
Based on this, if can have a simple in structurely, control is convenient, can adapt to the manipulator of Special-Shaped Surface grasping body as staff, can well remedy the deficiency in the design of existing machinery hand, also is the abundant of existing machinery hand structure type.
American scientist is about the design principle of the mechanical arm of " multifunctional pliers " function, the special adsorption capacity that this mechanical arm can utilize rubber surface to have is come the clamp object, but this manipulator has also shown problems, as high to the rubber sleeve material requirements, inside stuffing requires high, and grasps the characteristics such as mass of object is light.
Summary of the invention
Technical problem to be solved by this invention is for the above-mentioned state of the art, and provide a kind of clamping force and frictional force that can rely on the rubber finger sleeve negative pressure to control, crawl, the dependence omni-directional wheel Three Degree Of Freedom mobile system control manipulator of realizing object steadily arrive assigned address, realize object movement, greatly reduce the design difficulty of manipulator, the soft finger that has also promoted the ability of manipulator crawl Special-Shaped Surface moves the thing robot.
The present invention solves the problems of the technologies described above the technical scheme that adopts:
A kind of soft finger moves the thing robot, include the walking mechanism that connects successively, actuating mechanism, the controller of grasping mechanism and the running of control motor, wherein, walking mechanism includes the chassis, the chassis is connected with at least three omni-directional wheels, omni-directional wheel includes wheel disc and forms with the roller that is arranged on the wheel disc, the axle center of roller is vertical with the axle center of wheel disc, actuating mechanism includes the action motor and is made up by the motor-driven mechanical arm of action, grasping mechanism includes cylinder, soft finger and vacuum extractor, soft finger is the rubber finger sleeve of built-in hard particles, and vacuum extractor can be to vacuumizing in the rubber finger sleeve, and cylinder and mechanical arm are connected and cylinder keeps the vertical state.
For optimizing technique scheme, the concrete measure of taking also comprises:
Above-mentioned walking mechanism includes for the omni-directional wheel motor that drives omni-directional wheel, and the omni-directional wheel motor is in transmission connection by shaft coupling and omni-directional wheel; Shaft coupling is connected with the chassis by omni-directional wheel motor retainer.
Above-mentioned omni-directional wheel has four, is cross and is arranged on the below, chassis, and correspondingly, the omni-directional wheel motor has four, and shaft coupling also has four.
Above-mentioned mechanical arm combination includes interconnective large arm and forearm, and correspondingly, the action motor includes large arm action motor and forearm action motor.
Above-mentioned large arm action motor drive terminal is extended with large arm action drives axle, large arm action drives axle front end is provided with the action drives gear, large arm rear end is provided with large arm gear, and driven wheel cooperates with large arm gear interlock, and large arm gear is connected with the large arm transmission device that can make large arm rotation; Driven wheel is 1:2 with large arm gear impeller diameter ratio.
Above-mentioned forearm front end is connected by sliding pin with the cylinder rear end.
Above-mentioned cylinder is extended with telescopic shaft downwards, and telescopic shaft is connected with soft finger.
Be fixedly connected with by main frame between above-mentioned walking mechanism and the actuating mechanism.
Above-mentioned chassis, large arm and forearm are aluminium and make, and driven wheel is irony gear or steel gear with large arm gear.
Compared with prior art, a kind of soft finger of the present invention moves the thing robot, include the walking mechanism that connects successively, actuating mechanism, the controller of grasping mechanism and the running of control motor, wherein, walking mechanism includes the chassis, the chassis is connected with at least three omni-directional wheels, actuating mechanism includes the action motor and is made up by the motor-driven mechanical arm of action, grasping mechanism includes cylinder, soft finger and vacuum extractor, soft finger is the rubber finger sleeve of built-in hard particles, vacuum extractor can be to vacuumizing in the rubber finger sleeve, and cylinder and mechanical arm are connected and cylinder keeps the vertical state.Soft finger moves crawl, lifting and the movement that the thing robot mainly realizes the Special-Shaped Surface object.Can adapt to the crawl of difformity surface object, and crawled body surface is not produced the extruding injury.Utilize the realization of omni-directional wheel Three Degree Of Freedom mobile system to the activity control of robot, make robot move to stably on request assigned address.
The present invention has clamping force and the frictional force that can rely on the rubber finger sleeve negative pressure to control, crawl, the dependence omni-directional wheel Three Degree Of Freedom mobile system control manipulator of realizing object steadily arrive assigned address, realize object movement, greatly reduce the design difficulty of manipulator, also promoted the advantage of the ability of manipulator crawl Special-Shaped Surface.
Description of drawings
Fig. 1 is the structural representation of the embodiment of the invention;
Fig. 2 is the left view of Fig. 1;
Fig. 3 is the top view of Fig. 1.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are described in further detail.
Fig. 1 is to Figure 3 shows that structural representation of the present invention.
Reference numeral wherein is: walking mechanism 1, chassis 11, omni-directional wheel 12, wheel disc 12a, roller 12b, shaft coupling 13, omni-directional wheel motor 14, omni-directional wheel motor retainer 15, actuating mechanism 2, action motor 21, mechanical arm combination 22, large arm 22a, forearm 22b, large arm action motor 23, large arm action drives axle 23a, action drives gear 23b, sliding pin 24, large arm gear 25, large arm transmission device 26, grasping mechanism 3, soft finger 31, cylinder 32, telescopic shaft 33, main frame 4.
As shown in Figure 1 to Figure 3,
A kind of soft finger of the present invention moves the thing robot, include the controller of the walking mechanism 1, actuating mechanism 2, grasping mechanism 3 and the running of control motor that connect successively, wherein, walking mechanism 1 includes chassis 11, chassis 11 is connected with at least three omni-directional wheels 12, omni-directional wheel 12 includes wheel disc 12a and forms with the roller 12b that is arranged on the wheel disc 12a, and the axle center of roller 12b is vertical with the axle center of wheel disc 12a.The mechanical arm combination 22 that actuating mechanism 2 includes action motor 21 and driven by action motor 21, grasping mechanism 3 includes cylinder 32, soft finger 31 and vacuum extractor, soft finger 31 is the rubber finger sleeve of built-in hard particles, vacuum extractor can be to vacuumizing in the rubber finger sleeve, and cylinder 32 is connected with mechanical arm combination 22 and cylinder 32 keeps the vertical state.
Among the embodiment, walking mechanism 1 includes for the omni-directional wheel motor 14 that drives omni-directional wheel 12, and omni-directional wheel motor 14 is in transmission connection by shaft coupling 13 and omni-directional wheel 12; Shaft coupling 13 is connected with chassis 11 by omni-directional wheel motor retainer 15.
Among the embodiment, omni-directional wheel 12 has four, is cross and is arranged on 11 belows, chassis, and correspondingly, omni-directional wheel motor 14 has four, and shaft coupling 13 also has four.
Among the embodiment, mechanical arm combination 22 includes interconnective large arm 22a and forearm 22b, and correspondingly, action motor 21 includes large arm action motor 23 and forearm action motor.
Among the embodiment, large arm action motor 23 drive ends are extended with large arm action drives axle 23a, large arm action drives axle 23a front end is provided with action drives gear 23b, large arm 22a rear end is provided with large arm gear 25, driven wheel 23b cooperates with large arm gear 25 interlocks, and large arm gear 25 is connected with the large arm transmission device 26 that can make large arm 22a rotation; Driven wheel 23b is 1:2 with large arm gear 25 impeller diameter ratios.
Among the embodiment, forearm 22b front end is connected by sliding pin 24 with cylinder 32 rear ends.It is very little that this sliding pin 24 can make forearm 22b and cylinder 32 junctions rub, and is equivalent to cylinder 32 " extension " on forearm 22b, and therefore, cylinder 32 can keep the vertical state.
Among the embodiment, cylinder 32 is extended with telescopic shaft 33 downwards, and telescopic shaft 33 is connected with soft finger 31.Telescopic shaft 33 can stretch, and when pressing from both sides article in robot, telescopic shaft 33 is regulated, and convenient softly depends near or away from article.
Omni-directional wheel 12 includes wheel disc 12a and forms with the roller 12b that is arranged on the wheel disc 12a, and the axle center of roller 12b is vertical with the axle center of wheel disc 12a.Omni-directional wheel 12 of the present invention no matter to which direction walk can accomplish all and need not turn round that still side-to-side movement is all very convenient so that robot is no matter seesaw in the combination of wheel disc 12a and roller 12b.
Among the embodiment, be fixedly connected with by main frame 4 between walking mechanism 1 and the actuating mechanism 2.
Among the embodiment, chassis 11, large arm 22a and forearm 22b are aluminium and make, and driven wheel 23b is irony gear or steel gear with large arm gear 25.For reducing each motor power consumption, can adopt the structure of the light aluminium of quality all to adopt aluminium, therefore driven wheel 23b and large arm gear 25 adopt hardness and abrasion resistance all good iron or steel for transmitting the critical component of moment of torsion.
Soft finger moves crawl, lifting and the movement that the thing robot mainly realizes the Special-Shaped Surface object.Can adapt to the crawl of difformity surface object, and crawled body surface is not produced the extruding injury.Utilize the realization of omni-directional wheel Three Degree Of Freedom mobile system to the activity control of robot, make robot move to stably on request assigned address.
Soft finger design principle:
When people's finger is grabbed object, be the flexibility that utilizes finger-joint, the frictional force that relies on finger that the body surface extruding is produced is caught object.Pointing under the constant state of extruding force, the roughness of object and finger contact face is larger, and the weight of the object that can grasp is also larger; Otherwise the weight that can grasp article is also less.As in life, if people smear soap at finger, because frictional force descends, grasp force is corresponding decline also when grabbing article.Around this principle we have designed this soft finger, its basic functional principle: the rubber finger sleeve that inside is equipped with an amount of trickle hard particles is placed in the object top, utilize the plasticity of rubber finger sleeve, the outstanding position of object is embedded in the rubber finger sleeve, utilize vacuum generating device, extract inner air, make rubber finger sleeve be in solid state, rubber finger sleeve produces extruding to object protuberance site surface, because trickle hard particles being housed rubber finger sleeve inside, after extracting vacuum, under the extruding of particle, generation shape in rubber finger sleeve surface differs, inhomogeneous spot has improved the frictional force between object and the rubber finger sleeve, object is squeezed in firmly solidifies in the rubber finger sleeve.
The power master-plan
Soft finger moves the thing robot and mainly realizes formulating robot at definite position crawl object, main action is embodied in the displacement of robot integral body and the crawl of object, its action has comprised two pairs of rectilinear motions of four omni-directional wheels and the rotatablely moving around center chassis of four omni-directional wheels, moving up and down of mechanical arm, the compressional movement during the crawl object and the extraction of rubber finger sleeve inner vacuum etc.Because action all is dereferenceds, so taked the individual motor distribution in power distribution.
Four omni-directional wheels are respectively by four Electric Machine Control, and large forearm is stressed and motion feature employing drive according to self.During soft finger crawl object, soft finger is controlled with cylinder the extruding action of object.
The selection of motor and large arm motion analysis:
1) selection of large arm drive motors:
The density of aluminium is the 2.7x10^3 kilograms per cubic meter, by the calculating of UG software, calculates and is applied to arm of force active force foremost and is: F=4.95KG.During the motor maximum load, Motor torque: T=5kg*55.2cm=276kg/cm, voltage 12V, rotating speed 36r/min.
Consider that robot also will carry out gripping to object, so we have selected the turbine and worm motor of moment of torsion 200kg/cm, through after the gear graduation of 1:2, Motor torque is brought up to 400kg/cm.
2) selection of forearm drive motors:
Required torque T=3kg*135mm=405kg/mm=40.5kg/cm during the motor maximum load, the Motor torque of selecting is 30kg/cm, voltage 12v, rotating speed 14r/min.Through meeting the requirements for 60kg/cm after the amplification of 1:2 gear.
The selection of cylinder:
Cylinder plays in whole control and drives the action control that soft finger is exerted pressure to crawled object, and cylinder one end links to each other with forearm, and the other end links to each other with soft finger.Draw by full-scale investigation repeatedly, cylinder speed control, dynamics control and stability at work has material impact to the grasping body ability.Draw by experiment and will allow manipulator that object to be crawled is wrapping to a certain degree, object could be picked up, needed thrust is approximately 25kg, and to select cylinder bore be the single pole cylinder of 25mm.
Control design alternative:
1. the control of car load comprises: the startup of wheel electrical machine, stop, forward, counter-rotating; Robot arm control comprises: the forward of motor, counter-rotating.
2. the Electric Machine Control mode is selected: because the mode of line traffic control is easy to control and good stability is arranged, it is few to have the external interference of being subjected to, low cost and other advantages.
3. the selection of the mode of remote controller: at first, what we considered is the selection of switch, and we considered three kinds of switches: point driving switch, microswitch and tumbler switch.From the comfort level of button, some dynamic formula switch is more comfortable by getting up, also more flexible, so we have selected point driving switch.
The Electric Machine Control design:
Rocker regulation resistance control: be comprised of three potentiometers, the intermediate potential device is controlled the flicker of whole robot, turns left, and the another one potentiometer is controlled left, and to the right, a last potentiometer is controlled forward, backward.
Large arm, forearm control: be to connect transistor low logic level Digital Circuit Control with two relays by the NPN Darlington.
Omni-directional wheel Electric Machine Control: controlled by motor drive module Y-2389, module is comprised of two BTN7970B and LS244 chip, driving is by Transistor-Transistor Logic level, enables en output Vcc and GND by five port powers+5VGND forward IN1 counter-rotating IN2, and out1 and out2 form.
Operation principle: the rubber finger sleeve that inside is equipped with an amount of trickle hard particles is placed in the object top, utilize the plasticity of rubber finger sleeve, the outstanding position of object is embedded in the rubber finger sleeve, utilize vacuum generating device, extract inner air, make rubber finger sleeve be in solid state, rubber finger sleeve produces extruding to object protuberance site surface, because trickle hard particles being housed rubber finger sleeve inside, after extracting vacuum, under the extruding of particle, generation shape in rubber finger sleeve surface differs, inhomogeneous spot, improved the frictional force between object and the rubber finger sleeve, object has been squeezed in firmly solidifies in the rubber finger sleeve.Utilize omni-directional wheel Three Degree Of Freedom mobile system control planar mobile, make robot stabilized arrival assigned address, grasp and mobile article.
Performance indications: the crawl object has rubber finger sleeve to finish, and rubber finger sleeve makes at the crawl article, owing to be subject to the external force extruding, deform with the compressive plane of being grabbed article, it is large that the diameter of contact position becomes, and for guaranteeing the crawl quality, the variation of diameter dimension is generally in 1.8 times of green diameter.So for the soft finger of different size, it is grabbed object contact face size and is limited to some extent, shows according to experiment, is grabbed the article surface Assurance of Size in 60% of rubber finger sleeve original size, grasps the respond well of object.Because grasping body is to realize that by the frictional force between rubber finger sleeve and the crawled surface of object show according to experiment, realize that object grasps smoothly, crawled mass of object is in 0.5 kilogram.
Innovative point and application
1) crawl of adaptation Special-Shaped Surface, hoisting machine people's Grasping skill.
2) mechanical arm adopts suspension status, guarantees that cylinder remains vertical, the stability during favourable crawl object.
3) mobile system adopts omni-directional wheel Three Degree Of Freedom structure, guarantees the stability of robot in moving process, also can guarantee when grasping body, and robot keeps balance being subject to being grabbed under the state of object reaction force.
Soft finger move the thing robot can use with daily life in, such as the crawl of toy arrangement and collection, instrument and movement and as the standby servicing unit of other family wears.
Most preferred embodiment of the present invention is illustrated, and various variations or the remodeling made by those of ordinary skills can not depart from the scope of the present invention.
Claims (9)
1. a soft finger moves the thing robot, include the walking mechanism (1) that connects successively, actuating mechanism (2), the controller of grasping mechanism (3) and the running of control motor, it is characterized in that: described walking mechanism (1) includes chassis (11), described chassis (11) is connected with at least three omni-directional wheels (12), described omni-directional wheel (12) includes wheel disc (12a) and the roller (12b) that is arranged on the wheel disc (12a) forms, and the axle center of described roller (12b) is vertical with the axle center of wheel disc (12a); The mechanical arm combination (22) that described actuating mechanism (2) includes action motor (21) and driven by described action motor (21), described grasping mechanism (3) includes cylinder (32), soft finger (31) and vacuum extractor, described soft finger (31) is the rubber finger sleeve of built-in hard particles, described vacuum extractor can be to vacuumizing in the rubber finger sleeve, and described cylinder (32) is connected with mechanical arm combination (22) and cylinder (32) keeps the vertical state.
2. a kind of soft finger according to claim 1 moves the thing robot, it is characterized in that: described walking mechanism (1) includes for the omni-directional wheel motor (14) that drives omni-directional wheel (12), and described omni-directional wheel motor (14) is in transmission connection by shaft coupling (13) and omni-directional wheel (12); Described shaft coupling (13) is connected with chassis (11) by omni-directional wheel motor retainer (15).
3. a kind of soft finger according to claim 2 moves the thing robot, it is characterized in that: described omni-directional wheel (12) has four, be cross and be arranged on below, chassis (11), correspondingly, described omni-directional wheel motor (14) has four, and described shaft coupling (13) also has four.
4. a kind of soft finger according to claim 3 moves the thing robot, it is characterized in that: described mechanical arm combination (22) includes interconnective large arm (22a) and forearm (22b), correspondingly, described action motor (21) includes large arm action motor (23) and forearm action motor.
5. a kind of soft finger according to claim 4 moves the thing robot, it is characterized in that: described large arm action motor (23) drive end is extended with large arm action drives axle (23a), described large arm action drives axle (23a) front end is provided with action drives gear (23b), described large arm (22a) rear end is provided with large arm gear (25), described driven wheel (23b) cooperates with large arm gear (25) interlock, and described large arm gear (25) is connected with the large arm transmission device (26) that can make large arm (22a) rotation; Described driven wheel (23b) is 1:2 with large arm gear (25) impeller diameter ratio.
6. a kind of soft finger according to claim 5 moves the thing robot, it is characterized in that: described forearm (22b) front end is connected by sliding pin (24) with cylinder (32) rear end.
7. a kind of soft finger according to claim 6 moves the thing robot, it is characterized in that: described cylinder (32) is extended with telescopic shaft (33) downwards, and described telescopic shaft (33) is connected with soft finger (31).
8. a kind of soft finger according to claim 7 moves the thing robot, it is characterized in that: be fixedly connected with by main frame (4) between described walking mechanism (1) and the actuating mechanism (2).
9. a kind of soft finger according to claim 8 moves the thing robot, it is characterized in that: described chassis (11), large arm (22a) and forearm (22b) are aluminium and make, and described driven wheel (23b) is irony gear or steel gear with large arm gear (25).
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| CN201210496760.7A CN102941566B (en) | 2012-11-29 | 2012-11-29 | Object moving robot with soft fingers |
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| CN201210496760.7A CN102941566B (en) | 2012-11-29 | 2012-11-29 | Object moving robot with soft fingers |
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| CN102941566B CN102941566B (en) | 2015-07-08 |
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| CN103737598A (en) * | 2014-01-24 | 2014-04-23 | 成都万先自动化科技有限责任公司 | Back massage service robot |
| CN103737600A (en) * | 2014-01-24 | 2014-04-23 | 成都万先自动化科技有限责任公司 | Face massage service robot |
| CN103753539A (en) * | 2014-01-24 | 2014-04-30 | 成都万先自动化科技有限责任公司 | Make-up service robot |
| CN103753549A (en) * | 2014-01-24 | 2014-04-30 | 成都万先自动化科技有限责任公司 | Robot for hand massage service |
| CN103753541A (en) * | 2014-01-24 | 2014-04-30 | 成都万先自动化科技有限责任公司 | Foot massaging service robot |
| CN103753536A (en) * | 2014-01-24 | 2014-04-30 | 成都万先自动化科技有限责任公司 | Eye massage service robot |
| CN104308840A (en) * | 2014-10-09 | 2015-01-28 | 苏州晓炎自动化设备有限公司 | Movable encasement manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103737598A (en) * | 2014-01-24 | 2014-04-23 | 成都万先自动化科技有限责任公司 | Back massage service robot |
| CN103737600A (en) * | 2014-01-24 | 2014-04-23 | 成都万先自动化科技有限责任公司 | Face massage service robot |
| CN103753539A (en) * | 2014-01-24 | 2014-04-30 | 成都万先自动化科技有限责任公司 | Make-up service robot |
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| CN104308840A (en) * | 2014-10-09 | 2015-01-28 | 苏州晓炎自动化设备有限公司 | Movable encasement manipulator |
| CN105644643A (en) * | 2016-02-25 | 2016-06-08 | 四川阿泰因机器人智能装备有限公司 | Omnidirectional wheel suspension device for ground mobile robot |
| CN105773569A (en) * | 2016-02-25 | 2016-07-20 | 四川阿泰因机器人智能装备有限公司 | Chassis system of ground mobile robot |
| CN105583821A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Fluid drive type multi-dimensional self-adaptive robot hand device |
| WO2018058386A1 (en) * | 2016-09-27 | 2018-04-05 | 深圳市工匠社科技有限公司 | Novel omni wheel, metal connection structure thereof, and robot adopting the connection structure |
| CN106426077A (en) * | 2016-10-14 | 2017-02-22 | 苏州得尔达国际物流有限公司 | Intelligent warehouse transfer robot |
| CN107471204A (en) * | 2017-09-28 | 2017-12-15 | 葛晟宏 | Manipulator and mechanical arm assembly |
| CN108638023A (en) * | 2018-07-25 | 2018-10-12 | 泉州摩科索达科技有限公司 | Mobile grabbing robot |
| CN109249411A (en) * | 2018-10-31 | 2019-01-22 | 金陵科技学院 | A kind of industrial software crawl robot |
| CN114523206A (en) * | 2022-03-08 | 2022-05-24 | 中国航空制造技术研究院 | Welding tool for laser welding and laser welding method using same |
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| CN102941566B (en) | 2015-07-08 |
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