CN104015197B - The dynamic flexible miniature finger of the two inner chamber gas drive of ripple type, control method and grasping system - Google Patents
The dynamic flexible miniature finger of the two inner chamber gas drive of ripple type, control method and grasping system Download PDFInfo
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- CN104015197B CN104015197B CN201410245219.8A CN201410245219A CN104015197B CN 104015197 B CN104015197 B CN 104015197B CN 201410245219 A CN201410245219 A CN 201410245219A CN 104015197 B CN104015197 B CN 104015197B
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Abstract
The present invention discloses the dynamic flexible miniature finger of the two inner chamber gas drive of a kind of ripple type, control method and grasping system, comprise the dynamic flexible miniature finger of the miniature gas drive of two inner chambers that two symmetrically arranged pneumatic list half ripple type hollow rubber pipes are partly pointed I, II and formed, between two and half fingers, it is provided with the bending obliquity sensor of a sheet type contacted with it, and two and half fingers are all respectively provided with gas inlet and outlet I, II; Pneumatic single ripple type hollow rubber pipe half finger be ripple gauffer face outside its end face, and its bottom surface is horizontal plane, and end face is connected with bottom surface a formation hollow enclosed housing; Two pneumatic list half ripple type hollow rubber pipes are partly pointed the alignment of I, II bottom surface and are pasted onto on slice-type bend sensor. The present invention has the advantages such as low cost, clean and safe, installation simplicity, and mechanical property is similar to biological muscles, has the advantages such as kindliness is good, action is level and smooth, noise is little, pollution-free simultaneously.
Description
Technical field
The present invention specifically discloses the two miniature gas drive of inner chamber of a kind of ripple type and moves submissive miniature finger and control method thereof, and can be used to assemble and build the miniature hand grasping system of pneumatic many fingers fast.
Background technology
Multiple degree of freedom, multi-functional and intelligentized multi-finger clever hand are the research focuses of robot field. Drive the multifinger hand formed to have high-flexibility, superpower/mass ratio, superpower/volume ratio, advantages of simple structure and simple by pneumatic muscles, in crawl with process some and tender crisp, weak easily hinder or have the object of life entity to have reliability, self-adaptation and security, can overcome traditional electrical, that liquid, air cylinder driven generally exist is flexible poor, complex structure, be difficult to the shortcomings such as control, in industrial or agricultural, medical treatment rehabilitation, serves in the fields such as amusement and has a wide range of applications.
Compare pneumatic actuation device with use traditional electrical transmission with hydraulicdriven driving mechanism and have following feature: stored energy is convenient, and driving medium air derives from air, obtain easily; Pneumatic transmission has fire-resistant, explosion-proof and free from environmental pollution; And have flexible controlled, without recycling pipeline, volume is little, cost is low, pollution-free, easy to operate, be easy to maintain. Therefore, Pneumatic Servo Control System has been applied to robot arm, Dextrous Hand, remote operation master-slave operation system etc.
Pneumatic muscles can be realized Direct driver as robot driver, without the need to installing deceleration device and transmission rig, this advantage significantly reduces weight and the cost of Apery manipulator, there is better bio-imitability and kindliness, therefore the driving of the finger-joint that pneumatic muscles is applied to robots arm and Dextrous Hand in a large number. The air-operated drive that Pneumatic artificial muscle is provided by outside, it is provided that very big strength, and weight is smaller, Pneumatic artificial muscle can when reaching the push-and-pull limit automatic braking, predetermined scope can not be broken through.
Adopt the multi-finger dexterous hand of robot of pneumatic actuation, mainly contain: 1) air cylinder driven, such as Utah/MIT hand; 2) Pneumatic artificial muscle drives, such as Shadow hand. Pneumatic multifinger hand adopts soft rope and pulley long-distance transmission power equally, 2 driving mechanisms (cylinder or Pneumatic artificial muscle) combine driving 1 joint, structure is relatively simple, better flexible, but still have the following disadvantages: driving mechanism is separated with Dextrous Hand, by soft each joint motion of rope pulley drive, friction, problem that is lax and energy dissipation that system exists cannot be avoided; The mathematical model that Pneumatic artificial muscle is ununified, finger power output and position, joint are restive. Number of drives is excessive simultaneously, causes Controlling System complicated; A large amount of driving mechanism is placed on forearm and makes the volume of Dextrous Hand heavy, brings difficulty to practical application.
The shape requirement of multifinger hand is small and exquisite, and light, flexible and safety, is difficult to realize the function of miniature flexible hand by legacy drive. Urgently needing to develop the flexible hand of a kind of novel pneumatic muscle control, this flexible hand, in structure design, accomplishes that finger body and finger actuation device are micro-integrated; Capturing in motion, pursue multiple degree of freedom, high flexibility; Functionally, pursue dexterity and intellectuality, the change of environment and operation object is had very strong adaptability.
Summary of the invention
In order to solve the shortcoming that prior art exists, the present invention proposes a kind of New type corrugated type pneumatic muscles drive form can the miniature flexible finger of compound bending, there is good passive flexibility, be easy to modularization, can be used for building the miniature hand of pneumatic many fingers.
The technical solution used in the present invention is as follows:
The dynamic flexible miniature finger of the two inner chamber gas drive of a kind of ripple type, comprise the dynamic flexible miniature finger of the miniature gas drive of two inner chambers that two symmetrically arranged pneumatic list half ripple type hollow rubber pipes are partly pointed I, II and formed, and two and half fingers are all respectively provided with gas inlet and outlet I, II; Be ripple gauffer face outside described two and half finger end faces, two and half finger bottom surfaces are horizontal plane, and end face is connected with bottom surface a formation hollow enclosed housing; Two pneumatic list half ripple type hollow rubber pipes are partly pointed the alignment of I, II bottom surface and are pasted onto on the bending obliquity sensor of slice-type.
Ripple gauffer face is transverse wave shape, is half ring texture of hollow; Single ripple type half finger has semi-cylindrical or the semicircular column type thin-walled wrinkle housing of multiple transverse wave, and when inflating to inner chamber body or bleed, the multiple transverse wave face of inner chamber can be subject to positive air pressure stretching, extension or negative pressure shrinks. Each half ripple list submissive finger of cavity configuration minitype pneumatic is integrated half cylinder shape or semicircular column type hollow rubber pipe structure, hollow part extends to multiple transverse wave gauffers of half cylinder shape, and the thickness in half cylinder shape ripple gauffer face is about the twice of its opposing bottom surface thickness.
The semi-cylindrical curved surface level that described corrugated gauffer face is hollow rearranges, and after cutting open along the half axis direction pointed, its shape is ripple shape.
Described two single ripple type hollow rubber pipe half finger horizontal face alignment relative is arranged, and is jointly fixed on the bending obliquity sensor of slice-type, outside two and half finger ripple gauffers face.
Described gas inlet and outlet I, II is all connected with same reversing valve group; Described reversing valve group connects vacuum switch, electric Proportion valve respectively, and described vacuum switch connects reducing valve I, and described reducing valve I connects vacuum generator, and described vacuum generator connects air compressor; Described electric Proportion valve connects a reducing valve II, and described reducing valve II is connected with air compressor.
The surface coverage of described flexible finger has the bending force sense sensor of circumferentially shape, the object force information of touching when can simultaneously measure interior outside sweep.
The measurement tip portion 3 that the finger tip of described flexible finger is coated with circumferentially shape ties up the power in direction and the fingertip force sensor of the moment information in 3 dimension directions.
Described crooked force sensor is connected with embedded controller interface with fingertip force sensor, and described embedded controller is connected with network computer.
One refers to miniature finger grip system more, comprises a pedestal, has the two miniature gas drive actuating miniature flexible finger of inner chamber of multiple described ripple type according to the regularly arranged of setting on described pedestal. Multiple finger symmetric is deployed on pedestal, multiple finger when curving inwardly, each digital flexion direction all towards the center axis of disk-shaped base, and multiple finger fingertip can meet at disk pedestal center axis a bit.
The two inner chamber gas drive of ripple type moves a control method for submissive miniature finger, as follows:
When the external vacuum generator of gas inlet and outlet I is outwards bled, single ripple type hollow rubber pipe half finger I produces negative pressure, owing to ripple gauffer face and opposing bottom surface shrinkage are different, bottom surface pastes or is fixed on the bending obliquity sensor of slice-type, gauffer face entire length shrinkage is greater than bottom surface, and generation is bent outwardly by single ripple type hollow rubber pipe half finger I; When the external air compressor of gas inlet and outlet II is inwardly inflated, producing malleation, owing to ripple gauffer face and baseplane elongation amount are different, elongation amount in gauffer face is greater than baseplane, and generation is also bent outwardly by single ripple type hollow rubber pipe half finger II; When dual damascene type is bent outwardly simultaneously, plate-shaped obliquity sensor agrees to flexible finger to be bent outwardly simultaneously, and flexible finger degree of crook depends on the crooking ability of the negative pressure of half finger I and II, malleation and plate-shaped obliquity sensor;
When gas inlet and outlet I and II inwardly pours pressurized gas generation malleation simultaneously, keep dual damascene type to be in vertical state, i.e. bending state, and there is certain rigidity;
When the external air compressor of gas inlet and outlet I is inwardly inflated, single ripple type hollow rubber pipe half finger I produces malleation, owing to ripple gauffer face and its opposing bottom surface elongation amount are different, elongation amount in gauffer face is greater than bottom surface, and single ripple type hollow rubber pipe half finger I will produce inflexion; When the external vacuum generator of gas inlet and outlet II is outwards bled, producing negative pressure, owing to gauffer face and bottom surface shrinkage are different, gauffer face shrinkage is greater than bottom surface, and single ripple type hollow rubber pipe half finger II also will produce inflexion; When two dual damascene types curve inwardly simultaneously, plate-shaped obliquity sensor agrees to flexible finger to curve inwardly simultaneously, and flexible finger degree of crook depends on the crooking ability of the bending obliquity sensor of the malleation of half finger I and II, negative pressure and plate-shaped.
The useful effect of the present invention is as follows:
(1) the miniature hand that the two inner chamber air-actuated flexible finger of this ripple type is formed has the advantages such as low cost, clean and safe, installation simplicity, mechanical property is similar to biological muscles, there is the advantages such as kindliness is good, action is level and smooth, noise is little, pollution-free simultaneously, elliptical gear, storage and release energy can be absorbed, it is possible to reliably work under the severe environment such as hot and humid, high-intensity magnetic field.
(2) the plan design length scope of the two submissive finger of inner chamber minitype pneumatic of ripple type generally can at 10��70mm. Finger body and the shaping design of finger actuation apparatus integration, it is not necessary to intermediate gearing, it is not necessary to deceleration device and transmission rig are installed, lighter weight.
(3) two and half ripple hollow rubber pipe configuration list inner chamber half finger horizontal face alignment relative are arranged, jointly paste or it is mounted in bending angle sensor two planes of slice-type, outside ripple gauffer faces, form the two inner chamber flexible finger of near cylindrical, due to the bending angle sensor of slice-type with digital flexion time, its resistance change can be measured in real time thus calculate digital flexion angle, greatly simplify the position control mode of pneumatic-finger.
(4) ripple type refers to the ripple pattern after cutting open vertically and shape, each single ripple type half finger is semi-cylindrical or the semicircular column type thin-walled wrinkle housing with multiple transverse wave, when it is characterized in that working as to cavity inflation or bleed, multiple transverse wave can positive air pressure stretch or negative pressure contraction.
(5) each half ripple type list submissive finger of inner chamber minitype pneumatic is integrated molding half cylinder shape or semicircular column type hollow rubber pipe structure, it it is wherein transverse wave shape outside inner chamber, about it is characterized in that the twice that the thickness in half cylinder shape ripple gauffer face is its opposing bottom surface thickness, each half ripple type list inner chamber minitype pneumatic flexible finger baseplane is pasted onto on slice-type bend sensor. Owing to finger corrugated configuration finger its ripple side shrinkage, elongation amount when being subject to negative pressure or positive air pressure have bigger change, and its another side because of paste or be fixed on bend sensor on the surface, thus make finger realize by a relatively large margin inside, be bent outwardly ability.
(6) the two inner chamber minitype pneumatic flexible finger of ripple type is easy to modularization is integrated refers to miniature hand system more, outside surface is easy to dispose film crooked force sensor and fingertip force sensor, in crawl with process some and tender crisp, weak easily hinder or have the small object of life entity to have reliability, self-adaptation and security, it is achieved harmless capture.
At identical conditions, (7) the two inner chamber flexible finger of two half ripple type half finger more flexible than single ripple type can provide bigger grasp force, and stronger crooking ability, can provide bigger Rigidity and strength simultaneously, it is possible to capture heavier object.
(8) other multifinger hand systems are compared, it is very small and exquisite that the two inner chamber minitype pneumatic many fingers flexible hand overall appearance of two half ripple type can be done, along the finger most I of total length at about 10mm, and possess the advantage of pneumatic actuation, advantage is possessed, such as operating robot end effector in specific application scenario.
(9) drive, by the two inner chamber minitype pneumatic muscle of two half ripple type, the many fingers miniature flexible hand grasping system built, one-piece construction is simple, each finger inwardly all possesses, the bending action of outward direction, axis is pointed as benchmark during not pressurize, bending angle can at positive and negative more than 90 ��, when each finger is bent outwardly, it is possible to realize outer clamping; When each finger curves inwardly, it is possible to clamping in realizing. There is lower cost, it is easy to batch production, it is not necessary to complicated control algorithm.
(10) each finger of this miniature hand possesses Bidirectional bendable obliquity sensor, by measuring bending resistance change, digital flexion angle or curvature can be measured, such that it is able to the many finger positions of indirect inspection, each finger also possesses ring-shaped crooked force sensor and fingertip force sensor, it is possible to measure the normal direction contact force between object to be grabbed and the size of reactive force and the position etc. of point of application between detection finger and object.
Accompanying drawing explanation
The miniature submissive finger structure design of the two inner chamber of two half ripple type of Fig. 1;
The two miniature submissive finger left view of inner chamber of two half ripple type of Fig. 2;
The two inner chamber flexible finger of two half ripple type of Fig. 3 is bent outwardly schematic diagram;
The two inner chamber flexible finger of two half ripple type of Fig. 4 curves inwardly schematic diagram;
Fig. 5 mono-ripple type list inner chamber flexible finger stereo appearance figure;
Fig. 6 mono-ripple type list inner chamber flexible finger ripple gauffer front schematic view;
Fig. 7 mono-ripple type list inner chamber flexible finger is from schematic diagram in terms of direction, bottom surface;
Fig. 8 mono-ripple type list inner chamber flexible finger side elevational view;
The miniature hand grasping system of many fingers that the two inner chamber flexible finger of the dynamic ripple type of Fig. 9 gas drive builds;
Figure 10 ripple type pneumatic micro finger Controlling System schematic diagram;
In figure: 1 gas inlet and outlet I; 2 single ripple type hollow rubber pipe half fingers I; 3 sheet types bend obliquity sensor; 4 pneumatic half finger ripples and bending obliquity sensor paste plane; 5 bending obliquity sensor contact conductors; 6 gas inlet and outlets II; 7 single ripple type hollow rubber pipe half fingers II; 8 bending force sense sensors; 9 fingertip force sensors; 10 thin layer elastic caoutchouc overcoats; Pointing fixed plastics pedestal 11 more.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in detail:
The present invention forms primarily of with lower component, as shown in the figure: comprise the dynamic flexible miniature finger of the miniature gas drive of two inner chambers that two symmetrically arranged list half ripple type hollow rubber pipes are partly pointed I2, II7 and formed, the bending obliquity sensor 3 of a sheet type contacted with it it is provided with, and two and half point and are all respectively provided with gas inlet and outlet I1, an II6 or 1 inlet mouth being provided separately and 1 air outlet between two and half fingers; Described pneumatic single ripple type hollow rubber pipe half finger, its end face is corrugated gauffer face, and its bottom surface is horizontal plane, and end face is connected with bottom surface a formation hollow cavity, is wherein transverse wave shape outside inner chamber, is half ring texture of hollow.
The bending obliquity sensor of sheet type pastes pneumatic half finger ripple as shown in Figure 1 and bending obliquity sensor is pasted in plane 4.
The bending obliquity sensor 3 of sheet type is connected with bending obliquity sensor contact conductor 5.
So-called ripple type refers to the ripple pattern after cutting open vertically and shape, single ripple type half finger has semi-cylindrical or the semicircular column type thin-walled wrinkle housing of multiple transverse wave, when it is characterized in that working as to inner chamber body inflation or bleed, the multiple transverse wave face of inner chamber can receive positive air pressure and stretch or negative pressure contraction. Each half ripple list submissive finger of cavity configuration minitype pneumatic is integrated half cylinder shape or semicircular column type hollow rubber pipe structure, multiple transverse wave gauffers of the extension of hollow part and half cylinder shape, it is characterized in that the thickness in half cylinder shape ripple gauffer face is the twice of its opposing bottom surface thickness, each half ripple type list inner chamber minitype pneumatic submissive finger baseplane alignment is pasted onto on slice-type bend sensor.
Look on the left of flexible finger, its signal as shown in Figure 2, two in semicircle relatively macropore be respectively the gas inlet and outlet I and II of Fig. 1, relatively aperture be respectively the sheet type shown in Fig. 1 bend obliquity sensor contact conductor.
Based on hollow corrugation type that is semicircle or approximate half-circular outward appearance, or the flexible half finger assembly 2 and 7 of the compound bending of similar pleated configuration, half finger characteristic of two single ripple type formations is completely identical, paste by jointly the align side of non-washmarking of glue or it is mounted on the bending obliquity sensor of plate-shaped, this flexible finger and pneumatic muscle actuator can use natural silica gel, the materials such as silicon rubber, there is elasticity big, tensile strength height, anti tear and the excellent physical and mechanical property such as wear resistance is good, minitype pneumatic muscle driving mechanism is done in applicable choosing, sulfuration under room temperature normal pressure, convenient operation, there is good chemical stability, nontoxic, non-corrosiveness.
Two and half ripple hollow rubber pipe configuration list inner chamber half finger horizontal are arranged in the face of neat, outside ripple gauffer faces, jointly paste or it is mounted on the bending angle sensor of slice-type, form the two inner chamber flexible finger of near cylindrical, when digital flexion, the bending angle sensor of slice-type is also with digital flexion, it is possible to measures its resistance change in real time thus calculates many digital flexion angle, simplifies the position control mode of finger.
Flexible finger is pressurizeed to the two inner chamber of dual damascene type respectively by air compressor and vacuum generator etc., negative pressure can be out of shape in compound bending, it is provided that very big strength, and own wt is smaller; Two inner chamber pressurizes simultaneously and can be used as straight rod member use.
As shown in Figure 3, for the dual damascene submissive finger of type minitype pneumatic and the compound bending schematic diagram of design, flexible finger is two semicircle hollow corrugation type rubber hose absolute construction, 1 air pressure is had to import and export or 1 inlet mouth and 1 air outlet respectively, two smooth arm faces of ripple inner chamber are pasted onto on the bending obliquity sensor of plate-shaped jointly, by regulating the two chambeies positive and negative air-pressure value in minitype pneumatic driving mechanism, it is possible to realize pointing " soft clamping " to object (suitable power clamping), " just clamping " (maximum power clamping).
When the external vacuum generator of gas inlet and outlet I is outwards bled, hollow rubber pipe can produce very big negative pressure, and owing to ripple gauffer face and bottom surface shrinkage are different, gauffer face shrinkage is greater than bottom surface, and generation is bent outwardly by hollow list ripple type half finger 2; When the external air compressor of gas inlet and outlet II is inwardly inflated, can producing very big malleation, owing to gauffer face and bottom surface elongation amount are different, elongation amount in gauffer face is greater than bottom surface, and generation is also bent outwardly by hollow list ripple type half finger 7; When dual damascene type is bent outwardly simultaneously, plate-shaped obliquity sensor 3 agrees to flexible finger to be bent outwardly simultaneously.
When gas inlet and outlet I and II inwardly pours pressurized gas generation malleation simultaneously, dual damascene type can be kept to be in vertical state, i.e. bending state, and there is certain rigidity.
When the external air compressor of gas inlet and outlet I is inwardly inflated, hollow rubber pipe can produce very big malleation, and owing to ripple gauffer face and bottom surface elongation amount are different, elongation amount in gauffer face is greater than bottom surface, and hollow list ripple type half finger 2 will produce inflexion; When the external vacuum generator of gas inlet and outlet II is outwards bled, can producing very big negative pressure, owing to gauffer face and bottom surface shrinkage are different, gauffer face shrinkage is greater than bottom surface, and generation is also curved inwardly by hollow list ripple type half finger 7; When dual damascene type curves inwardly simultaneously, plate-shaped obliquity sensor 3 agrees to flexible finger to curve inwardly simultaneously.
Single ripple type list inner chamber flexible finger stereo appearance figure, as shown in Figure 5; Its ripple gauffer front looks, as shown in Figure 6; Looking from direction, bottom surface, shape is as shown in Figure 7; From single ripple type list inner chamber flexible finger side, its shape is as shown in Figure 8.
Multiple flexible finger is assembled in fixed plastics pedestal 11 by certain way parallel connection and is connected, as shown in Figure 9, by certain rule simultaneously to each finger charge and discharge gas, it may be achieved to crawl or the operating function of small items. Skim elastic caoutchouc overcoat 10 can be covered outside each ripple type flexible finger as required, the two inner chamber flexible finger surface of ripple can be covered by bending force sense sensor 8 simultaneously, be formed circle-shaped, the object force information of touching when can simultaneously measure interior outside sweep. Each fingertip force sensor 9 can be measured tip portion 3 and tie up the power in direction and the moment information in 3 dimension directions, for detecting the size of reactive force and the position of point of application between finger and object.
As shown in Figure 9, the miniature hand grasping system of many fingers that the two inner chamber flexible finger of the dynamic dual damascene type of gas drive builds, it is possible to realize clamping inside and outside small object.
Miniature hand system is made up of upper computer, the gentle pressure control system of embedded controller three grades, air pressure Controlling System is made up of air compressor machine, vacuum generator, proportional valve group and magnetic valve group etc., by the adjustment of the combination of the break-make of air pressure and pressure gradient, directly miniature hand pneumatic muscle actuator flexural deformation state is controlled. By the positive and negative air-pressure increment controlled in each finger inner chamber, so that it may to obtain required power output, primary control algorithm is deployed on embedded controller, it is achieved the reliable grasping of miniature hand.
The hardware of this ripple type miniature finger Controlling System mainly comprises: 1 air compressor, 2 reducing valve, 1 electric Proportion valve, 1 vacuum generator, reversing valve group (being no less than 2 two-bit triplet air valves), the miniature hand of ripple type, each flexibility refer to include the bending obliquity sensor 1 of plate-shaped, 1 can bending force sense sensor, 1 fingertip force sensor composition, many sensors of each finger configuration are all connected with embedded controller analog input mouth, and by Ethernet TCP/IP or CAN, several data is uploaded to local area network computer. Gas inlet and outlet is connected with reversing valve group; Reversing valve group connects vacuum switch, electric Proportion valve respectively, and described vacuum switch connects reducing valve I, reducing valve I and connects vacuum generator, and vacuum generator connects air compressor; Described electric Proportion valve connects a reducing valve II, and described reducing valve II is connected with air compressor. The middle position of the two miniature gas drive of inner chamber of ripple type dynamic flexible miniature finger is provided with bending obliquity sensor, finger surface is provided with film crooked force sensor and fingertip force sensor, sensor is connected with embedded controller interface, and described embedded controller is connected with network computer.
Claims (8)
1. the control method of the dynamic flexible miniature finger of the two inner chamber gas drive of ripple type, it is characterized in that, the two inner chamber gas drive of described ripple type dynamic flexible miniature finger comprises the dynamic flexible miniature finger of the miniature gas drive of two inner chambers that two symmetrically arranged pneumatic single ripple type hollow rubber pipes are partly pointed I, II and formed, and is all respectively provided with gas inlet and outlet I, II on two and half fingers; Be ripple gauffer face outside described two and half finger end faces, two and half finger bottom surfaces are horizontal plane, and end face is connected with bottom surface a formation hollow enclosed housing; Two pneumatic single ripple type hollow rubber pipes are partly pointed the alignment of I, II bottom surface and are pasted onto on bending obliquity sensor;
Control method is as follows:
When the external vacuum generator of gas inlet and outlet I is outwards bled, single ripple type hollow rubber pipe half finger I produces negative pressure, owing to ripple gauffer face and opposing bottom surface shrinkage are different, bottom surface pastes or is fixed on the bending obliquity sensor of slice-type, gauffer face entire length shrinkage is greater than bottom surface, and generation is bent outwardly by single ripple type hollow rubber pipe half finger I; When the external air compressor of gas inlet and outlet II is inwardly inflated, producing malleation, owing to ripple gauffer face and baseplane elongation amount are different, elongation amount in gauffer face is greater than baseplane, and generation is also bent outwardly by single ripple type hollow rubber pipe half finger II; When dual damascene type is bent outwardly simultaneously, plate-shaped obliquity sensor agrees to flexible finger to be bent outwardly simultaneously, and flexible finger degree of crook depends on the crooking ability of the negative pressure of half finger I and II, malleation and plate-shaped obliquity sensor;
When gas inlet and outlet I and II inwardly pours pressurized gas generation malleation simultaneously, keep dual damascene type to be in vertical state, i.e. bending state, and there is certain rigidity;
When the external air compressor of gas inlet and outlet I is inwardly inflated, single ripple type hollow rubber pipe half finger I produces malleation, owing to ripple gauffer face and its opposing bottom surface elongation amount are different, elongation amount in gauffer face is greater than bottom surface, and single ripple type hollow rubber pipe half finger I will produce inflexion; When the external vacuum generator of gas inlet and outlet II is outwards bled, producing negative pressure, owing to gauffer face and bottom surface shrinkage are different, gauffer face shrinkage is greater than bottom surface, and single ripple type hollow rubber pipe half finger II also will produce inflexion; When two dual damascene types curve inwardly simultaneously, plate-shaped obliquity sensor agrees to flexible finger to curve inwardly simultaneously, and flexible finger degree of crook depends on the crooking ability of the bending obliquity sensor of the malleation of half finger I and II, negative pressure and plate-shaped.
2. the control method of the dynamic flexible miniature finger of the two inner chamber gas drive of ripple type as claimed in claim 1, it is characterized in that: the semi-cylindrical curved surface level that described ripple gauffer face is hollow rearranges, and after cutting open along the half axis direction pointed, its shape is ripple shape.
3. the control method of the dynamic flexible miniature finger of the two inner chamber gas drive of ripple type as claimed in claim 1, it is characterised in that: the thickness in ripple gauffer face is the twice of its opposing bottom surface thickness.
4. the control method of the dynamic flexible miniature finger of the two inner chamber gas drive of ripple type as claimed in claim 1, it is characterized in that: described two single ripple type hollow rubber pipe half finger horizontal face alignment relative is arranged, jointly it is fixed on the bending obliquity sensor of slice-type, outside two and half finger ripple gauffers face, angle value when the bending obliquity sensor of slice-type between two and half fingers can measure interior outside sweep, it is achieved to the position control of finger.
5. the control method of the dynamic flexible miniature finger of the two inner chamber gas drive of ripple type as claimed in claim 1, it is characterised in that: described gas inlet and outlet I, II is all connected with same reversing valve group; Described reversing valve group connects vacuum switch, electric Proportion valve respectively, and described vacuum switch connects reducing valve I, and described reducing valve I connects vacuum generator, and described vacuum generator connects air compressor; Described electric Proportion valve connects a reducing valve II, and described reducing valve II is connected with air compressor.
6. the control method of the dynamic flexible miniature finger of the two inner chamber gas drive of ripple type as claimed in claim 1, it is characterized in that: the outside surface of described flexible finger is coated with skim elastic caoutchouc overcoat, the bending force sense sensor being coated with circumferentially shape in finger bottom, the object force information of touching when can simultaneously measure interior outside sweep.
7. the control method of the dynamic flexible miniature finger of the two inner chamber gas drive of ripple type as claimed in claim 6, it is characterised in that: the measurement tip portion 3 that the finger tip of described flexible finger is coated with circumferentially shape ties up the power in direction and the fingertip force sensor of the moment information in 3 dimension directions.
8. the control method of the dynamic flexible miniature finger of the two inner chamber gas drive of ripple type as claimed in claim 7, it is characterized in that: described slice-type bends obliquity sensor, bending force sense sensor is connected with embedded controller interface with fingertip force sensor, and described embedded controller is connected with network computer.
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| CN201410245219.8A CN104015197B (en) | 2014-06-04 | 2014-06-04 | The dynamic flexible miniature finger of the two inner chamber gas drive of ripple type, control method and grasping system |
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Effective date of registration: 20240206 Address after: 250014 No. 19, ASTRI Road, Lixia District, Shandong, Ji'nan Patentee after: Shandong Shenlan Zhiguang Robot Co.,Ltd. Country or region after: China Address before: 250014 No. 19, ASTRI Road, Lixia District, Shandong, Ji'nan Patentee before: INSTITUTE OF AUTOMATION, SHANDONG ACADEMY OF SCIENCES Country or region before: China |