CN105729492A - Spherical adaptive robot hand device - Google Patents
Spherical adaptive robot hand device Download PDFInfo
- Publication number
- CN105729492A CN105729492A CN201610256664.3A CN201610256664A CN105729492A CN 105729492 A CN105729492 A CN 105729492A CN 201610256664 A CN201610256664 A CN 201610256664A CN 105729492 A CN105729492 A CN 105729492A
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- Prior art keywords
- elastic film
- spherical
- adaptive robot
- fluid
- robot hand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a spherical adaptive robot hand device and belongs to the technical field of robot hands. The spherical adaptive robot hand device comprises a base, a driver, a transmission mechanism, a channel part, a first film drawing part, a second film drawing part, an elastic film and fluid. The driver pulls the first film drawing part and the second film drawing part through the transmission mechanism, and the elastic film deforms inwards the channel part. The elastic film filled with the fluid wraps an object to fit the object shape adaptively, and part of the fluid enters the narrow channel part bit by bit under the compressed state and acts on the gripped object. Meanwhile, a sealed negative pressure area can be formed between the elastic film and the object possibly, and object gripping is achieved under the combined action of fluid pressure, atmospheric pressure and elastic film friction force. The spherical adaptive robot hand device has the advantages that a multi-dimensional adaptive gripping function is achieved, and accordingly the spherical adaptive robot hand device is capable of gripping different shapes and sizes of objects adaptively automatically; the spherical adaptive robot hand device is capable of adapting to the objects from multiple directions to attain multi-dimensional adaptive effects; the spherical adaptive robot hand device is stable and rapid in gripping, simple in structure and easy to control.
Description
Technical field
The invention belongs to robot technical field, particularly to the structural design of a kind of spherical adaptive robot arm device.
Background technology
Robot hand pawl (or clamper) grabs object, and therefore, paw is the important terminal of robot.
The robot imitating staff development is called humanoid robot hand or multifingered robot hands, has had many multifingered robot hands to be developed, and they are respectively provided with multiple finger, and each finger has multiple rotary joint.
Wherein, it is the most simply two finger clampers (also referred to as industry clampers), has imitated the staff with two finger gloves and has captured (thumb with four finger foldings), or be similar to beak and hold in the mouth and take.They are industrially widely adopted, it is possible to achieve designated shape, the special object of size are stably captured very much, and structure is very simple, very low cost, and many people with disabilitys do evil through another person also because two refer to that the advantage of clamper adopts this paw in a large number.But two refer to that the adaptive capacity of clamper is not strong, it is impossible to remove automatically to adapt to the object of difformity size.
The grabbing device with adaptive characteristic can have following four big classes:
(1) multi-finger clever hand
The robot delicate imitating staff has the control principle of more than 9 (even up to about 20) degree of freedom, dozens of sensor and complexity.Dextrous Hand has the joint of independent control, can actively control each joint, thus realizing the action of dexterity, actively captures difformity object.Since the seventies in last century, multiple country has been had to develop very well-known various Dextrous Hand, such as, the HIT/DLR series hands of Salisbury hands, Utah/MIT hands, Harbin Institute of Technology and German Aerospace Center (DLR), the BH series Dextrous Hand of Beijing Institute of Aeronautics, the RobonautR2 hands of NASA (NASA), the Shadow series hands of company of Shadow robot of Britain, the fast machine staff of Tokyo University ....Multi-finger clever hand structure is complicated, and sensing is loaded down with trivial details with control, and cost intensive is not also promoted the use of at present temporarily.
(2) refer to drive lacking hands more
Drive lacking hands is a kind of robot between industry clamper and many finger multi-joint active drive handss, belong to intelligent machine category, mechanical system is utilized to reach sensing and the purpose controlled, achieve a small amount of motor and drive the function in multiple joints, relatively more attracting is that it can adapt to difformity, size objects automatically, decreases sensing and demand for control.As far back as the seventies in last century, Hirose et al. just have devised a kind of self adaptation drive lacking hands, gets growing concern for nearly ten years.The drive lacking hands having been developed over has: the SARAH drive lacking hands of Laval University, Canada multi link type, Prensilia company of Italy the drive lacking hands that drives of tendon rope, Harbin Institute of Technology, Beijing Institute of Aeronautics, submit the mechanisms such as big, University of Science and Technology, Central China and Hefei Institute Of Intelligent Machines Chinese Academy Of Sciences all in drive lacking hands achievement striking.
Dextrous Hand and drive lacking hands two class are not independent mutually, and the former refers to the multifinger hand with more than 3 fingers and more than 9 degree of freedom, and the latter refers to that driver number on hand is less than joint freedom degrees number.
But Dextrous Hand and drive lacking hands broadly fall into multifingered robot hands, the quantity contacting quantity and the joint being limited to finger of finger and object, it is difficult to increasing contact point, adaptive ability is also limited, and grasp stability has much room for improvement.
(3) robot of flexible surface
Increase flexible or elastomeric material on the segment surface of multifingered robot hands, it is possible to obtain soft finger face captures effect, refers to that the adaptability in face is greatly improved, be conducive to capturing.But owing to the body element of finger segment remains rigidity, therefore only can obtain the effect that local auto-adaptive improves, it is difficult to obtain overall self adaptation effect.
(4) soft robot hands
In particular kind of machine staff, considerable industry paw utilizes the mode such as sucker, Magnet to capture object.But its adaptive surface is still limited.
Cornell Univ USA has applied for a universal gripper patent (U.S. patent Nos US20130106127A1), the universal gripper introduced adopts deacclimatizes body form containing a large amount of short grained hymeniderms, utilize the mode of air compressor evacuation, air in hymeniderm is taken away, the a large amount of granules stayed there occurs obstruction hardening phenomenon, thus it is general to have grown " finger " seemingly, it is possible to self-adapting grasping difformity, size object.
This universal gripper is disadvantageous in that: 1) have employed substantial amounts of granular materials, granular materials number affect the effect of crawl, the abrasion of granular materials is changed after needing certain time；2) adopting the mode bled, it is necessary to the source of the gas of relatively high power, noise is big, energy consumption is high, whole system is bulky, will have one period bled, and almost all of gas all exhausts just calculation crawl and completes, capture not quick.
Summary of the invention
The invention aims to overcome the weak point of prior art, it is proposed to a kind of spherical adaptive robot arm device, this device is used for capturing object, it is possible to automatically adapt to the shape of object, size；It is capable of the multiple directions adaptation to object, it is thus achieved that multidimensional self adaptation effect；Grasping stability is quick；Simple in construction, control are easily.
The present invention adopts the following technical scheme that
The spherical adaptive robot arm device of one of the present invention, it is characterised in that: include pedestal, driver, drive mechanism, channel part, the first membrane part, the second membrane part, elastic film and fluid；Described channel part is affixed with pedestal；Described driver is affixed with pedestal, the output shaft of described driver is connected with the input of drive mechanism, the outfan of described drive mechanism and the upper end of the second membrane part are connected, and the upper end of the described lower end of the second membrane part, the upper end of elastic film and the first membrane part is affixed；The lower end of described first membrane part is affixed with the lower end of elastic film；Described elastic film is the hollow sealing structure that deformable elastomeric material makes；A part for described elastic film is positioned at the lower section of channel part, and another part of described elastic film is positioned at the inside of channel part, and a part for described elastic film contacts with the inwall of channel part；Described channel part includes at least 1 passage；Described passage is the cavity structure of hollow, and described passage has lower outlet and upper outlet；When the quantity of passage is more than 1, the cavity in all of described passage is interconnected, and the volume of the cavity of different described passages is sequentially reduced from bottom to top；Described fluid-tight is in elastic film；Described first membrane part adopts one or more the mixing in connecting rod, band, chain or tendon rope；Described second membrane part adopts one or more the mixing in connecting rod, band, chain or tendon rope.
Spherical adaptive robot arm device of the present invention, it is characterised in that: described fluid is water.
Spherical adaptive robot arm device of the present invention, it is characterised in that: the described lower end of the first membrane part is connected with the central area of the lower end of elastic film.
Spherical adaptive robot arm device of the present invention, it is characterised in that: described driver adopts motor, cylinder or hydraulic cylinder.
Apparatus of the present invention utilize driver, drive mechanism, channel part, first membrane part, second membrane part, elastic film and fluid etc. comprehensively achieve multidimensional self-adapting grasping function, can automatically adapt to capture difformity, the object of size, central principle is: driver pulls the first membrane part and the second membrane part by drive mechanism, elastic film constantly deforms to the above and within of channel part, under the cooperation of channel part, elastic film equipped with fluid wraps up object self adaptation laminating object profile, segment fluid flow enters in narrow channel part in the state of suffering oppression successively, fluid reaction is on grabbed object, between elastic film and object, it is likely to be formed the negative pressure region of sealing simultaneously, at fluid pressure, under the combined effect of atmospheric pressure and elastic film frictional force, realize grasping body；This device is capable of the multiple directions adaptation to object, it is thus achieved that multidimensional self adaptation effect；This device grasping stability is quick, simple in construction, controls easily.
Accompanying drawing explanation
Fig. 1 is the sectional view of a kind of embodiment of spherical adaptive robot arm device provided by the invention.
Fig. 2 is the stereo appearance figure (being not drawn into the screw connected) of embodiment illustrated in fig. 1.
Fig. 3 is sectional view during embodiment illustrated in fig. 1 crawl object.
Fig. 4 is the outside drawing of Fig. 3.
Fig. 5 is the stereo appearance figure of Fig. 3.
In Fig. 1 to Fig. 5:
1-pedestal, 11-base socket sleeve, 12-motor support member, 2-driver (motor),
3-drive mechanism, 31-decelerator, 32-shaft coupling, 33-rotating shaft,
34-reel, 4-channel part, 41-passage, export under 411-,
412-upper outlet, 5-the first membrane part, 6-the second membrane part, 7-elastic film,
8-fluid, 9-object.
Detailed description of the invention
The concrete structure of the present invention, operation principle and work process is further described below in conjunction with drawings and Examples.
A kind of embodiment of the spherical adaptive robot arm device of present invention design, as depicted in figs. 1 and 2, including pedestal 1, driver 2, drive mechanism 3, channel part the 4, first membrane part the 5, second membrane part 6, elastic film 7 and fluid 8；Described channel part 4 is affixed with pedestal 1；Described driver 2 is affixed with pedestal 1, the output shaft of described driver 2 is connected with the input of drive mechanism 3, the outfan of described drive mechanism 3 and the upper end of the second membrane part 6 are connected, and the upper end of the described lower end of the second membrane part 6, the upper end of elastic film 7 and the first membrane part 5 is affixed；The lower end of described first membrane part 5 is affixed with the lower end of elastic film 7；Described elastic film 7 is the hollow sealing structure that deformable elastomeric material makes；A part for described elastic film 7 is positioned at the lower section of channel part 4, and another part of described elastic film 7 is positioned at the inside of channel part 4, and a part for described elastic film 7 contacts with the inwall of channel part 4；Described channel part 4 includes at least 1 passage 41；Described passage 41 is the cavity structure of hollow, and described passage 41 has lower outlet 411 and upper outlet 412；When the quantity of passage 41 is more than 1, the cavity in all of described passage 41 is interconnected, and the volume of the cavity of different described passages 41 is sequentially reduced from bottom to top；Described fluid 8 is sealed in elastic film 7；Described first membrane part 5 adopts one or more the mixing in connecting rod, band, chain or tendon rope；Described second membrane part 6 adopts one or more the mixing in connecting rod, band, chain or tendon rope.In the present embodiment, described first membrane part 5 adopts tendon rope；Described second membrane part 6 adopts tendon rope.
Described pedestal 1 includes base socket sleeve 11 and motor support member 12, and described base socket sleeve 11 is affixed with motor support member 12, and described driver 2 is fixedly mounted in motor support member 12, and the top of described channel part 4 is affixed with base socket sleeve 11.
In the present embodiment, described fluid 8 is water.
In the present embodiment, the described lower end of the first membrane part 5 is connected with the central area of the lower end of elastic film 7.
Spherical adaptive robot arm device of the present invention, it is characterised in that: described driver adopts motor, cylinder or hydraulic cylinder.In the present embodiment, described driver 2 adopts motor.
In the present embodiment, described first drive mechanism 3 includes decelerator 31, shaft coupling 32, rotating shaft 33 and reel 34；The output shaft of described driver 2 is connected with the power shaft of decelerator 31, the output shaft of described decelerator 31 is connected with rotating shaft 33 by shaft coupling 32, described rotating shaft 33 is set in pedestal 1, described reel 34 is fixed in rotating shaft 33, the upper end of described second membrane part is affixed with reel, and the second membrane part is wound around on a bobbin.
Below in conjunction with Fig. 3, Fig. 4 and Fig. 5, the operation principle introducing apparatus of the present invention is as follows:
nullThe present embodiment original state is as shown in Figure 1，The lower area of elastic film contacts with object，Driver 2 rotates，The second membrane part 6 is pulled to move upward by the first drive mechanism 3，The first membrane part 5 is pulled to move upward，Elastic film 7 is pulled deformation by the first membrane part 5 and the second membrane part 6，Under the friction of channel part 4 hinders，The exterior lateral area that elastic film 7 contacts with channel part 4 is maintained near channel part 4，Fluid 8 is sealed in elastic film 7，Fluid 8 has good mobility，The central area of elastic film 7 upwards deforms，The present embodiment contacts object 9 under the motion of robot arms，Continue through driver 2 and pull the first membrane part 5 and the second membrane part 6，The deformation of elastic film 7 bottom strengthens，A structure further caved inward can be formed in its underpart，Now elastic film 7 is by the local of parcel contact object 9，Stretch in the lower cavity that the local of object is wrapped up elastic film，Part water enters narrow two-stage passage successively in the state of suffering oppression，Water retroaction is on grabbed object，Between elastic film and object, form negative pressure region simultaneously，In water pressure、Under the combined effect of atmospheric pressure and elastic film frictional force，Realize grasping body.The object 9 of difformity Yu size is had well adapting to property by this device, such that it is able to realize capturing.
Apparatus of the present invention utilize driver, drive mechanism, channel part, first membrane part, second membrane part, elastic film and fluid etc. comprehensively achieve multidimensional self-adapting grasping function, can automatically adapt to capture difformity, the object of size, central principle is: driver pulls the first membrane part and the second membrane part by drive mechanism, elastic film constantly deforms to the above and within of channel part, under the cooperation of channel part, elastic film equipped with fluid wraps up object self adaptation laminating object profile, segment fluid flow enters in narrow channel part in the state of suffering oppression successively, fluid reaction is on grabbed object, between elastic film and object, it is likely to be formed the negative pressure region of sealing simultaneously, at fluid pressure, under the combined effect of atmospheric pressure and elastic film frictional force, realize grasping body；This device is capable of the multiple directions adaptation to object, it is thus achieved that multidimensional self adaptation effect, and grasp stability is high；This device grasping stability is quick, simple in construction, controls easily.
Claims (4)
1. a spherical adaptive robot arm device, it is characterised in that: include pedestal, driver, drive mechanism, channel part, the first membrane part, the second membrane part, elastic film and fluid；Described channel part is affixed with pedestal；Described driver is affixed with pedestal, the output shaft of described driver is connected with the input of drive mechanism, the outfan of described drive mechanism and the upper end of the second membrane part are connected, and the upper end of the described lower end of the second membrane part, the upper end of elastic film and the first membrane part is affixed；The lower end of described first membrane part is affixed with the lower end of elastic film；Described elastic film is the hollow sealing structure that deformable elastomeric material makes；A part for described elastic film is positioned at the lower section of channel part, and another part of described elastic film is positioned at the inside of channel part, and a part for described elastic film contacts with the inwall of channel part；Described channel part includes at least 1 passage；Described passage is the cavity structure of hollow, and described passage has lower outlet and upper outlet；When the quantity of passage is more than 1, the cavity in all of described passage is interconnected, and the volume of the cavity of different described passages is sequentially reduced from bottom to top；Described fluid-tight is in elastic film；Described first membrane part adopts one or more the mixing in connecting rod, band, chain or tendon rope；Described second membrane part adopts one or more the mixing in connecting rod, band, chain or tendon rope.
2. spherical adaptive robot arm device as claimed in claim 1, it is characterised in that: described fluid is water.
3. spherical adaptive robot arm device as claimed in claim 1, it is characterised in that: the described lower end of the first membrane part is connected with the central area of the lower end of elastic film.
4. spherical adaptive robot arm device as claimed in claim 1, it is characterised in that: described driver adopts motor, cylinder or hydraulic cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610256664.3A CN105729492A (en) | 2016-04-22 | 2016-04-22 | Spherical adaptive robot hand device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610256664.3A CN105729492A (en) | 2016-04-22 | 2016-04-22 | Spherical adaptive robot hand device |
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| CN105729492A true CN105729492A (en) | 2016-07-06 |
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| CN201610256664.3A Pending CN105729492A (en) | 2016-04-22 | 2016-04-22 | Spherical adaptive robot hand device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107457797A (en) * | 2017-06-08 | 2017-12-12 | 清华大学天津高端装备研究院洛阳先进制造产业研发基地 | Porous twolayer fluid adaptive robot arm device |
| CN108081293A (en) * | 2018-01-10 | 2018-05-29 | 秦宗准 | The variable morphology robot manipulator structure that a kind of flexible fluid is mixed with particle |
| CN109048954A (en) * | 2018-07-26 | 2018-12-21 | 燕山大学 | A kind of software is eaten robot |
| CN109249411A (en) * | 2018-10-31 | 2019-01-22 | 金陵科技学院 | A kind of industrial software crawl robot |
| CN109789561A (en) * | 2016-11-09 | 2019-05-21 | 株式会社东芝 | Holding tool and holding system |
| CN109849033A (en) * | 2019-03-18 | 2019-06-07 | 金陵科技学院 | A kind of bull software joint flexible crawl industry auxiliary body |
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| US4561686A (en) * | 1983-08-22 | 1985-12-31 | Raymond Atchley | End effector |
| US6846029B1 (en) * | 2001-08-09 | 2005-01-25 | Gary Dean Ragner | Torus-shaped mechanical gripper |
| CN203665546U (en) * | 2014-01-18 | 2014-06-25 | 黑龙江工程学院 | Passive general manipulator based on vacuum state conversion of small particulate matter |
| CN104070528A (en) * | 2014-06-05 | 2014-10-01 | 河海大学 | Device and method for grabbing and releasing object |
| CN104742143A (en) * | 2015-03-20 | 2015-07-01 | 清华大学 | Flexible palmar self-adaption under-actuation robot hand device |
| CN204525493U (en) * | 2015-04-20 | 2015-08-05 | 西安蒜泥电子科技有限责任公司 | Ball-type mechanical hand |
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2016
- 2016-04-22 CN CN201610256664.3A patent/CN105729492A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4561686A (en) * | 1983-08-22 | 1985-12-31 | Raymond Atchley | End effector |
| US6846029B1 (en) * | 2001-08-09 | 2005-01-25 | Gary Dean Ragner | Torus-shaped mechanical gripper |
| CN203665546U (en) * | 2014-01-18 | 2014-06-25 | 黑龙江工程学院 | Passive general manipulator based on vacuum state conversion of small particulate matter |
| CN104070528A (en) * | 2014-06-05 | 2014-10-01 | 河海大学 | Device and method for grabbing and releasing object |
| CN104742143A (en) * | 2015-03-20 | 2015-07-01 | 清华大学 | Flexible palmar self-adaption under-actuation robot hand device |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109789561A (en) * | 2016-11-09 | 2019-05-21 | 株式会社东芝 | Holding tool and holding system |
| CN107457797A (en) * | 2017-06-08 | 2017-12-12 | 清华大学天津高端装备研究院洛阳先进制造产业研发基地 | Porous twolayer fluid adaptive robot arm device |
| CN107457797B (en) * | 2017-06-08 | 2023-11-03 | 清研(洛阳)先进制造产业研究院 | Porous double-layer fluid self-adaptive robot hand device |
| CN108081293A (en) * | 2018-01-10 | 2018-05-29 | 秦宗准 | The variable morphology robot manipulator structure that a kind of flexible fluid is mixed with particle |
| CN109048954A (en) * | 2018-07-26 | 2018-12-21 | 燕山大学 | A kind of software is eaten robot |
| CN109249411A (en) * | 2018-10-31 | 2019-01-22 | 金陵科技学院 | A kind of industrial software crawl robot |
| CN109849033A (en) * | 2019-03-18 | 2019-06-07 | 金陵科技学院 | A kind of bull software joint flexible crawl industry auxiliary body |
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Application publication date: 20160706 |