CN107457797A - Porous twolayer fluid adaptive robot arm device - Google Patents
Porous twolayer fluid adaptive robot arm device Download PDFInfo
- Publication number
- CN107457797A CN107457797A CN201710428776.7A CN201710428776A CN107457797A CN 107457797 A CN107457797 A CN 107457797A CN 201710428776 A CN201710428776 A CN 201710428776A CN 107457797 A CN107457797 A CN 107457797A
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- Prior art keywords
- fexible film
- porous
- robot arm
- arm device
- fluid
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- 239000012530 fluid Substances 0.000 title claims abstract description 54
- 230000003044 adaptive effect Effects 0.000 title claims abstract description 42
- 239000000463 material Substances 0.000 claims abstract description 22
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 9
- 239000008187 granular material Substances 0.000 claims description 10
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 6
- 230000001413 cellular effect Effects 0.000 claims description 5
- 238000007789 sealing Methods 0.000 claims description 5
- 239000011148 porous material Substances 0.000 claims description 4
- 239000011159 matrix material Substances 0.000 claims description 3
- 230000006978 adaptation Effects 0.000 abstract description 8
- 238000006243 chemical reaction Methods 0.000 abstract description 8
- 230000015572 biosynthetic process Effects 0.000 abstract description 3
- 238000003786 synthesis reaction Methods 0.000 abstract description 3
- 239000007788 liquid Substances 0.000 description 5
- 239000012528 membrane Substances 0.000 description 3
- 239000002245 particle Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000033001 locomotion Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
Classifications
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
-
- 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
- B25J15/0023—Gripper surfaces directly activated by a fluid
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Porous twolayer fluid adaptive robot arm device, belong to robot technical field, including pedestal, air inlet, outside bowl-type support member, internal bowl-type support member, the first fexible film, the second fexible film, piston cartridge module etc..The synthesis such as positive/negative-pressure, piston cartridge module, the aperture on the first fexible film, porous flexible material, internal bowl-type support member, outside bowl-type support member and fluid that apparatus of the present invention are provided using source of the gas realizes multidimensional adaptively active crawl function, can adapt to capture different shape, the object of size automatically；Adaptation of the multiple directions to object can be realized, obtains the adaptive effect of multidimensional, grasp stability is high；The device combines the crawl for the advantages of spherical adaptive hand and sucker being both adapted to reaction surface object, can also adapt to the crawl of the object in low-disturbance face, and crawl scope is big, and weight capacity is high；The apparatus structure is simple, and cost is cheap, and control is easy.
Description
Technical field
The invention belongs to robot technical field, more particularly to a kind of fluid driving multidimensional adaptive robot arm device
Structure design.
Background technology
Robot is the important terminal that robot manipulation uses, and robot is using its paw crawl object or manipulates (such as
Mobile, rotation) object.The hand of robot can imitate the operating principle of human hand to manufacture, this robot for imitating human hand
Have been developed that typically there is multiple joints with multiple fingers, each finger, this hand is also referred to as humanoid robot hand
Or multifingered robot hands.
Multifingered robot hands are divided into Dextrous Hand and the major class of drive lacking hand two again, and two classes are not independent mutually, and the former refers to have
There are more than 3 fingers and the multifinger hand of more than 9 frees degree, the latter refers to that driver number on hand is less than joint freedom degrees
Number.
Dextrous Hand is very advanced, and integrated level is very high, and sensing and control system are complicated, have the joint of more independent control
The free degree, it is capable of the multiple joints of control of dexterity, completes different gesture motions, object can be captured on one's own initiative.This respect portion
Typical Representative is divided to include：The Robonaut R2 hands of NASA's exploitation, the three of Tokyo Univ Japan's exploitation refers to fast machine people
Hand, the HIT-DLR-II hands of Chinese Harbin Institute of Technology and German Aerospace Center (DLR) joint research and development, Britain Shadow are public
Take charge of the Shadow hands ... developed.But Dextrous Hand also brings very cumbersome calculating, requirement of real-time control in crawl control
Height, manufacture and maintenance cost are expensive.
Drive lacking hand is a kind of intelligent machine, machinery is used in crawl between general industry clamper and Dextrous Hand
Mode reach less driver and drive more joint freedom degrees, and can adapt to capture different shape and size automatically
Object, sensing and control demand it is few, obtained more research in recent years.There are some drive lacking hands to be developed
Come, such as Laval University, Canada, Robotiq companies, Italian Prensilia companies, Dutch Delft universities, Harbin
Polytechnical university, BJ University of Aeronautics ＆ Astronautics, Shanghai Communications University, the Central China University of Science and Technology and Hefei Institute Of Intelligent Machines Chinese Academy Of Sciences
Under-actuated robot hand has all been researched and developed etc. mechanism.But drive lacking hand is still multifinger hand, contact of the finger with object
Point is confined to each segment surface, because fingers number is limited, the segment limited amount on each finger, therefore, it is impossible to accomplish more
More contact points, the adaptive of more direction is unable to reach, captures the adaptivity of object and capture scope by larger limit
System, the stability of crawl need further to improve.
In terms of outward appearance does not imitate the particular kind of machine human hand of human hand, substantial amounts of commercial Application uses sucker, magnet or electrostatic
The modes such as absorption capture and operated object.Cornell Univ USA have developed a kind of universal gripper (U.S. patent Nos
US20130106127A1), passive adaptation object shape is gone using the interior grand deformable hymeniderm for measuring small sized particles material and gas
Shape, and be evacuated using the mode of negative pressure, a large amount of granular materials, which are detained, wherein produces obstruction hardening, reaches crawl different shape size
The purpose of object.The clamper is disadvantageous in that：1) external environment must be relied on to give the reaction force of object to reach
The deformation of hymeniderm, it is impossible to pick up the object (such as the apple played in the air) of no reaction surface, the clamper is difficult to grab
Take.2) employ substantial amounts of granular materials, granular materials number affect the effect of crawl, the abrasion of granular materials needs one
Changed after fixing time.
German FESTO companies have developed a kind of universal gripper, and the recessed cup of fluid and flexible strutting piece is filled using inside
Shape hymeniderm and the sucker of hymeniderm end reach the shape for removing passive adaptation object, and pull piston using negative pressure, by hymeniderm
Water is pumped into piston cylinder, so that hymeniderm active deformation reaches the purpose of crawl different shape object to hold object.Should
Clamper is disadvantageous in that：1) its end force of suction cup is limited, can not clamp heavier object.2) in the mistake of hymeniderm deformation
The sucker of its end is easily deformed in journey, and suction suction disappears, so as to cause crawl to fail.
Kyushu University have developed a kind of Unimate, be named as MR α hands, and magnetic rheological liquid is filled using inside
Hymeniderm goes the shape of passive adaptation object, after hymeniderm adapts to body form, the magnetic rheological liquid in hymeniderm is passed through into magnetic field, made
Magnetic rheological liquid solidifies so that hymeniderm is fixed, and reaches the purpose of crawl object.The clamper is disadvantageous in that：1) it is necessary
The reaction force of object is given to reach the deformation of hymeniderm by external environment, it is impossible to picks up the object (example of no reaction surface
Such as the apple played in the air), the clamper is difficult to capture.2) magnetorheological materials are expensive, and cost is high.3) clamper produces
Raw magnetic field can disturb the electronic component of robot controller, influence the stability of controller, and magnetic field can also interfere with it is attached
Near radio communication.4) hymeniderm passive adaptation body form, magnetic rheological liquid are in irregular container, the distribution of its internal magnetic field
Uneven, the intensity of variation of magnetic rheological liquid is uneven, influences grasp stability.
The content of the invention
The invention aims to overcome the weak point of prior art, with reference to sucker and the adaptive hand of ball-shaped fluidic
Advantage, a kind of porous twolayer fluid adaptive robot arm device is proposed, the device is used to capture object, can adapt to thing automatically
Shape, the size of body；Adaptation of the multiple directions to object can be realized, obtains the adaptive effect of multidimensional, grasp stability is high；Should
Device had both been adapted to the crawl of reaction surface object, can also adapt to the crawl of the object in low-disturbance face, captured scope
Greatly, weight capacity is high；The apparatus structure is simple, and control is easy.
The present invention adopts the following technical scheme that：
A kind of porous twolayer fluid adaptive robot arm device of the present invention, including pedestal, source of the gas, gas port and
One fexible film；First fexible film is the hollow structure that deformable material makes, and first fexible film includes one
Individual outlet；The pedestal is connected with the first fexible film, and the gas port is connected with source of the gas, and the gas port is arranged on pedestal,
The gas port is connected with the inside of the first fexible film；It is characterized in that：The porous twolayer fluid adaptive robot hand dress
Putting also includes piston cartridge module, the second fexible film and fluid；The piston cartridge module includes sleeve, piston and spring, described
Piston is slided and is nested in sleeve, and the both ends of the spring connect piston and sleeve respectively；Second fexible film is variable
The hollow structure that shape material makes, second fexible film include one outlet；The outlet of second fexible film and set
Cylinder sealing is connected；First fexible film has some micropores；The Fluid Sealing side space and the second flexible thin under a bushing
In film；The superjacent air space of the sleeve is connected with ambient atmosphere.
Porous twolayer fluid adaptive robot arm device of the present invention, it is characterised in that：Also include internal bowl-type
Support member, the internal bowl-type support member are positioned between outlet and the matrix of the second fexible film.
Porous twolayer fluid adaptive robot arm device of the present invention, it is characterised in that：Also include outside bowl-type
Support member, the outside bowl-type support member are fixed on the first fexible film exit.
Porous twolayer fluid adaptive robot arm device of the present invention, it is characterised in that：Also include flexible, porous
Material, the flexible cellular material are positioned between the first fexible film and the second fexible film.
Porous twolayer fluid adaptive robot arm device of the present invention, it is characterised in that：Also include granular materials,
The granular materials is positioned between the first fexible film and the second fexible film.
Porous twolayer fluid adaptive robot arm device of the present invention, it is characterised in that：Also include that there is micropore
Carpet, the carpet with micropore is positioned between the first fexible film and the second fexible film.
Porous twolayer fluid adaptive robot arm device of the present invention, it is characterised in that：The fluid is particle
Material.
Porous twolayer fluid adaptive robot arm device of the present invention, it is characterised in that：The fluid is water.
Apparatus of the present invention utilize the positive/negative-pressure of source of the gas offer, piston cartridge module, the aperture on fexible film, porous flexible material
The synthesis such as material, fluid and fluid realizes multidimensional adaptively active crawl function, can adapt to capture different shape, chi automatically
Very little object；Adaptation of the multiple directions to object can be realized, obtains the adaptive effect of multidimensional, grasp stability is high；The device
The crawl of reaction surface object had both been adapted to reference to the advantages of spherical adaptive hand and sucker, low-disturbance can also be adapted to
The crawl of the object in face, crawl scope are big；The apparatus structure is simple, and control is easy, and cost is low.
Brief description of the drawings
Fig. 1 is a kind of sectional view of porous twolayer fluid adaptive robot arm device embodiment provided by the invention.
Fig. 2 is the front view of embodiment illustrated in fig. 1.
Fig. 3 is the left view of embodiment illustrated in fig. 1.
Fig. 4 is the stereo appearance figure of embodiment illustrated in fig. 1.
Stereo appearance figure when Fig. 5 is embodiment illustrated in fig. 1 crawl object.
Fig. 6 is Fig. 5 sectional view, and now, the water in the second fexible film is squeezed into cylinder barrel, on the second fexible film
Micropore holds object.
In Fig. 1 into Fig. 6：
1- pedestals, 2- gas ports, 3- outsides bowl-type support member, the bullets of 4- first
Property film,
The elastic films of 5- second, 6- inside bowl-type support frame, 7- cylinder barrels, 8- springs,
9- pistons, 10- flexible cellular materials, 11- filters, 12- micropores,
13- objects, 14- fluids.
Embodiment
Below in conjunction with the accompanying drawings and the concrete structure of the present invention, operation principle and worked is further described in embodiment
Journey.
A kind of porous twolayer fluid adaptive robot arm device of the present invention, including pedestal, source of the gas, gas port and
One fexible film；First fexible film is the hollow structure that deformable material makes, and first fexible film includes one
Individual outlet；The pedestal is connected with the first fexible film, and the gas port is connected with source of the gas, and the gas port is arranged on pedestal,
The gas port is connected with the inside of the first fexible film；It is characterized in that：The porous twolayer fluid adaptive robot hand dress
Putting also includes piston cartridge module, the second fexible film and fluid；The piston cartridge module includes sleeve, piston and spring, described
Piston is slided and is nested in sleeve, and the both ends of the spring connect piston and sleeve respectively；Second fexible film is variable
The hollow structure that shape material makes, second fexible film include one outlet；The outlet of second fexible film and set
Cylinder sealing is connected；First fexible film has some micropores；The Fluid Sealing side space and the second flexible thin under a bushing
In film；The superjacent air space of the sleeve is connected with ambient atmosphere.
Porous twolayer fluid adaptive robot arm device of the present invention, it is characterised in that：Also include internal bowl-type
Support member, the internal bowl-type support member are positioned between outlet and the matrix of the second fexible film.
Porous twolayer fluid adaptive robot arm device of the present invention, it is characterised in that：Also include outside bowl-type
Support member, the outside bowl-type support member are fixed on the first fexible film exit.
Porous twolayer fluid adaptive robot arm device of the present invention, it is characterised in that：Also include flexible, porous
Material, the flexible cellular material are positioned between the first fexible film and the second fexible film.
Porous twolayer fluid adaptive robot arm device of the present invention, it is characterised in that：Also include granular materials,
The granular materials is positioned between the first fexible film and the second fexible film.
Porous twolayer fluid adaptive robot arm device of the present invention, it is characterised in that：Also include that there is micropore
Carpet, the carpet with micropore is positioned between the first fexible film and the second fexible film.
Porous twolayer fluid adaptive robot arm device of the present invention, it is characterised in that：The fluid is particle
Material.
Porous twolayer fluid adaptive robot arm device of the present invention, it is characterised in that：The fluid is water.
With reference to Fig. 5 and Fig. 6, the operation principle of apparatus of the present invention is introduced, it is as follows：
The present embodiment original state is as shown in Fig. 2 the present embodiment connects under the drive of robot arms with object 13
Touch, because fluid 14 has good mobility, therefore, there is well adapting to property to the object 13 of irregular shape, first
Fexible film 4 is coated on the surface of object 13, has larger contact area.Now, source of the gas starts air-breathing, the first fexible film
Negative pressure is produced in 4, the first fexible film 4, which shrinks, drives flexible cellular material 10 to oppress the second fexible film 5 by the second flexible thin
Water in film 5 is squeezed into cylinder barrel 7, and at the same time, the first flexible membrane 4 is with the micropore 12 on the contact surface of object 13 in atmospheric pressure
Object 13 is sucked under effect, realizes crawl.
When needing to discharge object 13, source of the gas is blown, produce normal pressure in the first flexible membrane 4, the first flexible membrane 4 is swollen
Swollen, spring 8 promotes piston 9 that the fluid in cylinder barrel 7 is pushed into the second fexible film 5, and the expansion of the second fexible film 5 drives flexible
Porous material 10 promotes the first fexible film 4, it is recovered original-shape, and object is released.
Apparatus of the present invention utilize the positive/negative-pressure of source of the gas offer, piston cartridge module, the aperture on fexible film, porous flexible material
The synthesis such as material, fluid and fluid realizes multidimensional adaptively active crawl function, can adapt to capture different shape, chi automatically
Very little object；Adaptation of the multiple directions to object can be realized, obtains the adaptive effect of multidimensional, grasp stability is high；The device
The crawl of reaction surface object had both been adapted to reference to the advantages of spherical adaptive hand and sucker, low-disturbance can also be adapted to
The crawl of the object in face, crawl scope are big；The apparatus structure is simple, and control is easy.
Claims (8)
1. a kind of porous twolayer fluid adaptive robot arm device, including pedestal, source of the gas, gas port and the first fexible film；Institute
It is the hollow structure that deformable material makes to state the first fexible film, and first fexible film includes one outlet；The base
Seat is connected with the first fexible film, and the gas port is connected with source of the gas, and the gas port is arranged on pedestal, the gas port and first
The inside of fexible film is connected；It is characterized in that：The porous twolayer fluid adaptive robot arm device also includes piston cylinder
Component, the second fexible film and fluid；The piston cartridge module includes sleeve, piston and spring, and the piston is slided and is nested in
In sleeve, the both ends of the spring connect piston and sleeve respectively；Second fexible film is during deformable material makes
Hollow structure, second fexible film include one outlet；The outlet of second fexible film is connected with sleeve seal；It is described
First fexible film has some micropores；The Fluid Sealing is under a bushing in side space and the second fexible film；The sleeve
Superjacent air space is connected with ambient atmosphere.
2. porous twolayer fluid adaptive robot arm device as claimed in claim 1, it is characterised in that：Also include internal bowl
Type support member, the internal bowl-type support member are positioned between outlet and the matrix of the second fexible film.
3. porous twolayer fluid adaptive robot arm device as claimed in claim 1, it is characterised in that：Also include outside bowl
Type support member, the outside bowl-type support member are fixed on the first fexible film exit.
4. porous twolayer fluid adaptive robot arm device as claimed in claim 1, it is characterised in that：Also include flexible more
Porous materials, the flexible cellular material are positioned between the first fexible film and the second fexible film.
5. porous twolayer fluid adaptive robot arm device as claimed in claim 1, it is characterised in that：Also include granular material
Material, the granular materials are positioned between the first fexible film and the second fexible film.
6. porous twolayer fluid adaptive robot arm device as claimed in claim 1, it is characterised in that：Also include with micro-
The carpet in hole, the carpet with micropore are positioned between the first fexible film and the second fexible film.
7. porous twolayer fluid adaptive robot arm device as claimed in claim 1, it is characterised in that：The fluid is
Grain material.
8. porous twolayer fluid adaptive robot arm device as claimed in claim 1, it is characterised in that：The fluid is
Water.
Priority Applications (1)
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|---|---|---|---|
| CN201710428776.7A CN107457797B (en) | 2017-06-08 | 2017-06-08 | Porous double-layer fluid self-adaptive robot hand device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710428776.7A CN107457797B (en) | 2017-06-08 | 2017-06-08 | Porous double-layer fluid self-adaptive robot hand device |
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| Publication Number | Publication Date |
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| CN107457797A true CN107457797A (en) | 2017-12-12 |
| CN107457797B CN107457797B (en) | 2023-11-03 |
Family
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| 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 |
| CN108527409A (en) * | 2018-04-02 | 2018-09-14 | 北京科技大学 | A kind of pneumatic software manipulator and its application method of adaptive gripped object shape |
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| CN110026997A (en) * | 2019-04-30 | 2019-07-19 | 哈尔滨工业大学 | A kind of multifunctional electric flexible manipulator |
| CN110394796A (en) * | 2019-08-26 | 2019-11-01 | 中南大学 | A kind of aerated particle combination drive variation rigidity soft robot and its operation method |
| WO2020161441A1 (en) * | 2019-02-08 | 2020-08-13 | Psa Automobiles Sa | Object orientating and/or gripping device, with increased longevity elastic membrane, and associated robot |
| JP2020168694A (en) * | 2019-04-04 | 2020-10-15 | 株式会社ダイフク | Article holding device |
| CN112248011A (en) * | 2020-10-13 | 2021-01-22 | 浙江清华柔性电子技术研究院 | Flexible gripping device |
| CN114193489A (en) * | 2019-08-21 | 2022-03-18 | 北京纳米能源与系统研究所 | Double-stimulation self-driven robot hand based on steam response intelligent thin film material |
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