CN108274485A - A kind of software finger, grabbing device and crawl control system - Google Patents
A kind of software finger, grabbing device and crawl control system Download PDFInfo
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- CN108274485A CN108274485A CN201810168390.1A CN201810168390A CN108274485A CN 108274485 A CN108274485 A CN 108274485A CN 201810168390 A CN201810168390 A CN 201810168390A CN 108274485 A CN108274485 A CN 108274485A
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- China
- Prior art keywords
- finger
- software
- restraint layer
- software finger
- dilatation
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Classifications
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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
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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
- B25J15/08—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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0025—Means for supplying energy to the end effector
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
Abstract
A kind of software finger of the embodiment of the present invention, including：Refer to body (1), the finger body (1) is software material, which has the first coefficient of dilatation；Restraint layer (12), the restraint layer (12) are beformable body material or elastic material, are set to finger body (1) side, and the restraint layer (12) has the second coefficient of dilatation；First coefficient of dilatation is more than second coefficient of dilatation.The present invention is since finger sheet is as software material, and inside is gas or liquid, integrally refers to body and a kind of state of softness is presented, particularly suitable for capturing the object similar to egg, mollusk etc.Meanwhile grabbing device provided by the invention and crawl control system, solve the problems, such as on the whole crawl object when because strong material damage by pressure crawl object.
Description
Technical field
The present invention relates to software control field more particularly to a kind of software finger and crawl control systems.
Background technology
Mechanical finger is usually generally rigid structure at present, and carrying out control using rigid drivers such as motor, hydraulic cylinders grabs
Take object.These industrial machine fingers are commonly used in hard objects such as crawl machine components.But gradually with production and living
Development, it is more and more abundant for the functional requirement of mechanical finger.
The current most matching used mechanical finger of manipulator is made using hard material, because of finger itself
Pressure sensory function not as the mankind, can not adjust automatically grasping force, therefore, it is impossible to capture egg, mollusk
Equal objects therefore, can for developing one kind because of phenomena such as strong material can damage crawl object by pressure during crawl
The finger and grabbing device of crawl software substance just become very urgent.
Invention content
The present invention provides a kind of software finger solving above-mentioned technical problem and crawl control systems.
The present invention provides a kind of software finger, including：Refer to body 1, the finger body 1 is software material, which has first
Coefficient of dilatation；Restraint layer 12, the restraint layer 12 are beformable body material or elastic material, are set to 1 side of finger body, it is described about
Beam layer 12 has the second coefficient of dilatation；First coefficient of dilatation is more than second coefficient of dilatation.
Further, the restraint layer 12 pastes the side being set to inside or outside the finger body 1.
Further, the beformable body material for referring to body 1 is selected from following at least one of material：Rubber, silica gel, resin
And plastics.
Further, the beformable body material of the restraint layer 12 or elastic material are selected from following at least one of material：
Fypro, polyester fiber, plastics, fabric and metal.
Further, it is hollow cavity in the finger body 1, the hollow cavity is for injecting liquid or gas, so that institute
It states software finger and controls the movement of finger body 1 according to the pressure of the injection liquid or gas.
Further, the finger body 1 includes liner 11, and the liner has pleated structure, refers to stretching for body 1 in order to described
Contracting.
Further, the finger body 1 further includes：Outer courage 13, is sheathed on 11 outside of the liner, and the restraint layer 12 is arranged
Between the liner 11 and outer courage 13.
Further, the software finger further includes：Protrusion 131 is set to 1 head of finger body；Refer to body connecting plate
2, it is held on the protrusion 131, for being connect with external connection mechanism.
Further, the software finger further includes joint 3, is connected between the two neighboring finger body 1.
The present invention also provides a kind of grabbing devices, including as above any at least two software fingers.
Further, the restraint layer 12 is respectively arranged at the inside for referring to body 1, realizes the inside curved of the finger body
It is bent.
Further, the software finger is 2 or 3 or 4.
Further, the grabbing device further includes a substrate 4, and the software finger is solid by the finger body connecting plate 2
Surely it is connected to 4 side of the substrate.
The present invention also provides a kind of crawl control systems, including control device and any one of them as above crawl dress
It sets；The control device injects liquid for injecting liquid or gas into the software finger of the grabbing device, and by control
The pressure size of body or gas controls the movement of the software finger, and then realizes the crawl and release for being crawled object.
Further, the control device includes oil sac, oil pump and electric machine controller；Or, the control device includes gas
Capsule, air pump and electric machine controller.
The embodiment of the present invention at least has the following technical effects：
A kind of software finger, grabbing device and crawl control system provided in an embodiment of the present invention, due to software finger sheet
As software material, inside is gas or liquid, integrally refers to body and a kind of state of softness is presented, so particularly suitable for crawl
Similar to the object of egg, mollusk etc.Meanwhile grabbing device provided by the invention and crawl control system, from entirety
On solve the technical issues of how capturing, i.e., by capturing grabbing device of the control system control with multiple software fingers,
Liquid or gas specially are injected in hollow cavity, so that pressure control of the software finger according to the injection liquid or gas
The finger body movement is made, and then realizes the adjustment of the grasping force of finger.Because of strong material pressure when solving crawl object
The problem of bad crawl object.
Description of the drawings
Fig. 1 is the structural schematic diagram for the software finger that one embodiment of the invention provides；
Fig. 2 is the structural schematic diagram for the software finger belt restraining layer that one embodiment of the invention provides；
Fig. 3 is the structural schematic diagram for the software finger strip connecting plate that one embodiment of the invention provides；
Fig. 4 is the opening state structural schematic diagram for the software finger grip device that one embodiment of the invention provides；
Fig. 5 is the seized condition structural schematic diagram for the software finger grip device that one embodiment of the invention provides；
Fig. 6 is the more finger body structure schematic diagrames for the software finger that another embodiment of the present invention provides；
Fig. 7 is the structural schematic diagram for the crawl control system that one embodiment of the invention provides.
Specific implementation mode
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention make into
It is described in detail to one step, it is clear that described embodiments are only a part of the embodiments of the present invention, rather than whole implementation
Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
All other embodiment, shall fall within the protection scope of the present invention.
The term used in the embodiment of the present application is the purpose only merely for description specific embodiment, is not intended to be limiting
The application.In the embodiment of the present application and "an" of singulative used in the attached claims, " described " and "the"
It is also intended to including most forms, unless context clearly shows that other meanings, " a variety of " generally comprise at least two.
It should be appreciated that term "and/or" used herein is only a kind of incidence relation of description affiliated partner, indicate
There may be three kinds of relationships, for example, A and/or B, can indicate：Individualism A, exists simultaneously A and B, individualism B these three
Situation.In addition, character "/" herein, it is a kind of relationship of "or" to typically represent forward-backward correlation object.
It will be appreciated that though may XXX be described using term first, second, third, etc. in the embodiment of the present application, but
These XXX should not necessarily be limited by these terms.These terms are only used for distinguishing XXX.For example, not departing from the embodiment of the present application model
In the case of enclosing, the first XXX can also be referred to as the 2nd XXX, and similarly, the 2nd XXX can also be referred to as the first XXX.
Depending on context, word as used in this " if ", " if " can be construed to " ... when " or
" when ... " or " in response to determination " or " in response to detection ".Similarly, context is depended on, phrase " if it is determined that " or " such as
Fruit detect (condition or event of statement) " can be construed to " when determining " or " in response to determination " or " when detection (statement
Condition or event) when " or " in response to detection (condition or event of statement) ".
It should also be noted that, the terms "include", "comprise" or its any other variant are intended to nonexcludability
Including so that commodity or system including a series of elements include not only those elements, but also include not clear
The other element listed, or further include for this commodity or the intrinsic element of system.In the feelings not limited more
Under condition, the element that is limited by sentence "including a ...", it is not excluded that including the element commodity or system in also
There are other identical elements.
The preferred embodiment that the invention will now be described in detail with reference to the accompanying drawings.
Embodiment 1
As shown in Figure 1-Figure 3, embodiment of the present invention provides
The present invention provides a kind of software finger, including：Refer to body 1, the finger body 1 is software material, which has first
Coefficient of dilatation；Restraint layer 12, the restraint layer 12 are beformable body material or elastic material, are set to 1 side of finger body, it is described about
Beam layer 12 has the second coefficient of dilatation；First coefficient of dilatation is more than second coefficient of dilatation.
Specifically, preferred embodiment, software finger cross-sectional structure includes rectangle, trapezoidal, semicircle and change is cut
Face type etc., wherein rectangle, the trapezoidal and semicircle constant curvature that may be implemented are bent, and variable cross-section is accomplished that variable curvature is curved
The driving force of song, air pressure and generation needed for software fingers deformed is related to cross sectional shape.
The software material for referring to body 1 is selected from following at least one of material：Rubber, silica gel, resin and plastics.Institute
It states the beformable body material of restraint layer 12 or elastic material is selected from following at least one of material：Fypro, polyester fiber,
Plastics, fabric, metal, hard rubber, hard fibre material, duroplasts etc. have that itself is flexible, under external force can be with
There is the material of certain deformation.
Such as when referring to body 1 using following material, typically respectively, rubber shrinking percentage is 1-4%, silica gel shrinking percentage to shrinking percentage
For 1.5-3.5%, resin shrinkage rate is 2-7%.And the restraint layer 12 using metal when, shrinking percentage 0.4-1.2% is adopted
When with Fypro, shrinking percentage 0.1-0.8%.The shrinking percentage for referring to body 1 is greater than the shrinking percentage of restraint layer 12.
In addition, the finger body 1 includes liner 11, the liner has pleated structure, refers to the flexible of body 1 in order to described.
Wherein liner 11 is software material, such as flexiplast (film), flexible rubber material, cloth etc..
As shown in Fig. 2, the restraint layer 12, which pastes, is set to the lateral surface or medial surface for referring to body 1, preferably outside
Face, is realized and the combination of liner by way of pasting or suturing.Certain restraint layer 12 can cash the strip for hard
Object, by realizing bending by 11 one side of liner forms the bar of a plurality of hard.The restraint layer 12 is respectively arranged at institute
The inside for referring to body 1 is stated, realizes curving inwardly for the finger body.
According to the embodiment of the present invention, the liner 11 can be accordion, that is, have groove structure or corrugated paper knot
The shape of structure refers to the flexible of body 1 in order to described.It is hollow cavity in the liner 11, the hollow cavity is for injecting liquid
Body or gas move so that the software finger controls the finger body 1 according to the pressure of the injection liquid or gas.In described
Courage 11 can bear the internal pressure of bigger without bending, also have software finger while generating larger grasp force
The flexible nature of ontology.
In addition, as shown in figure 3, optional further structure, the finger body 1 can also be sheathed on described including outer courage 13
11 outside of liner, and form protrusion 131 in 1 head of finger body.The material of the outer courage is also that flexible material makes, can be with
For transparent or opaque material, outer courage 13 can also be fabricated to finger appearance and color according to beautiful or other visual effects,
Or other are suitble to the shape of displaying, but its basic function must satisfy, and exactly coordinate liquid or gas pressure in liner cavity
Variation, realize the crawl or release of object.
In addition, the software finger further includes：Refer to body connecting plate 2, be held on the protrusion 131, is used for and outside
Bindiny mechanism connects.The finger body connecting plate 2 is usually two pieces of acrylic boards, and presently used method is to use two pieces of acrylic boards
The upper end of software finger is clamped with certain pressure.The pressure clamped is realized by screw.Screw can be used for simultaneously and other
Rigid body portion connects.Common water pipe head can be installed on acrylic board.To solve how the connection with remaining rigid body portion
And the technical issues of leakproof.
Embodiment 2
As shown in fig. 6, the present invention provides a kind of software finger, including：Refer to body 1, the finger body 1 is software material, the material
Matter has the first coefficient of dilatation；Restraint layer 12, the restraint layer 12 are beformable body material or elastic material, are set to the finger body 1
Side, the restraint layer 12 have the second coefficient of dilatation；First coefficient of dilatation is more than second coefficient of dilatation.It is described soft
Body finger can also include joint 3, be connected between the two neighboring finger body 1.
For apish finger, the present embodiment is preferably used with articulate, i.e., on the basis of above-mentioned software finger
On further include joint 3, joint 3 is software material, is provided with the joint between the finger body and the finger body, the joint exists
First side be in deflated state, the second side be securable state, the second side be deflated state when, the finger body with it is described
It is in straight line between finger body；It is at an angle between the finger body and the finger body when the second side is open configuration.
A kind of software finger provided in an embodiment of the present invention and crawl control system, wherein software finger include joint and refer to
Body, the joint and the finger body are software material；By software finger instead of mechanical finger in the prior art, solve
The problem of crawl object being damaged by pressure when capturing object because of strong material；It is provided between the finger body of the software finger and the finger body
The joint, joint are in deflated state in the first side, are securable state in the second side, when the second side is deflated state, refer to
Body and to refer between body be in straight line；When the second side is open configuration, refers to body and refer at an angle between body.Due to refer to body with
Refer to the angle adjustable between body, realizes the adjustment of the grasping force of finger.
As shown in fig. 6, in embodiments of the present invention, for the finger of similar human body, therefore each software finger is with three
A finger body, two connections, which refer to body and refer to, to be illustrated for the joint between body, which includes refer to body include finger top 21,
Finger connecting pin 22 and finger tips 23；
Between the finger top 21 and the finger connecting pin 22 be the first joint 211, the finger connecting pin 22 with
It is second joint 212 between the finger tips 23.First joint 211 and second joint 212 are in deflated state in first side position,
It is in securable state at the second side, you can be interpreted as ripple state, first side position can be held by fibrous material, the
Joint at two sides can be compressed and stretch.But aduncate position non-ripple structure, and it is embedded in the small fibre of expansion and contraction
Material is tieed up, ripple joint periphery is maximum, is gradually reduced inwards.
It will be appreciated that since above-mentioned software finger uses software material, it will not be because of dynamics when capturing object
Problem leads to the object for damaging crawl by pressure, while the frictional force of software material is larger, can only use very light strength, so that it may to realize
The crawl of object.
Wherein, the software finger further includes being located inside the finger body, and run through the joint and the sky for referring to body
Chambers of the heart body 5；
The hollow cavity 5, for when inject liquid, control the joint the second side tensioning state, to control
The movement for referring to body.
Software finger cross section structure includes rectangle, trapezoidal, semicircle and variable cross-section type etc., wherein rectangle, it is trapezoidal and
Constant curvature bending may be implemented in semicircle, and variable cross-section is accomplished that variable curvature is bent, the air pressure needed for software fingers deformed
It is related to cross sectional shape to the driving force of generation.
The material of hollow cavity described in the present embodiment is hard rubber, the i.e. larger material of hardness so that in software finger
Portion can bear the internal pressure of bigger without bending, and the material for referring to body is soft rubber, is generating larger crawl
Also there is the flexible nature of software finger ontology while power.
The material in the joint is silica gel.
In addition present finger is all to use in air, can not bear the hydraulic pressure of hundreds of meters of depth, can not be transported under water
Row, and the software finger in the present embodiment as a result of fluid pressure control, can in the underwater normal operation of any depth,
Improve the scope of application of software finger.
During specific applicable software finger grip object, generally pass through three software fingers, three software fingers
Be evenly distributed three at circumference, in what fiber stretched face, formed an internal pressure increase will aduncate structure,
As long as control software finger interior pressure in this way achieves that crawl and release movement.When reality captures object, three soft
Body finger can be controlled individually or three fingers control together.
The finger body of software finger is made of elastic material, it is preferred that is also bonded on ontology and is referred in filling for limiting
The limitation strained layer of dilatancy is not generated after gas.The cross section structure of software finger is rectangle, trapezoidal, semicircle or variable cross-section
The driving force of type, air pressure and generation needed for software fingers deformed is related to the cross sectional shape of software finger.Software finger can
It is realized by pure bending structure, every software finger all generates flexural deformation.
Its middle finger body 1 is software material, such as flexiplast (film), flexible rubber material, cloth etc., and the constraint
Layer 12 is hardware material, for example, hard rubber, and hard fibre material, duroplasts etc. is not flexible with itself, in outer force effect
There can be the material of certain deformation down.
The restraint layer 12 pastes the lateral surface or medial surface for being set to the liner 11, preferably lateral surface, by viscous
It pastes or the mode of suture is realized and the combination of liner.Certain restraint layer 12 can cash the bar for hard, by
11 one side of liner forms the bar of a plurality of hard and realizes bending.
Such as when referring to body 1 using following material, typically respectively, rubber shrinking percentage is 1-4%, silica gel shrinking percentage to shrinking percentage
For 1.5-3.5%, resin shrinkage rate is 2-7%.And the restraint layer 12 using metal when, shrinking percentage 0.4-1.2% is adopted
When with Fypro, shrinking percentage 0.1-0.8%.The shrinking percentage for referring to body 1 is greater than the shrinking percentage of restraint layer 12.
According to the embodiment of the present invention, the liner 11 can be accordion, that is, have groove structure or corrugated paper knot
The shape of structure refers to the flexible of body 1 in order to described.It is hollow cavity in the liner 11, the hollow cavity is for injecting liquid
Body or gas move so that the software finger controls the finger body 1 according to the pressure of the injection liquid or gas.In described
Courage 11 can bear the internal pressure of bigger without bending, also have software finger while generating larger grasp force
The flexible nature of ontology.
In addition, optional further structure, the finger body 1 can also include outer courage 13, be sheathed on 11 outside of the liner,
And form protrusion 131 in 1 head of finger body.The material of the outer courage is also that flexible material makes, and can be transparent or not
Outer courage 13 can also be fabricated to finger appearance and color or other is suitble to by transparent material according to beautiful or other visual effects
The shape of displaying, but its basic function must satisfy, and exactly coordinate the variation of the liquid or gas pressure in liner cavity, realize
The crawl or release of object.
Embodiment 3
As illustrated in figures 4-5, the embodiment of the present invention provides a kind of grabbing device, including as described in Example 1 at least two
Software finger.The grabbing device further includes a substrate 4, and the software finger is fixedly connected on by the finger body connecting plate 2
4 side of the substrate.Software finger generally can be 2-4, and the present embodiment is 4 fingers.
Specifically, can be fixedly connected with described basic 4 by referring to body connecting plate 2.The finger body connecting plate 2, is held on
The protrusion 131.The finger body connecting plate 2 is usually two pieces of acrylic boards, and presently used method is to use two pieces of acrylics
Plate clamps the upper end of software finger with certain pressure.The pressure clamped is realized by screw.Screw can be used for simultaneously and base
This 4 parts connection.Common water pipe head can be installed on acrylic board, connect with control system across substrate 4.
As shown in figure 3, the preferred software finger is 4, it is described when control system increases liquid or gas pressure
Flexible finger realizes the grasping movement of finger under the effect of the pressure to the curving of no hard restraint layer.Work as control
When the pressure of system reduction liquid or gas processed, the pressure release of the flexible finger, finger is changed into vertically by flexuosity
State realizes the release to capturing object.
Certain connecting substrate 4 is only a kind of principle description of exemplary, can be expanded on the basis of substrate 4 any
Contour structures of shape, such as arm shape etc., and then the structure and function of whole manipulator may be implemented.
The present invention can also be used as the end effector of robot, since it can be generated similar to multistage as finger
Formula deforms, therefore the crawl of object can be carried out as hand, since its rigidity is smaller, when capturing general object, no
Damage can be generated to object, mainly be used as the tasks such as sorting, transferring objects in industrial application, for example pick fruit, sort water
Fruit will not generate damage to fruit surface；Domestic environments can then be used for doing housework (wash vegetables, massage) etc.；Civil field then may be used
As aerodynamic toy, to give feeling vivid, remarkably true to life.
The deficiency for making up Rigid Manipulators to a certain extent is made according to the design feature of human hand and kinetic characteristic,
To realize the function of being similar to human hand and environmental interaction.In addition the software finger in the present embodiment is as a result of fluid pressure
Control, can improve the scope of application of software finger in the underwater normal operation of any depth.
Embodiment 4
As shown in fig. 7, embodiment of the present invention also provides a kind of crawl control system, including control device and such as implementation
Grabbing device described in example 3；The control device, for injecting liquid or gas into the software finger of the grabbing device,
And the pressure size that liquid or gas are injected by control controls the movement of the software finger, and then realize and be crawled object
Crawl and release.
The control device includes oil sac, oil pump and electric machine controller；Or, the control device include air bag, air pump and
Electric machine controller.
The controller for supplying oil is noted for injecting liquid in the software finger to the executing agency, and by controlling
The pressure size for entering liquid controls executing agency's movement.
It is illustrated, but is not limited thereof as oil using the liquid injected in software finger in the present embodiment,
As shown in fig. 7, wherein controller for supplying oil includes that oil sac 31, oil pump 32 and electric machine controller not shown in the figure, oil sac are used for
Liquid oil is stored, oil pump is used to control liquid oil and enters the flow of software finger 33 to control the pressure of injection oil；The oil sac,
Electric machine controller and the executing agency are connected with the oil pump.Oil pump connects electric machine controller, controls rotating speed and side in this way
To i.e. controllable software finger movement.
Present finger is all to use in air, can not bear the hydraulic pressure of hundreds of meters of depth, can not be run under water, and
Software finger in the present embodiment is controlled as a result of fluid pressure, can be improved in the underwater normal operation of any depth
The scope of application of software finger.
Since control system uses pressure balanced design, software finger can be in the underwater normal fortune of any depth
Row.Executing agency is software finger, and three software fingers 33 such as lower structure, software finger is used to be evenly distributed at circumference altogether
Three, in what fiber stretched face, formed internal pressure increase will aduncate structure, as long as in this way using oily
Pump control software finger interior pressure achieves that crawl and release movement.Certainly, the number of software finger may be five
Or other numbers, use is combined according to practical use, the size of each software finger can also be different, similar human body
Five fingers, can be designed according to practical situation, the present embodiment is not to software in specific executing agency's application process
The number and combination of finger are defined.
In a preferred embodiment of the present embodiment, the joint of three software fingers is in the one of deflated state
Side is in inside circumference.
By hydraulic pump, highly pressurised liquid is injected software finger, finger can be stretched the very low fiber of rate on one side because having
Limitation, in addition three faces are unrestricted and bend, and bending degree depends on the size of hydraulic pressure.Each manipulator uses multiple
Software finger, each software finger can individually or simultaneously control the pressure size of injection, realize different degrees of bending or same
When be bent.
Above-mentioned crawl control system realizes the crawl of protection object integrity, and due to software, frictional force is more mechanical big, section
Saved crawl strength, in addition software finger as a result of fluid pressure control, can in the underwater normal operation of any depth,
Improve the scope of application of software finger.
Software finger in above-described embodiment may include with articulate and not articulated, it is specifically not articulated
As shown in Figs. 1-3, refer to the frictional force that crawl object is improved as shape of threads.Articulated software finger is as shown in Figure 6.
The present invention can also be used as the end effector of robot, since it can be generated similar to multistage as finger
Formula deforms, therefore the crawl of object can be carried out as hand, since its rigidity is smaller, when capturing general object, no
Damage can be generated to object, mainly be used as the tasks such as sorting, transferring objects in industrial application, for example pick fruit, sort water
Fruit will not generate damage to fruit surface；Domestic environments can then be used for doing housework (wash vegetables, massage) etc.；Civil field then may be used
As aerodynamic toy, to give feeling vivid, remarkably true to life.
The deficiency for making up Rigid Manipulators to a certain extent is made according to the design feature of human hand and kinetic characteristic,
To realize the function of being similar to human hand and environmental interaction.In addition the software finger in the present embodiment is as a result of fluid pressure
Control, can improve the scope of application of software finger in the underwater normal operation of any depth.
In conclusion a kind of software finger provided in an embodiment of the present invention, grabbing device and crawl control system, due to soft
Body finger sheet is gas or liquid as software material, inside, integrally refers to body and a kind of state of softness is presented, so being particularly suitable for
For capturing the object for being similar to egg, mollusk etc.Meanwhile grabbing device provided by the invention and crawl control are
System solves the technical issues of how capturing on the whole, i.e., has multiple software fingers by capturing control system control
Grabbing device specially injects liquid or gas, so that the software finger is according to the injection liquid or gas in hollow cavity
The pressure of body controls the finger body movement, and then realizes the adjustment of the grasping force of finger.Because strong when solving crawl object
Hard material damages the problem of crawl object by pressure.
The apparatus embodiments described above are merely exemplary, wherein the unit illustrated as separating component can
It is physically separated with being or may not be, the component shown as unit may or may not be physics list
Member, you can be located at a place, or may be distributed over multiple network units.It can be selected according to the actual needs
In some or all of module achieve the purpose of the solution of this embodiment.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, it will be understood by those of ordinary skill in the art that：It still may be used
With technical scheme described in the above embodiments is modified or equivalent replacement of some of the technical features；
And these modifications or replacements, various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (15)
1. a kind of software finger, which is characterized in that including：
Refer to body (1), the finger body (1) is software material, which has the first coefficient of dilatation；
Restraint layer (12), the restraint layer (12) are beformable body material or elastic material, are set to finger body (1) side, described
Restraint layer (12) has the second coefficient of dilatation；
First coefficient of dilatation is more than second coefficient of dilatation.
2. software finger according to claim 1, it is characterised in that：The restraint layer (12), which pastes, is set to the finger body
(1) side inside or outside.
3. software finger according to claim 1, it is characterised in that：The software material for referring to body (1) is selected from as follows at least
The material of one of them：Rubber, silica gel, resin and plastics.
4. software finger according to claim 1, it is characterised in that：The beformable body material or elastic material of the restraint layer (12)
Selected from following at least one of material：Fypro, polyester fiber, plastics, fabric and metal.
5. software finger according to claim 1, it is characterised in that：It is hollow cavity, the hollow cavity in the finger body (1)
Body is for injecting liquid or gas, so that the software finger controls the finger body according to the pressure of the injection liquid or gas
(1) it moves.
6. software finger according to claim 1, it is characterised in that：The finger body (1) includes liner (11), the liner tool
There is pleated structure, in order to stretching for the finger body (1).
7. software finger according to claim 6, it is characterised in that：The finger body (1) further includes：
Outer courage (13), is sheathed on the outside of the liner (11), and the restraint layer (12) is set to the liner (11) and outer courage
(13) between.
8. software finger according to claim 1, it is characterised in that：The software finger further includes：
Protrusion (131) is set to finger body (1) head；
Refer to body connecting plate (2), be held on the protrusion (131), for being connect with external connection mechanism.
9. according to any software fingers of claim 1-8, which is characterized in that the software finger further includes joint (3),
It is connected between the two neighboring finger body (1).
10. a kind of grabbing device, it is characterised in that include at least two software fingers as described in claim 1-9 is any.
11. software finger according to claim 10, it is characterised in that：The restraint layer (12) is respectively arranged at the finger body
(1) curving inwardly for the finger body is realized in inside.
12. software finger according to claim 10, it is characterised in that：The software finger is 2 or 3 or 4.
13. grabbing device according to claim 10, it is characterised in that：Including a substrate (4), the software finger passes through institute
It states finger body connecting plate (2) and is fixedly connected on the substrate (4) side.
14. a kind of crawl control system, which is characterized in that including：Control device and as described in claim any one of 10-13
Grabbing device；The control device for injecting liquid or gas into the software finger of the grabbing device, and passes through control
The pressure size of system injection liquid or gas controls the movement of the software finger, and then realizes and be crawled the crawl of object and release
It puts.
15. control system according to claim 14, which is characterized in that
The control device includes oil sac, oil pump and electric machine controller；Or,
The control device includes air bag, air pump and electric machine controller.
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| CN201810168390.1A CN108274485A (en) | 2018-02-28 | 2018-02-28 | A kind of software finger, grabbing device and crawl control system |
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| CN201810168390.1A CN108274485A (en) | 2018-02-28 | 2018-02-28 | A kind of software finger, grabbing device and crawl control system |
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