CN108527409A - A kind of pneumatic software manipulator and its application method of adaptive gripped object shape - Google Patents
A kind of pneumatic software manipulator and its application method of adaptive gripped object shape Download PDFInfo
- Publication number
- CN108527409A CN108527409A CN201810283492.8A CN201810283492A CN108527409A CN 108527409 A CN108527409 A CN 108527409A CN 201810283492 A CN201810283492 A CN 201810283492A CN 108527409 A CN108527409 A CN 108527409A
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- flexible
- wall surface
- manipulator
- flexible pouch
- crawled
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Links
- 230000003044 adaptive effect Effects 0.000 title claims abstract description 12
- 238000000034 method Methods 0.000 title claims abstract description 9
- 239000013618 particulate matter Substances 0.000 claims abstract description 25
- 239000012528 membrane Substances 0.000 claims abstract description 14
- 239000002245 particle Substances 0.000 claims abstract description 14
- 239000012530 fluid Substances 0.000 claims description 6
- 239000007787 solid Substances 0.000 claims description 6
- 238000007599 discharging Methods 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 3
- 238000005273 aeration Methods 0.000 claims description 2
- 239000007788 liquid Substances 0.000 claims description 2
- 239000000126 substance Substances 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 2
- 238000005086 pumping Methods 0.000 abstract description 2
- 239000000463 material Substances 0.000 description 3
- FAPWRFPIFSIZLT-UHFFFAOYSA-M Sodium chloride Chemical compound [Na+].[Cl-] FAPWRFPIFSIZLT-UHFFFAOYSA-M 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 239000007864 aqueous solution Substances 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000007777 multifunctional material Substances 0.000 description 1
- 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 description 1
- 230000000414 obstructive effect Effects 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 239000011780 sodium chloride Substances 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
- 230000009466 transformation Effects 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
- B25J15/0023—Gripper surfaces directly activated by a fluid
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of pneumatic software manipulator and its application method of adaptive gripped object shape, including controlled deflection wall surface, particulate matter vent charge one, vent charge two, flexible membrane, porous plate, firm banking and corresponding air source；Contain air bag inside flexible wall surface, air bag is connected with vent charge one, and wall surface is bent outwardly when inflation curves inwardly, is evacuated, and realizes the clamping and release to being crawled object respectively；Controlled deflection wall surface, flexible membrane and porous plate form closed cavity --- i.e. flexible pouch, particulate matter is housed in flexible pouch, flexible pouch is adaptively crawled body form during crawl, and increases wall surface as cushion and grabbed object contact area, to enhance chucking power.The effect of flexible pouch is arranged in the present invention on the inside of pneumatic software manipulator：The contact area that can increase and be crawled object, to increase chucking power.In outer wall setting bendable curvature flexible wall face, by flexible wall surface flexural deformation to overcome the caused particle collapses of pumping.
Description
Technical field
The present invention relates to manipulator field more particularly to software manipulator, realize to irregular complex shape, uncertain shape
The crawl of shape object.
Background technology
Currently, robot market is gradually expanded, especially in industrial circle, big multiple production line is taken by manipulator
Generation, to liberate the heavy labor of people, realizing that industrial production mechanization and automation have played important function.Existing manipulator is being grabbed
During taking, it is mostly rigid contact (i.e. Rigid Manipulators) to be crawled between object and manipulator, and object geometry is grabbed in this requirement
Shape is determining and surface has some strength.For complicated irregular shape or surface-fragile be crawled object (such as fruit,
Egg), Rigid Manipulators are difficult to be competent at.And the advantage of flexible manipulator is preferably adapt to be crawled object, and work as
By big injury will not be generated after foreign impacts.
Flexible manipulator has two major classes, flexible manipulator and software manipulator at present.Flexible manipulator is usually internal to be had
Many sensors collect the related data for touching object, to determine grasp mode when flexible manipulator touch is crawled object
And flexural deformation.Flexible manipulator is mainly reflected in be controlled with more degree of freedom and accurate power position, in order to ensure quilt
The safety of object and complete is grabbed, is extremely complex to the control with more multivariant Dextrous Hand, but also package unit
Cost is higher, is unfavorable for promoting and applying.Software manipulator makes full use of and plays various flexible materials (rubber, polymer, intelligence
Material, multifunctional material etc.) compliance and its non-linear, viscoplasticity and lagging characteristics etc. software hands movement and control in
Potentially " mechanical intelligence " acts on, and reduces the complexity of control, realizes high flexibility and good interactivity.
Harvard University (Angew.Chem.Int.Ed, 2011,50:1890-1895) have studied the pneumatic net of different structure
Network designs flexible air impeller, material is bent, it can be achieved that object by changing pneumatic network atmospheric pressure
The crawl of body.Based on air bending thinking, CN 10495992 A, CN 104959992A, CN 106965200A propose difference
The pneumatic software manipulator of type, pneumatic software manipulator clamping power derive from the frictional force of soft material and held object.
Chicago University and Harvard University (Nature, 1998,396:21；Nature,2001,14:411) particle is had studied
The characteristic of fluid or solid can be presented in substance special property, particulate matter at different conditions, i.e., changeable by external condition
Particulate matter is obstructive.This feature based on particulate matter, CN 102939189A invention one kind are captured by block techniques
The crawl of Various Complex shaped objects may be implemented by flowing solid transformation for " coffee pads " software manipulator of object, the manipulator.
Different from pneumatic software manipulator, particle software manipulator realizes crawl by wrapping up object.With pneumatic software machinery palmistry
Than particle software manipulator is more adaptable to being crawled object, but in contrast its chucking power is weak, cannot achieve heavy objects
Crawl.
Invention content
In conjunction with pneumatic software manipulator and particle software manipulator, respectively advantage, the present invention propose a kind of with strong chucking power
Adaptive software manipulator.The present invention adopts the following technical scheme that：
A kind of software manipulator include controlled deflection wall surface, particulate matter vent charge one, vent charge two, flexible membrane,
Porous plate, manipulator firm banking and corresponding air source.Contain air bag, air bag and one phase of vent charge inside flexible wall surface
Wall surface is bent outwardly when connection, when inflation curve inwardly, are evacuated, and realizes the clamping and release to being crawled object respectively.Controllable bending
Curved wall face, flexible membrane and porous plate form closed cavity --- i.e. flexible pouch, particulate matter are housed in flexible pouch, during crawl
Flexible pouch is adaptively crawled body form, and increases wall surface as cushion and grabbed object contact area, to enhance clamping
Power.
The flexible membrane can be flexible, can also be inelastic flexible film.
The particulate matter can be single particle, can also be particle and liquid mixture.
Further, the entire flexible pouch of particulate matter underfill, volume fraction account for the 50%~95% of flexible pouch.
A kind of application method of the pneumatic software manipulator of gripped object shape adaptive as described above, using pneumatic controllable
Curved wall is as fixture, while flexible pouch of the setting equipped with particulate matter between fixture, increases clamping contact area to enhance
Manipulator clamping power；The course of work of the software manipulator is as follows：
(a) before capturing object, controlled deflection wall surface is evacuated, controlled deflection wall surface is bent outwardly in toed-out shape；At this point,
Flexible pouch no particulate matter is not filled by completely, and flexible pouch endoparticle is in flow-like, can adaptively be crawled body form.
(b) when capturing object, flexible pouch contacts object, and flexible pouch is according to being crawled body form to body self-adaptation packet
It wraps up in.To wall surface airbag aeration, object is grabbed in the clamping that curves inwardly of controlled deflection wall surface；Meanwhile to flexible pouch be evacuated, particulate matter by
Fluid state becomes solid state, and flexible manipulator increases with the contact surface for being crawled object under the clamping of controlled deflection wall surface, i.e.,
Flexible manipulator grasp force enhances.
(c) when discharging object, flexible pouch is inflated when to wall surface air bag air pump, object is crawled and falls immediately.
Compared with existing invention, it is each that the present invention is combined with existing two classes software manipulator (pneumatic and particle software manipulator)
From advantage, the chucking power of software manipulator can be enhanced.
(a) with single pneumatic software manipulator (CN 10495992 A, CN 104959992A, CN 106965200A) phase
Than the effect of flexible pouch is arranged in the present invention on the inside of pneumatic software manipulator：It can increase and be crawled the contact area of object,
To increase chucking power；Since the flexible pouch equipped with particulate matter can enhance crawl process to being crawled body self-adaptation package
The accuracy of positioning.
(b) particle software manipulator (CN 102939189A) is by particulate matter and the frictional force being crawled between object
Realize crawl.Particulate matter can be in close contact in fluid state with object is crawled；To realize that particulate matter mass flow changes admittedly
(block), need to be evacuated particulate matter, be evacuated and particle volume is caused to shrink so that particulate matter and being crawled between object is pressed
Power is seriously impaired.The present invention is in outer wall setting bendable curvature flexible wall face, by flexible wall surface flexural deformation to overcome pumping
Caused particle collapses.
Description of the drawings
Fig. 1 software robot manipulator structure figures.
Wherein, 1- controlled deflections wall surface, 2- particles, 3- vent charges one, 4- vent charges two, 5- flexible membranes, 6- are porous
Plate, 7- manipulators are solid
Determine pedestal
Fig. 2 software manipulators capture process.
Specific implementation mode
As shown in Figure 1, a kind of software manipulator of adaptive gripped object, manipulator by controlled deflection wall surface (1),
Grain/fluid mixture, vent charge (3) and (4), flexible membrane (5), porous plate (6), manipulator firm banking (7) and height
Pressurized air source forms.Wall surface (1), flexible membrane (5) and porous plate (6) form cavity, i.e. flexible pouch, and particle is housed in flexible pouch,
Plastochondria product accounts for the 70% of entire flexible pouch cavity volume.Communicated air bags are disposed on the outside of curved wall (1), vent charge can be passed through
One (3) connect height pressurized air source and change gasbag pressure.The porous plate side of flexible pouch is connected to vent charge two (4), by filling row
Gas port two (4) connects height pressurized air source and changes flexible pouch pressure.Vent charge one (3) and vent charge two (4) can pass through electromagnetism
Vavle switching is respectively communicated with normal pressure and height pressurized air source.
Particle uses PVC plastic particle, real density 1.15kg/L to be mixed into isodensity particle/stream with NaCl aqueous solutions
Body system.
Apparatus of the present invention grasping manipulation process is as follows：
Vent charge one (3) is connected low-pressure gas source, is evacuated to wall surface by the first step, and wall surface (1) is bent outwardly in toed-out
Shape；And flexible pouch endoparticle is not filled by completely, flexible pouch endoparticle is naturally drooped at flow-like, flexible membrane (5).
Second step, when capturing object, flexible membrane (5) contacts object, and flexible membrane (5) basis is crawled body form to object
Adaptive package.Switch vent charge one (3) air source so that vent charge one (3) connects high-pressure air source, to wall surface (1) air bag
Inflation, wall surface (1), which curves inwardly to clamp, is grabbed object.Meanwhile vent charge two (4) is connected into low-pressure gas source, flexible pouch is taken out
Gas, flexible pouch no particulate matter become solid state from fluid state, increase and be crawled contact area, the enhancing software machine of object
Tool hand grasp force.
Third walks, and when discharging object, vent charge one (3) is connected low-pressure gas source, vent charge two (4) connects high pressure gas
Source, i.e., to wall surface air bag air pump when to flexible pouch inflate, be crawled object and fall.
Claims (5)
1. a kind of pneumatic software manipulator of adaptive gripped object shape, it is characterised in that include controlled deflection wall surface, particle
Substance vent charge one, vent charge two, flexible membrane, porous plate, firm banking and corresponding air source；Inside flexible wall surface
Containing air bag, air bag is connected with vent charge one, and wall surface is bent outwardly when inflation curves inwardly, is evacuated, and realizes respectively pair
It is crawled the clamping and release of object；Controlled deflection wall surface, flexible membrane and porous plate form closed cavity --- i.e. flexible pouch, flexible
Particulate matter is housed, flexible pouch is adaptively crawled body form during crawl, and increases wall surface and quilt as cushion in bag
Object contact area is grabbed, to enhance chucking power.
2. the pneumatic software manipulator of adaptive gripped object shape as described in claim 1, it is characterised in that the flexible membrane
For flexible or inelastic flexible film.
3. the pneumatic software manipulator of adaptive gripped object shape as described in claim 1, it is characterised in that the particulate matter
Matter is single particle or particle and liquid mixture.
4. the pneumatic software manipulator of adaptive gripped object shape as claimed in claim 3, it is characterised in that the particulate matter
The entire flexible pouch of underfill, volume fraction account for the 50%~95% of flexible pouch.
5. a kind of application method of the pneumatic software manipulator of gripped object shape adaptive as described in claim 1, feature
It is using pneumatic controlled deflection wall surface as fixture, while flexible pouch of the setting equipped with particulate matter between fixture, increases folder
Contact area is held to enhance manipulator clamping power；The course of work of the software manipulator is as follows：
(a) before capturing object, controlled deflection wall surface is evacuated, controlled deflection wall surface is bent outwardly in toed-out shape；At this point, flexible
Bag no particulate matter is not filled by completely, and flexible pouch endoparticle is in flow-like, can adaptively be crawled body form；
(b) when capturing object, flexible pouch contacts object, and flexible pouch wraps up body self-adaptation according to body form is crawled.It is right
Object is grabbed in wall surface airbag aeration, the clamping that curves inwardly of controlled deflection wall surface；Meanwhile flexible pouch is evacuated, particulate matter is by fluid
State becomes solid state, and flexible manipulator increases with the contact surface for being crawled object under the clamping of controlled deflection wall surface, i.e., flexible
Manipulator grasp force enhances；
(c) when discharging object, flexible pouch is inflated when to wall surface air bag air pump, object is crawled and falls immediately.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810283492.8A CN108527409A (en) | 2018-04-02 | 2018-04-02 | A kind of pneumatic software manipulator and its application method of adaptive gripped object shape |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810283492.8A CN108527409A (en) | 2018-04-02 | 2018-04-02 | A kind of pneumatic software manipulator and its application method of adaptive gripped object shape |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108527409A true CN108527409A (en) | 2018-09-14 |
Family
ID=63482663
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810283492.8A Pending CN108527409A (en) | 2018-04-02 | 2018-04-02 | A kind of pneumatic software manipulator and its application method of adaptive gripped object shape |
Country Status (1)
| Country | Link |
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| CN (1) | CN108527409A (en) |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109807924A (en) * | 2019-04-09 | 2019-05-28 | 南京林业大学 | A kind of self-adapting changeable rigidity software hand is grabbed |
| CN109968344A (en) * | 2019-04-30 | 2019-07-05 | 哈尔滨工业大学 | A kind of Pneumatic multifunctional 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 |
| CN111360856A (en) * | 2020-04-13 | 2020-07-03 | 南京邮电大学 | Wrapped soft gripper |
| CN111941384A (en) * | 2020-08-19 | 2020-11-17 | 六安科亚信息科技有限公司 | Anti-collision high-stability transfer robot |
| CN112248011A (en) * | 2020-10-13 | 2021-01-22 | 浙江清华柔性电子技术研究院 | Flexible gripping device |
| CN112847407A (en) * | 2019-11-12 | 2021-05-28 | 丰田自动车株式会社 | Bag-shaped actuator system, gripping device using the same, robot hand, and method of using the same |
| CN113319886A (en) * | 2021-07-16 | 2021-08-31 | 北京软体机器人科技有限公司 | Flexible clamp |
| CN113478513A (en) * | 2021-07-20 | 2021-10-08 | 中南大学 | Self-adaptive variable-rigidity flexible radial gripper and using method thereof |
| CN113681581A (en) * | 2021-08-20 | 2021-11-23 | 浙江大学 | High-speed response soft finger |
| CN113733134A (en) * | 2021-09-14 | 2021-12-03 | 清华大学深圳国际研究生院 | Variable-rigidity flexible clamping jaw based on blockage of solid-liquid mixture particles |
| CN113733133A (en) * | 2021-09-14 | 2021-12-03 | 清华大学深圳国际研究生院 | Bionic flexible manipulator |
| CN114043473A (en) * | 2021-09-24 | 2022-02-15 | 香港中文大学（深圳） | Touch sensor control method and device and computer readable storage medium |
| CN114148732A (en) * | 2021-12-03 | 2022-03-08 | 梅龙 | Chip processing is with snatching mechanism |
| CN114434470A (en) * | 2022-01-27 | 2022-05-06 | 张家港江苏科技大学产业技术研究院 | Flexible gripping device |
| CN114454207A (en) * | 2020-11-10 | 2022-05-10 | 台达电子工业股份有限公司 | Claw clamping device and method for grabbing object to be grabbed |
| CN116588292A (en) * | 2023-05-23 | 2023-08-15 | 北京大学 | Underwater operation robot |
| CN116810839A (en) * | 2023-08-29 | 2023-09-29 | 北京软体机器人科技股份有限公司 | Vacuum clamping device |
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Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109807924A (en) * | 2019-04-09 | 2019-05-28 | 南京林业大学 | A kind of self-adapting changeable rigidity software hand is grabbed |
| CN109968344A (en) * | 2019-04-30 | 2019-07-05 | 哈尔滨工业大学 | A kind of Pneumatic multifunctional 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 |
| CN112847407A (en) * | 2019-11-12 | 2021-05-28 | 丰田自动车株式会社 | Bag-shaped actuator system, gripping device using the same, robot hand, and method of using the same |
| CN111360856A (en) * | 2020-04-13 | 2020-07-03 | 南京邮电大学 | Wrapped soft gripper |
| CN111941384A (en) * | 2020-08-19 | 2020-11-17 | 六安科亚信息科技有限公司 | Anti-collision high-stability transfer robot |
| CN112248011A (en) * | 2020-10-13 | 2021-01-22 | 浙江清华柔性电子技术研究院 | Flexible gripping device |
| CN112248011B (en) * | 2020-10-13 | 2022-11-04 | 浙江清华柔性电子技术研究院 | Flexible gripping device |
| CN114454207A (en) * | 2020-11-10 | 2022-05-10 | 台达电子工业股份有限公司 | Claw clamping device and method for grabbing object to be grabbed |
| CN114454207B (en) * | 2020-11-10 | 2024-04-26 | 台达电子工业股份有限公司 | Claw clamping device and grabbing method of objects to be grabbed |
| CN113319886A (en) * | 2021-07-16 | 2021-08-31 | 北京软体机器人科技有限公司 | Flexible clamp |
| CN113478513A (en) * | 2021-07-20 | 2021-10-08 | 中南大学 | Self-adaptive variable-rigidity flexible radial gripper and using method thereof |
| CN113681581B (en) * | 2021-08-20 | 2023-06-27 | 浙江大学 | High-speed response soft finger |
| CN113681581A (en) * | 2021-08-20 | 2021-11-23 | 浙江大学 | High-speed response soft finger |
| CN113733134A (en) * | 2021-09-14 | 2021-12-03 | 清华大学深圳国际研究生院 | Variable-rigidity flexible clamping jaw based on blockage of solid-liquid mixture particles |
| CN113733133A (en) * | 2021-09-14 | 2021-12-03 | 清华大学深圳国际研究生院 | Bionic flexible manipulator |
| CN113733134B (en) * | 2021-09-14 | 2023-12-12 | 清华大学深圳国际研究生院 | Variable-rigidity flexible clamping jaw based on solid-liquid mixture particle blocking |
| CN114043473A (en) * | 2021-09-24 | 2022-02-15 | 香港中文大学（深圳） | Touch sensor control method and device and computer readable storage medium |
| CN114148732A (en) * | 2021-12-03 | 2022-03-08 | 梅龙 | Chip processing is with snatching mechanism |
| CN114434470A (en) * | 2022-01-27 | 2022-05-06 | 张家港江苏科技大学产业技术研究院 | Flexible gripping device |
| CN116588292A (en) * | 2023-05-23 | 2023-08-15 | 北京大学 | Underwater operation robot |
| CN116588292B (en) * | 2023-05-23 | 2024-02-20 | 北京大学 | Underwater operation robot |
| CN116810839A (en) * | 2023-08-29 | 2023-09-29 | 北京软体机器人科技股份有限公司 | Vacuum clamping device |
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Application publication date: 20180914 |