CN108568838A - A kind of heavy load flexible manipulator based on rigid constraint - Google Patents
A kind of heavy load flexible manipulator based on rigid constraint Download PDFInfo
- Publication number
- CN108568838A CN108568838A CN201810308310.8A CN201810308310A CN108568838A CN 108568838 A CN108568838 A CN 108568838A CN 201810308310 A CN201810308310 A CN 201810308310A CN 108568838 A CN108568838 A CN 108568838A
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- Prior art keywords
- finger
- flexible
- mechanical hand
- rigid constraint
- heavy load
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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
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of heavy load flexible manipulator based on rigid constraint, frame is rigidly fixed including solid mechanical hand finger, and three flexible mechanical hand fingers, every finger are connected by tracheae with driving device, flexible manipulator takes three-jaw fetching.It when applying positive pressure to finger, is limited by limitation strained layer since finger side is deformed, so finger will produce curving, grasping movement is completed in three finger cooperations.The groove of rigid constraint can be placed by being disposed on finger, and rigid constraint can preferably limit the circumferential deformation of finger.Compared to traditional flexible manipulator and Rigid Manipulators, the present invention is integrated with the advantages of simple, easy to make flexible manipulator control, operation flexible, light-weight and Rigid Manipulators High power output, it can be realized simultaneously flexibly crawl and heavy load output, a kind of new solution is proposed for the application scenario of high security and height output power demand, is had great application prospect in industrial handgrip field.
Description
Technical field
The invention belongs to industrial handgrip technical fields, are related to a kind of heavy load flexible manipulator based on rigid constraint, fit
For the application scenario more demanding to safety and load capacity.
Background technology
Due to the rising year by year of cost of labor and in various complicated, under adverse circumstances needs of work, in order to reduce cost,
Working efficiency is improved, industrial machine Man's Demands rise year by year.In 2013, Chinese industrial robot sales volume was just
Reach 36860, surmounting Japan becomes global first big robot market.In the design of industrial robot, heavy load is removed
Fortune or catching robot design are more complicated, and due to will produce larger deformation, the energy consumption of total system increases, control difficulty
It can increase.
Soft robot is to the adaptable of environment, and interaction is safe, in every field such as medical treatment, military affairs, industry
Application potential all should not be underestimated, and the research of soft robot has caused the concern of more and more domestic and foreign scholars, at
For a popular research field.The body of soft robot itself is exactly a kind of computing resource, by partial function " coding "
In the body, part " work " has been completed via body, so that task becomes easy, reduces robot computational problem and phase
Close the complexity of control.Currently, people also have much the research of software handgrip, but since soft robot is mostly by superlastic
Property material be made, possess infinite degrees of freedom, overall output power is smaller, it is difficult to meet be actually used in power output requirement, so answering
It is smaller with range.
Invention content
It is an object of the invention to overcome the above-mentioned prior art, it is soft to provide a kind of heavy load based on rigid constraint
Property manipulator.
In order to achieve the above objectives, the present invention is achieved by the following scheme：
A kind of heavy load flexible manipulator based on rigid constraint, including solid mechanical hand finger rigidly fix frame and three
A flexible mechanical hand finger；The limitation strain for limiting unilateral material deformation is both provided on every flexible mechanical hand finger
Layer, every flexible mechanical hand finger is connected by tracheae with pneumatic actuating device, by being applied to three flexible mechanical hand fingers
Add positive pressure, under the limitation of limitation strained layer, flexible mechanical hand finger will produce curving, complete grasping movement.
The present invention, which further improves, to be：
Rigidly fixing the setting of frame surface, there are three the fixed points for being used for installing flexible mechanical hand finger.
Flexible mechanical hand finger includes ontology made of elastic material and rigid constraint frame；The surface of ontology, which offers, to be used for
The groove of embedded rigid constraint frame, the cross sectional shape of rigid constraint frame are identical as flexible mechanical hand finger.
Two flexible mechanical hand fingers are arranged in the side for rigidly fixing frame, another flexible mechanical hand finger is arranged in pair
Side；Limitation strained layer is pasted on the inner surface of flexible mechanical hand finger.
Limitation strained layer is non-stretchable textile web.
Flexible mechanical hand finger is trapezium structure.
Compared with prior art, the invention has the advantages that：
The present invention is based on the heavy load flexible manipulator of rigid constraint, flexible manipulator ontology still uses super-elasticity material
Material ensures the safety in the course of work, the flexibility of control and convenience, and the items for possessing flexible manipulator machine people are excellent
Performance, and weight is extremely light, makes simple, and fabrication cycle is short.In addition, being constrained compared to traditional fiber, the present invention is negative greatly
The circumferential deformation for carrying hard and soft hybrid manipulator and being limited using rigid constraint finger, is avoided energy loss, is greatly improved
Power output, proposes new solution for the application scenario more demanding to safety and load capacity.
Description of the drawings
Fig. 1 is the heavy load flexible manipulator overall structure diagram based on rigid constraint；
Fig. 2 is the heavy load flexible manipulator vertical view based on rigid constraint；
Fig. 3 is the heavy load flexible manipulator finger structure schematic diagram based on rigid constraint；
Fig. 4 is that the heavy load flexible manipulator based on rigid constraint rigidly fixes frame structural schematic diagram；
Fig. 5 is that the heavy load flexible manipulator based on rigid constraint rigidly fixes constraint mount structure schematic diagram.
Wherein：1- rigidly fixes frame；2- manipulator fingers；3- rigid constraint frames；4- limits strained layer.
Specific implementation mode
The present invention is described in further detail below in conjunction with the accompanying drawings：
Referring to Fig. 1 and 2, the present invention is based on the heavy load flexible manipulators of rigid constraint, including are used to fix flexible mechanical
Hand finger rigidly fixes 1, three flexible mechanical hand finger 2 of frame, rigid constraint frame 3 and limitation strained layer 4.Apply when to finger
It when positive pressure, is limited by limitation strained layer 4 since finger side is deformed, so finger will produce curving, three finger cooperations
Complete grasping movement.The groove of rigid constraint can be placed by being disposed on finger, and rigid constraint can preferably limit finger
Circumferential deformation ensures the power output of bigger.
Flexible mechanical hand finger is flexural deformation structure, and surface layout has the groove of installation rigid constraint, ontology one
Limitation strained layer of the side arrangement for limiting unilateral deformation；It is embedded horizontal with finger in the groove of flexible manipulator finger surface arrangement
The identical rigid constraint frame in section；Flexible mechanical hand finger, which is fixed on, to be rigidly fixed on frame, and finger root protrusion is embedded in rigidity
In the groove of fixed frame；The cross sectional shape of flexible mechanical hand finger be it is trapezoidal, air pressure needed for flexible manipulator fingers deformed and
The power output of generation is related with the cross sectional shape of flexible mechanical hand finger and external deformation constraint；Flexible mechanical hand finger passes through pure
Warp architecture realizes that every flexible mechanical hand finger can generate flexural deformation, be controlled by the size of control pressure curved
The size of bent angle and power output completes grasping movement.
The principle of the present invention：
As shown in Figure 1, the present invention is that a kind of heavy load for being proposed based on the excellent section restraint performance of rigid constraint is soft
Property manipulator, can be used for for the more demanding industrial occasions of safety and power output, solving flexible manipulator power output not
The problem that foot is low with conventional rigid handgrip safety, control difficulty is big.
The present invention includes the improvement to existing circumferential the way of restraint, and the realization method for deforming constraint is not using two-way fiber
Winding, by the way that rigid rectangular frame is mounted on the limitation realized in the groove on manipulator finger surface and deformed for circumferential expansion,
This way of restraint effect is more preferable, and finger can integrally reach the power output of bigger, can be reached with load-bearing weight 40 times of dead weight with
On.
As shown in Fig. 2, it is one group that the arrangement of flexible mechanical hand finger, which is two, next independent one group is remained, relatively
Arrangement.
As shown in figure 3, flexible mechanical hand finger is trapezoidal, power output is evenly arranged groove than rectangle bigger, finger surface,
Rigid constraint is facilitated to be embedded in ontology.
The course of work of the present invention：
As shown in Figure 1, the present invention utilizes the combination of rigid constraint and flexible body, solves pure flexible grips power output
Small, typical rigidity handgrip flexibility is poor, and safety is low, the big problem of control difficulty.It is real by controlling the size of input air pressure
The adjustment of existing flexible manipulator digital flexion angle and power output, completes different crawl demands, can realize dexterous crawl and
The heavy load crawl for being more than itself tens times of dead weight may be implemented.Pass through the design of hard and soft mixing, the controllability of total system, spirit
Activity, safety and power output performance are obtained for large increase.
The present invention can provide the power output upper limit depend on rigid constraint frame intensity.The present invention can be by controlling external electrical
It presses to control integrally-built stiffness variation.The present invention is not limited only to the use in mechanical gripper field, can be any
The occasion for limiting circumferential deformation is needed to use, to improve the size of power output.
The above content is merely illustrative of the invention's technical idea, and protection scope of the present invention cannot be limited with this, every to press
According to technological thought proposed by the present invention, any change done on the basis of technical solution each falls within claims of the present invention
Protection domain within.
Claims (6)
1. a kind of heavy load flexible manipulator based on rigid constraint, which is characterized in that include the rigidity of solid mechanical hand finger
Fixed frame (1) and three flexible mechanical hand fingers (2)；It is both provided on every flexible mechanical hand finger (2) for limiting unilateral side
The limitation strained layer (4) of material deformation, every flexible mechanical hand finger (2) are connected by tracheae with pneumatic actuating device, are led to
It crosses to three flexible mechanical hand fingers (2) and applies positive pressure, under the limitation of limitation strained layer (4), flexible mechanical hand finger (2) meeting
Curving is generated, grasping movement is completed.
2. the heavy load flexible manipulator according to claim 1 based on rigid constraint, which is characterized in that rigidly fix frame
(1) there are three the fixed points for being used for installing flexible mechanical hand finger (2) for surface setting.
3. the heavy load flexible manipulator according to claim 1 based on rigid constraint, which is characterized in that flexible manipulator
Finger (2) includes ontology made of elastic material and rigid constraint frame (3)；The surface of ontology is offered for being embedded in rigid constraint
The cross sectional shape of the groove of frame (3), rigid constraint frame (3) is identical as flexible mechanical hand finger (2).
4. the heavy load flexible manipulator according to claim 1 based on rigid constraint, which is characterized in that two flexible machines
Tool hand finger (2) is arranged in the side for rigidly fixing frame (1), another flexible mechanical hand finger (2) is arranged in offside；Limitation is answered
Change layer (4) is pasted on the inner surface of flexible mechanical hand finger (2).
5. the heavy load flexible manipulator according to claim 1 or 4 based on rigid constraint, which is characterized in that limitation is answered
Change layer (4) is non-stretchable textile web.
6. the heavy load flexible manipulator according to claim 1 based on rigid constraint, which is characterized in that flexible manipulator
Finger (2) is trapezium structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810308310.8A CN108568838A (en) | 2018-04-08 | 2018-04-08 | A kind of heavy load flexible manipulator based on rigid constraint |
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| CN201810308310.8A CN108568838A (en) | 2018-04-08 | 2018-04-08 | A kind of heavy load flexible manipulator based on rigid constraint |
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| CN108568838A true CN108568838A (en) | 2018-09-25 |
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| CN201810308310.8A Pending CN108568838A (en) | 2018-04-08 | 2018-04-08 | A kind of heavy load flexible manipulator based on rigid constraint |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110900650A (en) * | 2019-11-08 | 2020-03-24 | 哈尔滨工业大学（深圳） | Rope-driven flexible claw and robot |
| CN111360866A (en) * | 2020-03-31 | 2020-07-03 | 上海交通大学 | Pneumatic soft gripper with automatically adjustable working space, mechanical arm and gripping method |
| CN111687869A (en) * | 2020-06-16 | 2020-09-22 | 南京众智未来人工智能研究院有限公司 | Novel flexible clamping jaw of bending-twisting coupling |
| CN113427503A (en) * | 2021-06-25 | 2021-09-24 | 西安交通大学 | Pneumatic software driver of ripple and software manipulator |
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| CN107671878A (en) * | 2017-11-16 | 2018-02-09 | 重庆大学 | A kind of electrostatic adsorption type software handgrip of imitative fin structure |
| CN207027549U (en) * | 2017-08-11 | 2018-02-23 | 武汉库柏特科技有限公司 | A kind of pneumatic three refer to conformational flexibility clamping jaw |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110900650A (en) * | 2019-11-08 | 2020-03-24 | 哈尔滨工业大学（深圳） | Rope-driven flexible claw and robot |
| CN111360866A (en) * | 2020-03-31 | 2020-07-03 | 上海交通大学 | Pneumatic soft gripper with automatically adjustable working space, mechanical arm and gripping method |
| CN111360866B (en) * | 2020-03-31 | 2022-07-22 | 上海交通大学 | Pneumatic soft gripper with automatically adjustable working space, mechanical arm and gripping method |
| CN111687869A (en) * | 2020-06-16 | 2020-09-22 | 南京众智未来人工智能研究院有限公司 | Novel flexible clamping jaw of bending-twisting coupling |
| CN113427503A (en) * | 2021-06-25 | 2021-09-24 | 西安交通大学 | Pneumatic software driver of ripple and software manipulator |
| CN113427503B (en) * | 2021-06-25 | 2024-04-02 | 西安交通大学 | Ripple pneumatic soft driver and soft manipulator |
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Application publication date: 20180925 |
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