CN109176591B - Flexible self-adaptive manipulator - Google Patents
Flexible self-adaptive manipulator Download PDFInfo
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- CN109176591B CN109176591B CN201811265022.5A CN201811265022A CN109176591B CN 109176591 B CN109176591 B CN 109176591B CN 201811265022 A CN201811265022 A CN 201811265022A CN 109176591 B CN109176591 B CN 109176591B
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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
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Abstract
A flexible self-adaptive manipulator belongs to the technical field of robots and comprises a thick finger, a thin finger and a palm; the thick finger and the thin finger are both connected with the palm, and the thick finger comprises a thick finger spiral pressing sleeve, a thick finger connecting disc, a double-bevel thick finger knuckle, a thick finger silica gel sleeve and fluid; the single-bevel fingertip is connected with the adjacent double-bevel knuckle, the two adjacent double-bevel knuckles are connected through a limiting hinge, and the thick finger connecting disc is connected with the adjacent double-bevel knuckle through the limiting hinge; the lower part of the silica gel sleeve is attached to the finger connecting disc, and the silica gel sleeve is tightly pressed on the finger connecting disc through the thick finger spiral pressing sleeve to carry out sealing and pressure maintaining. All fingers and knuckles are controlled by a path of fluid, so that the self-adaption of the manipulator to the shape of a grabbed object is realized; the magnitude of the grabbing force and the action of the manipulator realize the coordination control of single fluid, so that the grabbing force of the manipulator for grabbing objects is more balanced.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a flexible self-adaptive manipulator.
Background
In modern production and life, robots are used more and more, and the production efficiency and the life quality are greatly improved. The manipulator is a key device in the technical field of robots. The manipulator is classified into a jaw type, a multi-finger type, an adsorption type, and the like according to the structure. The gripper-type manipulator is suitable for grabbing objects with regular shapes, particularly objects with two parallel surfaces. The multi-finger manipulator (including 2 fingers, 3 fingers, 4 fingers, 5 fingers and the like) has different degrees of adaptability to the shape of a grasped object, but needs to be independently controlled for each finger and each joint of each finger, the structure and the control thereof are quite complex, and uniform clamping force cannot be easily provided. The adsorption type mechanical arm is simple in structure and suitable for grabbing flat light objects with smooth surfaces.
Disclosure of Invention
In order to overcome the application limitation of the existing manipulator, the invention provides the flexible self-adaptive manipulator which can automatically adapt to the shape of a grasped object, can apply uniform clamping force to the object by each finger and is simple to control.
A flexible self-adaptive manipulator comprises a thick finger, a plurality of thin fingers, a palm center support and a palm transition flange, wherein the thick finger and the plurality of thin fingers are connected with the palm;
the thick finger comprises a thick finger spiral pressing sleeve, a thick finger connecting disc, a plurality of double-inclined-plane thick finger knuckles, a limiting hinge shaft, a reset spring, a limiting hinge fixing screw, a single-inclined-plane thick finger tip, a thick finger silica gel sleeve, a thick finger supporting spring, fluid and a finger connecting screw; the single-inclined-plane thick finger tip is connected with the adjacent double-inclined-plane thick finger knuckle through a limiting hinge, the two adjacent double-inclined-plane thick finger knuckles are connected through the limiting hinge, a thick finger connecting disc is connected with the adjacent double-inclined-plane thick finger knuckle through the limiting hinge, the limiting hinge limits the opening degree of the knuckle, the limiting hinge is installed on a hinge shaft, and a reset spring for assisting the finger in bending is further installed on the hinge shaft;
the thick finger silica gel sleeve is supported by the thick finger supporting spring on the periphery of the knuckle, two ends of the thick finger supporting spring are respectively connected with the thick finger tip with the single inclined surface and the thick finger connecting disc, the lower part of the thick finger silica gel sleeve is attached to the thick finger connecting disc, and the tail end of the thick finger silica gel sleeve is tightly pressed on the thick finger connecting disc through the thick finger spiral pressing sleeve so as to seal and maintain pressure of fluid;
the internal structure, the connection mode and the working principle of the thin finger are the same as those of the thick finger; the palm support is arranged in the center of the palm, a groove is formed in the upper surface of the palm support, and the palm support provides support for a grabbed object;
the number of the thick finger knuckle and the thin finger knuckle is changed according to the specification and the size of the mechanical arm. The thick fingers and the thin fingers are connected with the inclined plane of the palm through screws, an O-shaped sealing ring is arranged between the finger connecting disc and the palm for sealing, the palm is connected with a palm transition flange and a forearm flange through connecting screws, and a quick connector is arranged on the palm transition flange and is connected with external pressure fluid through a pipeline.
All fingers and knuckles are controlled by a path of fluid, and the finger action and the knuckle action are self-adaptively coordinated and controlled by the internal structure of the manipulator according to the shape of the grabbed object, so that the robot manipulator can self-adapt to the shape of the grabbed object; the magnitude of the grabbing force and the action of the manipulator realize single fluid coordination control, so that the grabbing force of the manipulator for grabbing objects is more balanced; the working range of the manipulator with the same specification for grabbing objects is expanded; the control system is completely simplified.
Drawings
Fig. 1 is an isometric view of a flexible adaptive robot gripping a spherical workpiece 5.
Fig. 2 is a thick finger axial sectional view.
Fig. 3 is a partial enlarged view of i in fig. 2.
Fig. 4 is a diagram showing the structure of the finger-open state of the flexible adaptive manipulator.
Fig. 5 is a sectional view taken along a-a of fig. 4.
Fig. 6 is a block diagram of a finger-closed state of the flexible adaptive manipulator.
Detailed Description
Fig. 1 and 4 show that a flexible self-adaptive manipulator comprises a thick finger 1, a plurality of thin fingers 2, a palm 3, a palm support 18 and a palm transition flange 20, wherein the thick finger 1 and the two thin fingers 2 are both connected with the palm 3, the palm support 18 is arranged at the center of the palm 3, and a groove is arranged on the upper surface of the palm support 18.
As shown in fig. 2, the thick finger 1 comprises a thick finger spiral pressing sleeve 6, a thick finger connecting disc 7, a plurality of double-inclined-plane thick finger knuckles 8, a limiting hinge 9, a limiting hinge shaft 10, a return spring 11, a limiting hinge fixing screw 12, a single-inclined-plane thick finger tip 13, a thick finger silica gel sleeve 14, a thick finger supporting spring 15, a pressure fluid 16 and a finger connecting screw 17;
the lower end face of the single-inclined-face thick finger tip 13 is inclined, and different inclined angles are designed according to the size of a grabbed object and different specifications of a manipulator; the inclination angle of the lower end face is 10-25 degrees;
the single-inclined-plane thick finger tip 13 is connected with the adjacent double-inclined-plane thick finger knuckle 8 through a limiting hinge 9, the two adjacent double-inclined-plane thick finger knuckles 8 are connected through the limiting hinge 9, and the thick finger connecting disc 7 is connected with the adjacent double-inclined-plane thick finger knuckle 8 through the limiting hinge 9;
the upper end surface and the lower end surface of the double-inclined-surface thick finger knuckle 8 are inclined, different inclination angles are designed according to the size of a grabbed object and different specifications of a manipulator, and the inclination angle is 10-45 degrees; the upper end surface and the lower end surface are opposite in inclination direction; a through-flow hole 24 is arranged in the double-bevel thick finger knuckle 8;
as shown in fig. 3, a limit hinge 9 limits the opening of a knuckle, the limit hinge 9 is mounted on a hinge shaft, a return spring 11 for assisting the bending of a finger is further mounted on the hinge shaft, a thick finger silica gel sleeve 14 is supported by a thick finger support spring 15 on the periphery of the knuckle, one end of the thick finger support spring 15 is connected with a single-inclined-surface thick finger tip 13, and the other end of the thick finger support spring is connected with a thick finger connecting disc 7; the lower part of the thick finger silica gel sleeve 14 is attached to the thick finger connecting disc 7, and the thick finger silica gel sleeve 14 is tightly pressed on the thick finger connecting disc 7 through the thick finger spiral pressing sleeve 6 so as to seal and maintain pressure of the fluid; the pressure fluid 16 is filled in a closed cavity formed between the adjacent double-bevel thick finger knuckle 8 and the thick finger silica gel sleeve 14, a closed cavity formed between the single-bevel thick finger tip 13 and the adjacent double-bevel thick finger knuckle 8 and the thick finger silica gel sleeve 14, and a closed cavity formed between the double-bevel thick finger knuckle 8 and the thick finger connecting disc 7 and the thick finger silica gel sleeve 14; the volume of each closed cavity is variable, when fluid is pressed in, the volume of each closed cavity is forced to be increased, each knuckle is respectively unfolded around the limiting hinge shaft, the opening degree between the knuckles is increased, and fingers are unfolded as shown in figure 4; when the fluid is pumped out, the volume of the closed cavity is reduced, the finger joints are closed in around the limiting hinge shaft, the opening degree between the finger joints is reduced, and the fingers are closed as shown in figure 6.
The pressure fluid 16 of the closed chamber is connected to the outside pressure fluid via the through-flow opening 24 and the quick coupling.
The internal structure, the connection mode and the working principle of the thin finger are the same as those of the thick finger;
the palm support 18 is arranged in the center of the palm 3, a groove is arranged on the upper surface of the palm support 18, and the palm support 18 is used for providing support for a grabbed object;
as shown in fig. 5, the number of finger joints varies depending on the size of the manipulator. The included angles between the thick fingers 1 and the palm 3 and between the thin fingers 2 and the palm 3 are changed according to the specification of the manipulator determined by the size of the grasped object, the included angles are 80-135 degrees with the palm 3, the included angles between the thin fingers 2 and the palm 3 are 80-135 degrees, and the thick fingers 1 and the thin fingers 2 are connected with the palm 3 through screws 17; an O-shaped sealing ring 19 is arranged between the thick finger connecting disc 7 and the palm 3 for sealing, the palm 3 is connected with a palm transition flange 20 and a small arm flange 21 through a connecting screw 22, and a quick connector 23 is arranged on the palm transition flange 20 and is connected with external pressure fluid through a pipeline.
The thin fingers 2 are provided with a plurality of thin fingers 2, and the present embodiment is provided with two thin fingers 2.
The thick fingers 1, the thin fingers 2, the palm 3, the palm transition flange 20 and the silica gel sleeves on the fingers form a closed cavity with variable volume together, and the closed cavity is communicated with the through hole 24 arranged on the thick finger knuckle 8 with double inclined planes, the through hole 24 on the thin finger knuckle, the through hole 24 on the finger connecting disc and the through hole 24 on the palm.
Claims (9)
1. The utility model provides a flexible self-adaptation manipulator which characterized in that: the flexible self-adaptive manipulator is a multi-finger manipulator based on a fluid-driven flexible finger, flexibly and automatically changes the bending form of the finger according to different shapes of the object to be grabbed, and each knuckle exerts the same grabbing force; the flexible self-adaptive manipulator consists of a thick finger, a thin finger and a palm; the thick finger comprises a thick finger spiral pressing sleeve (6), a thick finger connecting disc (7), a double-inclined-plane thick finger knuckle (8), a limiting hinge (9), a limiting hinge shaft (10), a reset spring (11), a limiting hinge fixing screw (12), a single-inclined-plane thick finger tip (13), a thick finger silica gel sleeve (14), a thick finger supporting spring (15), a fluid (16) and a finger connecting screw (17); the single-inclined-plane thick finger tip (13) is connected with the adjacent double-inclined-plane thick finger knuckle (8) through a limiting hinge (9), the two adjacent double-inclined-plane thick finger knuckles (8) are connected through the limiting hinge (9), and the thick finger connecting disc (7) is connected with the adjacent double-inclined-plane thick finger knuckle (8) through the limiting hinge (9); the limiting hinge (9) limits the opening degree of a knuckle, a reset spring (11) is mounted on a limiting hinge shaft (10), the reset spring (11) assists fingers to bend, a thick finger supporting spring (15) supports a thick finger silica gel sleeve (14) at the periphery of the knuckle, two ends of the thick finger supporting spring (15) are respectively connected with a single-bevel thick finger fingertip (13) and a thick finger connecting disc (7), the lower part of the thick finger silica gel sleeve (14) is attached to the thick finger connecting disc (7), and the thick finger silica gel sleeve (14) is tightly pressed on the thick finger connecting disc (7) through a thick finger spiral pressing sleeve (6) to perform sealing pressure maintaining; the internal structure, the connection mode and the working principle of the thin finger are the same as those of the thick finger; the palm support (18) is arranged in the center of the palm (3), and a groove is formed in the upper surface of the palm support (18) and provides support for a grabbed object; the thick fingers (1) are connected with the palm (3) through screws and form an included angle of 80-135 degrees with the palm (3), the thin fingers (2) are connected with the palm (3) through screws and form an included angle of 80-135 degrees with the palm (3), an O-shaped sealing ring (19) is arranged between the thick finger connecting disc (7) and the palm (3) for sealing, the palm (3) is connected with a palm transition flange (20) and a small arm flange (21) through connecting screws (22), and a quick joint (23) is arranged on the palm transition flange (20) and is connected with external pressure fluid through a pipeline;
thick finger (1), thin finger (2), palm (3), palm transition flange (20) and the silica gel cover on each finger constitute a variable closed chamber of volume jointly, closed chamber and the through-flow hole (24) that set up on the thick finger knuckle (8) of double inclined plane, through-flow hole (24) on the thin finger knuckle, through-flow hole (24) on the finger connection pad and through-flow hole (24) on the palm communicate, are full of the fluid in the closed chamber, link to each other with external pressure fluid through quick-operation joint (23).
2. The flexible adaptive manipulator according to claim 1, characterized in that: when fluid is pressed in, the volume of the closed cavity is forced to be increased, each knuckle respectively extends outwards around the limiting hinge shaft, the opening is increased, and fingers are opened; when fluid is pumped out, the volume of the closed cavity needs to be reduced, the knuckles are closed in the limiting hinge shaft, the opening is reduced, and the fingers are closed; when an object is grabbed, a certain knuckle is firstly contacted with the object to be subjected to resistance, so that the pressure value of fluid around the knuckle is increased, and due to the fact that the fluid in the closed cavity is communicated, other fingers and the knuckle are driven by pressure to rapidly move and rapidly contact different points of an irregular object until the fluid in the closed cavity forms an isobaric body, and uniform clamping force is applied to the grabbed object.
3. The flexible adaptive manipulator according to claim 1, wherein the number of the thick fingers is 1 or more, and each thick finger comprises a plurality of knuckles.
4. The flexible adaptive manipulator according to claim 1, wherein the number of the thin fingers is 2 or more, and each thin finger comprises a plurality of knuckles.
5. The flexible adaptive manipulator according to claim 1, characterized in that the lower end face of the thick finger tip with the single inclined plane is inclined, and the inclination angle of the lower end face is 10-25 degrees.
6. The flexible self-adaptive manipulator according to claim 1, wherein the upper and lower end faces of the double-bevel thick finger knuckle are inclined at an angle of 10-45 °; the upper and lower end faces are inclined in opposite directions.
7. The flexible self-adaptive manipulator according to claim 1, wherein the bending of the thick finger and the thin finger is realized by changing the opening and closing angle between the finger inner knuckles by pressing in and pumping out fluid so as to change the volume of the closed cavity and bend and deform the fingers at the same time, thereby realizing the grabbing of an object.
8. The flexible adaptive manipulator according to claim 1, wherein the thick fingers point to the grasped object, and the thin fingers face the thick fingers, so that the manipulator can automatically adapt to the shape of the grasped object and has balanced clamping force.
9. The flexible adaptive manipulator according to claim 1, wherein the motion of all finger knuckles of the whole flexible adaptive manipulator is driven and controlled by externally providing a path of controllable fluid, and the motion and the grasping force are coordinately controlled according to the pressure and the flow of the fluid.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811265022.5A CN109176591B (en) | 2018-10-29 | 2018-10-29 | Flexible self-adaptive manipulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811265022.5A CN109176591B (en) | 2018-10-29 | 2018-10-29 | Flexible self-adaptive manipulator |
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| CN109176591A CN109176591A (en) | 2019-01-11 |
| CN109176591B true CN109176591B (en) | 2021-06-25 |
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| CN201811265022.5A Active CN109176591B (en) | 2018-10-29 | 2018-10-29 | Flexible self-adaptive manipulator |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020082923A1 (en) * | 2018-10-26 | 2020-04-30 | 太原理工大学 | Flexible adaptive mechanical hand |
| US11376749B2 (en) | 2018-10-30 | 2022-07-05 | Siemens Aktiengesellschaft | Gripping finger having curved spacing elements, and adaptive gripping device |
| JP6829738B2 (en) * | 2019-03-15 | 2021-02-10 | Thk株式会社 | Gripping system and gripping method |
| CN110465965A (en) * | 2019-08-06 | 2019-11-19 | 李泽铭 | Fluid force balances elastic component array adaptive robot arm device |
| CN111070227B (en) * | 2019-12-30 | 2021-02-26 | 哈尔滨工业大学（威海） | Fluid-driven unidirectional-bending bionic finger and bionic hand |
| CN111469150B (en) * | 2020-04-21 | 2022-04-29 | 青岛双瑞海洋环境工程股份有限公司 | Pneumatic flexible grasping device |
| CN112976044A (en) * | 2021-02-04 | 2021-06-18 | 江阴兴澄特种钢铁有限公司 | Gripping device for steel samples |
| CN113611047B (en) * | 2021-07-28 | 2022-09-06 | 北京博研盛科科技有限公司 | Multi-axis motion system |
| CN114589727A (en) * | 2022-03-15 | 2022-06-07 | 浙江理工大学 | Become flexible fruit clamping system of gesture, general type of variable size |
| CN115008495B (en) * | 2022-05-20 | 2024-07-16 | 上海大学 | Replaceable soft paw |
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| US5762390A (en) * | 1996-07-16 | 1998-06-09 | Universite Laval | Underactuated mechanical finger with return actuation |
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| CN109176591A (en) | 2019-01-11 |
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