CN112692854B

CN112692854B - Flexible manipulator

Info

Publication number: CN112692854B
Application number: CN202011453137.4A
Authority: CN
Inventors: 王瑜伟; 王轲; 苏卫东; 刘凤; 刘植
Original assignee: Hefei University of Technology
Current assignee: Hefei University of Technology
Priority date: 2020-12-11
Filing date: 2020-12-11
Publication date: 2022-04-01
Anticipated expiration: 2040-12-11
Also published as: CN112692854A

Abstract

The invention discloses a flexible manipulator which comprises a palm, flexible fingers, an interval adjusting mechanism, a grabbing driving mechanism, a grabbing sensing system and a control system, wherein the flexible fingers simulating human body fingers are fixed on the palm, the interval adjusting mechanism capable of adjusting the interval between the flexible fingers and the grabbing driving mechanism capable of driving the flexible fingers to grab articles are fixed on the palm, and the interval adjusting mechanism, the grabbing driving mechanism and the grabbing sensing system are all electrically connected with the control system. The manipulator has the advantages that the manipulator can simulate the function of expanding or contracting human fingers, and the grabbing driving mechanism is controlled by the grabbing sensing system, so that the flexible fingers are controlled to expand and compress to grab articles with different qualities.

Description

Flexible manipulator

Technical Field

The invention relates to the technical field of manipulators, in particular to a flexible manipulator.

Background

A robot is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of which is to assist or replace human work, such as production, construction, or dangerous work. The concept of robots has gradually approached agreement internationally. Generally, people can accept the statement that a robot is a machine which realizes various functions by means of self power and control capacity. The united nations standardization organization adopted the definition given by the american society for robotics to be: "a programmable and multifunctional manipulator; or a special system with computer-changeable and programmable actions for executing different tasks, which can bring many conveniences for human beings, namely a robot body, the arm part of which generally adopts a space open-chain link mechanism, wherein a kinematic pair (a revolute pair or a revolute pair) is often called a joint, and the number of joints is generally the degree of freedom of the robot. The robot actuator may be classified into rectangular coordinate type, cylindrical coordinate type, polar coordinate type, joint coordinate type, and the like according to the joint configuration type and the motion coordinate type. For the purpose of anthropomorphic control, the relevant parts of the robot body are often referred to as a base, a waist, an arm, a wrist, a hand (manipulator), a walking part (for a mobile robot), and the like.

The manipulator is used as an important executing mechanism on the robot, and plays a significant role in reducing the labor intensity of workers, improving the production and processing precision, ensuring the labor safety of the workers and the like. For example, chinese utility model patent publication No. CN206551044U discloses a novel gripper transmission, effectively lightens the weight of gripper front end, and the transmission is reliable stable simultaneously, but the degree of freedom that this manipulator had is comparatively single, is difficult to be applicable to and snatchs the indefinite-form, the indefinite-quality article, can cause the damage to snatching article because of the rigid structure of self even.

Disclosure of Invention

The technical problem to be solved by the invention is how to provide a manipulator which is not limited by the shape and the quality of an article and does not damage the quality of the article.

In order to solve the technical problems, the invention provides the following technical scheme:

the utility model provides a flexible manipulator, includes palm, flexible finger, interval adjustment mechanism, snatchs actuating mechanism, snatchs induction system and control system, be fixed with the flexible finger that the human finger of simulation indicates on the palm, the palm is fixed with the interval adjustment mechanism that can adjust interval between the flexible finger and can drive the flexible finger and snatch actuating mechanism that snatchs article, interval adjustment mechanism, snatch actuating mechanism and snatch the equal electric connection control system of induction system, snatch induction system and receive article gravity and with signal transmission to control system, cause the control system drive snatch the actuating mechanism drive, and then the flexible finger inflation of drive compresses tightly and snatchs article.

Snatch induction system and include finger tripe slider, spring, three-phase resistance wire strain flower, rigidity silk thread and photosensitive sensor, the light trap has been seted up to the fingertip department of flexible finger, the flexible finger inner wall at light trap top is provided with three-phase resistance wire strain flower, three-phase resistance wire strain flower runs through the light trap through the spring and is connected with finger tripe slider, three-phase resistance wire strain flower still is connected with the rigidity silk thread with pointing between the tripe slider, still be provided with photosensitive sensor on the flexible finger inner wall of light trap edge, three-phase resistance wire strain flower and photosensitive sensor equal electricity are connected control system.

When the flexible fingers grab the object, the finger pad slide block contacts the object, so that the gap between the finger pad slide block and the light hole is reduced, the photosensitive sensor transmits a signal to the control system, the flexible fingers stop moving, and control other fingers to grab the object until all the flexible fingers grab the object, when the object is picked up upwards, the dead weight of the object drives the finger pad slide block to move downwards due to the contact of the finger pad slide block and the object, the finger pad slide block is connected with the three-phase resistance wire strain rosette through a rigid silk thread, the information that the three-phase resistance wire strain rosette senses the relative sliding of the finger pad slide block can be transmitted to the control system, the control system can drive the grabbing driving mechanism to expand and press the flexible fingers, so as to grab the object, as long as the finger pad slide block slides relatively, the flexible fingers can expand and press, when the friction between the finger pad slide block and the object meets the critical value for lifting the object, the object can be gripped and lifted upwards, so that the object with different qualities can be grabbed and lifted.

Preferably, the distance adjusting mechanism comprises a telescopic cylinder, a first driving motor, a first rotating shaft, a first driving wheel, a driven wheel, a swing rod, a fixed rod and a finger fixing seat, the telescopic cylinder is fixed on the palm, the extending end of the telescopic cylinder is fixed with the first driving motor, the telescopic cylinder and the first driving motor are electrically connected with the control system, the output end of the first driving motor is connected with the first rotating shaft, a first driving wheel is coaxially fixed on the first rotating shaft, driven wheels which have the same number with the flexible fingers and can be matched with the first driving wheel are fixed on the palm of the hand, the horizontal height of each driven wheel is different, a swing rod is fixed on the bottom surface of each driven wheel, the bottom surface of the swing rod is fixedly provided with a fixed rod capable of moving along the extending direction of the swing rod, one end of the fixed rod, far away from the swing rod, is fixedly provided with a finger fixing seat, and the flexible fingers are respectively fixed on the finger fixing seats.

The function of spreading or contracting of human fingers is simulated through the distance adjusting mechanism, and grabbing of articles with different sizes is met.

Preferably, a first sliding groove is formed in the bottom of the oscillating bar along the extending direction of the oscillating bar, a movable sliding block is arranged in the first sliding groove, and one end, far away from the finger fixing seat, of the fixing rod is fixedly connected with the sliding block.

Preferably, one side that the palm is close to flexible finger is the arc form, the finger fixing base includes U-shaped seat and gyro wheel, the opening of U-shaped seat sets up towards one side of arc form on the palm, open-ended one end is kept away from to the U-shaped seat and is connected with flexible finger, the one end that the pendulum rod was kept away from to the dead lever is connected with the U-shaped seat, U-shaped seat internal fixation has the gyro wheel that can rotate, the setting of laminating of one side of arc form on gyro wheel and the palm.

Preferably, it includes second driving motor, second axis of rotation, fixed disk, second action wheel, third axis of rotation, planet wheel, ring gear, cohesion device, revolution dish, from carousel, inflation equipment and aerify switching dish, gas tube and gasbag to snatch actuating mechanism, second driving motor fixes in the palm, second driving motor electricity is connected control system, the second axis of rotation is connected to second driving motor's output, the second axis of rotation has set gradually fixed disk and second action wheel, the fixed disk can the pivoted fix in the second axis of rotation, the second action wheel is fixed with the second axis of rotation is coaxial, vertical two at least third axis of rotation of fixing on the fixed disk, coaxial fixed have can with second action wheel complex planet wheel in every third axis of rotation, planet wheel outer fit cover is equipped with the ring gear, second action wheel, third action wheel, Planet wheel and ring gear cooperation form the planetary gear structure, the ring gear can the pivoted fix in the palm of the hand, still be fixed with in the palm and hold tightly the device of holding tightly of ring gear, third axis of rotation top is fixed with the revolution dish, the cover is equipped with can the pivoted from the carousel on the revolution dish, the top at one of them third axis of rotation is fixed from the carousel, be provided with on the carousel and aerify the hole, fix the aeration equipment output and aerify the jogged joint in the revolution dish bottom surface, the top cover of second axis of rotation is equipped with the switching dish of aerifing that can reciprocate, it is provided with a plurality of switching holes of aerifing on the switching dish to aerify, aerify the switching hole and pass through gas tube and the gasbag intercommunication of setting in flexible finger.

This snatch actuating mechanism can inflate the gasbag in the different flexible fingers, controls the flexible finger according to the inflation volume of gasbag and snatchs the required power of grabbing of article, and then realizes snatching of different quality article to control through the inflation volume and grab the power and prevent to grab too big damage article of power or grab the unable article of grabbing of power undersize, realize snatching the flexibility of article.

Preferably, the outer wall of ring gear is seted up around the first recess of ring gear, a plurality of L shape bracing pieces are fixed to the palm of the hand, the vertical section of L shape bracing piece is fixed on the palm of the hand, L shape bracing piece horizontal segment tip stretches into in the first recess of ring gear, causes the ring gear can the pivoted fix on L shape bracing piece.

Preferably, it includes ratchet, ring, pawl, first pillar, embraces the piece and pivot to hold the device tightly, the coaxial fixation in the second axis of rotation of fixed disk bottom the ratchet, the ratchet outside be provided with fix in the palm and with the coaxial pivoted ring of second axis of rotation, evenly distributed has a plurality ofly can with ratchet complex pawl on the ring, the ring upper surface still evenly is fixed with a plurality of first pillars, it can the pivoted fix in the palm through the pivot to embrace the piece, be provided with the second spout on embracing the piece, the top setting of first pillar is in the second spout, the drive ring rotates and drives first pillar and remove at the second spout, causes it can hold tightly to embrace the piece the ring gear outside.

Preferably, the bottom surface of the circular ring is provided with a second groove surrounding the bottom surface of the circular ring, the palm is fixed with a plurality of second support columns, and the tops of the second support columns extend into the second groove, so that the circular ring can be rotationally fixed on the second support columns.

Preferably, the top of the second rotating shaft is in threaded connection with the inflatable adapter plate, a horizontal plate is arranged on one side of the inflatable adapter plate, a guide pillar is vertically fixed on a palm right below the horizontal plate, and the top of the guide pillar penetrates through the horizontal plate.

Preferably, three cavities are uniformly arranged inside each air bag, and the three inflation transfer holes are in one group and are respectively connected with the three cavities of each air bag through inflation tubes.

Compared with the prior art, the invention has the beneficial effects that:

1. when the flexible fingers grab the object, the finger pad slide block contacts the object, so that the gap between the finger pad slide block and the light hole is reduced, the photosensitive sensor transmits a signal to the control system, the flexible fingers stop moving, and control other fingers to grab the object until all the flexible fingers grab the object, when the object is picked up upwards, the dead weight of the object drives the finger pad slide block to move downwards due to the contact of the finger pad slide block and the object, the finger pad slide block is connected with the three-phase resistance wire strain rosette through a rigid silk thread, the information that the three-phase resistance wire strain rosette senses the relative sliding of the finger pad slide block can be transmitted to the control system, the control system can drive the grabbing driving mechanism to expand and press the flexible fingers, so as to grab the object, as long as the finger pad slide block slides relatively, the flexible fingers can expand and press, when the friction between the finger pad slide block and the object meets the critical value for lifting the object, the object can be gripped and lifted upwards, so that the object with different qualities can be grabbed and lifted.

2. This manipulator can simulate the function that human finger propped open or contract to can aerify the gasbag in the different flexible fingers, control flexible finger according to the aeration quantity of gasbag and snatch the required power of grabbing of article, and then realize snatching of different quality article, and control through the aeration quantity and grab the power and prevent to grab too big damage article of power or grab the unable article that snatchs of power undersize, realize the flexibility snatching to article.

Drawings

Fig. 1 is a schematic structural diagram of a flexible manipulator according to an embodiment of the present invention;

FIG. 2 is a schematic partial structure diagram according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a spacing adjustment mechanism according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a grasping driving mechanism according to an embodiment of the invention;

FIG. 5 is a schematic view of a partial structure of a grasping driving mechanism according to an embodiment of the invention;

FIG. 6 is a schematic structural diagram of a flexible finger according to an embodiment of the present invention;

FIG. 7 is a schematic view of a ring gear attachment configuration according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of a capture sensing system according to an embodiment of the invention.

Detailed Description

In order to facilitate the understanding of the technical solutions of the present invention for those skilled in the art, the technical solutions of the present invention will be further described with reference to the drawings attached to the specification.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; the connection can be mechanical connection, electrical connection or communication; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

Referring to fig. 1, the embodiment discloses a flexible manipulator, which includes a palm 1, flexible fingers 2, an interval adjusting mechanism 3, a grabbing driving mechanism 4, a grabbing sensing system 5 and a control system (not shown), wherein the palm 1 is fixed with the flexible fingers 2 simulating human fingers, specifically including a thumb, an index finger, a middle finger, a ring finger and a little finger, and the palm 1 and the flexible fingers 2 are both shell structures with hollow interiors; the palm 1 is fixed with interval adjustment mechanism 3 that can adjust the interval between the flexible finger 2 and can drive flexible finger 2 and snatch actuating mechanism 4 that snatchs of article, the point department of the finger of flexible finger 2 still is provided with snatchs induction system 5, interval adjustment mechanism 3, snatch actuating mechanism 4 and snatch induction system 5 equal electricity and connect control system.

Referring to fig. 2 and 3, the distance adjusting mechanism 3 includes a telescopic cylinder (not shown), a first driving motor (not shown), a first rotating shaft 301, a first driving wheel 302, a fixing block 303, a connecting shaft 304, a driven wheel 305, a swing rod 306, a slider 307, a fixing rod 308, and a finger fixing seat 309, the telescopic cylinder is fixed inside the palm 1, an extending end of the telescopic cylinder fixes the first driving motor, the telescopic cylinder and the first driving motor are electrically connected to the control system, an output end of the first driving motor is connected to the first rotating shaft 301, and the first driving wheel 302 is coaxially fixed on the first rotating shaft 301.

A fixed block 303 is fixed on the back of the palm 1, a number of connecting shafts 304 corresponding to the index finger, the middle finger, the ring finger and the little finger are fixed on the fixed block 303, each connecting shaft 304 is fixed with a driven wheel 305 capable of rotating, the horizontal height of each driven wheel 305 is different, and each driven wheel can be meshed with the first driving wheel 302 to realize transmission, in the embodiment, the heights of the driven wheels 305 on the index finger, the middle finger, the ring finger and the little finger are sequentially arranged in a descending manner; a swing rod 306 is fixed on the bottom surface of each driven wheel 305, a first sliding groove 3061 is formed in the bottom of each swing rod 306 along the extending direction of the swing rod 306, a movable sliding block 307 is arranged in the first sliding groove 3061, the fixed rod 308 is fixed at the bottom of the sliding block 307, a finger fixing seat 309 is fixed at one end, away from the swing rod 306, of the fixed rod 308, and a forefinger, a middle finger, a ring finger and a little finger of the flexible finger 2 are respectively fixed on the finger fixing seat 309.

As shown in fig. 2, the first driving wheel 302 is engaged with a driven wheel 305 on the thumb to realize the adjustment of the distance between the thumb, specifically: the first driving motor is driven, the first driving wheel 302 is driven to rotate through the first rotating shaft 301, so that the driven wheel 305 is driven to rotate on the connecting shaft 304, the swing rod 306 is driven to rotate, the sliding block 307 slides in the first sliding groove 3061 on the bottom surface of the swing rod 306, a crank connecting rod structure is formed, the finger fixing seat 309 is driven to rotate, the flexible finger 2 is driven to rotate, the distance between the small fingers is adjusted, when the position adjustment of the small fingers meets the requirement, the telescopic cylinder is driven to expand, the first driving motor is driven to move upwards, the first driving wheel 302 is driven to move upwards and is meshed with the driven wheel 305 on the ring finger, the expansion of the telescopic cylinder is stopped, the steps are repeated, the adjustment of the distance between the ring finger is completed until the adjustment of the distance between the middle finger and the index finger is completed, and the function of simulating the expansion or contraction of the human finger is completed, the grabbing of articles with different sizes is met.

Further, one side that palm 1 is close to flexible finger 2 is the arc form, finger fixing base 309 includes U-shaped seat 3091 and gyro wheel 3092, U-shaped seat 3091's opening sets up towards one side of arc form on the palm, open-ended one end and flexible finger 2 fixed connection are kept away from to U-shaped seat 3091, the one end that pendulum rod 306 was kept away from to dead lever 308 is connected with U-shaped seat 3091, U-shaped seat 3091 internal fixation has can pivoted gyro wheel 3092, the laminating setting of one side of arc form on gyro wheel 3092 and the palm 1 for finger fixing base 309 rolls the cooperation with one side of arc form on palm 1 when rotating, reduces its frictional force.

Referring to fig. 1 and fig. 4 to 6, the grasping driving mechanism 4 includes a second driving motor, a second rotating shaft 401, a fixed disk 402, a second driving wheel 403, a third rotating shaft 404, a planet wheel 405, a gear ring 406, a clasping device 407, a male rotation disk 408, a self-rotation disk 409, an inflation device 410, an inflation adapter disk 411, a horizontal plate 412, a guide post 413, an inflation tube 414, and an airbag 415, the second driving motor is fixed inside the palm 1, the second driving motor is electrically connected to the control system, an output end of the second driving motor is connected to the second rotating shaft 401, the second rotating shaft 401 penetrates through a back of the palm 1 and is sequentially fixed with the fixed disk 402 and the second driving wheel 401, specifically, the fixed disk 402 is rotatably fixed on the second rotating shaft 401, and the second driving wheel 403 is coaxially fixed with the second rotating shaft 401. Three third axis of rotation 404 of vertical even fixed on the fixed disk 402, coaxial being fixed with on every third axis of rotation 404 can with the planet wheel 405 of second action wheel 403 complex, planet wheel 405 outer complex cover is equipped with ring gear 406, second action wheel 403, planet wheel 405 and ring gear 406 cooperation form the planetary gear structure, ring gear 406 can the pivoted fix in palm 1 back.

The palm 1 is further fixed with an enclasping device 407 capable of enclasping the gear ring 406, the enclasping device 407 comprises a ratchet 4071, a ring 4072, a pawl 4073, a first pillar 4074, an enclasping piece 4075 and a rotating shaft 4076, the ratchet 4071 is coaxially fixed on the second rotating shaft 401 at the bottom of the fixed disk 402, a ring 4072 fixed on the palm 1 and coaxially rotating with the second rotating shaft 401 is arranged outside the ratchet 4071, a plurality of pawls 4073 capable of being matched with the ratchet 4071 are uniformly distributed on the ring 4072, three first pillars 4074 are further uniformly fixed on the upper surface of the ring 4072, the enclasping piece 4075 can be rotationally fixed on the palm 1 through the rotating shaft 4076, a second chute 40751 is arranged on the enclasping piece 4075, the top of the first pillar 4074 is arranged in the second chute 40751, the ring 4072 is driven to rotate and drive the first pillar 4074 to move in the second chute 4074, so that the enclasping piece 4075 can enclasping the outside the gear ring 406, the ring gear 406 is held tight against rotation.

The top of the third rotating shaft 404 is fixed with a revolution plate 408, the revolution plate 408 is sleeved with a self-rotating plate 409 capable of rotating, the self-rotating plate 409 is fixed at the top of one of the third rotating shafts 404, the self-rotating plate 409 is provided with an inflation hole 4091, the inflation hole 4091 and the self-rotating plate 409 are eccentrically arranged, the output end of an inflation device 410 fixed at the bottom surface of the revolution plate 408 is connected with the inflation hole 4091, the inflation device 410 is electrically connected with the control system, and the operation of the inflation device 410 is controlled by the control system.

The top of the second rotating shaft 401 is connected with the center of the inflatable adapter 411 through a screw thread, a horizontal plate 412 is arranged on one side of the inflatable adapter 411, a guide post 413 is vertically fixed on the back of the palm 1 right below the horizontal plate 412, the top of the guide post 413 penetrates through the horizontal plate 412, the inflatable adapter 411 can move up and down on the second rotating shaft 401 through the rotation of the second rotating shaft 401, and the inflatable adapter 411 can only move up and down through the limitation of the guide post 413 so as to prevent the inflatable adapter 411 from rotating; specifically, when the second rotating shaft 401 rotates, the male rotating disc 408 or the self-rotating disc 409 is driven to rotate, so that the inflation hole 4091 is butted with different inflation switching holes 4111, and the inflation hole 4091 and the inflation switching holes 4111 need to be sealed during butt joint, so that a sealing ring is arranged around each inflation switching hole 4111, when the inflation hole 4091 rotates, the inflation switching disc 411 can ascend, and then when the inflation hole 4091 rotates to a position right below the inflation switching hole 4111 on the inflation switching disc 411, the second rotating shaft 401 descends to enable the inflation hole 4091 to be butted with the inflation switching hole 4111, and the sealing rings are used for sealing, so that gas leakage is prevented.

An air bag 415 is arranged in each flexible finger 2, three cavities are uniformly arranged in the air bag 415, 15 inflation switching holes 4111 are arranged on the inflation switching disc 411, every three inflation switching holes 4111 are in a group and are respectively connected with the three cavities of each air bag 415 through an inflation tube 414, so that each cavity is inflated by an independent inflation tube 414, electromagnetic valves (marked in the figure) are arranged on the inflation tubes 414, the electromagnetic valves are electrically connected with a control system, inflation of the cavities on different air bags 415 is realized by butting the inflation holes 4091 on the rotation disc 409 with different inflation switching holes 4111, the gripping force required by the flexible fingers to grip an article is controlled according to the inflation amount of the air bags 415, further, the gripping force of different quality articles is realized, and the gripping force is controlled by the inflation amount to prevent the article from being damaged by the excessive gripping force or the article from being incapable of being gripped by the insufficient gripping force, the flexible grabbing of the object is realized.

Further, referring to fig. 7, the outer wall of the gear ring 406 is provided with a first groove 4061 surrounding the gear ring 406, the back of the palm 1 is fixed with a plurality of L-shaped support bars 4062, the vertical section of the L-shaped support bars 4062 is fixed on the back of the palm 1, and the end of the horizontal section of the L-shaped support bars 4062 extends into the first groove 4061 of the gear ring 406, so that the gear ring 406 is rotatably fixed on the L-shaped support bars 4062.

Further, a second groove (not labeled in the figure) surrounding the bottom surface of the ring 4072 is formed in the bottom surface of the ring 4072, a plurality of second supporting posts 4077 are fixed to the back of the palm 1, and the top of the second supporting posts 4077 extends into the second groove, so that the ring 4072 can be rotatably fixed to the second supporting posts 4077.

Further, position encoders are disposed on the first rotating shaft 301, the connecting shaft 304, the second rotating shaft 401 and the third rotating shaft 404, and are used for monitoring the rotating positions of the shafts.

Referring to fig. 8, the grabbing sensing system 5 comprises a finger pad slider 501, a spring 502, a three-phase resistance wire strain rosette 503, a rigid silk thread 504 and a photosensitive sensor 505, a light hole 201 is formed in a fingertip position of each flexible finger 2, the three-phase resistance wire strain rosette 503 is arranged on the inner wall of each flexible finger 2 at the top of the light hole 201, the three-phase resistance wire strain rosette 503 penetrates through the light hole 201 through the spring 502 to be connected with the finger pad slider 501, the rigid silk thread 504 is further connected between the three-phase resistance wire strain rosette 503 and the finger pad slider 501, the photosensitive sensor 505 is further arranged on the inner wall of each flexible finger 2 at the edge of the light hole 201, and the three-phase resistance wire strain rosette 503 and the photosensitive sensor 505 are both electrically connected with the control system.

When the flexible fingers 2 grab an article, the gaps between the finger-bellied slide blocks 501 and the light-transmitting holes 201 are reduced after the finger-bellied slide blocks 501 contact the article, the photosensitive sensors 505 transmit signals to the control system, the flexible fingers 2 stop moving, and control other fingers to grab the article until all the flexible fingers 2 grab the article, when the article is picked up upwards, the dead weight of the article drives the finger-bellied slide blocks 501 to move downwards due to the contact of the finger-bellied slide blocks 501 and the article, the finger-bellied slide blocks 501 are connected with the three-phase resistance wire strain rosettes 503 through the rigid wires 504, the information that the three-phase resistance wire strain rosettes 503 sense the relative sliding of the finger-bellied slide blocks 501 is transmitted to the control system, the control system drives the grabbing driving mechanism 4 to inflate the cavity in the air bags 415 in the flexible fingers 2, so that the flexible fingers 2 expand and press tightly, thereby realizing the grabbing of the article, therefore, as long as the finger-belly slide block 501 slides relatively, the flexible fingers 2 can expand and press tightly, and when the friction between the finger-belly slide block 501 and the object meets the critical value of lifting the object, the object can be gripped and lifted upwards, so that the object can be gripped and lifted.

The working principle of the embodiment is as follows: when an article needs to be grabbed, the first driving motor is driven by a control system (not shown), the first driving wheel 302 is driven to rotate by the first rotating shaft 301, so that the driven wheel 305 is driven to rotate on the connecting shaft 304, and further the oscillating bar 306 is driven to rotate, the sliding block 307 slides in the first sliding groove 3061 on the bottom surface of the oscillating bar 306, a crank connecting rod structure is formed, the finger fixing seat 309 is driven to rotate, the flexible finger 2 is driven to rotate, the distance between the little fingers is adjusted, when the position adjustment of the little fingers meets the requirement, the telescopic cylinder is driven to expand, the first driving motor is driven to move upwards, so that the first driving wheel 302 is driven to move upwards and is meshed with the driven wheel 305 on the ring finger, the expansion of the telescopic cylinder is stopped, the steps are repeated, the adjustment of the distance between the ring finger is completed until the adjustment of the distance between the middle finger and the index finger is completed, thereby completing the function of simulating the spreading or shrinking of human fingers and meeting the grabbing of articles with different sizes.

When the flexible fingers 2 contact with an article, the gap between the finger pad sliding block 501 and the light hole 201 is reduced, the photosensitive sensor 505 transmits a signal to the control system, the flexible fingers 2 stop moving, and other fingers are controlled to grab the article until all the flexible fingers 2 grab the article, when the article is picked up upwards, the dead weight of the article drives the finger pad sliding block 501 to move downwards due to the contact of the finger pad sliding block 501 and the article, the finger pad sliding block 501 is connected with the three-phase resistance wire strain rosette 503 through the rigid silk thread 504, the information that the three-phase resistance wire strain rosette 503 senses the relative sliding of the finger pad sliding block 501 is transmitted to the control system, the control system drives the control grabbing driving mechanism 4 to inflate the cavity in the air bag 415 in the flexible fingers 2, so that the flexible fingers 2 expand and press, thus the object can be grabbed, as long as the finger pad sliding block 501 relatively slides, the flexible fingers 2 are expanded and compressed, and when the friction between the finger pad sliding block 501 and the object meets the critical value of lifting the object, the object can be grasped and lifted upwards, so that the object can be grabbed and lifted.

Specifically, when the grasping driving mechanism 4 receives the grasping signal, the second driving motor is driven to rotate reversely, so as to drive the second rotating shaft 401 to rotate reversely, so that the ratchet 4071 rotates reversely, the pawl 4073 drives the disk 4072 to rotate reversely on the palm 1, the reverse rotation of the disk 4072 drives the first support 4074 to rotate reversely on the second chute 40751 on the clasping member 4075, so as to drive the clasping member 4075 to clasp the gear ring 406, the gear ring 406 stops rotating, so that the third rotating shaft 404 on the planet wheel 405 rotates around the second rotating shaft 401, so as to drive the male rotating disc 408 to rotate, and meanwhile, the inflatable adapter disc 411 also moves upwards on the second rotating shaft 401 and cannot rotate, so that the male rotating disc 408 rotates and cannot contact with the inflatable adapter disc 411, and the sealing ring on the inflatable adapter disc 411 is prevented from being worn; when the self-rotation disc 409 rotates to a position under a group of inflation switching holes 4111 of the airbag 415 to be inflated along with the male rotation disc 408, the second driving motor is driven to rotate forward to drive the second rotation shaft 401 to rotate forward, the clasping device 407 fails to rotate, the planetary gear structure is driven to rotate, the third rotation shaft 404 does not rotate around the second rotation shaft 401, and only rotates, so that the male rotation disc 408 does not rotate, the self-rotation disc 409 rotates on the male rotation disc 408, and the second driving motor rotates forward to drive the inflation switching disc 411 to move down to be attached to the male rotation disc 408, so that the inflation hole 4091 is abutted with the inflation switching hole 4111 connected with one of the cavities of the airbag 415 to be inflated, and is sealed by a sealing ring to complete the inflation of one of the cavities of the airbag 415, and after the inflation is completed, the steps are repeated, inflation of cavities on different air bags 415 is carried out, expansion and compression of the flexible fingers 2 are achieved, grabbing of the articles are achieved, grabbing force required by grabbing the articles by the flexible fingers can be controlled according to the inflation quantity of the air bags 415, grabbing of the articles with different qualities is achieved, grabbing force is controlled through the inflation quantity to prevent the articles from being damaged due to overlarge grabbing force or the articles cannot be grabbed due to too small grabbing force, and flexible grabbing of the articles is achieved.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.

The above-mentioned embodiments only represent embodiments of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the concept of the present invention, and these embodiments are all within the protection scope of the present invention.

Claims

1. A flexible manipulator, its characterized in that: the device comprises a palm, flexible fingers, an interval adjusting mechanism, a grabbing driving mechanism, a grabbing sensing system and a control system, wherein the flexible fingers simulating human fingers are fixed on the palm, the interval adjusting mechanism capable of adjusting the interval between the flexible fingers and the grabbing driving mechanism capable of driving the flexible fingers to grab objects are fixed on the palm, the interval adjusting mechanism, the grabbing driving mechanism and the grabbing sensing system are all electrically connected with the control system, the grabbing sensing system receives the gravity of the objects and transmits signals to the control system, so that the control system drives the grabbing driving mechanism to drive the flexible fingers to expand and press the flexible fingers to grab the objects;

2. A flexible manipulator according to claim 1, wherein: the spacing adjusting mechanism comprises a telescopic cylinder, a first driving motor, a first rotating shaft, a first driving wheel, a driven wheel, a swing rod, a fixed rod and a finger fixing seat, the telescopic cylinder is fixed on the palm, the extending end of the telescopic cylinder is fixed with the first driving motor, the telescopic cylinder and the first driving motor are electrically connected with the control system, the output end of the first driving motor is connected with the first rotating shaft, a first driving wheel is coaxially fixed on the first rotating shaft, driven wheels which have the same number with the flexible fingers and can be matched with the first driving wheel are fixed on the palm of the hand, the horizontal height of each driven wheel is different, a swing rod is fixed on the bottom surface of each driven wheel, the bottom surface of the swing rod is fixedly provided with a fixed rod capable of moving along the extending direction of the swing rod, one end of the fixed rod, far away from the swing rod, is fixedly provided with a finger fixing seat, and the flexible fingers are respectively fixed on the finger fixing seats.

3. A flexible manipulator according to claim 2, wherein: the bottom of the swing rod is provided with a first sliding groove along the extending direction of the swing rod, a movable sliding block is arranged in the first sliding groove, and one end, far away from the finger fixing seat, of the fixing rod is fixedly connected with the sliding block.

4. A flexible manipulator according to claim 2, wherein: one side that the palm is close to flexible finger is the arc form, it includes U-shaped seat and gyro wheel to point the fixing base, the opening of U-shaped seat sets up towards one side of arc form on the palm, the U-shaped seat is kept away from open-ended one end and is connected with flexible finger, the one end that the pendulum rod was kept away from to the dead lever is connected with the U-shaped seat, U-shaped seat internal fixation has the gyro wheel that can rotate, the gyro wheel sets up with one side laminating of arc form on the palm.