CN113635340A

CN113635340A - Pneumatic bionic three-finger manipulator with self-adaptive flexibility

Info

Publication number: CN113635340A
Application number: CN202110847754.0A
Authority: CN
Inventors: 程强; 徐文祥; 郝小龙; 黄河; 张彩霞; 许静静
Original assignee: Beijing University of Technology
Current assignee: Beijing University of Technology
Priority date: 2021-07-27
Filing date: 2021-07-27
Publication date: 2021-11-12

Abstract

The invention discloses a pneumatic bionic three-finger manipulator with self-adaptive flexibility. The bionic flexible manipulator has the advantages that the surface of the bionic flexible manipulator is provided with the high-elasticity structure, the contact surface is designed by the raised stripes, the contact friction force of the surface of the finger is increased, the finger does not easily fall off when a target is grabbed, and the bionic finger has good safety when grabbing a fragile object due to the material property of the high-elasticity material bionic structure. The invention uses the cylinder to replace the motor, so that the cost is reduced, the response speed is accelerated, and meanwhile, the operation is cheap and the control is simple. The invention has high practicability, can carry out self-adaptive flexible grabbing aiming at irregular, multi-specification and multi-shape objects due to the fact that the fingers are made of flexible bionic materials, and has high stability and easy control.

Description

Pneumatic bionic three-finger manipulator with self-adaptive flexibility

Technical Field

The invention relates to a pneumatic bionic three-finger manipulator with self-adaptive flexibility, and belongs to the field of robots.

Background

With the advancement of science and technology, more robots replace human hands to play an important role in the fields of industry and medical treatment. The manipulator is used as a tail end execution device of the robot, can adapt to the unstructured environment, and enables the robot to work more intelligently and more humanly.

When gripping irregular, multi-sized, multi-shaped objects, it is often necessary to precisely control the displacement and gripping force of the robot in order to avoid damage to the object and ensure successful and stable gripping. However, this not only increases the control difficulty, but also greatly increases the grasping cost, thereby making it difficult to widely apply such manipulators in the fields of industry, medical treatment, and the like. In order to solve the problem, some researchers have proposed a manipulator adopting a flexible structural rod, which realizes the flexibility of the manipulator and the buffering in the grabbing process through the elastic deformation of the structural rod, so as to reduce the possibility of damaging an object in the grabbing process, but because the elastic deformation of the structural rod is nonlinear large-deflection deformation, the real-time accurate calculation and control are difficult to realize. Researchers have designed and developed rigid manipulator structures with the help of intelligent materials and novel driving technologies, and the soft manipulators generally have sufficient flexibility, adaptability, super-redundancy or infinite freedom and can even change the shapes and the sizes of the soft manipulators at will to adapt to environments and targets.

Therefore, in order to realize the flexible grabbing of multiple special-shaped objects, the cost can be reduced, the response speed is accelerated, the operation is simple, the control is simple, the structure is simple, the stability is high, and the safety is high.

Disclosure of Invention

The invention aims to overcome the defects and provide the pneumatic bionic three-finger manipulator with self-adaption flexibility, which can avoid the damage to irregular, multi-specification and multi-shape objects in the grabbing process and realize successful grabbing and has the advantages of low control difficulty and low cost.

The technical scheme adopted by the invention for solving the technical problems is as follows: a pneumatic bionic three-finger manipulator with self-adaptive flexibility utilizes an air pump driving device to drive a connecting plate through a vent valve to enable the bionic flexible manipulator to move so as to realize a grabbing function.

In order to achieve the above object, the apparatus of the present invention comprises: the bionic mechanical hand comprises a fixed base 1, a connecting plate 2, a bionic flexible mechanical hand 3, a hand contraction cylinder 4 and an air pump driving device 5. The bionic flexible manipulator has the advantages that the surface of the bionic flexible manipulator is provided with a high-elasticity structure, the contact surface is designed to be provided with the raised stripes, the contact friction force of the surface of the finger is increased, the finger is not easy to fall off when the finger grabs a target, and the bionic finger has good safety when grabbing a fragile object due to the material property of the high-elasticity material bionic structure.

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

1. the finger external structure of the invention adopts high elastic material, the contact surface adopts the design of convex stripes, the contact friction force of the finger surface is increased, and the finger does not easily fall off when grabbing a target;

2. the invention uses the cylinder to replace the motor, so that the cost is greatly reduced, the response speed is greatly accelerated, and the operation and the control are simple. Thereby increasing the flexibility and diversity in the grabbing process of the pneumatic bionic three-finger manipulator and improving the reliability of tasks;

3. the pneumatic bionic three-finger manipulator provided by the invention is light in overall weight, and the adopted manufacturing method is simple, thereby being beneficial to wide application in the fields of industry, medical treatment and the like.

Drawings

Fig. 1 is a general diagram of a pneumatic bionic three-finger manipulator structure.

Fig. 2 is a diagram of a single finger structure.

Fig. 3 is a three-finger open top view.

Fig. 4 is a three-finger closed front view.

Detailed Description

The invention is described in further detail below with reference to the accompanying examples.

The pneumatic bionic three-finger manipulator with self-adaptive flexibility as shown in fig. 1 is as follows: 1. the manipulator comprises a fixed base, 2 parts of a connecting plate, 3 parts of a bionic flexible manipulator, 4 parts of a hand contraction cylinder and 5 parts of an air pump driving device. The bionic flexible manipulator 3 is connected with the connecting plate 2 through the thin rod bolt, the fixing base 1 is mainly used for fixing the hand contraction cylinder 4 and the air pump driving device 5, and the bionic flexible manipulator 3 and the connecting plate 2 shown in the figure 2 are used for driving the hand contraction cylinder 4 to complete the grabbing action of fingers through the air pump driving device 5.

As shown in fig. 3, when the bionic three-finger manipulator 3 needs to be opened, firstly, the air cavity in the hand contraction cylinder 4 is inflated through the vent valve, so that the air pressure in the air cavity is increased, and the high-elasticity material structure of the bionic three-finger manipulator 3 is driven to be in an opening trend; when the bionic three-finger manipulator 3 needs to grab as shown in fig. 4, air is firstly exhausted from the air cavity in the contracting cylinder through the vent valve, so that the air pressure in the air cavity is reduced, and the high-elasticity material structure of the bionic three-finger manipulator 3 is driven to be in a grabbing trend. The bionic three-finger manipulator 3 can realize different grabbing modes of the robot paw through the mutual matching of three pneumatic bionic fingers, and different grabbing gestures can be determined according to the shape, size and position of a grabbing target.

Claims

1. The utility model provides a pneumatic bionical three indicate manipulator that possesses self-adaptation flexibility, includes unable adjustment base (1), connecting plate (2), bionical flexible manipulator (3), hand shrink cylinder (4), air pump drive arrangement (5), its characterized in that: the bionic flexible manipulator (3) is hinged with the connecting plate (2) through a thin rod bolt, and the hand contraction cylinder (4) and the air pump driving device (5) are fixed on the fixing base (1); the hinge motion between the bionic flexible manipulator (3) and the connecting plate (2) is completed by driving a hand contraction cylinder (4) by an air pump driving device (5).

2. The pneumatic bionic three-finger manipulator with the self-adaptive flexibility according to claim 1 is characterized in that the bionic flexible manipulator (3) is made of a high-elasticity bionic material, the contact surface is designed by convex stripes, the contact friction force of the finger surface is increased, and the finger does not easily fall off when a target is grabbed.

3. The pneumatic bionic three-finger manipulator with the self-adaptive flexibility according to claim 1, characterized in that the number of the bionic flexible manipulators (3) is three, the size is equal, and the materials are the same; the three bionic flexible manipulators (3) are uniformly arranged around the circumference of the fixed base (1).

4. The pneumatic bionic three-finger manipulator with the self-adaptive flexibility according to claim 1, wherein the air pump driving device (5) drives the connecting plate (2) through a vent valve to enable the bionic flexible manipulator (3) to move to achieve a grabbing function.