CN113771072B

CN113771072B - Flexible manipulator and robot device

Info

Publication number: CN113771072B
Application number: CN202111022517.7A
Authority: CN
Inventors: 吴家恒; 范红强; 饶崇明
Original assignee: Shenzhen Junchuang Technology Co ltd
Current assignee: Shenzhen Junchuang Technology Co ltd
Priority date: 2021-09-01
Filing date: 2021-09-01
Publication date: 2022-11-15
Anticipated expiration: 2041-09-01
Also published as: CN113771072A

Abstract

The present invention provides a flexible manipulator, which is provided with a finger part contacting with an object, wherein the finger part comprises an air bag and a member capable of controlling the air bag to stop at a preset position under the action of acting force, and the member comprises: the finger part bending device comprises a first part and a second part, wherein the first part is arranged on a fixing part of the finger part, the second part is arranged to be capable of setting a preset bending position of the finger part and synchronously rotating with the bending part of the finger part, when the air bag is acted by an acting force larger than or equal to a threshold value, the second part is abutted against the first part, and the bending part of the finger part is abutted against the preset position. The air bag can be bent to a preset position under a specific condition through the arrangement of the component, the second part is set to be at a maximum angle, the second part stops the movement of the first part at the maximum angle position and synchronously stops the bending of the finger parts, the finger parts are stabilized at the position of the maximum angle, and the function of stably grabbing objects is achieved.

Description

Flexible manipulator and robot device

Technical Field

The invention relates to the field of robots, in particular to a flexible manipulator and a robot device.

Background

With the rapid development of the Chinese automation industry, more and more manipulators appear in the visual field of people, manual operation is replaced, and the efficiency of industrial production is greatly improved. The traditional hard mechanical arm is difficult to meet the requirements of precision products the grabbing of the product is easy to be damaged. Therefore, robots having a soft, flexible structure, in which flexible airbags are an important part of flexible robots, have been gradually developed. However, in the process of using the flexible air bag, the inflation pressure fluctuates in a small range, so that the fingers of the manipulator shake, the precision and stability of the grabbing are affected, and the possibility of damaging the product also exists.

Disclosure of Invention

The present invention is directed to overcome the above-mentioned deficiencies of the prior art and to provide a flexible manipulator and a robot apparatus capable of stably bending a finger portion to a maximum angle.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows:

a flexible manipulator having a finger for contact with an object, the finger comprising a bladder and a member capable of controlling the bladder to rest in a predetermined position under a force, the member comprising:

a first member disposed on a fixing portion of the finger portion,

the second part is set to be capable of setting a preset bending position of the finger part and synchronously rotating with the bending part of the finger part, when the air bag is subjected to acting force larger than or equal to a threshold value, the second part abuts against the first part, and the bending part of the finger part abuts against the preset position.

Further, the second part comprises a first element comprising an outwardly protruding stop cooperating with the second part and a second element capable of fixing the stop in different initial positions.

Further, the first element is provided with a through hole for the second element to pass through, the second element is fixedly connected with the bent part of the finger part, and the stop part radially protrudes along the through hole.

Further, the first part has a stop surface projecting from a surface of the finger, the stop surface including a stop condition cooperating with the second part.

Further, the airbag has an air chamber that is associated with a contact operation of the object, and the air chamber can be inflated and deflated.

Furthermore, the air inlet end of the air bag is provided with a conical cavity with the small end facing the air chamber, and the bottom of the conical cavity is provided with an air passage communicated with the air chamber.

Further, the rigid part comprises a base part and a movable part, the base part is fixed at the end part of the finger part, and the movable part is hinged with the base part.

Further, the rigid member has a base portion hinged to the movable portion.

Further, the base is provided in a plate shape.

Further, a flexible layer is disposed on a surface of the rigid member that contacts the object.

Further, the robot hand includes a support member that supports a plurality of finger portions, and the finger portions are provided so as to be capable of gripping the object.

Further, the distance between the finger and the central axis of the support member is adjustable.

The invention also adopts the following technical scheme:

a robot apparatus includes: a manipulator including a finger portion that comes into contact with an object, and a member that controls a maximum angle at which a tip of the finger portion is bent, the member being disposed on the finger portion; a multi-axis arm supporting the robot.

Due to the adoption of the technical scheme, the invention has the following beneficial effects:

the air bag can be bent to a preset position under a specific condition through the arrangement of the component, the second part is set to be at a maximum angle, the second part stops the movement of the first part at the maximum angle position and synchronously stops the bending of the finger parts, the finger parts are stabilized at the position of the maximum angle, and the function of stably grabbing objects is achieved.

Through set up the rigidity part in finger portion, under the flexible characteristic that does not influence finger portion, improve the rigidity of manipulator, the product that snatchs that can be more stable.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly described below, and it is apparent that the drawings in the following description only relate to some embodiments of the present invention and are not limiting on the present invention.

FIG. 1 is a schematic diagram of a robot in one embodiment;

figure 2 is a schematic view of the robot of figure 1 from another perspective;

figure 3 isbase:Sub>A cross-sectional view of the robot of figure 2 taken along the linebase:Sub>A-base:Sub>A;

FIG. 4 is a schematic view of a finger portion of one embodiment;

FIG. 5 is a schematic view of the finger from another perspective in one embodiment;

figure 6 is a cross-sectional view of the finger of figure 5 taken along the line B-B;

figure 7 is an exploded view of a finger in one embodiment;

FIG. 8 is a schematic view of a fixing frame according to an embodiment;

reference numerals:

100. a manipulator; 1. a support member; 2. a finger portion;

11. a mounting seat; 13. an adjustment member; 12. a connecting member; 111. mounting grooves;

21. a mounting frame; 22. a fixed mount; 23. an air bag; 24. a rigid member; 25. a member;

211. a main module; 212. a T-shaped table; 221. an upper bracket; 222. a lower bracket; 221A, a ventilation part; 221B, a sealing surface; 221C, a fixing part; 221D, a vent hole; 221E, a conical table; 222A, a through hole; 222B, a sealing step; 222C, an installation part; 222D, a frustum; 231. a main body; 232. sealing the rubber sheet; 231B, a tapered cavity; 231A, an air chamber; 231C, a seal groove; 241. a first plate; 242. a second plate; 243. a hinge hole; 244. a hinged column; 251. a first member; 252. a second component; 252A, a first element; 252B, a second element; 252C, a stopper.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in the description and claims of this patent does not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. Also, the use of the terms "a," "an," or "the" and similar referents do not denote a limitation of quantity, but rather denote the presence of at least one. The word "comprise" or "comprises", and the like, means that the element or item listed before "comprises" or "comprising" covers the element or item listed after "comprising" or "comprises" and its equivalents, and does not exclude other elements or items. "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like are used only to indicate relative positional relationships that may change when the absolute position of the object being described changes, which are merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Some embodiments of the invention are described in detail below with reference to the accompanying drawings. Features in the embodiments described below may be combined with each other without conflict.

The manipulator 100:

referring to fig. 1 to 3, the flexible robot 100 includes a finger portion 2 and a support member 1, the finger portion 2 is disposed on the support member 1, a plurality of finger portions 2 may be disposed on the support member 1, and the plurality of finger portions 2 may cooperate to grip an object. The object refers to various objects that can be grasped by the robot arm 100, and it is understood that the material, size, and shape of the object may be variously selected.

The support member 1 includes a mounting seat 11, an adjusting piece 13, and a connecting piece 12, the finger 2 is mounted on the mounting seat 11, and the adjusting piece 13 and the connecting piece 12 can be respectively disposed on the mounting seat 11. The connecting member 12 may be disposed in the middle of the mounting base 11 and may be used for connecting with other parts of the robot, and the configuration of the connecting member 12 may be variously selected, for example, by using a connecting shaft and a fixing member.

The shape of the mounting seat 11 can be set differently according to the requirement, for example, the mounting seat 11 is set to be in a cross shape, each branch of the mounting seat 11 is provided with a mounting groove 111, and the mounting frame 21 of the finger part 2 is matched with the mounting groove 111. An adjusting piece 13 may be mounted on the mounting 11, with the output end of the adjusting piece 13 connected to the finger 2. Wherein, adjusting part 13 can be used to adjust the distance between finger 2 and the axis of mounting base 11, and adjusting part 13 can restrict the motion of finger 2 in the direction of the axis of mounting base 11. For example, the adjustment element 13 is implemented as a small ball bearing motor, the output of which is connected to a mounting frame 21 or other rigid part of the finger 2.

The finger 2 comprises a mounting frame 21, a fixing frame 22, an air bag 23, a rigid part 24 and a member 25 able to limit the maximum angle of bending of the finger 2. The finger part 2 air bag 23 is disposed on the fixing frame 22, the fixing frame 22 is fixed on the mounting frame 21, the mounting frame 21 is matched with the mounting seat 11, and the rigid part 24 and the member 25 are matched with the air bag 23.

The mounting bracket 21 is slidable in the mounting groove 111, wherein the mounting groove 111 may serve as a sliding direction along a radial direction of the mounting seat 11. The mounting rack 21 comprises a main module 211 and a T-shaped platform 212, wherein the T-shaped platform 212 is arranged at two sides of the main module 211, the main module 211 passes through the mounting groove 111 to be connected with the mounting rack 22, the T-shaped platform 212 and the mounting seat 11 are lapped on the mounting seat 11, and the T-shaped platform 212 is in sliding fit with the top surface of the mounting seat 11.

The fixing frame 22 comprises an upper bracket 221 and a lower bracket 222, and the upper bracket 221 and the lower bracket 222 are matched to fix and seal the air bag 23.

The upper holder 221 includes a ventilation portion 221A, a sealing surface 221B, and a fixing portion 221C.

The vent portion 221A is provided in the middle of the upper frame 221, the vent portion 221A includes a vent hole 221D and a tapered platform 221E, the tapered platform 221E is located below the vent hole 221D, and the tapered platform 221E communicates with the airbag 23. The air vent 221D may be provided with a member for connecting with an air tube, for example, a screw fitting, and the air vent 221D may be engaged with the screw fitting. A cavity is formed in the conical platform 221E, the conical platform 221E covers the vent pipeline of the air bag 23, the cavity of the conical platform 221E is communicated with the vent pipeline of the air bag 23, and the side wall of the conical platform 221E is in sealing contact with the air bag 23.

The sealing surface 221B is located at the outer periphery of the tapered platform 221E, and the sealing surface 221B engages the top surface of the lower bracket 222 and the edge of the airbag 23. The sealing surface 221B is provided with a structure for fixedly connecting with the lower bracket 222, for example, a threaded hole is provided at a position close to the edge of the sealing surface 221B, a threaded hole is provided at a corresponding position of the lower bracket 222, and the upper bracket 221 and the lower bracket 222 are connected by a nut.

The top surface of the upper bracket 221 is provided with a fixing portion 221C, the fixing portion 221C is connected with the mounting frame 21, the fixing portion 221C may be two elongated fixing plates, the two fixing plates are respectively disposed on two sides of the vent hole 221D, and the fixing plates are fixed to the mounting frame 21 through fixing members.

The lower bracket 222 includes a through hole 222A through which the air bag 23 passes in mating relationship with the lower bracket 222, a sealing step 222B, a mounting portion 222C and a frustum 222D. The sealing step 222B is formed at an inner wall of the through hole 222A, and the sealing step 222B forms a step with the mounting portion 222C. The sealing step 222B is engaged with the airbag 23, and the mounting portion 222C is used to engage with the upper bracket 221. The lower end of the lower bracket 222 forms a frustum 222D, and the outer contour of the frustum 222D may be an inward concave arc.

The airbag 23 includes a main body 231 and a sealing film 232.

The top of the main body 231 is provided with a tapered cavity 231B, the tapered cavity 231B can accommodate the tapered platform 221E of the upper bracket 221, and the side wall of the tapered platform 221E can be in sealing fit with the inner wall of the tapered cavity 231B. The opening of the tapered cavity 231B is provided with a flanging which faces outwards relative to the main body 231, the flanging is matched with the sealing step 222B of the lower support 222, after the upper support 221 and the lower support 222 are assembled, the sealing surface 221B of the upper support 221 can press the flanging, the main body 231 is fixed on one hand, and the ventilation environment between the upper support 221 and the main body 231 can be sealed again on the other hand.

The bottom of the tapered cavity 231B is provided with a plurality of air channels, the air channels are communicated with the air chamber 231A in the main body 231, one or more plastic materials can be used for the air chamber 231A, and the air channels are also arranged between the air chambers 231A. The air channel can be integrally manufactured in the injection molding process, and the cross section of the air channel can be in various shapes, such as a circle, an ellipse, a polygon and the like. The number of the air passages may be one or more, and all of the air passages may be covered by the tapered table 221E of the upper holder 221.

The air chamber 231A may be a chamber having an opening, and may be shaped in a tapered structure having a small end toward the back of the main body 231 and an opening provided at a large end thereof. The main body 231 has a seal groove 231C at the front end, and a sealing rubber piece 232 is attached to the seal groove 231C to cover the opening of the air chamber 231A. Preferably, the sealing groove 231C can be set to be a step structure sinking to the air chamber 231A, and the sealing film 232 is adapted to be a step structure, and if the sealing film 232 is provided with a boss at the middle part, a plurality of positions between the sealing film 232 and the sealing groove 231C can be sealed and matched, so that the sealing effect is improved.

The back of the main body 231 is formed with a saw-tooth structure, the protruding portion of the back corresponds to the position where the air chamber 231A is disposed, and the small end of the air chamber 231A is disposed in the protrusion of the back. The front of the body 231 refers to a side that can contact an object, and the back of the body 231 refers to a side opposite to the front of the body 231.

The rigid member 24 is disposed in the front portion of the airbag 23, and one end of the rigid member 24 is disposed between the main body 231 of the airbag 23 and the inner wall of the lower bracket 222. The rigid member 24 may be provided with three edges flush with the edges of the main body 231 of the air bag 23, and the rigid member 24 can cover the sealing rubber pieces 232 and also can improve the rigidity of the finger portion 2.

The rigid member 24 includes a first plate 241 and a second plate 242, the first plate 241 and the second plate 242 may be made of elastic steel sheets, one end of the first plate 241 extends into the lower bracket 222, the first plate 241 is fixedly connected to the inner wall of the through hole 222A, and the first plate 241 at least shields a portion of the sealing rubber piece 232, so as to fix the sealing rubber piece 232 in the sealing groove 231C. The second plate 242 is hinged to the other end of the first plate 241, specifically, two sides of the first plate 241 may extend to form a hinge, the hinge may be provided with a hinge hole 243, and the second plate 242 is provided with a hinge post 244 capable of being engaged with the hinge hole 243. An adhesive film may be provided on a front surface of the rigid member 24 to prevent the rigid member 24 from damaging an object when the rigid member directly contacts the object.

A member 25 able to limit the maximum angle of bending of the fingers 2, the member 25 comprising a first part 251 and a second part 252, the first part 251 being arranged at the fixing portion 221C of the fingers 2. The fixing portion 221C is a portion that does not need to be bent during the grasping action of the finger portion 2, and the bent portion refers to a portion that is bent around an axis during the inflation of the airbag 23, with respect to the bent portion of the finger portion 2. The second part 252 is capable of a rotational movement synchronized with the folded portion, and the first part 251 is capable of limiting the movement of the second part 252 when the air-bag 23 is subjected to a force equal to or greater than a threshold value, while the folded portion of the fingers 2 rests in a predetermined position.

The predetermined position is a position where the first member 251 and the second member 252 are engaged with each other, and when the pressure of the air bag 23 during inflation can be slightly greater than the pressure required to bend the air bag 23 to the predetermined position, the finger parts 2 can stably stop at the predetermined position, so that shaking of the finger parts 2 is avoided, and objects can be stably clamped.

Preferably, the first part 251 has a stop face projecting from the surface of the finger 2, the stop face comprising a stop condition cooperating with the second part 252. The first member 251 may be a hinge post 244 on the second plate 242, the hinge post 244 extending from a hinge hole 243. The protruding portion of the hinge post 244 may engage the second member 252, blocking the second member 252 from further rotational movement.

Preferably, the second member 252 is disposed at a side edge of the second plate 242.

The second part 252 comprises a first element 252A and a second element 252B, the first element 252A comprising an outwardly protruding stop 252C, the stop 252C cooperating with the first part 251, the second element 252B being capable of fixing said stop 252C in different initial positions. Preferably, the first element 252A has a through hole 222A for the passage of the second element 252B, the second element 252B being fixedly connected to the bent portion of the finger 2, and the stop 252C projecting radially along the through hole 222A.

The operation of the robot 100: firstly, the distance between the finger parts 2 and the central axis of the mounting seat 11 can be adjusted by the adjusting parts 13 according to the shape and the size of the object to be clamped, and the distance between each finger part 2 and the central axis of the mounting seat 11 can be different. Gas is introduced into the airbag 23 from the vent hole 221D of the upper bracket 221, and the airbag 23 is pressed to bend the airbag 23 in a direction of breaking one side of the air chamber 231A. The second plate 242 rotates relative to the first plate 241 upon actuation of the movement of the air bag 23, and the second member 252 also moves in response to the movement of the second plate 242. When the stopper portion 252C of the first element 252A abuts against the hinge post 244, the air bag 23 stops bending and stops at a predetermined position due to the resistance of the hinge post 244.

A robot device:

the robot apparatus may include a robot hand 100 and a multi-axis arm, and the robot hand 100 may be provided on the multi-axis arm. The multi-axis arm may include a plurality of links and a mounting base. The plurality of connecting rod supports are connected in sequence, and each connecting rod can be set to have a rotating function and can perform compound actions.

The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A flexible manipulator having a finger for contacting an object, the finger including a bladder and a member capable of controlling the bladder to rest in a predetermined position under an applied force, the member comprising:

a first member disposed on the fixing portion of the finger portion,

the second part is arranged to be capable of setting a preset bending position of the finger part and synchronously rotating with the bending part of the finger part, when the air bag is subjected to acting force larger than or equal to a threshold value, the second part abuts against the first part, and the bending part of the finger part abuts against the preset position;

the second part comprises a first element comprising an outwardly projecting stop cooperating with the second part and a second element capable of fixing the stop in different initial positions;

the finger has a rigid member disposed at a front portion of the airbag.

2. A manipulator according to claim 1, wherein the first element has a through hole for passing therethrough a second element fixedly connected to the bent portion of the finger, and the stopper protrudes radially along the through hole.

3. The manipulator of claim 1, wherein the first member has a stop surface projecting beyond a surface of the finger, the stop surface including a stop condition cooperating with the second member.

4. The robot hand according to claim 1, wherein the air cell has an air chamber in association with a contact operation of the object, and the air chamber is capable of being inflated and deflated.

5. The manipulator according to claim 4, wherein the air inlet end of the air bag is provided with a conical cavity with a small end facing the air chamber, and the bottom of the conical cavity is provided with an air channel communicated with the air chamber.

6. The manipulator of claim 1, wherein the rigid member includes a base fixed to an end of the finger and a movable portion hinged to the base.

7. The robot hand according to claim 6, wherein the base is provided in a plate shape.

8. The robot hand according to claim 1, wherein a flexible layer is disposed on a surface of the rigid member which is in contact with the object.

9. The robot hand according to claim 1, wherein the robot hand includes a support member that supports a plurality of finger portions, and the plurality of finger portions are capable of engaging with a gripping object.

10. The robot of claim 9, wherein the spacing between the fingers and the central axis of the support member is adjustable.

11. A robot apparatus, characterized in that the robot apparatus has the robot hand of any one of claims 1 to 10, and a multi-axis arm supporting the robot hand.