CN115816505A - Flexible manipulator and self-adaptive grabbing method thereof - Google Patents
Flexible manipulator and self-adaptive grabbing method thereof Download PDFInfo
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- CN115816505A CN115816505A CN202211715808.9A CN202211715808A CN115816505A CN 115816505 A CN115816505 A CN 115816505A CN 202211715808 A CN202211715808 A CN 202211715808A CN 115816505 A CN115816505 A CN 115816505A
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Abstract
The invention discloses a flexible manipulator and a self-adaptive grabbing method thereof. The wheel disc end cover of the manipulator is installed at the bottom of the manipulator frame body, the rigid clamping jaw is installed on the bottom surface of the wheel disc end cover, the root end of the rigid clamping jaw is connected with the periphery of the bottom surface of the wheel disc end cover, and the tail end of the rigid clamping jaw is connected with the root end of the flexible clamping jaw. The method comprises the following steps: the motor module drives the rigid clamping jaw to contract and grab an object to be grabbed, the piezoresistor sends a feedback signal to the control module to control the motor to stop, and the pneumatic module absorbs gas of the flexible clamping jaw, so that the object is deformed and contracted and grabbed, and grabbing is completed. The invention can adaptively analyze the position information of the grabbed target, can realize adaptive rapid grabbing of different objects without limiting the shape and the material of the object through adaptive shrinkage deformation, greatly facilitates industrial grabbing, can adapt to complex grabbed targets, and effectively improves the grabbing efficiency of the manipulator.
Description
Technical Field
The invention relates to a flexible manipulator, in particular to a flexible manipulator and a self-adaptive grabbing method thereof.
Background
In traditional industrial production process, the manipulator is the stereoplasm solid that the shape is fixed mostly because the object that operating condition's restriction was snatched, can't realize carrying out quick the snatching to the object of different shapes, because the size of the unable accurate control manipulator grabbing power very easily causes destruction to the workpiece surface when snatching the object. With the development of industry, people have higher requirements on production efficiency on a production line, in order to realize successful grabbing of a grabbed object, the grabbed object needs to be placed at a specific position, and the placing process greatly reduces grabbing efficiency.
Disclosure of Invention
In order to solve the problems in the background art, the invention provides a flexible manipulator and a self-adaptive grabbing method thereof, which are used for grabbing objects with different shapes and materials. The disordered grabbing work on the production line is realized, and the method has great significance for improving the grabbing efficiency.
The technical scheme adopted by the invention is as follows:
1. a flexible manipulator:
the flexible manipulator comprises a manipulator frame main body, a wheel disc end cover, a rigid clamping jaw and a flexible clamping jaw, wherein the wheel disc end cover is installed at the bottom of the manipulator frame main body, the rigid clamping jaw is installed on the bottom surface of the wheel disc end cover, the root end of the rigid clamping jaw is connected with the periphery of the bottom surface of the wheel disc end cover, and the tail end of the rigid clamping jaw is connected with the root end of the flexible clamping jaw.
The device also comprises a plurality of piezoresistors, a depth camera, a pneumatic module, a motor module and a control module, wherein each piezoresistor is arranged on the claw ventral surface of the rigid clamping jaw; the depth camera is arranged in the center of the bottom surface of the wheel disc end cover and faces to the right lower side; the pneumatic module, the motor module and the control module are all arranged in the manipulator rack main body, the motor module comprises a plurality of motors, the machine body of each motor is arranged in the manipulator rack main body, and the output shaft of each motor is meshed with the root end of the rigid clamping jaw through a gear; the depth camera and the control module are connected with an external computer, each piezoresistor, the pneumatic module and the motor module are electrically connected with the control module, and the pneumatic module is communicated with the flexible clamping jaw after penetrating through the rigid clamping jaw through a plurality of air pipes. The pneumatic module can adapt to the hardness of a grabbed object, and the force applied to the grabbing and the opening and closing speed are controlled by controlling the size and the speed of air flow.
The rigid clamping jaw comprises a plurality of rigid clamping fingers, the root ends of the rigid clamping fingers are uniformly arranged at intervals along the circumferential direction of the bottom of the wheel disc end cover, each rigid clamping finger is in a hollow rectangular strip shape, two symmetrical sides of the root end of each rigid clamping finger are provided with half gear structures, the two half gear structures are arranged in parallel and oppositely and are parallel to the symmetrical surface of the root end of the rigid clamping finger where the rigid clamping finger is arranged, the circle centers of the two half gear structures are provided with through holes, each rigid clamping finger is movably arranged at the bottom of the wheel disc end cover through a rolling shaft penetrating through the two through holes, and the symmetrical surfaces of the two half gear structures of each rigid clamping finger are arranged along the radial direction of the wheel disc end cover; the two half-gear structures of each rigid clamping finger are respectively meshed with a gear, the gear surfaces of the gears are arranged along the radial direction of the wheel disc end cover, and the centers of the gears are synchronously connected with the output shafts of respective motors; the finger ventral surface of each rigid clamping finger is provided with a piezoresistor, and the tail end of each rigid clamping finger is connected with the root end of the flexible clamping jaw. Different rigid clamping jaws can be installed by disassembling the rolling shaft, and the rigid clamping jaw can adopt four rigid clamping fingers. The motor module performs three actions of forward rotation to open the rigid clamping jaw and reverse rotation to contract the rigid clamping jaw and stop the rigid clamping jaw according to a signal given by the control module; four motors of the motor module respectively rotate four different rigid clamping fingers, and the rotating speed can be adjusted. The motor module generates a rotating command to the motor according to a signal given by the control module, the rotating direction and speed of the rigid clamping jaw are controlled, each motor controls different rigid clamping fingers respectively, and the flexibility of the manipulator is enhanced.
The flexible clamping jaw comprises a plurality of flexible clamping fingers, each flexible clamping finger comprises a plurality of hollow rectangular single-section hoses, each single-section hose is sequentially connected in series and communicated with each other along the direction in which the single-section hose is communicated, the root end and the tail end of each flexible clamping finger are sealed, the root end of each flexible clamping finger is connected with the tail end of the corresponding rigid clamping finger, and the pneumatic module penetrates through the interior of the rigid clamping finger of the corresponding rigid clamping jaw through each air pipe and then is communicated to the interior of the corresponding flexible clamping finger of the corresponding flexible clamping jaw.
The back of each single-section hose of each flexible clamping finger is provided with an opening, the bottom end of the upper wall of the hose at the upper end of the opening of the single-section hose and the top end of the lower wall of the hose at the lower end of the opening are provided with grooves, a sliding sheet is arranged between the two grooves and is an I-shaped long sheet, the upper end of the sliding sheet is slidably arranged in the groove in the upper wall of the hose, and the lower end of the sliding sheet is slidably arranged in the groove in the lower wall of the hose; the width of the groove on the lower wall of the hose is equal to the width of the notch of the groove on the upper wall of the hose.
Five hollow rectangular hoses can be adopted in each flexible clamping finger body. The gleitbretter inlays between the wall on the hose, and the structure of wall on the hose is the same for the needle tubing structure, and during breathing in hose lower wall and gleitbretter all can slide into among the hose upper wall, and during aerifing, the gleitbretter can hold the upper and lower wall of hose, does not make its separation, and flexible clamping jaw, the size of bending deformation mainly leans on the deformation structure realization of hose, and the length of gleitbretter, hose upper wall and lower wall all can be adjusted.
2. The self-adaptive grabbing method of the flexible manipulator comprises the following steps:
when the flexible manipulator grabs an object, firstly, the depth information of the object to be grabbed is shot through a depth camera and sent to an external computer, so that the position information of the object to be grabbed and the moving position information of the flexible manipulator are determined, the external computer sends an opening instruction to each motor of the motor module through the control module to enable the output shaft of each motor to rotate forward, each rigid clamping finger of the rigid clamping jaw is driven to open to the maximum position through each gear, then the control module sends an inflation command to the pneumatic module, and the pneumatic module inflates each flexible clamping finger of the flexible clamping jaw and enables each flexible clamping finger to be in an open state; the flexible mechanical arm moves to the position above the object to be grabbed according to the position information and the moving position information of the object to be grabbed, the object to be grabbed is positioned in the middle of each flexible clamping finger, an external computer sends a contraction instruction to each motor of the motor module through the control module to enable an output shaft of each motor to rotate reversely, then each gear drives each rigid clamping finger of the rigid clamping jaw to contract and grab the object to be grabbed, when each piezoresistor on the finger ventral surface of each rigid clamping finger contacts the object to be grabbed, each piezoresistor sends a feedback signal to the control module, the control module controls each motor of the motor module to stop, then the control module sends an air suction command to the pneumatic module, and the pneumatic module sucks gas of each flexible clamping finger of the flexible clamping jaw to enable each flexible clamping finger to start deforming and contracting and grab the object to finish grabbing; then the flexible manipulator is controlled to move the grabbed object to a preset position, the control module sends an inflation command to the pneumatic module, the pneumatic module inflates air to each flexible clamping finger of the flexible clamping jaw and enables each flexible clamping finger to be in an open state, then the control module sends an opening command to each motor of the motor module to enable an output shaft of each motor to rotate forwards, each rigid clamping finger of the rigid clamping jaw is driven by each gear to open to the maximum position, the grabbed object is loosened, the grabbed object falls on the preset position, and the grabbing task is completed.
The motor module drives the rigid clamping jaw to realize opening and closing actions, and the pneumatic module realizes the opening and the contraction of the flexible clamping jaw by filling air into the flexible clamping jaw. According to the signal given by the control system, the pneumatic module performs three actions of air suction, air inflation and maintenance. The flexible clamping jaw I is in a contraction state, the flexible clamping jaw II is in an opening state, the flexible clamping jaw III is in an upright state, when the pneumatic module sucks air, the flexible clamping jaw is wholly closed, the sliding sheet can slide into the lower wall of the hose under the action of air pressure, the lower wall of the hose slides into the upper arm of the hose, the flexible clamping jaw bends towards the contact surface to enable the flexible clamping jaw IV to be in an inward bending state, and when the flexible clamping jaw is grabbed, due to the resistance of a grabbed object, the flexible clamping jaw can contract and deform along the periphery of the grabbed object to wrap the grabbed object, so that the grabbing of the manipulator is realized; when the pneumatic module is inflated, each single hose is inflated and expanded, the upper wall of each hose is separated from the lower wall of each hose, the upper wall of each hose is connected with the lower wall of each hose through a sliding sheet, and the flexible clamping jaw V is in an opening state to realize the opening of the manipulator; the bending deformation of the flexible clamping jaw is mainly realized by the deformation structure of each single-section hose, and the bending change of different angles of the hose can be realized by adjusting the lengths of the sliding sheet, the upper arm and the lower wall of the hose.
The invention has the beneficial effects that:
according to the invention, the position information of a grabbed target can be adaptively analyzed through the depth camera, the shape and the material of the object can be unlimited through the adaptive shrinkage deformation of the rigid clamping jaw and the flexible clamping jaw, the adaptive rapid grabbing of different objects is realized, the industrial grabbing is greatly facilitated, the complex grabbed target can be adapted, and the grabbing efficiency of the manipulator is effectively improved.
Drawings
FIG. 1 is a schematic structural view of a flexible manipulator in a contracted state;
FIG. 2 is a schematic structural diagram of the flexible manipulator in an open state;
FIG. 3 is a schematic view of a rigid jaw;
FIG. 4 is a schematic view of a flexible jaw in various configurations;
FIG. 5 is a schematic view of a deformed structure of a single hose segment;
in the figure: 1. manipulator frame main part, 2, rim plate end cover, 3, rigid clamping jaw, 4, flexible clamping jaw I, 5, flexible clamping jaw II, 6, single section hose, 7, piezo-resistor, 8, flexible clamping jaw III, 9, flexible clamping jaw IV, 10, flexible clamping jaw V, 11, gleitbretter, 12, hose upper wall, 13, hose lower wall.
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
The flexible manipulator comprises a manipulator frame main body 1, a wheel disc end cover 2, a rigid clamping jaw 3 and flexible clamping jaws 4, 5, 8, 9 and 10, wherein the wheel disc end cover 2 is installed at the bottom of the manipulator frame main body 1, the rigid clamping jaw 3 is installed on the bottom surface of the wheel disc end cover 2, the root end of the rigid clamping jaw 3 is connected with the periphery of the bottom surface of the wheel disc end cover 2, and the tail end of the rigid clamping jaw 3 is connected with the root ends of the flexible clamping jaws 4, 5, 8, 9 and 10.
The flexible manipulator further comprises a plurality of piezoresistors 7, a depth camera, a pneumatic module, a motor module and a control module, wherein each piezoresistor 7 is arranged on the claw ventral surface of the rigid clamping jaw 3; the depth camera is arranged in the center of the bottom surface of the wheel disc end cover 2 and faces to the right lower side; the pneumatic module, the motor module and the control module are all arranged in the manipulator frame main body 1, the motor module comprises a plurality of motors, the machine body of each motor is arranged in the manipulator frame main body 1, and the output shaft of each motor is meshed with the root end of the rigid clamping jaw 3 through a gear; the depth camera and the control module are connected with an external computer, each piezoresistor 7, the pneumatic module and the motor module are electrically connected with the control module, and the pneumatic module is communicated with the flexible clamping jaws 4, 5, 8, 9 and 10 after penetrating through the rigid clamping jaw 3 through a plurality of air pipes. The pneumatic module can adapt to the hardness of a grabbed object, and the force applied to the grabbing and the opening and closing speed are controlled by controlling the size and the speed of air flow.
The rigid clamping jaw 3 comprises a plurality of rigid clamping fingers, the root ends of the rigid clamping fingers are uniformly arranged at intervals along the circumferential direction of the bottom of the wheel disc end cover 2, each rigid clamping finger is in a hollow rectangular strip shape, two symmetrical sides of the root end of each rigid clamping finger are provided with half gear structures, the two half gear structures are arranged in parallel and oppositely and are parallel to the symmetrical surface of the root end of the rigid clamping finger where the rigid clamping finger is arranged, the circle centers of the two half gear structures are provided with through holes, each rigid clamping finger is movably arranged at the bottom of the wheel disc end cover 2 through a rolling shaft penetrating through the two through holes, and the symmetrical surfaces of the two half gear structures of each rigid clamping finger are arranged along the radial direction of the wheel disc end cover 2; the two half-gear structures of each rigid clamping finger are respectively meshed with a gear, the gear surfaces of the gears are arranged along the radial direction of the wheel disc end cover 2, and the centers of the gears are synchronously connected with the output shafts of respective motors; the finger ventral surface of each rigid clamping finger is provided with a piezoresistor 7, and the tail end of each rigid clamping finger is connected with the root end of the flexible clamping jaw 4, 5, 8, 9 and 10. The roller can be disassembled and different rigid clamping jaws 3 can be installed, and the rigid clamping jaws 3 can adopt four rigid clamping fingers. The motor module performs three actions of forward rotation to open the rigid clamping jaw and reverse rotation to contract and stop the rigid clamping jaw 3 according to a signal given by the control module; four motors of the motor module respectively rotate four different rigid clamping fingers, and the rotating speed can be adjusted. The motor module generates a rotating command to the motor according to a signal given by the control module, the rotating direction and speed of the rigid clamping jaw 3 are controlled, and each motor controls different rigid clamping fingers respectively, so that the flexibility of the manipulator is enhanced.
The flexible clamping jaws 4, 5, 8, 9 and 10 comprise a plurality of flexible clamping fingers, each flexible clamping finger comprises a plurality of hollow rectangular single-section hoses 6, the single-section hoses 6 are sequentially connected in series and communicated with each other along the direction of self through, the root ends and the tail ends of the flexible clamping fingers are sealed, the root end of each flexible clamping finger is connected with the tail end of the corresponding rigid clamping finger, and the pneumatic module penetrates through the interior of the rigid clamping finger of the corresponding rigid clamping jaw 3 through each air pipe and then is communicated to the interior of the corresponding flexible clamping finger of the corresponding flexible clamping jaw 4, 5, 8, 9 and 10.
The back of each single-section hose 6 of each flexible clamping finger is provided with an opening, the bottom end of the upper hose wall 12 at the upper end of the opening of the single-section hose 6 and the top end of the lower hose wall 13 at the lower end of the opening are provided with grooves, a slip sheet 11 is arranged between the two grooves, the slip sheet 11 is an I-shaped long sheet, the upper end of the slip sheet 11 is slidably arranged in the groove of the upper hose wall 12, and the lower end of the slip sheet 11 is slidably arranged in the groove of the lower hose wall 13; the width of the groove of the lower hose wall 13 is equal to the width of the slot of the groove of the upper hose wall 12.
Five hollow rectangular hoses can be adopted in each flexible clamping finger body. Slip sheet 11 inlays between the wall on the hose, and the structure of wall on the hose is the same for the needle tubing structure, and hose lower wall 13 and slip sheet all can slide into during the hose upper wall 12 when breathing in, and during aerifing, the slip sheet can hold the upper and lower wall of hose, does not make its separation, and flexible clamping jaw 4, 5, 8, 9, 10 bending deformation's size mainly leans on the deformation structure realization of hose, and the length of slip sheet 11, hose upper wall 12 and lower wall 13 all can be adjusted.
In specific implementation, the four rigid clamping jaws 3 are mutually independent, and the upper ends of the rigid clamping jaws 3 are designed with half-gear structures and are respectively in transmission connection with the four motors through gears; the rotation angle between the rigid clamping jaw 3 and the wheel disc end cover 2 is designed to be 20 to 70 degrees. The flexible clamping jaws 4, 5, 8, 9 and 10 play a main grabbing role, the flexible clamping jaws 4, 5, 8, 9 and 10 are formed by 3D printing and specifically formed by connecting five sections of single-section hoses 6 in series, all sections of hoses are communicated with one another, and the flexible clamping jaws 4, 5, 8, 9 and 10 are integrally closed.
The self-adaptive grabbing method of the flexible manipulator comprises the following steps:
when the flexible manipulator grabs an object, firstly, the depth information of the object to be grabbed is shot through a depth camera and sent to an external computer, so that the position information of the object to be grabbed and the moving position information of the flexible manipulator are determined, the external computer sends an opening instruction to each motor of the motor module through the control module to enable the output shaft of each motor to rotate forward, each rigid clamping finger of the rigid clamping jaw 3 is driven to open to the maximum position through each gear, then the control module sends an inflation command to the pneumatic module, and the pneumatic module inflates each flexible clamping finger of the flexible clamping jaws 4, 5, 8, 9 and 10 and enables each flexible clamping finger to be in an opening state; the flexible manipulator moves to the position above the object to be grabbed according to the position information and the moving position information of the object to be grabbed, the object to be grabbed is positioned in the middle of each flexible clamping finger, an external computer sends a contraction instruction to each motor of the motor module through the control module to enable the output shaft of each motor to rotate reversely, then each gear drives each rigid clamping finger of the rigid clamping jaw 3 to contract and grab the object to be grabbed, when each piezoresistor 7 on the finger ventral surface of each rigid clamping finger contacts the object to be grabbed, each piezoresistor 7 sends a feedback signal to the control module, the control module controls each motor of the motor module to stop, then the control module sends an air suction command to the pneumatic module, and the pneumatic module sucks gas of each flexible clamping finger of the flexible clamping jaws 4, 5, 8, 9 and 10 to enable each flexible clamping finger to start deforming and contracting and grab the object to complete grabbing; then the flexible manipulator is controlled to move the grabbed object to a preset position, the control module sends an inflation command to the pneumatic module, the pneumatic module inflates air to each flexible clamping finger of the flexible clamping jaws 4, 5, 8, 9 and 10 and enables each flexible clamping finger to be in an opening state, then the control module sends an opening command to each motor of the motor module to enable an output shaft of each motor to rotate forwards, each rigid clamping finger of the rigid clamping jaw 3 is driven by each gear to be opened to the maximum position, the grabbed object is loosened, the grabbed object is enabled to fall on the preset position, and the grabbing task is completed.
The motor module drives the rigid clamping jaw 3 to realize opening and closing actions, and the pneumatic module realizes the opening and contraction of the flexible clamping jaw by filling air into the flexible clamping jaw. According to the signal given by the control system, the pneumatic module performs three actions of air suction, air inflation and maintenance. The flexible clamping jaw I4 is in a contraction state, the flexible clamping jaw II 5 is in an opening state, the flexible clamping jaw III 8 is in an upright state, when the pneumatic module sucks air, the flexible clamping jaws 4, 5, 8, 9 and 10 are integrally closed, the sliding sheet 11 can slide into the lower wall 13 of the hose under the action of air pressure, the lower wall 13 of the hose slides into the upper wall 12 of the hose, the flexible clamping jaws 4, 5, 8, 9 and 10 are bent towards the contact surfaces to enable the flexible clamping jaw IV 9 to be in an inward bending state, and when the flexible clamping jaws grab, the flexible clamping jaws 4, 5, 8, 9 and 10 can contract and deform along the periphery of a grabbing object due to resistance of the grabbing object, so that the grabbing object is wrapped, and grabbing of the manipulator is realized; when the pneumatic module is inflated, each single-section hose 6 is inflated and expanded, the upper wall 12 of each hose is separated from the lower wall 13 of each hose, the middle parts of the hoses are connected through sliding pieces 11, and the flexible clamping jaws V10 are in an opening state to realize the opening of the manipulator; the bending deformation of the flexible clamping jaws 4, 5, 8, 9 and 10 is mainly realized by the deformation structure of each single-section hose 6, and the bending change of different angles of the hose can be realized by adjusting the lengths of the sliding sheet 11, the upper arm 12 and the lower wall 13 of the hose.
Claims (6)
1. A flexible manipulator, its characterized in that: including cell-phone frame main part (1), rim plate end cover (2), rigidity clamping jaw (3) and flexible clamping jaw (4, 5, 8, 9, 10), the bottom at cell-phone frame main part (1) is installed in rim plate end cover (2), the bottom surface at rim plate end cover (2) is installed in rigidity clamping jaw (3), the bottom surface periphery of rim plate end cover (2) is connected to the root end of rigidity clamping jaw (3), the root end of flexible clamping jaw (4, 5, 8, 9, 10) of end-to-end connection of rigidity clamping jaw (3).
2. A flexible manipulator according to claim 1, wherein: the device is characterized by further comprising a plurality of piezoresistors (7), a depth camera, a pneumatic module, a motor module and a control module, wherein each piezoresistor (7) is arranged on the ventral surface of the rigid clamping jaw (3); the depth camera is arranged at the center of the bottom surface of the wheel disc end cover (2) and faces to the right lower side; the pneumatic module, the motor module and the control module are all arranged in the manipulator rack main body (1), the motor module comprises a plurality of motors, the machine body of each motor is arranged in the manipulator rack main body (1), and the output shaft of each motor is meshed with the root end of the rigid clamping jaw (3) through a gear; the depth camera and the control module are connected with an external computer, each piezoresistor (7), the pneumatic module and the motor module are electrically connected with the control module, and the pneumatic module is communicated with the flexible clamping jaws (4, 5, 8, 9 and 10) after penetrating through the rigid clamping jaw (3) through a plurality of air pipes.
3. A flexible manipulator according to claim 2, wherein: the rigid clamping jaw (3) comprises a plurality of rigid clamping fingers, the root ends of the rigid clamping fingers are uniformly arranged at intervals along the circumferential direction of the bottom of the wheel disc end cover (2), each rigid clamping finger is in a hollow rectangular strip shape, two symmetrical sides of the root end of each rigid clamping finger are provided with half gear structures, the two half gear structures are arranged in parallel and oppositely and are parallel to the symmetrical surface of the root end of the rigid clamping finger where the rigid clamping finger is arranged, the circle centers of the two half gear structures are provided with through holes, each rigid clamping finger is movably arranged at the bottom of the wheel disc end cover (2) through a rolling shaft penetrating through the two through holes of the rigid clamping finger, and the symmetrical surface of the two half gear structures of each rigid clamping finger is arranged along the radial direction of the wheel disc end cover (2); the two half gear structures of each rigid clamping finger are respectively meshed with a gear, the gear surface of each gear is arranged along the radial direction of the wheel disc end cover (2), and the center of each gear is synchronously connected with the output shaft of a respective motor; the finger ventral surface of each rigid clamping finger is provided with a piezoresistor (7), and the tail end of each rigid clamping finger is connected with the root end of a flexible clamping jaw (4, 5, 8, 9, 10).
4. A flexible manipulator according to claim 3, wherein: the flexible clamping jaws (4, 5, 8, 9 and 10) comprise a plurality of flexible clamping fingers, each flexible clamping finger comprises a plurality of hollow rectangular single-section hoses (6), the single-section hoses (6) are sequentially connected in series and communicated with each other along the direction of self through, the root ends and the tail ends of the flexible clamping fingers are sealed, the root end of each flexible clamping finger is connected with the tail end of a respective rigid clamping finger, and the pneumatic module penetrates through the interior of the rigid clamping finger of a respective rigid clamping jaw (3) through each air pipe and then is communicated to the interior of the flexible clamping finger of the respective flexible clamping jaw (4, 5, 8, 9 and 10).
5. A flexible manipulator according to claim 4, wherein: the back of each single-section hose (6) of each flexible clamping finger is provided with an opening, the bottom end of the upper hose wall (12) at the upper end of the opening of the single-section hose (6) and the top end of the lower hose wall (13) at the lower end of the opening are provided with grooves, a slip sheet (11) is arranged between the two grooves, the slip sheet (11) is an I-shaped long sheet, the upper end of the slip sheet (11) is slidably mounted in the groove of the upper hose wall (12), and the lower end of the slip sheet (11) is slidably mounted in the groove of the lower hose wall (13); the width of the groove of the lower hose wall (13) is equal to the width of the notch of the groove of the upper hose wall (12).
6. The adaptive gripping method of a flexible manipulator according to any one of claims 1 to 5, characterized in that: when the flexible manipulator grabs an object, firstly, the depth information of the object to be grabbed is shot through a depth camera and sent to an external computer, so that the position information of the object to be grabbed and the moving position information of the flexible manipulator are determined, the external computer sends an opening command to each motor of the motor module through the control module to enable the output shaft of each motor to rotate forward, each rigid clamping finger of the rigid clamping jaw (3) is driven to open through each gear, then the control module sends an inflation command to the pneumatic module, and the pneumatic module inflates each flexible clamping finger of the flexible clamping jaws (4, 5, 8, 9 and 10) and enables each flexible clamping finger to be in an opening state; the flexible manipulator moves to the position above the object to be grabbed according to the position information and the moving position information of the object to be grabbed, the object to be grabbed is located in the middle of each flexible clamping finger, an external computer sends a contraction instruction to each motor of the motor module through the control module to enable the output shaft of each motor to rotate reversely, then each gear drives each rigid clamping finger of the rigid clamping jaw (3) to contract and grab the object to be grabbed, when each piezoresistor (7) on the finger ventral surface of each rigid clamping finger contacts the object to be grabbed, each piezoresistor (7) sends a feedback signal to the control module, the control module controls each motor of the motor module to stop, then the control module sends an air suction instruction to the pneumatic module, and the pneumatic module sucks air of each flexible clamping finger of the flexible clamping jaws (4, 5, 8, 9 and 10) to enable each flexible clamping finger to start deforming and contracting and grab the object to complete grabbing; then the flexible manipulator is controlled to move the grabbed object to a preset position, the control module sends an inflation command to the pneumatic module, the pneumatic module inflates air to each flexible clamping finger of the flexible clamping jaw (4, 5, 8, 9 and 10) and enables each flexible clamping finger to be in an opening state, then the control module sends an opening command to each motor of the motor module to enable an output shaft of each motor to rotate forwards, each rigid clamping finger of the rigid clamping jaw (3) is driven by each gear to open, the grabbed object is loosened, the grabbed object falls on the preset position, and the grabbing task is completed.
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| CN202211715808.9A CN115816505A (en) | 2022-12-29 | 2022-12-29 | Flexible manipulator and self-adaptive grabbing method thereof |
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| CN202211715808.9A CN115816505A (en) | 2022-12-29 | 2022-12-29 | Flexible manipulator and self-adaptive grabbing method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117260794A (en) * | 2023-11-21 | 2023-12-22 | 北京软体机器人科技股份有限公司 | Flexible clamping jaw and clamping mechanism |
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- 2022-12-29 CN CN202211715808.9A patent/CN115816505A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117260794A (en) * | 2023-11-21 | 2023-12-22 | 北京软体机器人科技股份有限公司 | Flexible clamping jaw and clamping mechanism |
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