WO2019214178A1 - 一种具有弓字形连续弯曲内腔的柔性机械手 - Google Patents

一种具有弓字形连续弯曲内腔的柔性机械手 Download PDF

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WO2019214178A1
WO2019214178A1 PCT/CN2018/113092 CN2018113092W WO2019214178A1 WO 2019214178 A1 WO2019214178 A1 WO 2019214178A1 CN 2018113092 W CN2018113092 W CN 2018113092W WO 2019214178 A1 WO2019214178 A1 WO 2019214178A1
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bow
inner cavity
curved inner
appendage
continuous curved
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French (fr)
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邵珠峰
骆安敏
邓豪
王立平
张兆坤
易希理
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Tsinghua University
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Tsinghua University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/08—Program-controlled manipulators characterised by modular constructions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B25J9/0015—Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion

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  • the invention relates to a flexible manipulator, in particular to a gas-driven flexible manipulator.
  • the flexible robot includes a flexible finger and a mount.
  • the flexible finger is made of elastic material, which can capture soft and fragile objects without causing damage to the object itself.
  • the flexible finger generally includes a finger bottom plate and a finger finger surface, and the finger bottom plate and the finger finger face together form a driving chamber.
  • the internal shape of the driving chamber is set as a comb-like shape as shown in FIG.
  • This arrangement causes the flexible finger to deform at a slower speed, and when the deformation is large, it is easy to generate a large amplitude of shaking during the deformation process, and the strength is insufficient, and it is unable to adapt to the problem of quickly grabbing targets of different shapes and sizes in the application process.
  • the flexible fingers are usually laminated with two-layer materials of different stretchability
  • the drive layer is made of a material with high ductility
  • the strain-limiting layer is made of a material with poor stretchability.
  • the macroscopically causes the material to bend toward the side of the strain limiting layer.
  • the structure of the two-layer material brings two problems. First, the fusion of materials is time consuming, and the reliability is not high at the later stage. Second, the cost performance of this structure is not high.
  • a flexible manipulator having a bow-shaped continuous curved inner cavity comprising: a body and an appendage, wherein the body and the appendage are made of a soft material, and a non-extensible layered substance is disposed inside the applicator;
  • the overall shape of the body has a bow-like shape, and is internally provided with a bow-like continuous closed air cavity and a vent communicating with an external driving gas source; the attached body and the bottom surface of the body are fixed together; when working, driving The air source inflates or deflates the closed air chamber inside the body through the vent, thereby achieving bending and stretching movement of the body under the restraint of the attached body.
  • the body and the appendage are made of a soft material, and the elastic modulus of the appendage material is greater than the elastic modulus of the body material, and the elasticity of the appendage material is obtained.
  • the modulus controls the bending deformation posture and the movement process of the entire manipulator;
  • the overall shape of the body is arch-like, and a trap-shaped continuous closed air cavity and a vent port communicating with an external driving gas source are disposed inside the body;
  • the bottom surface of the body is fixedly connected; when working, the driving air source inflates or deflates the closed air chamber inside the body through the vent, thereby achieving bending and elongation coupling deformation of the body under the restriction of the attached body.
  • the non-extensible layered material is a gauze mesh or a fine wire mesh or a sheet of paper or a fine fiber web.
  • the soft material is silica gel or gel.
  • an air chamber and a vent port communicating with an external driving gas source are disposed in the appendage, and micro-miniature solid particles are placed in the air chamber; and the micro-small solid particles are wrapped with a gas permeable material such as gauze.
  • the strip is elongated, and the gauze is divided into a plurality of units along the length direction according to the position of the sealing position. Each unit contains a mixture of air and micro-solid particles, and the unit can be ventilated but cannot pass through the micro-solid particles.
  • the micro-miniature solid particles are rice grains or coffee beans or plastic pellets or soybean or mung bean or a mixture of several solid particles.
  • the bottom surface of the appendage is provided with a plurality of protrusions.
  • the flexible finger shape and air cavity of the present invention are designed with reasonable shape, have good performance, have good practicability and safety in the interaction between human and workpiece, and have an overall arrangement of bow-like shapes and bows.
  • the gravitational air chamber setting ensures that the inflation deformation occurs more quickly when inflating, and the folding deformation is completed more quickly during deflation, thereby facilitating the flexible robot to more quickly grasp targets of different shapes and sizes.
  • the body and the appendage of the present invention can be made of a soft material of the same characteristics, and the body of the flexible finger is bent under the restriction of the appendage by providing a non-extensible layered substance inside the appendage.
  • the fusion of such structural materials is simpler, more efficient, and cost-effective.
  • the present invention can adjust the rigidity of different portions of the flexible finger when vacuuming by adjusting the size, ratio, and sealing position of the particulate material provided by the different units.
  • Figure 1 is a schematic diagram of the prior art.
  • Figure 2 is a schematic view of the structure of the present invention.
  • Figure 3 is a schematic diagram of an embodiment of the present invention.
  • FIG. 4 is a schematic view of another embodiment of the present invention.
  • a flexible manipulator having a bow-shaped continuous curved inner cavity is characterized by comprising a body 1 and an appendage 2, the body 1 and the appendage 2 being made of a soft material, and the material of the appendage 2 is made.
  • the elastic modulus is greater than the elastic modulus of the material of the body 1 , and the bending deformation posture and the movement process of the entire manipulator can be controlled by the elastic modulus of the material of the attached body 2; the overall shape of the body 1 is arch-like, and the internal setting thereof An arch-shaped continuous closed air chamber 11 and a vent 111 communicating with an external driving air source; the attached body 2 and the bottom surface of the body 1 are fixed together; in operation, the driving air source passes through the vent 111 to the inside of the body 1
  • the enclosed air chamber 11 is inflated or deflated to achieve bending and elongation coupling deformation of the body 1 under the restriction of the attachment body 2.
  • the gas When inflated, the gas fills the closed air cavity and causes the body to expand. Due to the large elastic modulus of the attached body, the deformation is small, and the expanded body is naturally bent in the direction of the attached body under the restriction of the attached body; The deformation process is reversed.
  • a flexible manipulator having a bow-shaped continuous curved inner cavity is characterized by comprising a body 1 and an appendage 2, and the body 1 and the appendage 2 are software.
  • the material is made, and the non-extensible layered substance 21 is disposed inside the body 2;
  • the body 1 has an overall shape of a bow-like shape, and is internally provided with a bow-like continuous closed air chamber 11 and an external driving gas.
  • the source-connected vent 111; the attachment body 2 and the bottom surface of the body 1 are fixed together; in operation, the driving air source inflates or deflates the closed air chamber 11 inside the body 1 through the vent 111, thereby realizing the body 1 Bending and stretching movement under the restriction of Attachment 2.
  • the body 1 and the appendage 2 are made of a soft material, which is a silica gel or a gel.
  • the body of the flexible finger is bent under the restraint of the appendage by providing a non-extensible layered substance inside the appendage to ensure inflation.
  • the preferred solution is that the body 1 and the appendage 2 are made of the same material, so that the fusion is simpler, more effective, and cost-effective.
  • a non-extensible layered substance 21 is disposed inside thereof, and the non-extensible layered substance 21 is a gauze mesh or a fine wire mesh or a paper sheet or a fine fiber web;
  • the overall shape of the body 1 is arch-like, and a closed air chamber 11 having a bow-like shape and a vent 111 communicating with an external driving air source are disposed inside; as shown in FIG. 3 or 4, the shape and position of the vent 111 are It can be done on the left or in the middle, or it can be set according to the actual needs.
  • the attachment body 2 and the bottom surface of the body 1 are fixed together, preferably in such a manner that the attachment body 2 and the bottom surface of the body 1 are fixed together by bonding.
  • the driving air source inflates or inhales the closed air chamber 11 inside the body 1 through the vent 111, thereby achieving the bending deformation of the body 1 under the restriction of the attached body 2, so as to achieve the purpose of grasping or picking up objects.
  • the flexible finger shape (body 1) and the closed air chamber 11 of the invention have a reasonable shape design, have good performance, have good practicability and safety in the interaction between the person and the workpiece, and the overall arrangement of the bow-like shape
  • the air chamber setting of the bow-like shape can ensure the expansion deformation more rapidly when inflating, and the folding deformation is completed more quickly when deflation, thereby facilitating the flexible robot to grasp objects of different shapes and sizes more quickly.
  • FIG. 3 is a specific embodiment of the present invention
  • FIG. 4 is another embodiment.
  • the present invention mainly relates to an improvement of a flexible robot soft portion or a soft finger portion, and the structure described in the patent documents such as "a pneumatic soft gripping device" (CN104959992B) and "a flexible robot” (CN107322620A) can be used.
  • the invention is attached to the mount of the robot by a mounting flange 13.
  • the soft finger can be set more than one; when multiple is set, the soft fingers are arranged in a circle.
  • a plurality of protrusions 200 may be provided on the bottom surface of the attachment body 2 to increase the frictional force between the soft finger and the grasped article.
  • the protrusions 200 may be arranged along the bottom surface, and the arrangement may not be uniformly arranged as shown in the drawings according to actual needs.
  • an air chamber 22 and a vent 221 communicating with an external driving air source are disposed in the attached body 2, and micro-sized solid particles 222 are placed in the air chamber 22;
  • the small solid particles 222 are wrapped in a long strip shape, and the sealing position 223 is arranged according to requirements to divide the gauze into a plurality of units along the length direction.
  • Each unit accommodates a mixture of air and micro-compact solid particles 222, and the unit can be ventilated but not Pass through the micro-sized solid particles 222.
  • micro-small solid particles 222 When the exhaust gas is vacuumed, the micro-small solid particles 222 are compressed together to exhibit a certain rigidity outward.
  • the size and proportion of the micro-solid solid particles 222 set by different units may be different, and the rigidity of different parts is also different when vacuuming.
  • the micro-compact solid particles 222 are rice grains or coffee beans or plastic pellets or a mixture of soybeans or mung beans or several solid particles.
  • the invention can adjust the rigidity or deformation of different parts of the flexible finger during vacuuming by adjusting the size and proportion of the micro-solid solid particles set by different units and the sealing position of the gas permeable material, thereby more adapting to the surface of the grasped object.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Toys (AREA)

Abstract

一种具有弓字形连续弯曲内腔的柔性机械手，包括本体（1）和附体（2），本体和附体可采用同种或异种柔性材料制成，制作附体时可在其内部布置不可延展的层状材料（21）；本体的整体外形呈类弓字形，其内部设置有类弓字形的连续封闭气腔（11）以及与外部驱动气源连通的通气口（111）；附体和本体的底面固接在一起。工作时，驱动气源通过通气口对本体内部的封闭气腔进行充气或放气，从而实现本体在附体限制下的弯曲和伸展运动。类弓字形的整体设置和类弓字形的气腔设置可以有效提高机械手的动作速度和输出力，便于实现高速可靠的抓取功能。

Description

一种具有弓字形连续弯曲内腔的柔性机械手 技术领域
本发明涉及一种柔性机械手，具体涉及一种气体驱动的柔性机械手。
背景技术
在工业自动化领域，机械臂末端抓取动作主要由刚性机械手爪或真空吸盘完成。但刚性机械手爪，由于力度难以控制，很难对柔软、脆弱物体实现无损抓取。真空吸盘在搬运过程中难以适应表面粗糙、开孔的异形物体。这导致两者应用场景均存在局限性。柔性机械手包括柔性手指和固定座。柔性手指采用弹性材料，能够实现对柔软、脆弱物体的抓取而不会对物体本身产生损伤。
现有技术中，如“一种气动的软体抓持装置”(CN104959992B)和“一种柔性机械手”(CN107322620A)等专利文献，“软体机器人研究综述”(何斌，同济大学学报，2014)等所公开的，柔性手指一般包括手指底板和手指指面，手指底板和手指指面共同围成了驱动腔室，驱动腔室的内部形状如附图1所示，呈类梳子状设置。这种设置方式导致柔性手指变形速度较慢，且变形较大时容易在变形过程中产生较大幅度的晃动，强度不足，无法适应应用过程中快速抓取不同形状不同大小目标的问题。
另一方面，现有技术中柔性手指通常采用不同伸展性的双层材料层叠而成，驱动层采用可延展性高的材料，应变限制层采用可伸展性差的材料。加压时，由于驱动层产生的形变远大于应变限制层，宏观上将导致材料向应变限制层一侧弯曲运动。双层材料的结构带来两个问题，一是材料的融合比较费时，后期可靠性也不高，二是这种结构的性价比不高。
发明内容
为了克服上述现有技术的缺点，本发明的目的在于提供一个柔性机械手解决快速抓取不同形状不同大小目标的问题。
为了实现上述目的，本发明采用的技术方案是：
一种具有弓字形连续弯曲内腔的柔性机械手，其特征在于：包括本体和附体，所述本体和附体采用软体材料制成，制作附体时在其内部设置不可延展的层状物质；所述本体的整体外形呈类弓字形，其内部设置有类弓字形连续封闭 气腔以及与外部驱动气源连通的通气口；所述附体和本体的底面固接在一起；工作时，驱动气源通过通气口对本体内部的封闭气腔进行充气或放气，从而实现本体在附体限制下的弯曲和伸展运动。
作为本发明的进一步改进，包括本体和附体，所述本体和附体采用软体材料制成，制作附体材料的弹性模量大于制作本体材料的弹性模量，并可通过附体材料的弹性模量控制整个机械手的弯曲变形姿态及运动过程；所述本体的整体外形呈类弓字形，其内部设置有类弓字形连续封闭气腔以及与外部驱动气源连通的通气口；所述附体和本体的底面固接在一起；工作时，驱动气源通过通气口对本体内部的封闭气腔进行充气或放气，从而实现本体在附体限制下的弯曲和伸长耦合变形。
作为本发明的又进一步改进，所述不可延展的层状物质为纱布网或细密铁丝网或纸片或细密纤维网。
作为本发明的更进一步改进，所述的软体材料为硅胶或凝胶。
作为本发明的进一步改进，在所述附体中设置气腔以及与外部驱动气源连通的通气口，在所述气腔内放置微小型固态颗粒；用纱布等透气材料将微小型固态颗粒包裹成长条形，并根据需求布置封口位置将纱布沿长度方向分割成若干个单元，每个单元内容纳空气与微小型固态颗粒的混合物，单元之间可以通气但不可以通过微小型固态颗粒。
作为本发明的进一步改进，所述的微小型固态颗粒是米粒或咖啡豆或塑料球粒或大豆或绿豆或以上几种固态颗粒的混合物。
作为本发明的进一步改进，所述的附体的底面设置有多个凸起。
与现有技术相比，本发明的有益效果是：
(1)本发明的柔性手指外形、气腔经过合理形状设计，具备很好的性能， 在人与工件的交互中有很好的实用性和安全性，且类弓字形的整体设置和类弓字形的气腔设置可以保证充气时更加快速地发生膨胀变形，放气时更加快速地完成收拢变形，从而便于柔性机械手更加快速地抓取不同形状不同大小目标。
(2)本发明的本体和附体可采用同种特性的软体材料制成，通过在附体内部设置不可延展的层状物质保证充气时柔性手指的本体在附体的限制下弯曲。这种结构材料的融合更加简单有效，性价比高。
(3)本发明可以通过调节不同单元设置的微粒状物质的大小、配比以及透气材料的封口位置来调节抽真空时柔性手指不同部位的刚度。
附图说明
图1为现有技术示意图。
图2为本发明结构示意图。
图3为本发明实施例示意图。
图4为本发明另一实施例示意图。
具体实施方式
下面结合附图和实施例详细说明本发明的实施方式。
如图2所示，一种具有弓字形连续弯曲内腔的柔性机械手，其特征在于包括本体1和附体2，所述本体1和附体2采用软体材料制成，制作附体2材料的弹性模量大于制作本体1材料的弹性模量，并可通过附体2材料的弹性模量控制整个机械手的弯曲变形姿态及运动过程；所述本体1的整体外形呈类弓字形，其内部设置有类弓字形连续封闭气腔11以及与外部驱动气源连通的通气口111；所述附体2和本体1的底面固接在一起；工作时，驱动气源通过通气口111对本体1内部的封闭气腔11进行充气或放气，从而实现本体1在附体2限制下的弯曲和伸长耦合变形。
充气时，气体充满封闭气腔并导致本体膨胀，由于附体的弹性模量大从而形变较小，膨胀后的本体在附体的限制下，自然向附体的方向弯曲；吸气抽真空时，形变过程相反。
作为本发明的另一实施例，如图3所示，一种具有弓字形连续弯曲内腔的柔性机械手，其特征在于：包括本体1和附体2，所述本体1和附体2采用软体材料制成，制作附体2时在其内部设置不可延展的层状物质21；所述本体1的整体外形呈类弓字形，其内部设置有类弓字形连续封闭气腔11以及与外部驱动气源连通的通气口111；所述附体2和本体1的底面固接在一起；工作时，驱动气源通过通气口111对本体1内部的封闭气腔11进行充气或放气，从而实现本体1在附体2限制下的弯曲和伸展运动。
所述本体1和附体2采用软体材料制成，软体材料为硅胶或凝胶。通过在附体内部设置不可延展的层状物质保证充气时柔性手指的本体在附体的限制下弯曲。优选的方案是本体1和附体2采用同种特性的材料，这样融合更加简单有效，性价比高。制作附体2时在其内部设置不可延展的层状物质21，不可延展的层状物质21为纱布网或细密铁丝网或纸片或细密纤维网；
本体1的整体外形呈类弓字形，其内部设置有类弓字形的封闭气腔11以及与外部驱动气源连通的通气口111；如图3或4所示，通气口111的形状和位置在左侧或中间都可以，也可根据实际需要参考现有技术进行设置。
附体2和本体1的底面固接在一起，优选的方式是附体2和本体1的底面通过粘合的方式固接在一起。工作时，驱动气源通过通气口111对本体1内部的封闭气腔11进行充气或吸气，从而实现本体1在附体2限制下的弯曲变形，达到抓取或拾取物体的目的。
本发明的柔性手指外形(本体1)、封闭气腔11经过合理形状设计，具备很 好的性能，在人与工件的交互中有很好的实用性和安全性，且类弓字形的整体设置和类弓字形的气腔设置可以保证充气时更加快速地发生膨胀变形，放气时更加快速地完成收拢变形，从而便于柔性机械手更加快速地抓取不同形状不同大小目标。
如图3所示的是本发明的一种具体实施例，图4是另一种实施例。本发明主要涉及对柔性机械手软体部分或称为软体手指部分的改进，参考“一种气动的软体抓持装置”(CN104959992B)和“一种柔性机械手”(CN107322620A)等专利文献描述的结构，可将本发明通过安装法兰13接到机械手的固定座上。软体手指可设置多个；设置多个时，软体手指呈圆周排列。另外，可在附体2的底面设置有多个凸起200，以增大软体手指与所抓取物品的摩擦力。凸起200可沿底面布置，布置方式根据实际的需要，不一定非如图所示均匀布置。
如图4所示，在所述附体2中设置气腔22以及与外部驱动气源连通的通气口221，在所述气腔22内放置微小型固态颗粒222；用纱布等透气材料将微小型固态颗粒222包裹成长条形，并根据需求布置封口位置223将纱布沿长度方向分割成若干个单元，每个单元内容纳空气与微小型固态颗粒222的混合物，单元之间可以通气但不可以通过微小型固态颗粒222。
排气吸真空时，微小型固态颗粒222被压缩在一起，从而向外表现出一定的刚度。不同单元设置的微小型固态颗粒222的大小和配比都可不一样，因而抽真空时不同部位的刚度也不一样。微小型固态颗粒222是米粒或咖啡豆或塑料球粒或大豆或绿豆或以上几种固态颗粒的混合物。本发明可以通过调节不同单元设置的微小型固态颗粒的大小、配比以及透气材料的封口位置来调节抽真空时柔性手指不同部位的刚度或变形，从而更加适应被抓取物体表面。
上述实施例均以气体作为驱动介质，当然也可以采用液体作为驱动介质。 以上实施例仅是对本发明的优选实施方式的描述，不作为对本发明范围的限定，在不脱离本发明设计精神的基础上，对本发明技术方案作出的各种变形和改造，均应落入本发明的权利要求书确定的保护范围内。

Claims (7)

  1. 一种具有弓字形连续弯曲内腔的柔性机械手，其特征在于：包括本体(1)和附体(2)，所述本体(1)和附体(2)采用软体材料制成，制作附体(2)时在其内部设置不可延展的层状物质(21)；
    所述本体(1)的整体外形呈类弓字形，其内部设置有类弓字形连续封闭气腔(11)以及与外部驱动气源连通的通气口(111)；
    所述附体(2)和本体(1)的底面固接在一起；
    工作时，驱动气源通过通气口(111)对本体(1)内部的封闭气腔(11)进行充气或放气，从而实现本体(1)在附体(2)限制下的弯曲和伸展运动。
  2. 一种具有弓字形连续弯曲内腔的柔性机械手，其特征在于包括本体(1)和附体(2)，所述本体(1)和附体(2)采用软体材料制成，制作附体(2)材料的弹性模量大于制作本体(1)材料的弹性模量，并可通过附体(2)材料的弹性模量控制整个机械手的弯曲变形姿态及运动过程；
    所述本体(1)的整体外形呈类弓字形，其内部设置有类弓字形连续封闭气腔(11)以及与外部驱动气源连通的通气口(111)；
    所述附体(2)和本体(1)的底面固接在一起；
    工作时，驱动气源通过通气口(111)对本体(1)内部的封闭气腔(11)进行充气或放气，从而实现本体(1)在附体(2)限制下的弯曲和伸长耦合变形。
  3. 如权利要求1所述的一种具有弓字形连续弯曲内腔的柔性机械手，其特征在于：其中所述不可延展的层状物质(21)为纱布网或细密铁丝网或纸片或细密纤维网。
  4. 如权利要求1或2所述的一种具有弓字形连续弯曲内腔的柔性机械手，其特征在于：其中所述的软体材料为硅胶或凝胶或橡胶。
  5. 如权利要求1或2所述的一种具有弓字形连续弯曲内腔的柔性机械手， 其特征在于：在所述附体(2)中设置气腔(22)以及与外部驱动气源连通的通气口(221)，在所述气腔(22)内放置微小型固态颗粒(222)；用纱布等透气材料将微小型固态颗粒(222)包裹成长条形，并根据需求布置封口位置(223)将纱布沿长度方向分割成若干个单元，每个单元内容纳空气与微小型固态颗粒(222)的混合物，单元之间可以通气但不可以通过微小型固态颗粒(222)。
  6. 如权利要求5所述的一种具有弓字形连续弯曲内腔的柔性机械手，其特征在于：其中所述的微小型固态颗粒(222)是米粒或咖啡豆或大豆或绿豆或工业颗粒或以上几种固态颗粒的混合物。
  7. 如权利要求1或2所述的一种具有弓字形连续弯曲内腔的柔性机械手，其特征在于：其中所述的附体(2)的底面设置有多个凸起(200)。
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