CN107457797B - Porous double-layer fluid self-adaptive robot hand device - Google Patents
Porous double-layer fluid self-adaptive robot hand device Download PDFInfo
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- CN107457797B CN107457797B CN201710428776.7A CN201710428776A CN107457797B CN 107457797 B CN107457797 B CN 107457797B CN 201710428776 A CN201710428776 A CN 201710428776A CN 107457797 B CN107457797 B CN 107457797B
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- flexible film
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- adaptive
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- 239000012530 fluid Substances 0.000 title claims abstract description 50
- 239000000463 material Substances 0.000 claims abstract description 10
- 239000008187 granular material Substances 0.000 claims description 6
- 239000011148 porous material Substances 0.000 claims description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 6
- 239000011236 particulate material Substances 0.000 claims description 5
- 230000003044 adaptive effect Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 4
- 238000007789 sealing Methods 0.000 claims description 3
- 238000004806 packaging method and process Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 5
- 230000006978 adaptation Effects 0.000 abstract description 4
- 239000012528 membrane Substances 0.000 description 17
- 230000007547 defect Effects 0.000 description 4
- 239000007788 liquid Substances 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0023—Gripper surfaces directly activated by a fluid
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A porous double-layer fluid self-adaptive robot hand device belongs to the technical field of robot hands and comprises a base, an air inlet, an outer bowl-shaped supporting piece, an inner bowl-shaped supporting piece, a first flexible film, a second flexible film, a piston cylinder assembly and the like. The device comprehensively realizes the multidimensional self-adaptive active grabbing function by utilizing positive and negative pressure provided by an air source, a piston cylinder assembly, small holes on a first flexible film, porous flexible materials, an inner bowl-shaped supporting piece, an outer bowl-shaped supporting piece, fluid and the like, and can automatically adapt to grabbing objects with different shapes and sizes; the object adaptation in multiple directions can be realized, a multidimensional self-adaptation effect is obtained, and the grabbing stability is high; the device combines the advantages of the spherical self-adaptive hand and the sucker, not only can be suitable for grabbing objects with a reaction surface, but also can be suitable for grabbing objects without a reaction surface, and has the advantages of large grabbing range and high grabbing weight; the device has simple structure, low cost and easy control.
Description
Technical Field
The invention belongs to the technical field of robot hands, and particularly relates to a structural design of a fluid-driven multidimensional self-adaptive robot hand device.
Background
The robot hand is an important terminal for the operation of a robot, which grips an object or manipulates (e.g., moves, rotates) the object with its gripper. A robot hand may be manufactured in a manner that mimics the principle of action of a human hand, which has been developed, typically with a plurality of fingers, each having a plurality of joints, also known as an anthropomorphic robot hand or a multi-fingered robot hand.
The multi-finger robot hand is divided into two main types, namely a dexterous hand and an underactuated hand, and the two types are not independent of each other, wherein the former refers to the multi-finger hand with more than 3 fingers and more than 9 degrees of freedom, and the latter refers to the fact that the number of drivers on the hand is less than the number of degrees of freedom of joints.
The smart hand is very advanced, has high integration level, is complex in sensing and control systems, has more joint degrees of freedom of independent control, can flexibly control a plurality of joints, can finish different gesture actions, and can actively grasp objects. Typical representatives of this aspect include: robonout R2 hand developed by the U.S. space agency, three-finger fast robot hand developed by Tokyo university, japan, HIT-DLR-II hand developed by the combination of the university of Harbin industry in China and the Germany space center (DLR), and Shadow hand … … developed by Shadow corporation in England. However, the dexterous hand also brings very tedious calculation in the grabbing control, the real-time control is high in requirement, and the manufacturing and maintenance costs are high.
The under-actuated hand is arranged between the common industrial clamp holder and the smart hand, is an intelligent machine, adopts a mechanical mode to achieve the aim of driving more joint degrees of freedom by fewer drivers on grabbing, can automatically adapt to grabbing objects with different shapes and sizes, has fewer sensing and control requirements, and has been studied more in recent years. Some underdriven robots have been developed, such as universities of Canada Laval, robotiq, italy Prensilia, the universities of Delft, harbin universities, beijing universities of aviation aerospace, shanghai universities of transportation, universities of Huazhong science and technology, and the institute of advanced intelligent machinery, all of which research and develop underdriven robots. However, the underactuated hand is still a multi-finger hand, the contact points of fingers and objects are limited on the surfaces of all finger sections, and because the number of fingers is limited, the number of finger sections on each finger is limited, so that more contact points cannot be achieved, more directional self-adaption cannot be achieved, the self-adaption and the grabbing range of grabbing objects are greatly limited, and the grabbing stability is still required to be further improved.
In the aspect of special robot hands, the appearance of which does not imitate the hands, a large number of industrial applications adopt modes of sucking discs, magnets or electrostatic attraction and the like to grasp and operate objects. The university of kannel develops a general clamp (U.S. patent No. 20130106127 A1) which adopts a deformable membrane filled with a large amount of small-size granular materials and gas to passively adapt to the shape of an object, and uses a negative pressure mode to suck air, so that a large amount of granular materials are retained in the deformable membrane to generate blocking hardening, and the purpose of grabbing objects with different shapes and sizes is achieved. The clamp has the following defects: 1) The deformation of the membrane must be achieved by means of the reaction forces imparted to the object by the external environment, and objects without reaction surfaces (e.g. an apple suspended in the air) cannot be picked up, which are difficult to grasp by the gripper. 2) A large amount of granular materials are adopted, the grabbing effect is affected by the amount of the granular materials, and the granular materials are worn and replaced after a certain time.
The German FESTO company develops a general clamp, adopts a concave cup-shaped membrane and a sucker at the tail end of the membrane, wherein the concave cup-shaped membrane is internally filled with fluid and a flexible supporting piece to achieve the purpose of passively adapting to the shape of an object, and pulls a piston by utilizing negative air pressure to pump water in the membrane into a piston cylinder, so that the membrane actively deforms to clamp the object, and the purpose of grabbing objects in different shapes is achieved. The clamp has the following defects: 1) The tail end sucker has limited suction force and can not clamp heavy objects. 2) The suction cup at the tail end of the membrane is easy to deform in the process of deformation of the membrane, and the suction force is lost, so that the grabbing failure is caused.
A universal manipulator named MR alpha hand is developed by Japanese university, the shape of an object is passively adapted by adopting a membrane skin containing magnetorheological liquid, after the membrane skin is adapted to the shape of the object, the magnetorheological liquid in the membrane skin is introduced into a magnetic field, so that the magnetorheological liquid is solidified, the membrane skin is fixed, and the object grabbing purpose is achieved. The clamp has the following defects: 1) The deformation of the membrane must be achieved by means of the reaction forces imparted to the object by the external environment, and objects without reaction surfaces (e.g. an apple suspended in the air) cannot be picked up, which are difficult to grasp by the gripper. 2) Magneto-rheological materials are expensive and costly. 3) The magnetic field generated by the gripper can interfere with the electronics of the robot controller, affecting the stability of the controller, and the magnetic field can also interfere with nearby wireless communications. 4) The membrane is passively adapted to the shape of an object, the magnetorheological fluid is in an irregular container, the internal magnetic field is unevenly distributed, the change degree of the magnetorheological fluid is uneven, and the grabbing stability is affected.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, combines the advantages of a sucker and a spherical fluid self-adaptive hand, and provides a porous double-layer fluid self-adaptive robot hand device which is used for grabbing objects and can automatically adapt to the shapes and the sizes of the objects; the object adaptation in multiple directions can be realized, a multidimensional self-adaptation effect is obtained, and the grabbing stability is high; the device can be suitable for grabbing objects with a reaction surface, and also can be suitable for grabbing objects without a reaction surface, and has the advantages of large grabbing range and high grabbing weight; the device has simple structure and easy control.
The invention adopts the following technical scheme:
the invention relates to a porous double-layer fluid self-adaptive robot hand device, which comprises a base, an air source, an air port and a first flexible film, wherein the base is provided with a first air inlet; the first flexible film is a hollow structure made of deformable materials and comprises an outlet; the base is connected with the first flexible film, the air port is communicated with the air source, the air port is arranged on the base, and the air port is communicated with the interior of the first flexible film; the method is characterized in that: the porous double-layer fluid self-adaptive robot hand device further comprises a piston cylinder assembly, a second flexible film and fluid; the piston cylinder assembly comprises a sleeve, a piston and a spring, wherein the piston is slidably nested in the sleeve, and two ends of the spring are respectively connected with the piston and the sleeve; the second flexible film is a hollow structure made of deformable materials and comprises an outlet; the outlet of the second flexible film is connected with the sleeve in a sealing way; the first flexible film is provided with a plurality of micropores; the fluid is sealed in the space below the sleeve and in the second flexible film; the upper space of the sleeve is communicated with the outside atmosphere.
The invention relates to a porous double-layer fluid self-adaptive robot hand device, which is characterized in that: also included is an internal bowl support disposed between the outlet of the second flexible film and the base.
The invention relates to a porous double-layer fluid self-adaptive robot hand device, which is characterized in that: the device also comprises an external bowl-shaped supporting piece, wherein the external bowl-shaped supporting piece is fixedly connected to the outlet of the first flexible film.
The invention relates to a porous double-layer fluid self-adaptive robot hand device, which is characterized in that: also included is a flexible porous material disposed between the first flexible film and the second flexible film.
The invention relates to a porous double-layer fluid self-adaptive robot hand device, which is characterized in that: also included is a particulate material disposed between the first flexible film and the second flexible film.
The invention relates to a porous double-layer fluid self-adaptive robot hand device, which is characterized in that: also included is a carpet having micro-holes disposed between the first flexible film and the second flexible film.
The invention relates to a porous double-layer fluid self-adaptive robot hand device, which is characterized in that: the fluid is a particulate material.
The invention relates to a porous double-layer fluid self-adaptive robot hand device, which is characterized in that: the fluid is water.
The device comprehensively realizes the multidimensional self-adaptive active grabbing function by utilizing positive and negative pressure provided by an air source, the piston cylinder assembly, small holes on the flexible film, porous flexible materials, fluid and the like, and can automatically adapt to grabbing objects with different shapes and sizes; the object adaptation in multiple directions can be realized, a multidimensional self-adaptation effect is obtained, and the grabbing stability is high; the device combines the advantages of the spherical self-adaptive hand and the sucker, not only can be suitable for grabbing objects with a reaction surface, but also can be suitable for grabbing objects without a reaction surface, and has a large grabbing range; the device has simple structure, easy control and low cost.
Drawings
Fig. 1 is a cross-sectional view of an embodiment of a porous bi-layer fluidic adaptive robotic hand device provided by the present invention.
Fig. 2 is a front view of the embodiment shown in fig. 1.
Fig. 3 is a left side view of the embodiment shown in fig. 1.
Fig. 4 is a perspective view of the embodiment shown in fig. 1.
Fig. 5 is a perspective view of the embodiment of fig. 1 when gripping an object.
Fig. 6 is a cross-sectional view of fig. 5, where water in the second flexible film is forced into the cylinder, and the micro-holes in the second flexible film hold the object in place.
In fig. 1 to 6:
1-a base, 2-an air port, 3-an external bowl support, 4-a first elastic membrane,
5-second elastic film, 6-inner bowl-shaped supporting frame, 7-cylinder barrel, 8-spring,
9-piston, 10-flexible porous material, 11-filter, 12-microwell,
13-object, 14-fluid.
Detailed Description
The specific structure, operation principle and operation of the present invention will be further described in detail with reference to the accompanying drawings and examples.
The invention relates to a porous double-layer fluid self-adaptive robot hand device, which comprises a base, an air source, an air port and a first flexible film, wherein the base is provided with a first air inlet; the first flexible film is a hollow structure made of deformable materials and comprises an outlet; the base is connected with the first flexible film, the air port is communicated with the air source, the air port is arranged on the base, and the air port is communicated with the interior of the first flexible film; the method is characterized in that: the porous double-layer fluid self-adaptive robot hand device further comprises a piston cylinder assembly, a second flexible film and fluid; the piston cylinder assembly comprises a sleeve, a piston and a spring, wherein the piston is slidably nested in the sleeve, and two ends of the spring are respectively connected with the piston and the sleeve; the second flexible film is a hollow structure made of deformable materials and comprises an outlet; the outlet of the second flexible film is connected with the sleeve in a sealing way; the first flexible film is provided with a plurality of micropores; the fluid is sealed in the space below the sleeve and in the second flexible film; the upper space of the sleeve is communicated with the outside atmosphere.
The invention relates to a porous double-layer fluid self-adaptive robot hand device, which is characterized in that: also included is an internal bowl support disposed between the outlet of the second flexible film and the base.
The invention relates to a porous double-layer fluid self-adaptive robot hand device, which is characterized in that: the device also comprises an external bowl-shaped supporting piece, wherein the external bowl-shaped supporting piece is fixedly connected to the outlet of the first flexible film.
The invention relates to a porous double-layer fluid self-adaptive robot hand device, which is characterized in that: also included is a flexible porous material disposed between the first flexible film and the second flexible film.
The invention relates to a porous double-layer fluid self-adaptive robot hand device, which is characterized in that: also included is a particulate material disposed between the first flexible film and the second flexible film.
The invention relates to a porous double-layer fluid self-adaptive robot hand device, which is characterized in that: also included is a carpet having micro-holes disposed between the first flexible film and the second flexible film.
The invention relates to a porous double-layer fluid self-adaptive robot hand device, which is characterized in that: the fluid is a particulate material.
The invention relates to a porous double-layer fluid self-adaptive robot hand device, which is characterized in that: the fluid is water.
The working principle of the device according to the invention is described below in connection with fig. 5 and 6, as follows:
in the initial state of the embodiment, as shown in fig. 2, the first flexible film 4 is in contact with the object 13 under the drive of the robot arm, and has good adaptability to the irregularly-shaped object 13 due to the good fluidity of the fluid 14, so that the first flexible film 4 is coated on the surface of the object 13, and has a large contact area. At this time, the air source starts to inhale, negative pressure is generated in the first flexible film 4, the first flexible film 4 contracts to drive the flexible porous material 10 to press the second flexible film 5 to squeeze water in the second flexible film 5 into the cylinder 7, and at the same time, micropores 12 on the contact surface of the first flexible film 4 and the object 13 firmly inhale the object 13 under the action of atmospheric pressure, so that grabbing is realized.
When the object 13 needs to be released, the air source is blown, positive pressure is generated in the first flexible film 4, the first flexible film 4 expands, the spring 8 pushes the piston 9 to push the fluid in the cylinder 7 into the second flexible film 5, the second flexible film 5 expands to drive the flexible porous material 10 to push the first flexible film 4 to restore the original shape, and the object is released.
The device comprehensively realizes the multidimensional self-adaptive active grabbing function by utilizing positive and negative pressure provided by an air source, the piston cylinder assembly, small holes on the flexible film, porous flexible materials, fluid and the like, and can automatically adapt to grabbing objects with different shapes and sizes; the object adaptation in multiple directions can be realized, a multidimensional self-adaptation effect is obtained, and the grabbing stability is high; the device combines the advantages of the spherical self-adaptive hand and the sucker, not only can be suitable for grabbing objects with a reaction surface, but also can be suitable for grabbing objects without a reaction surface, and has a large grabbing range; the device has simple structure and easy control.
Claims (4)
1. A porous double-layer fluid self-adaptive robot hand device comprises a base, an air source, an air port and a first flexible film; the first flexible film is a hollow structure made of deformable materials and comprises an outlet; the base is connected with the first flexible film, the air port is communicated with the air source, the air port is arranged on the base, and the air port is communicated with the interior of the first flexible film; the method is characterized in that: the porous double-layer fluid self-adaptive robot hand device further comprises a piston cylinder assembly, a second flexible film and fluid; the piston cylinder assembly comprises a sleeve, a piston and a spring, wherein the piston is slidably nested in the sleeve, and two ends of the spring are respectively connected with the piston and the sleeve; the second flexible film is a hollow structure made of deformable materials and comprises an outlet; the outlet of the second flexible film is connected with the sleeve in a sealing way; the first flexible film is provided with a plurality of micropores; the fluid is sealed in the space below the sleeve and in the second flexible film; the upper space of the sleeve is communicated with the outside atmosphere; a flexible porous material or a granular material is placed between the first flexible film and the second flexible film; the novel flexible film packaging machine further comprises an inner bowl-shaped supporting piece and an outer bowl-shaped supporting piece, wherein the inner bowl-shaped supporting piece is placed between the outlet of the second flexible film and the base body, and the outer bowl-shaped supporting piece is fixedly connected to the outlet of the first flexible film.
2. The porous bi-layer fluid adaptive robotic hand device of claim 1, wherein: also included is a carpet having micro-holes disposed between the first flexible film and the second flexible film.
3. The porous bi-layer fluid adaptive robotic hand device of claim 1, wherein: the fluid is a particulate material.
4. The porous bi-layer fluid adaptive robotic hand device of claim 1, wherein: the fluid is water.
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| CN201710428776.7A CN107457797B (en) | 2017-06-08 | 2017-06-08 | Porous double-layer fluid self-adaptive robot hand device |
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| CN201710428776.7A CN107457797B (en) | 2017-06-08 | 2017-06-08 | Porous double-layer fluid self-adaptive robot hand device |
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| CN107457797B true CN107457797B (en) | 2023-11-03 |
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| JP7151598B2 (en) * | 2019-04-04 | 2022-10-12 | 株式会社ダイフク | Article holding device |
| CN110026997B (en) * | 2019-04-30 | 2022-01-18 | 哈尔滨工业大学 | Electric multifunctional flexible manipulator |
| CN109968385A (en) * | 2019-05-13 | 2019-07-05 | 金陵科技学院 | A kind of agricultural soft robot |
| CN112248011B (en) * | 2020-10-13 | 2022-11-04 | 浙江清华柔性电子技术研究院 | Flexible gripping device |
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| Title |
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| 气动柔性机械手手指运动学研究;刘晓敏等;《机械设计》;第32卷(第12期);第6-11页 * |
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| CN107457797A (en) | 2017-12-12 |
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