CN108381534A - A kind of flexible manipulator with bow font continuous bend inner cavity - Google Patents
A kind of flexible manipulator with bow font continuous bend inner cavity Download PDFInfo
- Publication number
- CN108381534A CN108381534A CN201810448793.1A CN201810448793A CN108381534A CN 108381534 A CN108381534 A CN 108381534A CN 201810448793 A CN201810448793 A CN 201810448793A CN 108381534 A CN108381534 A CN 108381534A
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- CN
- China
- Prior art keywords
- ontology
- attached body
- font
- class
- inner cavity
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-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—Programme-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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
A kind of flexible manipulator with bow font continuous bend inner cavity, including ontology and attached body, ontology and attached body can be used of the same race or xenogenesis flexible material and be made, and can arrange not extendable stratified material when making attached body inside it；The monnolithic case of the ontology bends font in class, the blow vent for being internally provided with the continuous closed cavity of class bow font and being connected to external drive air source；The bottom surface of attached body and ontology is fixed together；When work, driving air source is inflated or is deflated to the seal air cavity of body interior by blow vent, to realize bending and stretching movement of the ontology under the limitation of attached body.The air cavity setting of the whole installation and class bow font of the class bow font of the present invention can effectively improve the movement speed and power output of manipulator, be easy to implement the reliable crawl function of high speed.
Description
Technical field
The present invention relates to a kind of flexible manipulators, and in particular to a kind of flexible manipulator of gas-powered.
Background technology
In industrial automation, mechanical arm tail end grasping movement is mainly completed by rigid mechanical paw or vacuum cup.
But rigid mechanical paw, since dynamics is difficult to control, it is difficult to realize lossless crawl to soft, fragile object.Vacuum cup is being removed
Fortune during be difficult to adapt to rough surface, trepanning Special-shaped object.This causes the two application scenarios to there is limitation.Flexible machine
Tool hand includes flexible finger and fixed seat.Flexible finger uses elastic material, can realize the crawl to soft, fragile object and
Damage will not be generated to object itself.
In the prior art, such as " a kind of pneumatic software gripping device " (CN104959992B) and " a kind of flexible manipulator "
(CN107322620A) patent documents, disclosed in " soft robot Review Study " (He Bin, Tongji University's journal, 2014) etc. such as
, flexible finger generally comprises finger bottom plate and Fingers face, and finger bottom plate and Fingers face define driving chamber jointly, drives
The interior shape of dynamic chamber is as shown in Fig. 1, is arranged in class comb shape.This setup cause flexible finger deformation velocity compared with
Slowly, it is easy to generate shaking by a relatively large margin in deformation process when and deformation is larger, intensity is insufficient, can not adapt in application process
Quickly the problem of crawl different shape different size target.
On the other hand, the double layer material of flexible finger generally use difference extensibility is laminated in the prior art, driving
Layer uses the material of extensibility difference using the high material of ductility, strain limiting layer.When pressurization, generated due to driving layer
Deformation will macroscopically cause material to be moved to strain limiting layer curving much larger than strain limiting layer.The structure of double layer material
Two problems are brought, first, the fusion of material is relatively time-consuming, later stage reliability is not also high, second is that the cost performance of this structure is not
It is high.
Invention content
In order to overcome the disadvantages of the above prior art, the purpose of the present invention is to provide a flexible manipulators to solve quickly
The problem of capturing different shape different size target.
To achieve the goals above, the technical solution adopted by the present invention is：
A kind of flexible manipulator with bow font continuous bend inner cavity, it is characterised in that：It is described including ontology and attached body
Ontology and attached body are made of soft material, and not extendable bedded substance is arranged when making attached body inside it；The ontology
Monnolithic case bend font in class, be internally provided with the class continuous seal air cavity of bow font and be connected to external drive air source
Blow vent；The bottom surface of the attached body and ontology is fixed together；When work, driving air source is by blow vent to the envelope of body interior
Chamber of holding one's breath is inflated or deflates, to realize bending and stretching movement of the ontology under the limitation of attached body.
As a further improvement on the present invention, including ontology and attached body, the ontology and attached body are made of soft material,
The elasticity modulus for making attached body material is more than the elasticity modulus for making bulk material, and can pass through the elasticity modulus control of attached body material
Make the flexural deformation posture and motion process of entire manipulator；The monnolithic case of the ontology bends font, internal setting in class
The blow vent for having the continuous seal air cavity of class bow font and being connected to external drive air source；The bottom surface of the attached body and ontology is affixed
Together；When work, driving air source is inflated or is deflated to the seal air cavity of body interior by blow vent, to realize this
Bending and elongation Coupling Deformation of the body under the limitation of attached body.
As the further improvement of the present invention, the not extendable bedded substance be gauze net or fine and closely woven wire netting or
The scraps of paper or fine and closely woven web.
As a further improvement of the present invention, the soft material is silica gel or gel.
As a further improvement on the present invention, air cavity is set in the attached body and is connected to external drive air source logical
Gas port places microminiature solid granulates in the air cavity；Microminiature solid granulates are wrapped up with gas permeable materials such as gauzes and being grown up
Bar shaped, and gauze is divided into several units by arrangement seal location along its length according to demand, each location contents receive sky
The mixture of gas and microminiature solid granulates, can ventilate between unit but cannot be by microminiature solid granulates.
As a further improvement on the present invention, the microminiature solid granulates be the grain of rice or coffee bean or plastics spherolite or
The mixture of several solid granulates of soybean or mung bean or more.
As a further improvement on the present invention, the bottom surface of the attached body is provided with multiple protrusions.
Compared with prior art, the beneficial effects of the invention are as follows：
(1) flexible finger shape of the invention, air cavity are designed by Reasonable Shape, have good performance, in people and work
There are good practicability and safety in the interaction of part, and the air cavity setting of the whole installation of class bow font and class bow font can be with
Ensure more rapidly to expand deformation when inflation, when deflation more quickly completes gathering and deforms, consequently facilitating flexible machine
Tool hand more rapidly captures different shape different size target.
(2) of the invention ontology and attached body can be used the soft material of homospecificity and be made, by being arranged in attached internal portion
Not extendable bedded substance ensures that the ontology of flexible finger when inflation is bent under the limitation of attached body.This structural material melts
Close it is simpler effectively, it is cost-effective.
(3) present invention can pass through size, proportioning and the gas permeable material of the particulate of adjusting different units setting
Seal location flexible finger different parts when being vacuumized to adjust rigidity.
Description of the drawings
Fig. 1 is prior-art illustration.
Fig. 2 is schematic structural view of the invention.
Fig. 3 is schematic diagram of the embodiment of the present invention.
Fig. 4 is another embodiment of the present invention schematic diagram.
Specific implementation mode
The embodiment that the present invention will be described in detail with reference to the accompanying drawings and examples.
As shown in Fig. 2, a kind of flexible manipulator with bow font continuous bend inner cavity, it is characterised in that including ontology 1
With attached body 2, the ontology 1 and attached body 2 are made of soft material, and the elasticity modulus for making 2 material of attached body is more than making ontology 1
The elasticity modulus of material, and flexural deformation posture and the movement of entire manipulator can be controlled by the elasticity modulus of 2 material of attached body
Process；The monnolithic case of the ontology 1 bends font in class, be internally provided with the class continuous seal air cavity 11 of bow font and with it is outer
Portion drives the blow vent 111 of air source connection；The bottom surface of the attached body 2 and ontology 1 is fixed together；When work, driving air source is logical
It crosses blow vent 111 seal air cavity 11 inside ontology 1 is inflated or is deflated, to realize ontology 1 under the limitation of attached body 2
Bending and elongation Coupling Deformation.
When inflation, gas full of seal air cavity and ontology being caused to expand, due to attached body elasticity modulus greatly to deformation compared with
Small, the ontology after expansion is natural to be bent to the direction of attached body under the limitation of attached body；When air-breathing vacuumizes, deformation process is opposite.
As another embodiment of the present invention, as shown in figure 3, a kind of flexible mechanical with bow font continuous bend inner cavity
Hand, it is characterised in that：Including ontology 1 and attached body 2, the ontology 1 and attached body 2 are made of soft material, when making attached body 2
Its internal setting not extendable bedded substance 21；The monnolithic case of the ontology 1 bends font in class, is internally provided with class bow
The blow vent 111 font continuous seal air cavity 11 and be connected to external drive air source；The bottom surface of the attached body 2 and ontology 1 is solid
It is connected together；When work, driving air source is inflated or is deflated to the seal air cavity 11 inside ontology 1 by blow vent 111, from
And realize bending and stretching movement of the ontology 1 under the limitation of attached body 2.
The ontology 1 and attached body 2 are made of soft material, and soft material is silica gel or gel.By in attached internal portion
Not extendable bedded substance is set and ensures that the ontology of flexible finger when inflation is bent under the limitation of attached body.Preferable scheme is that
Ontology 1 and attached body 2 using homospecificity material, merge in this way it is simpler effectively, it is cost-effective.At it when making attached body 2
Inside is arranged not extendable bedded substance 21, not extendable bedded substance 21 be gauze net or fine and closely woven wire netting or the scraps of paper or
Fine and closely woven web；
The monnolithic case of ontology 1 in class bend font, be internally provided with class bow font seal air cavity 11 and with outside
Drive the blow vent 111 of air source connection；As shown in figure 3 or 4, the shape of blow vent 111 and position left side or centre can,
Also it can be configured according to actual needs with reference to the prior art.
The bottom surface of attached body 2 and ontology 1 is fixed together, and the preferably underrun of attached body 2 and ontology 1 bonds
Mode is fixed together.When work, driving air source the seal air cavity 11 inside ontology 1 is inflated by blow vent 111 or
Air-breathing achievees the purpose that crawl or pickup object to realize flexural deformation of the ontology 1 under the limitation of attached body 2.
The flexible finger shape (ontology 1) of the present invention, seal air cavity 11 are designed by Reasonable Shape, have good property
Can, there are good practicability and safety in the interaction of people and workpiece, and the whole installation of class bow font and class bend font
Air cavity setting can ensure more rapidly to expand deformation when inflation, and when deflation more quickly completes gathering and deforms, from
And more rapidly capture different shape different size target convenient for flexible manipulator.
As shown in Fig. 3 a kind of specific embodiment of the invention, Fig. 4 is another embodiment.The invention mainly relates to
Improvement to flexible manipulator software part or for software finger part, with reference to " a kind of pneumatic software gripping device "
It (CN104959992B) and a kind of structure of the patent documents such as " flexible manipulator " (CN107322620A) description, can will be of the invention
It is connected in the fixed seat of manipulator by mounting flange 13.Software finger can be arranged multiple；When being arranged multiple, software finger is in circle
Week arrangement.In addition, multiple raised 200 can be provided in the bottom surface of attached body 2, to increase the friction of software finger and captured article
Power.Protrusion 200 can be along sole arrangement, and arrangement is according to the actual needs, not necessarily non-to be evenly arranged as shown in the figure.
As shown in figure 4, the blow vent 221 that air cavity 22 is set in the attached body 2 and is connected to external drive air source,
Microminiature solid granulates 222 are placed in the air cavity 22；Microminiature solid granulates 222 are wrapped up with gas permeable materials such as gauzes and being grown up
Bar shaped, and gauze is divided into several units, each location contents to receive by arrangement seal location 223 along its length according to demand
The mixture of air and microminiature solid granulates 222, can ventilate between unit but cannot be by microminiature solid granulates
222。
When vacuum is inhaled in exhaust, microminiature solid granulates 222 are compressed in together, to show certain rigidity outward.
The size and proportioning of the microminiature solid granulates 222 of different units setting all can be different, thus different parts when vacuumizing
Rigidity is also different.Microminiature solid granulates 222 are that the grain of rice or coffee bean or plastics spherolite or soybean or mung bean or more are several
The mixture of solid granulates.The present invention can by adjust different units setting microminiature solid granulates size, proportioning with
And the seal location of the gas permeable material rigidity of flexible finger different parts or deformation when being vacuumized to adjust, to more adapt to quilt
Capture body surface.
Above-described embodiment is using gas as driving medium, naturally it is also possible to using liquid as driving medium.The above reality
It applies example only and is the description to the preferred embodiment of the present invention and do not departing from the present invention not as limiting the scope of the invention
The various modifications made to technical solution of the present invention on the basis of design spirit and transformation, the right that should all fall into the present invention are wanted
In the protection domain for asking book determination.
Claims (7)
1. a kind of flexible manipulator with bow font continuous bend inner cavity, it is characterised in that：Including ontology (1) and attached body (2),
The ontology (1) and attached body (2) are made of soft material, and not extendable stratiform is arranged when making attached body (2) inside it
Substance (21)；
The monnolithic case of the ontology (1) in class bend font, be internally provided with class bow the continuous seal air cavity of font (11) and
The blow vent (111) being connected to external drive air source；
The bottom surface of the attached body (2) and ontology (1) is fixed together；
When work, driving air source is inflated or is deflated by blow vent (111) seal air cavity (11) internal to ontology (1),
To realize bending and stretching movement of the ontology (1) under attached body (2) limitation.
2. a kind of flexible manipulator with bow font continuous bend inner cavity, it is characterised in that including ontology (1) and attached body (2),
The ontology (1) and attached body (2) are made of soft material, and the elasticity modulus for making attached body (2) material is more than making ontology (1)
The elasticity modulus of material, and the flexural deformation posture and fortune of entire manipulator can be controlled by the elasticity modulus of attached body (2) material
Dynamic process；
The monnolithic case of the ontology (1) in class bend font, be internally provided with class bow the continuous seal air cavity of font (11) and
The blow vent (111) being connected to external drive air source；
The bottom surface of the attached body (2) and ontology (1) is fixed together；
When work, driving air source is inflated or is deflated by blow vent (111) seal air cavity (11) internal to ontology (1),
To realize bending and elongation Coupling Deformation of the ontology (1) under attached body (2) limitation.
3. a kind of flexible manipulator with bow font continuous bend inner cavity as described in claim 1, it is characterised in that：Wherein
The not extendable bedded substance (21) is gauze net or fine and closely woven wire netting or the scraps of paper or fine and closely woven web.
4. a kind of flexible manipulator with bow font continuous bend inner cavity as claimed in claim 1 or 2, it is characterised in that：
Wherein the soft material is silica gel or gel or rubber.
5. a kind of flexible manipulator with bow font continuous bend inner cavity as claimed in claim 1 or 2, it is characterised in that：
The blow vent (221) air cavity (22) and be connected to external drive air source is set in the attached body (2), in the air cavity (22)
Interior placement microminiature solid granulates (222)；Microminiature solid granulates (222) are rolled into strip with gas permeable materials such as gauzes,
And gauze is divided into several units by arrangement seal location (223) along its length according to demand, each location contents receives sky
The mixture of gas and microminiature solid granulates (222), can ventilate between unit but cannot be by microminiature solid granulates
(222)。
6. a kind of flexible manipulator with bow font continuous bend inner cavity as claimed in claim 5, it is characterised in that：Wherein
The microminiature solid granulates (222) are the grain of rice or coffee bean or soybean or several solid-states of mung bean or Commercial pellet or more
The mixture of grain.
7. a kind of flexible manipulator with bow font continuous bend inner cavity as claimed in claim 1 or 2, it is characterised in that：
The bottom surface of the wherein attached body (2) is provided with multiple raised (200).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810448793.1A CN108381534A (en) | 2018-05-11 | 2018-05-11 | A kind of flexible manipulator with bow font continuous bend inner cavity |
| PCT/CN2018/113092 WO2019214178A1 (en) | 2018-05-11 | 2018-10-31 | Flexible manipulator having chinese character "弓"-shaped continuous curved inner cavity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810448793.1A CN108381534A (en) | 2018-05-11 | 2018-05-11 | A kind of flexible manipulator with bow font continuous bend inner cavity |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108381534A true CN108381534A (en) | 2018-08-10 |
Family
ID=63070480
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810448793.1A Pending CN108381534A (en) | 2018-05-11 | 2018-05-11 | A kind of flexible manipulator with bow font continuous bend inner cavity |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN108381534A (en) |
| WO (1) | WO2019214178A1 (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048983A (en) * | 2018-10-25 | 2018-12-21 | 赵洪清 | A kind of software self-locking manipulator fixing seat |
| CN109048968A (en) * | 2018-10-25 | 2018-12-21 | 赵静 | A kind of self-adapting intelligent catching robot |
| CN109866248A (en) * | 2019-03-13 | 2019-06-11 | 天津交通职业学院 | Pneumatic paw |
| CN110281257A (en) * | 2019-07-10 | 2019-09-27 | 浙江理工大学 | Can multi-direction bending the double air cavity flexible mechanical finger of modularization and its working method |
| WO2019214178A1 (en) * | 2018-05-11 | 2019-11-14 | 清华大学 | Flexible manipulator having chinese character "弓"-shaped continuous curved inner cavity |
| CN110561469A (en) * | 2019-09-30 | 2019-12-13 | 清华大学 | Pneumatic finger of software of embedded skeleton |
| CN110750867A (en) * | 2019-09-19 | 2020-02-04 | 上海大学 | Overall rigidity and contact force calculation method for soft fingertip structure of hemispherical robot |
| CN111660317A (en) * | 2020-05-29 | 2020-09-15 | 清华大学 | Gripper module and pneumatic universal gripper capable of continuously adjusting gripping posture |
| CN113427517A (en) * | 2021-08-05 | 2021-09-24 | 重庆大学 | Energy-saving soft gripper suitable for self-stabilizing characteristic |
| CN114683258A (en) * | 2022-05-18 | 2022-07-01 | 东北林业大学 | Multi-degree-of-freedom bending and winding soft actuator |
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| CN107718021A (en) * | 2017-10-27 | 2018-02-23 | 华南理工大学 | A kind of pneumatic software handgrip |
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| CN108381534A (en) * | 2018-05-11 | 2018-08-10 | 清华大学 | A kind of flexible manipulator with bow font continuous bend inner cavity |
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| US3640564A (en) * | 1971-01-13 | 1972-02-08 | Goodrich Co B F | Fluid-operated actuator |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019214178A1 (en) * | 2018-05-11 | 2019-11-14 | 清华大学 | Flexible manipulator having chinese character "弓"-shaped continuous curved inner cavity |
| CN109048983A (en) * | 2018-10-25 | 2018-12-21 | 赵洪清 | A kind of software self-locking manipulator fixing seat |
| CN109048968A (en) * | 2018-10-25 | 2018-12-21 | 赵静 | A kind of self-adapting intelligent catching robot |
| CN109866248A (en) * | 2019-03-13 | 2019-06-11 | 天津交通职业学院 | Pneumatic paw |
| CN110281257A (en) * | 2019-07-10 | 2019-09-27 | 浙江理工大学 | Can multi-direction bending the double air cavity flexible mechanical finger of modularization and its working method |
| CN110281257B (en) * | 2019-07-10 | 2024-02-13 | 浙江理工大学 | Modularized double-air-cavity flexible mechanical finger capable of being bent in multiple directions and working method thereof |
| CN110750867A (en) * | 2019-09-19 | 2020-02-04 | 上海大学 | Overall rigidity and contact force calculation method for soft fingertip structure of hemispherical robot |
| CN110750867B (en) * | 2019-09-19 | 2021-02-26 | 上海大学 | Overall rigidity and contact force calculation method for soft fingertip structure of hemispherical robot |
| CN110561469B (en) * | 2019-09-30 | 2021-03-30 | 清华大学 | Pneumatic finger of software of embedded skeleton |
| CN110561469A (en) * | 2019-09-30 | 2019-12-13 | 清华大学 | Pneumatic finger of software of embedded skeleton |
| CN111660317A (en) * | 2020-05-29 | 2020-09-15 | 清华大学 | Gripper module and pneumatic universal gripper capable of continuously adjusting gripping posture |
| CN113427517A (en) * | 2021-08-05 | 2021-09-24 | 重庆大学 | Energy-saving soft gripper suitable for self-stabilizing characteristic |
| CN114683258A (en) * | 2022-05-18 | 2022-07-01 | 东北林业大学 | Multi-degree-of-freedom bending and winding soft actuator |
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| Publication number | Publication date |
|---|---|
| WO2019214178A1 (en) | 2019-11-14 |
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Application publication date: 20180810 |
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