CN113733135B - Flexible manipulator with force and touch sensing functions and sensor - Google Patents
Flexible manipulator with force and touch sensing functions and sensor Download PDFInfo
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- CN113733135B CN113733135B CN202111072527.1A CN202111072527A CN113733135B CN 113733135 B CN113733135 B CN 113733135B CN 202111072527 A CN202111072527 A CN 202111072527A CN 113733135 B CN113733135 B CN 113733135B
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
- B25J13/084—Tactile sensors
Abstract
A flexible manipulator and a sensor with force and touch sensing functions are disclosed, the flexible manipulator comprises an elastic soft bag and a camera, a transparent fluid medium is filled in the elastic soft bag, the elastic soft bag comprises a transparent elastic film and a force-induced color-changing film which are arranged in a stacked mode, when the elastic soft bag contacts an object, the transparent elastic film and the force-induced color-changing film deform, the force-induced color-changing film generates color change of a contact position under the action of stress, the camera obtains an image which generates color change at a corresponding position through the elastic soft bag and the transparent fluid medium, the stress of the contact position is determined according to the color change, the shape of the object is further determined, and the flexible manipulator captures the object according to the determined shape of the object. The invention provides a tactile force and tactile perception feedback mechanism for a manipulator, and particularly can help the robot to establish the perception of the environment and an operated object under the condition of limited vision.
Description
Technical Field
The invention relates to a robot grabbing technology, in particular to a flexible manipulator with force and touch sensing functions and a sensor.
Background
Perception, grabbing and operation in a vision-limited environment are always difficult points in the field of robots, but have great application prospects in the field of special robots. Under the environment of mud, oil and the like, the touch sense becomes the only accurate environment perception mode under the condition that optical equipment such as a camera, a laser radar and the like can not be used at all. Under the environment of deep water, caves, pipelines and the like, the visual field of optical equipment is limited and is interfered by turbid suspended matters, dust and the like, the optical equipment is difficult to play a role to the maximum extent, and the touch sense is the most reliable environment sensing mode. Force and tactile sensory feedback provides the necessary information for closed-loop control of grasping behavior when the manipulator grasps.
Traditional touch sensor relies on fiber grating, array flexible pressure drag or capacitive sensor etc. and the fragile is fragile to the price, uses under various operating modes more difficult, also is not good to the great shape sensing effect of deformation.
A touch perception scheme is characterized in that black array points are arranged on a planar silicone membrane, three LED lamps with different colors are arranged on the periphery of the silicone membrane, when the silicone membrane does not contact an object, the three lamp colors are mixed to be white, when the silicone membrane contacts the object, due to deformation of the thin film, the thin film protruding inwards is irradiated by the LED lamps in the corresponding direction, therefore, color change is imaged by a rear camera, stress change can be obtained by analyzing the color, in addition, the change of black spot positions is recorded, and the shape of the contact object can be obtained by analyzing the change of the spot positions. Because three LED lamps on the periphery are required to glancing over the silicone membrane, the illumination is not uniform when no object is in contact, and the marked black points on the silicone membrane are also required to be in uniform array when no object is in contact, so that the silicone membrane is required to be completely flat, the silicone membrane is thick, the hardness is high, the size is small, and only small objects or textures can be detected.
The other tactile manipulator scheme adopts a particle aggregation clamping jaw, the clamping jaw consists of a soft outer coating ball and small particles inside, when an object is clamped, the outer coating ball forms the shape of the surface of the object, at the moment, the internal air is pumped, and the shape of the small particles inside is fixed after aggregation. The shape of the grasped object can be obtained by external laser scanning the outer shape of the outer cladding ball. The object is taken down after the object is required to be grabbed, and the surface information of the object is acquired through external laser scanning, so that the method is not practical in practice, the detection period is long, and the laser scanning cost is high.
It is to be noted that the information disclosed in the above background section is only for understanding the background of the present application and thus may include information that does not constitute prior art known to a person of ordinary skill in the art.
Disclosure of Invention
The main purpose of the present invention is to overcome the above drawbacks of the background art, and to provide a flexible manipulator and a sensor with force and touch sensing functions.
In order to achieve the purpose, the invention adopts the following technical scheme:
a flexible manipulator with force and touch sensing functions comprises an elastic soft bag and a camera, wherein a transparent fluid medium is filled in the elastic soft bag, the elastic soft bag comprises a transparent elastic film and a force-induced color changing film which are arranged in a stacked mode, when the elastic soft bag contacts an object, the transparent elastic film and the force-induced color changing film deform, the force-induced color changing film generates color change of a contact position under the action of stress, the camera obtains an image with color change at the corresponding position through the elastic soft bag and the transparent fluid medium, the stress of the contact position is determined according to the color change, the shape of the object is further determined, and the flexible manipulator carries out object grabbing according to the determined shape of the object.
The elastic soft bag comprises an inner layer transparent elastic film, a middle layer transparent elastic film, an outer layer transparent film, an inner layer fluorescent film and an outer layer fluorescent film, wherein the inner layer fluorescent film is positioned between the inner layer transparent film and the middle layer transparent film, the outer layer fluorescent film is positioned between the outer layer transparent film and the middle layer transparent film, the fluorescent material of the outer layer fluorescent film is more than that of the inner layer fluorescent film, the colors of the fluorescent material and the outer layer fluorescent film are different, when the elastic soft bag is in contact with an object, the transparent elastic film, the inner layer fluorescent film and the outer layer fluorescent film deform, the inner layer fluorescent film generates fine cracks under the stress action of a contact position, and light of the outer layer fluorescent film penetrates through the fine cracks and brings color change of the contact position.
The colors of the fluorescent materials of the inner fluorescent film and the outer fluorescent film form complementary colors, preferably, the fluorescent material of the inner fluorescent film is orange, and the fluorescent material of the outer fluorescent film is yellow green.
The fluorescent material of the inner fluorescent film is formed by coating the transparent elastic film in a relaxed state, and the fluorescent material of the outer fluorescent film is formed by coating the transparent elastic film in an expanded state; preferably, the inner fluorescent film is further coated with transparent gloss oil, and the outer fluorescent film is further coated with transparent silica gel.
The elastic soft bag is filled with transparent mixed liquid of solid particles and liquid, when an object is grabbed, the liquid in the elastic soft bag is pumped out to generate a particle aggregation effect, so that the solid particles block and agglomerate, the shape of the elastic soft bag is changed in a self-adaptive manner according to the surface shape of the object, and the object is clamped through the blocking and agglomeration action of the solid particles, so that the object grabbing is realized.
The solid particles and the liquid are mixed into a suspension with the density similar to that of water, and the density is 0.9-1.1g/cm 3 Preferably 1.03g/cm 3 。
The solid particles are polydodecalactam materials, and the liquid is NaCl solution or sugar water solution; preferably, the NaCl solution comprises 0.9 parts NaCl and 100 parts water by weight; preferably, the solid-liquid mixture is formed by mixing 50 to 80 parts of the solid particles and 100 parts of the NaCl solution.
The device also comprises a mechanical clamping jaw for grabbing, and the transparent fluid medium is transparent gas or transparent liquid.
The elastic soft bag is arranged at the center of the flexible manipulator as a manipulator palm, and the mechanical clamping jaw is arranged at the side edge of the elastic soft bag.
A sensor with force and touch sensing functions comprises an elastic soft bag and a camera, wherein a transparent fluid medium is filled in the elastic soft bag, the elastic soft bag comprises a transparent elastic film and a force-induced color changing film which are arranged in a stacked mode, when the elastic soft bag contacts an object, the transparent elastic film and the force-induced color changing film deform, the force-induced color changing film generates color change of a contact position under the action of stress, the camera obtains an image which generates color change at the corresponding position through the elastic soft bag and the transparent fluid medium, the stress of the contact position is determined according to the color change, the shape of the object is further determined, and the flexible manipulator carries out object grabbing according to the determined shape of the object.
The invention has the following beneficial effects:
the invention provides a flexible manipulator with a shape sensing function based on touch sensing, wherein a sensor comprises an elastic soft bag filled with a transparent fluid medium, the elastic soft bag comprises a transparent elastic film and a force-induced color-changing film which are arranged in a stacked mode, the force-induced color-changing film is used as a sensing layer, when the elastic soft bag contacts an object, the shape of the soft bag is changed in a self-adaptive mode according to the surface shape of the object, meanwhile, the force-induced color-changing film changes the color of a contact position in response to stress, the stress of the contact position is judged according to the color change captured by a camera, and the shape of the contact object is further judged.
The invention provides a force sense and touch sense feedback mechanism for the manipulator, and particularly can help the robot to establish the sense of the environment and the operated object under the condition of limited vision (such as no light, mud, smoke and the like) and help the manipulator to adjust the posture or the grabbing force during grabbing.
Compared with other force/touch sensors, the invention has simple structure, low cost and easy manufacture.
The original signal of the invention is a continuous signal, but not a discrete signal of other sensors, and the scheme of the invention can improve the precision by methods such as algorithm, calibration and the like.
In a preferred scheme, the elastic soft bag is filled with a transparent mixed liquid of solid particles and liquid, and can also serve as a clamping jaw while the shape of the object is sensed by utilizing the particle aggregation blocking effect generated when the liquid is extracted. The flexible clamping jaw based on the blockage of the solid-liquid mixture particles achieves the purpose of flexible clamping by changing the rigidity of the clamping jaw through changing the liquid content, and is particularly suitable for grabbing objects with complicated shapes and surface characteristics. The size and complexity of the flexible manipulator is also reduced since this solution does not require additional mechanical gripping jaws.
Drawings
FIG. 1 is a schematic diagram of a sensor structure based on a mechanochromic film structure in an embodiment of the invention.
FIG. 2 is a schematic diagram of a force-chromic film structure based sensor in an embodiment of the present invention.
Fig. 3 illustrates a flexible manipulator with force and tactile sensing capabilities according to an embodiment of the present invention.
Fig. 4 is a diagram of a flexible manipulator with force and tactile sensing according to another embodiment of the invention.
Fig. 5 is a schematic diagram of the solid-liquid mixture of the variable-stiffness flexible clamping jaw based on the solid-liquid mixture particle blocking in the embodiment of the invention.
Fig. 6a and 6b are schematic diagrams of the liquid extraction process of the variable-rigidity flexible clamping jaw based on the blockage of the solid-liquid mixture particles in the embodiment of the invention.
Fig. 7a and 7b are schematic views of a single-capsule membrane jaw structure based on solid-liquid mixture particle blocking according to an embodiment of the invention.
Fig. 8a and 8b are schematic structural diagrams of a multi-elastic membrane sac clamping jaw based on solid-liquid mixture particle blocking according to another embodiment of the invention.
Detailed Description
The embodiments of the present invention will be described in detail below. It should be emphasized that the following description is merely exemplary in nature and is not intended to limit the scope of the invention or its application.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. In addition, the connection may be for either a fixed or coupled or communicating function.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings to facilitate the description of the embodiments of the invention and to simplify the description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be constructed in a particular manner of operation, and are not to be construed as limiting the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.
Referring to fig. 1 to 2, a flexible manipulator with force and touch sensing functions includes an elastic soft bag 1 and a camera 23, a transparent fluid medium 21 is filled in the elastic soft bag 1, the elastic soft bag 1 includes a transparent elastic film 110 and a force-induced color changing film 120 which are stacked, when the elastic soft bag 1 contacts an object, the transparent elastic film 110 and the force-induced color changing film 120 deform, the force-induced color changing film 120 generates a color change of a contact position under a stress, the camera 23 acquires an image generating a color change at a corresponding position through the elastic soft bag 1 and the transparent fluid medium 21, wherein the stress of the contact position is determined according to the color change, and further, the shape of the object is determined, and the flexible manipulator captures the object according to the determined shape of the object
Referring to fig. 1 to 2, in a preferred embodiment, the flexible soft bag 1 includes an inner layer, an intermediate layer and an outer layer of transparent elastic films 110, an inner layer of fluorescent film 121 located between the inner layer and the intermediate layer of transparent films, and an outer layer of fluorescent film 122 located between the outer layer and the intermediate layer of transparent films, the fluorescent material of the outer layer of fluorescent film 122 is more than that of the inner layer of fluorescent film 121, and the two colors are different, when the flexible soft bag 1 contacts an object, the transparent elastic films 110 and the inner and outer layer of fluorescent films 122 deform, the inner layer of fluorescent film 121 generates a fine crack under the stress of a contact position, and the light of the outer layer of fluorescent film 122 penetrates through the fine crack to bring about the color change of the contact position.
In a more preferred embodiment, the colors of the fluorescent materials of the inner fluorescent layer 121 and the outer fluorescent layer 122 form complementary colors. In a particularly preferred embodiment, the fluorescent material of the inner fluorescent film 121 is orange, and the fluorescent material of the outer fluorescent film 122 is yellow-green.
In a more preferred embodiment, the fluorescent material of the inner fluorescent layer 121 is formed by coating the transparent elastic film 110 in a relaxed state, and the fluorescent material of the outer fluorescent layer 122 is formed by coating the transparent elastic film 110 in an expanded state.
In a more preferred embodiment, the inner fluorescent film 121 is further coated with transparent varnish, and the outer fluorescent film 122 is further coated with transparent silicone for protection.
Referring to fig. 3, in an embodiment, the flexible manipulator further comprises a mechanical clamping jaw 28 for performing gripping, and the transparent fluid medium in the elastic soft bag 1 is transparent gas or transparent liquid 2'.
In a preferred embodiment, the elastic soft capsule 1 is arranged as a manipulator palm at the center of the flexible manipulator, the mechanical clamping jaws 28 are arranged at the side edges of the elastic soft capsule 1, and the camera 23 is fixed above the elastic soft capsule 1.
Referring to fig. 4 to 8b, in a preferred embodiment, the elastic soft bag 1 is filled with a transparent mixed liquid 2 of solid particles and liquid, when an object is grabbed, the liquid in the elastic soft bag 1 is pumped out to generate a particle aggregation effect, so that the solid particles are blocked and agglomerated, the shape of the elastic soft bag 1 is adaptively changed according to the surface shape of the object 3, and the object 3 is clamped through the blocking and agglomerating action of the solid particles, so that the object grabbing is realized. The elastic soft bag 1 of the embodiment can also be used as a clamping jaw while the shape of the object is sensed.
In a preferred embodiment, the solid particles are mixed with a liquid to form a suspension having a density similar to that of water, the density being between 0.9 and 1.1g/cm 3 Preferably 1.03g/cm 3 。
In a more preferred embodiment, the solid particles are a polydodecalactam material and the liquid is a NaCl or sugar water solution; preferably, the NaCl solution comprises 0.9 parts NaCl and 100 parts water by weight; preferably, the solid-liquid mixture is formed by mixing 50 to 80 parts of the solid particles and 100 parts of the NaCl solution.
Referring to fig. 1 to 2, the embodiment of the present invention further provides a sensor with force and touch sensing functions, which includes an elastic soft bag 1 and a camera 23, wherein the elastic soft bag 1 includes an inner layer, a middle layer and an outer layer of transparent elastic films, the elastic soft bag 1 is filled with a transparent fluid medium 21, and changes caused by the changes are captured by the camera 23, wherein the changes are determined, and thus the shape of the object is determined.
Specific embodiments of the present invention are further described below.
Sensor with force and touch sensing function
As shown in fig. 1 and fig. 2, in one embodiment, the sensor with force and touch sensing functions includes three layers of transparent high-elasticity films (materials are not required) stacked, and fluorescent coatings with different colors (contrast colors) are mixed between each two layers to form a fluorescent film, wherein the inner fluorescent film has less coating and the outer fluorescent film has more coating, when a stress is applied, the inner fluorescent film forms a fine crack, and the fluorescence of the outer coating penetrates through the crack to form a color change.
Fig. 1 shows the configuration of a force-activated color changing membrane and its positional relationship with a camera, in longitudinal cross-section, the membrane being of a hemispherical configuration and filled with a gas or liquid or other transparent medium to cause the membrane to bulge and maintain a certain elasticity. The transparent films are respectively arranged on the outer layer, the middle layer and the inner layer. Fluorescent material (preferably orange, because it forms complementary color with the outer layer and has good luminous effect) is poured or coated between the inner layer and the middle layer transparent film, the film is ensured to be in a loose state during coating, transparent gloss oil (such as model protective paint) is sprayed after a layer is uniformly coated, and the fluorescent material forms the inner layer fluorescent film. Fluorescent materials (preferably yellow green, and the best luminous performance is obtained) are poured or coated between the outer layer and the middle layer, the membrane is ensured to be in an expansion state (such as inflation) during coating, a layer of transparent silica gel is uniformly coated and then sprayed for protection, the fluorescent materials form an outer layer fluorescent membrane, and the fluorescent materials of the outer layer fluorescent membrane are more than those of the inner layer fluorescent membrane.
When not contacting the object, keep whole membrane structure at even atress but not excessively tensile state, the inlayer fluorescent screen is complete this moment to shelter from the light of outer fluorescent screen, the camera sees only to give out light for the inlayer fluorescent screen. When the transparent gloss oil of the inner layer fluorescent material is contacted with an object, the transparent gloss oil has no elasticity, fine cracks are formed under stress change, light of the outer layer fluorescent film penetrates through the fine cracks to enter (the light emitting effect of the outer layer fluorescent film is better than that of the inner layer fluorescent film), the position color of the camera subjected to stress is changed, the larger the stress is, the larger the small cracks of the inner layer fluorescent film are, the more the light penetrates, and the larger the color change is. The relationship of color to stress/shape can be accomplished by calibration, training for machine learning, etc.
Figure 2 illustrates the color shifting film principle, wherein the film scale is exaggerated and the thickness of a practical five-layer film stack can be small, e.g., on the order of millimeters.
Flexible manipulator structure
Figure 3 illustrates a flexible manipulator with force and tactile sensing capabilities according to one embodiment of the present invention. The scheme of the embodiment is that no solid is filled in the color-changing film, the elastic soft bag 1 is a palm of a manipulator, only provides a touch function, senses the size and the shape of a grasped object, and then is grasped by the mechanical clamping jaws 28 on the sides. The mechanical jaw 28 may be rigid or flexible.
Fig. 4 shows a flexible manipulator with force and tactile sensing according to another embodiment of the invention. The manipulator structure of the embodiment uses the solid particle aggregation effect in the elastic soft capsule 1 for grasping.
In the latter embodiment, the flexible bladder 1 provides a variable stiffness flexible jaw structure based on solid-liquid mixture particle occlusion, and figures 5 to 6b illustrate the working principle of the flexible bladder 1. The elastic soft bag 1 is filled with a mixed liquid 2 of solid particles 201 and liquid 202, when an object 3 is clamped, the liquid 202 in the elastic soft bag 1 is pumped out, so that the solid particles 201 block and agglomerate, the shape of the elastic soft bag 1 is adaptively changed according to the surface shape of the object, and the object 3 is clamped through the blocking and agglomeration effect of the solid particles 201. As shown in fig. 6b, the clogged agglomerates of solid particles 201 are then shaped adaptively on the surface of the object 3, forming a shape 4 suitable for gripping the surface of the object.
In the invention, the variable-rigidity flexible clamping jaw structure provided by the elastic soft bag 1 utilizes the self-adaptive deformation of a solid-liquid mixture to clamp an object. The blocking of the particles means that a large number of particles form a large-area particle group under the action of external force, the particles in the particle group are stressed in balance, and the positions of the particles can be kept relatively unchanged under certain external force. The particles are transformed from a loose state to a compact state and macroscopically show a liquid-to-solid phase transition process. As shown in fig. 5, the solid particles are mixed with the liquid, the solid particles are in a relatively loose state, and the density of the solid particles is consistent with that of the liquid, so that the mixture shows fluidity of the liquid in a certain space, and the shape of the mixture can be changed according to the contact object. In fig. 5 the object 3 is shown as a grid shape to represent a more complex contact surface. Fig. 6a to 6b show the liquid extraction process of a variable stiffness flexible jaw based on solid-liquid mixture particle blockage.
Granular liquid mixed liquid
The following embodiments provide a solid-liquid mixture suitable for gripping objects using the principle of liquid-driven particle jamming.
In some embodiments, the density of solid particles of the particle mixed liquid is consistent with that of the liquid, and is close to that of the water, so that the mixed liquid can suspend the solid particles in the liquid to achieve good fluidity, and simultaneously, the density of the mixed liquid is close to that of the water, so that the mixed liquid shows good flexibility in the water and can better change the shape to adapt to the surface structure of an object when the object is clamped.
In a preferred embodiment, the particles are nylon 12 (PA 12, polydodecalactam), which is suitable for the invention and has the advantage of a density of not more than 1.03g/cm 3 The material is the material with the density closest to that of water in common engineering plastics, is the material with the lowest water absorption rate (0.25 percent) in the common engineering plastics, and is very suitable to be used as particles of solid-liquid mixed liquid. The liquid adopts salt (NaCl) solution, the specific formula is that 0.9 part of salt by weight is mixed with 100 parts of water, and the density of the salt is 1.03g/cm 3 . 50 to 80 parts of solid particles are mixed with 100 parts of a salt solution to prepare a solid-liquid mixture.
Other materials may be used for the solid particles.
Other solutions may be used for the liquid, such as an aqueous sugar solution (which may be combined with higher density solid particles), and 8 parts of sucrose mixed with 100 parts of water may be used to form a solid-liquid mixture with nylon 12.
In actual preparation, the solution concentration can be calculated by theory, or the particles can be put into a saturated solution, water is slowly added for stirring until the particles are suspended, or the particles are put into water, and a solvent is slowly added for complete dissolution until the particles are suspended.
All the above formulations are effective at room temperature (around 20 ℃).
The proportion of the solid and the liquid can also change according to the practical application scene, and the given proportion integrates the fluidity and the change of the smaller volume of the solid particle group after the liquid is pumped away.
Different embodiments of flexible jaws
Referring to fig. 7a to 7b, in a preferred embodiment, the flexible clamping jaw with variable rigidity comprises a single elastic soft bag 1, a base 5, a pipeline 6 and a filter screen 7, wherein the base 5 is provided with a through hole, the elastic soft bag 1 is arranged on the base 5 and is communicated with the pipeline 6 through the through hole, the pipeline 6 is connected with a water pump (not shown), and the inlet of the elastic soft bag 1 is provided with the filter screen 7 for filtering the solid particles when the liquid is extracted; preferably, the elastic soft bag 1 is hemispherical; when the object is grabbed, the elastic soft bag 1 is pressed against the object 3, the liquid in the elastic soft bag 1 is pumped out through the pipeline 6, and solid particles in the elastic soft bag 1 are gathered to clamp the object 3.
Referring to fig. 8a to 8b, in another preferred embodiment, the variable-stiffness flexible clamping jaw comprises a plurality of elastic soft capsules 1, each elastic soft capsule 1 forms a clamping jaw finger, the elastic soft capsule 1 comprises an infusion capsule 101 and a pumping capsule 102, the infusion capsule 101 is located on one side of the pumping capsule 102 opposite to the clamping direction, the infusion capsule 101 is connected with an infusion tube 103 for infusing liquid, the pumping capsule 102 is filled with a mixed liquid of solid particles and liquid, the pumping capsule 102 is connected with a pumping tube 104 and has a filtering structure for filtering particles during pumping, when an object needs to be clamped, liquid is infused into the infusion capsule 101 through the infusion tube 103 to expand the infusion capsule 101, the liquid in the pumping capsule 102 is pumped through the pumping tube 104 to contract the pumping capsule 102, the clamping jaw hand bends towards the clamped object, and the infusion capsule 101 applies pressure to the pumping capsule 102 to deform the pumping capsule 102 contacting the surface of the object into a clamping shape of the object.
Referring to fig. 8a to 8b, in a more preferred embodiment, the liquid suction tube 104 penetrates into the liquid suction bag 102, the wall of the liquid suction tube 104 is a porous structure capable of filtering particles, and the liquid suction tube 104 is radially rigid and is not compressed when liquid is sucked.
Referring to fig. 8a to 8b, in a more preferred embodiment, the flexible clamping jaw with variable stiffness further comprises a clamping jaw palm 8, and the clamping jaw palm 8 is configured as a bracket for fixing the root of the clamping jaw finger and the liquid injection pipe 103 and the liquid extraction pipe 104.
In different embodiments, the liquid in the liquid injection bag 101 and the liquid in the liquid pumping bag 102 are different liquids or the same liquid.
During the gripping, the liquid injection bag 101 may inject the liquid first, and then the liquid extraction bag 102 extracts the liquid, or both of them may be performed simultaneously.
The flexible clamping jaw of the embodiment, especially the flexible clamping jaw driven by liquid, is particularly suitable for being used in underwater environment for grabbing objects with complicated size, shape and surface characteristics. The flexible clamping jaw has flexible variability capability, can self-adaptively change the shape of the flexible clamping jaw to conform to a clamped object, and self-adaptively distribute clamping force, thereby achieving the same effect of a complex closed-loop control mechanical clamping jaw with a sensor and a driver. The flexible clamping jaw can be made of low-cost materials and is simple to manufacture.
The invention provides a force sense and touch feedback mechanism for the manipulator, which can help the manipulator to adjust the posture or the grabbing force during grabbing. As a tactile sensor, it can help the robot to establish the perception of the environment and the operated object under the condition of limited vision (such as no light, mud, smoke, etc.). Compared with other force/touch sensors, the force/touch sensor is simple in structure, low in cost and easy to manufacture. The original signal of the invention is a continuous signal, but not a discrete signal of other sensors, and the scheme of the invention can improve the precision by methods such as algorithm, calibration and the like.
The background of the present invention may contain background information related to the problem or environment of the present invention and does not necessarily describe the prior art. Accordingly, the inclusion in this background section is not an admission by the applicant that prior art is available.
The foregoing is a more detailed description of the invention in connection with specific/preferred embodiments and is not intended to limit the practice of the invention to those descriptions. It will be apparent to those skilled in the art that various substitutions and modifications can be made to the described embodiments without departing from the spirit of the invention, and these substitutions and modifications should be considered to fall within the scope of the invention. In the description herein, references to the description of the term "one embodiment," "some embodiments," "preferred embodiments," "an example," "a specific example," or "some examples" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction. Although embodiments of the present invention and its advantages have been described in detail, it should be understood that various changes, substitutions and alterations can be made herein without departing from the scope of the application.
Claims (13)
1. A flexible manipulator with force and touch sensing functions is characterized by comprising an elastic soft bag and a camera, wherein a transparent fluid medium is filled in the elastic soft bag, the elastic soft bag comprises a transparent elastic film and a force-induced color-changing film which are arranged in a stacked mode, the force-induced color-changing film is used as a sensing layer, when the elastic soft bag contacts an object, the transparent elastic film and the force-induced color-changing film deform, the force-induced color-changing film generates color change of a contact position under the action of stress, the camera obtains an image generating color change at the corresponding position through the elastic soft bag and the transparent fluid medium, the stress of the contact position is determined according to continuous signals of the color change, the shape of the object is further determined, the flexible manipulator carries out object grabbing according to the determined shape of the object, the elastic soft bag comprises an inner layer, a middle layer and an outer layer of transparent elastic film, an inner layer fluorescent film positioned between the inner layer and the middle layer, a fluorescent film positioned between the outer layer and the middle layer, fluorescent film has more fluorescent materials than the inner layer of the fluorescent film, the fluorescent film has different colors, when the elastic soft bag contacts the inner layer and the elastic film, the elastic film generates fine stress and the crack, the elastic film generates light stress and the crack when the elastic soft bag contacts the fluorescent film deforms.
2. The flexible manipulator according to claim 1, wherein the fluorescent materials of the inner fluorescent film and the outer fluorescent film are colored in complementary colors.
3. The flexible manipulator according to claim 2, wherein the fluorescent material of the inner fluorescent film is orange, and the fluorescent material of the outer fluorescent film is yellow-green.
4. The flexible manipulator according to claim 1 or 2, wherein the fluorescent material of the inner fluorescent film is formed by coating the transparent elastic film in a relaxed state, and the fluorescent material of the outer fluorescent film is formed by coating the transparent elastic film in an expanded state.
5. The flexible manipulator according to claim 4, wherein the inner fluorescent film is further coated with transparent varnish, and the outer fluorescent film is further coated with transparent silicone.
6. The flexible manipulator according to any one of claims 1 to 2, wherein the elastic soft capsule is filled with a transparent mixed liquid of solid particles and liquid, the liquid in the elastic soft capsule is pumped out when an object is grabbed, a particle aggregation effect is generated, the solid particles are blocked and agglomerated, the shape of the elastic soft capsule is adaptively changed according to the surface shape of the object, and the object is clamped through the blocking and agglomerating action of the solid particles, so that the object grabbing is realized.
7. The flexible manipulator of claim 6, wherein the solid particles and the liquid are mixed into a suspension having a density similar to water, and the density is 0.9-1.1g/cm 3 。
8. The flexible manipulator of claim 7, wherein the density is 1.03g/cm 3 。
9. The flexible manipulator of claim 7, wherein the solid particles are a polydodecalactam material and the liquid is a NaCl solution or a sugar water solution.
10. The flexible manipulator according to claim 9, wherein the NaCl solution comprises 0.9 parts by weight of NaCl and 100 parts by weight of water, and the transparent mixed solution is formed by mixing 50 to 80 parts by weight of the solid particles and 100 parts by weight of the NaCl solution.
11. The flexible manipulator according to any one of claims 1 to 2, further comprising a mechanical gripper for performing gripping, wherein the transparent fluid medium is a transparent gas or a transparent liquid.
12. The flexible manipulator according to claim 11, wherein the elastic bladder is disposed at a center of the flexible manipulator as a manipulator palm, and the mechanical jaws are disposed at lateral sides of the elastic bladder.
13. A sensor with force and touch sensing functions is used for a flexible manipulator and is characterized by comprising an elastic soft bag and a camera, wherein a transparent fluid medium is filled in the elastic soft bag, the elastic soft bag comprises a transparent elastic film and a force-induced color-changing film which are arranged in a stacked mode, the force-induced color-changing film is used as a sensing layer, when the elastic soft bag contacts an object, the transparent elastic film and the force-induced color-changing film deform, the force-induced color-changing film generates color change of a contact position under the action of stress, the camera obtains an image which generates color change at the corresponding position through the elastic soft bag and the transparent fluid medium, the stress of the contact position is determined according to continuous signals of the color change, the shape of the object is further determined, and the flexible manipulator performs object grabbing according to the determined shape of the object; the elastic soft bag comprises an inner transparent elastic film, a middle transparent elastic film and an outer transparent elastic film, an inner fluorescent film and an outer fluorescent film, wherein the inner fluorescent film is positioned between the inner transparent film and the middle transparent film, the outer fluorescent film is positioned between the outer transparent film and the middle transparent film, the fluorescent material of the outer fluorescent film is more than that of the inner fluorescent film, the colors of the inner fluorescent film and the outer fluorescent film are different, when the elastic soft bag is in contact with an object, the transparent elastic film, the inner fluorescent film and the outer fluorescent film deform, the inner fluorescent film generates tiny cracks under the stress action of a contact position, and light of the outer fluorescent film penetrates through the tiny cracks and brings color change of the contact position.
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