Object moving robot with soft fingers

Abstract

The invention discloses an object moving robot with soft fingers. The object moving robot comprises a travelling mechanism, an actuating mechanism, a grabbing mechanism and a controller which are sequentially connected, wherein the controller is used for controlling a motor to run, the travelling mechanism comprises a base plate connected with at least three omnidirectional wheels, the actuating mechanism comprises an actuating motor and a mechanical arm combination driven by the actuating motor, and the grabbing mechanism comprises a cylinder, the soft fingers and an evacuating device. The soft fingers are latex sleeves with built-in hard particles, the latex sleeves can be internally evacuated by the evacuating device, and the cylinder is connected with the mechanical arm combination and is kept vertical. The object moving robot has the advantages that objects can be grabbed by the aid of clamping force and frictional force controlled by negative pressure of the latex sleeves, a manipulator is controlled to stably reach a designated position by a three-degree-of-freedom moving system of the omnidirectional wheels, the objects can be moved, difficulty in designing the manipulator is greatly reduced, and special-shaped surface grabbing capacity of the manipulator is also improved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a robot for moving objects with soft fingers. Background technique [0002] The research of manipulators has always been the focus of robot research. There are many types of manipulators, but the profiling hand has always been the main direction of robot manipulator research. Most of the research on manipulators is through profiling research. It is hoped that it can be like a human hand through multi-degree-of-freedom joints. The movement is designed to achieve the purpose of having a strong ability to grab objects. However, due to the complex design of the joints involved in the profiling hand design, the difficulty in finger motion control is high, and because of the mechanical characteristics of finger control, the ability to grasp heterosexual surfaces is low. The manufacturing cost is higher, and the manufacturing difficulty and requirements are also higher. [0003] We try...

AI Technical Summary

Problems solved by technology

[0005] The design principle of the mechanical arm of the "multifunctional pliers" function by American scientists, this mechanical arm can use the special adsorption capacity of the rubber surface to clamp objects, but this mechanical arm also showed many problems, such as the rubber sleeve High requirements for materials, high requirements for internal fillings, and light weight of objects to be grasped

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