Fluid-driven flexible rod cluster adaptive robotic hand device

Abstract

The invention provides a self-adaptive robot hand device with flexible rod clusters driven by fluid and belongs to the technical field of robot hands. The self-adaptive robot hand device comprises a base, multiple sliding push rods, a membrane, the fluid, multiple pistons and multiple springs. The self-adaptive robot hand device is used for a robot to grab objects, and the self-adaptive grabbing function in discrete space is achieved; the multiple sliding push rods are adopted to obtain the effect of self-adaptation to sizes and shapes of the objects; bending deformation that the multiple push rods gather towards the center is achieved through fluid discharge and bending elasticity of the membrane and the push rods, and the multi-directional grabbing effect on the objects is achieved; the structure is simple, energy consumption is low, the grabbing speed is high, reliability is good, and the service life is long; and the atmospheric pressure assists grabbing, and the grabbing stability is high.

Description

technical field [0001] The invention belongs to the technical field of robotic hands, in particular to a structural design of a fluid-driven flexible rod cluster self-adaptive robotic hand device. Background technique [0002] The robot hand has a wide range of uses in the field of robotics. It is used to temporarily connect and fix the robot and the object, and can be released at an appropriate time. The former realizes the grasping of the object, and the latter realizes the release of the object. In order to reduce the cost, the general robot hand is made to have two relative moving parts, so as to realize the grabbing and releasing functions in the simplest way. There are also many structures that imitate the human hand, designed to have more fingers and several joints on the fingers, but that will bring the complexity and high cost of the mechanical system, sensing system, control system and control algorithm. Part of the robot hand is adaptable, that is, it does not kn...

AI Technical Summary

Problems solved by technology

[0005] (1) Unable to achieve multi-directional grip

When the device exerts a grasping force on the target object, the grasping force can only be along the direction in which the two groups of rod clusters gather together, which is equivalent to a two-finger gripper, which only produces a one-dimensional gripping mode, and the gripping effect is poor

[0006] (2) Failure to grasp long objects placed in a specific direction

[0007] (3) Complex structure and high energy consumption

The device has 2 groups of rod clusters, and requires 2 movable supports (or motion bases) that move with each other, a set of linear guide rails, 2 sliders, drivers, transmission mechanisms, etc., the structure is relatively complicated, and a Bulky rod cluster movement with many long rods is relatively energy-intensive

[0008] (4) The reliability of long-term use is poor

All the long rods and chutes are exposed to the working environment. In the factory workshop environment full of dust and flying lint, small foreign objects are easily caught between the long rods, and the chute cannot slide due to the accumulation of dust fibers. There are many factors that affect and reduce the service life. In dusty food, textile, mining and other factory workshops, dust is adsorbed and accumulated in the long rod and the chute, which greatly affects the sliding effect of the long rod in the base, and even malfunction

[0009] (5) Grip stability needs to be improved

[0015] (3) The device needs to suck away almost all the fluid in the membrane skin, which consumes a lot of energy, takes a long time to grab, the cost of the fluid source (such as a pump) is high, and the volume of the evacuable container is large or the pressure of the evacuable container is large.

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