Porous double-layered fluid self-adaptive robot hand device

Abstract

The invention relates to a porous double-layered fluid self-adaptive robot hand device and belongs to the technical field of robot hands. The porous double-layered fluid self-adaptive robot hand device comprises a substrate, an air inlet, an external bowl-shaped supporting piece, an internal bowl-shaped supporting piece, a first flexible film, a second flexible film, a piston cylinder assembly and the like. A multi-dimensional self-adaptive active grasping function is comprehensively achieved by means of positive and negative pressures provided by an air source, the piston cylinder assembly, small holes in the first flexible film, a porous flexible material, the internal bowl-shaped supporting piece, the external bowl-shaped supporting piece, a fluid and the like, so that objects of different shapes and dimensions can be self-adaptively grasped. The porous double-layered fluid self-adaptive robot hand device can be adaptive to the object in multiple directions to obtain the multi-dimensional self-adaptive effect, and is high in grasping stability. By combining the advantages of the spherical self-adaptive hand and a sucking disc, the porous double-layered fluid self-adaptive robot hand device provided by the invention not only can be adaptive to grasp an object with a counteractive surface, but also can be adaptive to grasp an object without the counteractive surface, and is large in grasping range and high in grasping weight; and the porous double-layered fluid self-adaptive robot hand device is simple in structure, low in cost and easy to control.

Description

technical field [0001] The invention belongs to the technical field of robotic hands, in particular to a structural design of a fluid-driven multi-dimensional self-adaptive robotic hand device. Background technique [0002] The robot hand is an important terminal for robot operation. The robot uses its claws to grab objects or manipulate (such as move, turn) objects. The robot hand can be manufactured by imitating the action principle of the human hand. This kind of robot hand imitating the human hand has been developed, generally has multiple fingers, and each finger has multiple joints. This kind of hand is also called anthropomorphic robot hand or multi-fingered robot hand. [0003] The multi-fingered robot hand is divided into two categories: dexterous hand and under-actuated hand. The two types are not independent of each other. The former refers to the multi-fingered hand with more than 3 fingers and more than 9 degrees of freedom, and the latter refers to the The nu...

AI Technical Summary

Problems solved by technology

The disadvantages of this gripper are: 1) it is necessary to rely on the reaction force given to the object by the external environment to achieve the deformation of the membrane, and it is impossible to pick up an object without a reaction surface (such as an apple hanging in the air), and this gripper is difficult crawl

The disadvantages of this gripper are: 1) The end suction cup has limited suction and cannot hold heavier objects

2) During the deformation of the membrane skin, the suction cup at the end is easily deformed, and the suction force disappears, which leads to the failure of grasping

The disadvantages of this gripper are: 1) it is necessary to rely on the reaction force given to the object by the external environment to achieve the deformation of the membrane, and it is impossible to pick up an object without a reaction surface (such as an apple hanging in the air), and this gripper is difficult crawl

2) Magnetorheological materials are expensive and costly

3) The magnetic field generated by the gripper will interfere with the electronic components of the robot controller, affecting the stability of the controller, and the magnetic field may also interfere with nearby wireless communications

4) The film skin passively adapts to the shape of the object, the magnetorheological fluid is in an irregular container, the internal magnetic field distribution is uneven, and the change degree of the magnetorheological fluid is uneven, which affects the grasping stability

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