Intelligent flexible manipulator

A manipulator and flexible technology, applied in the field of manipulators, can solve the problems of difficulty in grasping fragile objects, lack of online perception of the size and position of fragile objects, and flexible grasping

Active Publication Date: 2019-02-01
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The current industrial operators generally use rigid front-end actuators and complex closed-loop control in the control system, but it is difficult to grasp fragile objects, and there is even a lack of online perception and location of the grasping force and position of vulnerable objects. Soft grab function

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0026] see figure 1 , this patent provides an intelligent flexible operating hand, including four flexible tactile fingers 1, an upper base plate 2, a base middle base plate 3, a base lower plate 4, four air pumps 5 and a main control module 6 The flexible tactile finger 1 is connected to the lower base 4 of the base through the upper base 2 of the base; the upper base 2 of the base and the lower base 4 of the base are connected and fixed to the middle base 3 of the base ; The air pump 5 is connected to the flexible tactile finger 1 and fixed on the bottom plate 4 of the base for realizing the air pressure driving of the flexible tactile finger 1 to control the stiffness of the flexible tactile finger 1 ; The air pump 5 and the flexible tactile finger 1 are respectively connected to the main control module 6 under control.

Embodiment 2

[0028] This embodiment is basically the same as Embodiment 1, especially in that:

[0029] see figure 2 , a flexible tactile finger described in this patent adopts a hollow thin-wall flexible structure, including a coupling 101, a bevel gear set 102, a rotating shaft fixing flange 103, a rotating shaft 104, a flexible tactile finger base Seat 105, a conductive silicone sensor 106, a flexible touch finger 107, a bevel gear fixed flange 108, two deep groove ball bearings 109, two bearing blocks 110 and a stepping motor 111; the conductive silicone sensor 106 Attached to the surface of the flexible tactile finger 107, it is used to realize the micro-contact force and the position perception of the contact point; the flexible hand 107 is connected with the flexible tactile finger base 105 and is made of flexible material; the The vertical direction bevel gear 102 is connected with the stepper motor 111 through the coupling 101; The tactile finger base 105 is connected; the rota...

Embodiment 3

[0031] This embodiment is basically the same as Embodiment 1, especially in that:

[0032] see image 3 The conductive silicone sensor 106 described in this patent includes a plurality of conductive silicone fillers 202, a silicone base 203, and a finger covering film 204; the silicone base 203 is attached to the surface of the flexible tactile finger 107; Conductive silicone filler 202 is filled in the silicone base 203 to form a conductive silicone sensor array; the finger outer film 204 covers the silicone base 203 to protect the internal structure; by detecting the resistance of the conductive silicone filler 202 Press characteristics to realize tactile detection of contact point position and micro-contact force.

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Abstract

The invention discloses an intelligent flexible manipulator. Flexible touch fingers are connected with a base lower bottom plate through a base upper base plate; the base upper base plate and the baselower bottom plate are fixedly connected with a base middle base plate; an air pump is connected with the flexible touch fingers and fixed to the base lower bottom plate, and the driving of the flexible touch fingers through internal air pressure can be realized; and the air pump and the flexible touch fingers are separately in control connection with a master control module. According to the intelligent flexible manipulator, by adopting the four movable flexible touch fingers, the flexible grabbing of a target object can be realized; by adopting conductive silicon gel, the stress sensing ofthe flexible touch fingers is realized, and the purpose of carrying out regulating control on the grabbing force of the flexible touch fingers is accordingly achieved; a master controller is connectedwith the intelligent flexible manipulator, the control of the connection of a stepping motor of the intelligent flexible manipulator is realized, and the grabbing posture control of the intelligent flexible manipulator is realized; and as the conductive silicon gel is connected with the master controller, the stress information reading of the intelligent flexible manipulator is realized. The manipulator can be widely used for places needing flexible grabbing.

Description

technical field [0001] The invention relates to the field of manipulators, in particular to an intelligent flexible manipulator. Background technique [0002] At present, the intelligent robot manipulator has achieved huge practical application results in the aspects of target grasping and clamping. The end effector manipulator, as the final execution part of the interaction between the robot and the environment, plays a very important role in improving the intelligence level of the robot, so the research on the working ability of the robot end effector has received great attention. In the past two decades, due to the shortcomings of traditional industrial robot end grippers such as poor flexibility, lack of sensing ability and precise force control, etc. The multi-fingered hand imitates the human hand in terms of structure and function, and can realize the dexterous operation and precise force control of various objects, so it has the possibility to solve some complex oper...

Claims

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Application Information

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IPC IPC(8): B25J15/12B25J15/02
CPCB25J15/02B25J15/12
Inventor 唐智杰陆佳琪王振陈炜炜冯皓谷丽
Owner SHANGHAI UNIV
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