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An 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, and achieve widely applicable effects

Active Publication Date: 2022-02-08
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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  • An intelligent flexible manipulator
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  • An intelligent flexible manipulator

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 operating hand. The flexible tactile fingers are connected to the lower base plate of the base through the upper base plate of the base; the upper base plate of the base and the lower base plate of the base are connected and fixed with the base plate in the base; And fixed on the bottom plate of the base, it can realize the air pressure drive in the flexible touch finger; the air pump and the flexible touch finger are respectively connected to the main control module; the intelligent flexible operator uses four movable flexible touch fingers, which can realize the target object The flexible grasping of the flexible tactile finger is achieved by using conductive silica gel to realize the force perception of the flexible tactile finger, thereby realizing the purpose of adjusting and controlling the grip force of the flexible tactile finger; The intelligent manipulator grasps the attitude control, and the conductive silica gel is connected with the main controller to realize the reading of the force information of the flexible intelligent manipulator. The operator can be widely used in places where flexible gripping is required.

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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Patent Type & Authority Patents(China)
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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