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Flexible gripper of multi-sensing robot and pneumatic control device

A technology of air pressure control and robotics, which is applied to manipulators, program-controlled manipulators, manufacturing tools, etc., and can solve problems such as inability to perceive the grasping state

Active Publication Date: 2019-06-11
金蘑菇(南京)智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the defects in the prior art that the robot's flexible gripper is only controlled by the switch value and cannot sense the grasping state, the present invention provides a multi-sensory robot flexible gripper and air pressure control equipment, which can grasp and grasp not only relying on a single airway Release the object, but also sense the grasping force, the sliding between the grasped object, the distance from the grasped object, and the air pressure value in the single airway flexible finger, and complete the grasping with the minimum force by adaptively adjusting the grasping force object

Method used

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  • Flexible gripper of multi-sensing robot and pneumatic control device
  • Flexible gripper of multi-sensing robot and pneumatic control device

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0029] Such as figure 2 , image 3 , Figure 4 As shown, the single-airway flexible finger (11) includes a finger surface (111) and a finger base plate (112), and a slip sensor (1121) is arranged inside the finger base plate (112), and one side of the finger base plate (112) The surface is flat and the other side has a hemispherical boss (1122), the hemispherical boss (1122) is used to increase friction, and the flat side of the finger bottom plate (112) is connected to the finger surface (111) , the finger surface (111) and the finger bottom plate (112) form a single airway (114), and the finger surface (111) includes a fingertip (1111), a heel (1113) and at least one knuckle (1112) ), a fingertip transition arc (1114) is set between the fingertip (1111) and the knuckle (1112), and the knuckle (1112) includes a knuckle peak (11121), a knuckle valley (11122), a knuckle Nodal surface (11123), the knuckles (1112) are sequentially connected in series to form a wave-shaped str...

Embodiment 2

[0033] Such as Figure 9 As shown, the air pressure control equipment (4) described air pressure control equipment (5) includes an air pump (53), positive pressure control air circuit (52), negative pressure control air circuit (51), four-way quick connector (54), air pressure Control circuit module (55);

[0034] The four-way quick connector (54) includes a quick connector 1, a quick connector 2, a quick connector 3, and a quick connector 4;

[0035] The positive pressure control air circuit (52) includes a positive pressure electric proportional valve (521), a positive pressure buffer gas cylinder (522), a positive pressure on-off control solenoid valve (523), and the positive pressure electric proportional valve (521) The air inlet of the air inlet is communicated with the air pump (53) through the air pipe, and the air outlet of the positive pressure electric proportional valve (521) is communicated with the air inlet of the positive pressure buffer gas cylinder (522) thr...

Embodiment 3

[0040] Such as Figure 10 , Figure 11 As shown, the two-finger multi-sensory robotic flexible gripper includes A single-airway flexible finger module (1A), B single-airway flexible finger module (1B), A palm (2A), A measurement and control circuit module (3A), A hand Claw multi-way quick connector (4A);

[0041] The A palm (2A) is a cylindrical thin shell, one side of the A palm (2A) is open and the other side is closed, and the A1 force sensor installation hole (2A11), A2 force sensor installation hole (2A12), A2 force sensor installation hole (2A12), A laser ranging hole (2A2), the A1 force sensor mounting hole (2A11), A2 force sensor mounting hole (2A12) are symmetrical;

[0042] The structures of the A single airway flexible finger module (1A) and the B single airway flexible finger module (1B) are all the same as the structure of the single airway flexible finger module (1) according to claim 1, and the A single The airway flexible finger module (1A) passes through th...

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Abstract

The invention discloses a flexible gripper of a multi-sensing robot and a pneumatic control device. A slip feel sensor is arranged in a bottom plate of single-air-passage flexible fingers, a C-shapedconnecting piece is buckled to the outer part of a finger root in a covering mode, the C-shaped connecting piece is fixedly installed at one end of a connecting piece of a force sensor, the other endof the connecting piece of the force sensor is fixedly installed at one end of the force sensor, a cushion block is fixedly installed at the other end of the force sensor, the cushion block is fixedlyinstalled in a palm, a measurement and control circuit module is fixedly installed in the palm, and the measurement and control circuit module can communicate with the pneumatic control device. According to the flexible gripper of the multi-sensing robot and the pneumatic control device, the flexible gripper of a two-fingered, three-fingered and four-fingered multi-sensing robot can be formed according to the number of the single-air-passage flexible fingers, the flexible gripper of the multi-sensing robot not only grasps and releases objects by relying on a single air passage, but also senses the griping force, the sliding between the grasped objects, the distance from the grasped objects and the pressure value in the single-air-passage flexible finger, and by adjusting the griping forceadaptively, the objects can be grasped with minimum force.

Description

technical field [0001] The invention relates to a soft robot, in particular to a multi-sensory flexible pneumatic gripper. Background technique [0002] Existing robotic flexible grippers are only controlled by switches, and work in two states of opening and closing, lacking the perception of grasping states such as gripping force and sliding. In general, the working air pressure of the flexible gripper of the robot is preset. When the flexible gripper needs to grab an object, the inside of the gripper is pressurized to a predetermined positive air pressure. When the flexible gripper needs to release an object, the inside of the gripper is depressurized to Predetermined negative air pressure. This kind of robot flexible gripper controlled by switch has defects, and it cannot automatically adjust to a suitable grip force according to the actual needs of grasping. Especially in industries such as food, fruit and vegetable planting, the grasped objects are generally soft and e...

Claims

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Application Information

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IPC IPC(8): B25J15/00B25J15/12B25J9/16B25J13/08
Inventor 卢伟季钦杰王鹏丁宇
Owner 金蘑菇(南京)智能科技有限公司
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