Bionic flexible manipulator
A manipulator and flexible technology, applied in the field of robot grasping, can solve the problems of small finger movement range and small grasping force of flexible manipulators
Active Publication Date: 2021-12-03
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
The disadvantage of the above solution is that the finger movement range is small, and only a small range of opening and closing actions can be performed, and objects that are not larger than its own diameter can only be gripped, and the gripping force of the flexible manipulator is relatively small
Method used
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Embodiment Construction
[0025] Embodiments of the present invention will be described in detail below. It should be emphasized that the following description is only exemplary and not intended to limit the scope of the invention and its application.
[0026] It should be noted that when an element is referred to as being “fixed” or “disposed on” another element, it may be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, the connection can be used for fixation as well as for coupling or communication.
[0027] It is to be understood that the terms "length", "width", "top", "bottom", "front", "rear", "left", "right", "vertical", "horizontal", "top" , "bottom", "inner", "outer" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in ...
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Abstract
The invention discloses a bionic flexible manipulator. The manipulator comprises a clamping jaw root and at least two clamping jaw fingers connected with the clamping jaw root, the clamping jaw fingers are bent upwards to be attached to the clamping jaw root before grabbing, each clamping jaw finger comprises an inner-layer elastic membrane bag and an outer-layer elastic membrane bag, a first magnetic flexible layer is arranged on the inner-layer elastic membrane bag, second magnetic flexible layers are correspondingly arranged on the clamping jaw root, the inner-layer elastic membrane bag is tightly attached to the clamping jaw root through the magnetic flexible layers before grabbing, solid particles are preset in the outer-layer elastic membrane bags, and liquid is injected before grabbing to form particle mixed liquid; and when an object is grabbed, liquid or gas is injected into the inner-layer elastic membrane bags to enable the inner-layer elastic membrane bags to be expanded, the inner-layer elastic membrane bags are bent towards the direction of the object, liquid is extracted from the outer-layer elastic membrane bags to enable the outer-layer elastic membrane bags to be contracted, and the clamping jaw fingers clamp the object through the blocking and agglomerating effects of the solid particles in the outer-layer elastic membrane bags. The flexible manipulator can deform in a narrow space range and clamp an object with the diameter larger than that of the flexible manipulator, and has large grabbing force.
Description
technical field [0001] The invention relates to the grasping technology of a robot, in particular to a bionic flexible manipulator. Background technique [0002] Grasping is one of the most important directions in the field of robotics research and is widely used in the automation industry. With the development of artificial intelligence, various industries have more and more demands for robot grasping. Traditional robot grasping needs to determine the size, shape, weight, etc. of the grasped object, and has a good grasping success rate for objects with similar indicators. The grasping of general objects is still a research topic. Traditional manipulators require a variety of force and tactile sensors and form a closed control loop with the driver. The structure and control are relatively complicated, and the cost is relatively high. [0003] A pneumatic gripper scheme, the gripper can bend inward when inflated due to the strain-limited structure on the outside. Another e...
Claims
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Login to View More IPC IPC(8): B25J15/00
CPCB25J15/00
Inventor 梁斌尹向辉李寿杰王学谦
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV