阅读说明：本技术 一种基于吞食效应的软体机械手 (A kind of software manipulator based on effect of eating ) 是由 姚建涛 李海利 王振 赵无眠 张帅 魏纯杰 王亚蒙 许允斗 *** 于 2019-08-21 设计创作，主要内容包括：本发明涉及一种基于吞食效应的软体机械手,属于机械手技术领域。一种基于吞食效应的软体机械手,包括用于抓取物体的吞食部分、外壳部分、驱动部分以及控制部分；所述吞食部分包括能够从内部翻折形成长条的柔性气囊和用于将柔性气囊同外壳部分固定的柔性气囊固定件,柔性气囊的长条与外壁之间形成充气空间；所述驱动部分包括用于卷动柔性气囊形成的长条的卷筒以及用于向充气空间内充气的气泵,卷筒由直流电机驱动转动。本发明是通过柔性气囊对物品进行吞食抓取的机械手,柔性气囊在控制下能够来实现对各种复杂物品的稳定抓取,并对被抓持物提供适当的保护,且可实现一次性对多个物品的抓取。(The present invention relates to a kind of software manipulators based on effect of eating, and belong to manipulator technical field.A kind of software manipulator based on effect of eating, including eat part, casing part, drive part and the control section for grabbing object；The part of eating includes that can form the flexible air-bag of strip from internal fold and for the flexible air-bag fixing piece that flexible air-bag is fixed with casing part, form plenum space between the strip and outer wall of flexible air-bag；The drive part includes the reel of the strip formed for scrolling flexible air-bag and the air pump for inflating into plenum space, and reel is driven by direct current generator and rotated.The present invention is eat the manipulator of crawl by flexible air-bag to article, and flexible air-bag can realize the crawl of stablizing to various complex articles under control, and provide protection appropriate to by grasping object, and can realize the disposably crawl to multiple articles.)

1. a kind of software manipulator based on effect of eating, it is characterised in that: including the eat part, shell for grabbing object Partially, drive part and control section；The part of eating includes the flexible air-bag (1) that strip can be formed from internal fold With the flexible air-bag fixing piece (2) for fixing flexible air-bag (1) with casing part, the strip and outer wall of flexible air-bag (1) Between formed plenum space (22)；The drive part includes the reel (16) of the strip formed for scrolling flexible air-bag (1) And the air pump (11) for inflating into plenum space (22), reel (16) are driven by direct current generator (17) and are rotated.

2. a kind of software manipulator based on effect of eating according to claim 1, it is characterised in that: the casing part Including the upper housing (3) being docking together and lower case (4)；Through-hole is arranged and by through-hole with soft in lower case (4) bottom surface Property air bag (1) open end connection；Lower case (4) bottom surface is correspondingly arranged reel (16) in through hole and drives reel (16) Direct current generator (17)；Casing part setting quick coupling (9) is simultaneously connected to by tracheae (12) with air pump (11).

3. a kind of software manipulator based on effect of eating according to claim 2, it is characterised in that: drive part also wraps Include bearing and driving gear (23) and driven gear (21)；Lower case (4) bottom surface is arranged in through-hole two sides for installing bearing Bearing bracket stand (14), reel (16) is hinged by bearing and bearing bracket stand (14)；The output shaft of direct current generator (17) installs driving tooth It takes turns (23), the driven gear (21) engaged with driving gear (23) is installed in reel (16) side.

4. a kind of software manipulator based on effect of eating according to claim 1 or 3, it is characterised in that: the reel It (16) include the gear side fixed part (18) being connected in turn, middle section (19) and non-gear side fixed part (20)；Middle section (19) is that the semicylinder of two ends setting semi-circular flanges is composed, what flexible air-bag (1) was formed The end of strip is placed between two semicylinders of the middle section (19) of reel (16)；Gear side fixed part (18) setting The axis and flange of mountable driven gear (21) and bearing, the axis and method of non-gear side fixed part (20) setting installation bearing It is blue.

5. a kind of software manipulator based on effect of eating according to claim 2, it is characterised in that: lower case (4) bottom Annular flange (15) are arranged in the through-hole lower end in face, and the open end of flexible air-bag (1) covers the appearance in through-hole using interference fit On face, and fixed using flexible air-bag (1) fixing piece clip.

6. a kind of software manipulator based on effect of eating according to claim 5, it is characterised in that: flexible air-bag is fixed Part (2) is the opening clip using bolt fastening.

7. a kind of software manipulator based on effect of eating according to claim 2, it is characterised in that: casing part is also set Set pressure limiting valve (8).

8. a kind of software manipulator based on effect of eating according to claim 1 or 2, it is characterised in that: lower case (3) It is equipped with seal groove with the joint face of upper housing (4), sealing ring (13) are set in the seal groove.

9. a kind of software manipulator based on effect of eating according to claim 1, it is characterised in that: control section includes For controlling two relays (6) of direct current generator (17) positive and negative rotation and a relay (6) of control air pump (11) switch.

10. a kind of software manipulator based on effect of eating according to claim 2, it is characterised in that: on tracheae (12) It is arranged check valve (10).

Technical field

The present invention relates to a kind of software manipulators based on effect of eating, and belong to manipulator technical field.

Background technique

Robot end's grabbing device is a ring important in robot architecture.The manipulator of conventional rigid structure exists In some special operation condition environment, the grasping of such as complicated frangible object, human-computer interaction etc. has great difficulty.With society Make constant progress, people have new requirement, such as the sorting to food to manipulator in more fields, to fragile article Crawl, the lossless capture etc. to ocean software biology.Application of 3D printing technique and novel intelligent material etc. in recent years is increasingly Maturation, software grabbing device have further development.Its application environment has been directed to medical treatment, human-computer interaction, rescue, service etc. Aspect.Compared to Rigid Manipulators, software grabbing device has stronger adaptability, is easy to grab fragile article, object in irregular shape And the article of mutative scale, the frontier of robot device is opened, in terms of driving method, mostly fluid is driven.At present The software grabbing device for obtaining license is mostly finger-like structure, grabs software digital flexion to reach by being filled with compressed air The purpose taken, but its load capacity is limited and when manipulator is by external interference, it is not easy to it realizes and stablizes crawl.To shape In the crawl of extremely irregular article, since driving finger is discrete arrangement, it is likely to result in crawl failure.And in crawl number Amount aspect, current manipulator are only able to achieve the crawl of single item mostly.

Summary of the invention

The object of the present invention is to provide a kind of software manipulators based on effect of eating, to realize to various complex articles Stablize crawl, and provides protection appropriate to by grasping object, and can realize the disposably crawl to multiple articles.

To achieve the goals above, the technical solution adopted by the present invention is that:

A kind of software manipulator based on effect of eating, including eat part, casing part, the drive part for grabbing object And control section；The part of eating includes that can form the flexible air-bag of strip from internal fold and be used for flexible air-bag With the flexible air-bag fixing piece that casing part is fixed, plenum space is formed between the strip and outer wall of flexible air-bag；The driving The reel and air pump for being inflated into plenum space that part includes the strip formed for scrolling flexible air-bag, reel by Direct current generator driving rotation.

Technical solution of the present invention further improvement lies in that: the casing part include the upper housing that is docking together and under Shell；The lower case bottom surface is arranged through-hole and connects through-hole with the open end of flexible air-bag；Lower case bottom surface is in through-hole Place is correspondingly arranged reel and drives the direct current generator of reel；Casing part is arranged quick coupling and is connected by tracheae and air pump It is logical.

Technical solution of the present invention further improvement lies in that: drive part further includes bearing and driving gear and driven tooth Wheel；The bearing bracket stand for installing bearing is arranged in through-hole two sides in lower case bottom surface, and reel is hinged by bearing and bearing bracket stand；Direct current The output shaft of motor installs driving gear, and the driven gear engaged with driving gear is installed in reel side.

Technical solution of the present invention further improvement lies in that: the reel includes that the gear side being connected in turn is fixed Partially, middle section and non-gear side fixed part；Middle section is the semicylinder group that semi-circular flange is arranged in two ends It closes, between two semicylinders of the middle section that the end for the strip that flexible air-bag is formed is placed in reel；Gear side is solid The fixed axis and flange that mountable driven gear and bearing are partially set, the axis and method of non-gear side fixed part setting installation bearing It is blue.

Technical solution of the present invention further improvement lies in that: annular flange is arranged in the through-hole lower end of lower case bottom surface, soft Property air bag open end covered on the outer surface of through-hole using interference fit, and fixed using flexible air-bag fixing piece clip.

Technical solution of the present invention further improvement lies in that: flexible air-bag fixing piece be use bolt fastening open card Hoop.

Technical solution of the present invention further improvement lies in that: casing part also sets up pressure limiting valve.

Technical solution of the present invention further improvement lies in that: the joint face of lower case and upper housing be equipped with seal groove, it is described Sealing ring is set in seal groove.

Technical solution of the present invention further improvement lies in that: control section includes two for controlling DC motor positive and negative rotation A relay and a relay for controlling air pump switch.

Technical solution of the present invention further improvement lies in that: check valve is set on tracheae.

By adopting the above-described technical solution, the technical effect that the present invention obtains has:

1, manipulator of the invention has good flexibility: the part of eating of this software manipulator is mainly flexible air-bag, is being grabbed During taking, flexible air-bag can be very good fitting object, to keep the stress of object more uniform.It is outer by adjusting The pressure limiting valve installed in shell parts can have the function that adjust inside air bag air pressure, thus in crawl breakables or crisp When product, there is apparent advantage.

2, manipulator of the invention has high security: the dynamical element of total is all sealed in casing part, and Eating partially is also to be made of flexible air-bag, in human-computer interaction process, has higher safety.

3, manipulator of the invention is with very strong adaptability: since flexible air-bag has certain elasticity, and grabbing When the size of flexible air-bag internal pressure is depended on to the pressure of object, this just determines that this software manipulator can grab and appoints Meaning shape, the article of arbitrary size (object need to be less than the maximum gauge after current air bag radial drawing).

4, manipulator of the invention has the crawl that can be realized during once handling up to multiple articles: this software is mechanical The flexible air-bag of hand theoretically can be indefinite length, and (as long as the space around reel is sufficiently large, flexible air-bag can be rolled up by reel Play random length), therefore during handling up, multiple objects can be swallowed primary, this is that other software manipulator institutes are difficult With realization.

5, manipulator of the invention at work, can be right since object is to be wrapped in flexible air-bag completely Object plays a protective role.Furthermore when by external interference, it is able to achieve more stable crawl.

Detailed description of the invention

Fig. 1 is overall structure of the present invention；

Fig. 2 is lower case schematic internal view of the present invention；

Fig. 3 is the component assembling schematic diagram inside casing part of the present invention；

Fig. 4 is reel stereoscopic schematic diagram of the present invention；

Fig. 5 is flexible air-bag schematic diagram of the present invention；

Fig. 6 is the A-A cross-sectional view of Fig. 5；

Fig. 7 is the A-A cross-sectional view in object procedure of the invention of eating；

Wherein, 1, flexible air-bag, 2, flexible air-bag fixing piece, 3, upper housing, 4, lower case, 5, micropore, 6, relay, 7, flange Disk, 8, pressure limiting valve, 9, quick coupling, 10, check valve, 11, air pump, 12, tracheae, 13, sealing ring, 14, bearing bracket stand, 15, flange, 16, reel, 17, direct current generator, 18, gear side fixed part, 19, middle section, 20, non-gear side fixed part, 21, driven Gear, 22, plenum space, 23, driving gear.

Specific embodiment

With reference to the accompanying drawing and specific embodiment is described in further details the present invention:

The invention discloses a kind of software manipulator, specifically a kind of software manipulator based on effect of eating, Neng Gouzuo For the end grabbing device of robot.Its structure is described in detail below.

The present invention is a kind of software manipulator based on effect of eating, which mainly includes four parts, the machinery Hand includes eat part, casing part, drive part and the control section for grabbing object.Drive part and control unit The components divided are arranged on the inside or outer wall of casing part.Eat partially is that manipulator realizes the portion for grabbing article function Point.Drive part and control section cooperation can make to eat partially is carried out the crawl and release of article by predetermined design.

The part of eating of the manipulator uses flexible air-bag 1 as handgrip, and part of eating mainly includes flexible air-bag 1 And flexible air-bag fixing piece 2.As shown in Fig. 5, Fig. 6, Fig. 7, flexible air-bag 1 is before assembly cylindrical structure, and one End opening, other end closing.Now the closed one end of flexible air-bag 1 is referred to as bottom surface.The softness of flexible air-bag 1 can make its bottom surface By forming strip in the fold of inside.Flexible air-bag 1 is capable of forming plenum space between the strip and outer wall that inside is formed 22, when work, gas is filled with into plenum space 22, flexible air-bag 1 is in swelling state.Flexible air-bag 1 needs same shell Grouping dress is fixed, and flexible air-bag 1 is fixedly connected using flexible air-bag fixing piece 2 with casing part.It is flexible in specific implement The generally circular opening clip of air bag fixing piece 2 realizes the flexible air-bag 1 and shell of part of eating by the bolt of opening Partial connection and sealing.In Fig. 5, Fig. 6, Fig. 7, left side is the open end of flexible air-bag, and right side is the closing of flexible air-bag End.

The casing part of the manipulator includes the upper housing 3 being docking together and lower case 4, is set in the bottom surface of lower case 4 Through-hole is set, and through-hole is connected with the open end of flexible air-bag 1.It is inflated by casing part into flexible air-bag 1.For The air-tightness for guaranteeing casing part is equipped with seal groove, setting in the seal groove in the joint face of lower case 3 and upper housing 4 Sealing ring 13, so as to make to be seamlessly connected between upper housing 3 and lower case 4；It is usually only necessary to that groove is arranged in the end face of lower case 4 .In specific implement, as shown in Figure 1 and Figure 2, upper housing 3 and lower case 4 can preferentially be set as shape and be bordering on eight The shape of prism, and inner hollow.4 bolt connecting holes are uniformly distributed in the junction of upper housing 3 and lower case 4, are used for Connect upper housing 3 and lower case 4.

The through-hole of 4 bottom surface of lower case of the manipulator casing part is used to dock with flexible air-bag 1, which has certain Length, the lower end of through-hole are thin-walled feature, and outer profile is circle.There is an annular flange 15 in the end of through-hole, it is described convex The diameter of edge 15 is slightly larger than outer diameter when 1 unaerated of flexible air-bag.Above-mentioned through-hole and flange 15 are for connecting flexible air The open end of capsule 1, connection type are the opening end cap of flexible air-bag 1 on the outer surface of through-hole, match and are combined into interference fit；So The clip that is open with flexible air-bag fixing piece 2 again afterwards is fixed, and is guaranteed its air-tightness and can be born certain pressure.

The drive part of stating of the manipulator refers to that driving is eaten the components of part work, mainly includes for inflation The reel 16 of the air pump 11 and the strip formed for scrolling flexible air-bag 1 inflated in space 22.Air pump 11 is into flexible air-bag 1 Inflation can make flexible air-bag have effect of eating.The strip that reel 16 can drive flexible air-bag 1 to be formed by rotating is received Contracting, to eating article into inner part.Reel 16 is driven by direct current generator 17 and is rotated, and direct current generator 17 usually uses direct current and subtracts Speed motor can slowly band movable reel 16 rotate.The lateral surface of casing part is arranged in air pump 11, fast in casing part setting Quick coupling 9 is simultaneously connected to by tracheae 12 with air pump 11.In addition, in order to make to keep suitable pressure inside flexible air-bag 1, in shell Part is additionally provided with pressure limiting valve 8, when pressure is excessive in flexible air-bag 1, can be released stress by pressure limiting valve 8.Specific such as Fig. 1 Shown, quick coupling 9 and pressure limiting valve 8 are arranged at the outer surface of lower case 4 in Fig. 1.It in an implementation, can also be on tracheae 12 Check valve 10 is set, i.e. the interface of air pump 11 is connected to check valve 10 by tracheae 12, and check valve 10 is connected by tracheae 12 again To the quick coupling 9 of casing part.In an implementation, upper housing 3 is provided with a micropore 5, for passing through the conducting wire of direct current generator 17, The micropore 5 is blocked after passing through conducting wire, keeps the sealing of housing parts.Air pump 11 is usually using small air pump.

Further, as shown in figure 3, the drive part of the manipulator further includes bearing and driving gear 23 and driven tooth The auxiliary components such as wheel 21.The components such as the reel 16 of drive part are arranged in the inside of casing part and are located at the bottom of lower case 4 On face.As shown in Fig. 2, being located at through-hole two sides setting bearing bracket stand 14 in 4 bottom surface of lower case, bearing is installed in bearing bracket stand 14. The both ends of reel 16 are hinged by bearing and bearing bracket stand 14.Meanwhile driven gear being installed in the side of reel 16, in direct current generator 17 output shaft installs driving gear 23, and driving gear 23 and driven gear 21 engage, cooperated by gear and be driven, direct current generator 17 can drive reel 16 to rotate.

As shown in figure 4, the preferential set-up mode of the structure of reel 16 of the invention is, reel 16 includes being connected to one in turn Gear side fixed part 18, middle section 19 and the non-gear side fixed part 20 risen.Therein, middle section 19 is two ends The semicylinder of portion's setting semi-circular flange is composed, and the end for the strip that flexible air-bag 1 is formed is placed in reel when assembling Between two semicylinders of 16 middle section 19, middle section 19 can be fixed and to length with the strip of flexible air-bag 1 Item is wound folding and unfolding.The side of middle section 19 is gear side fixed part 18, and being provided in gear side fixed part 18 can The axis and flange of driven gear 21 and bearing are installed；The other side of middle section is non-gear side fixed part 20, in non-gear The axis and flange of the setting installation bearing of side fixed part 20.As shown in figure 4, middle section 19 is the same as gear side fixed part 18 and non- Gear side fixed part 20 is fixed together by flange and nut bolt.Particularly, in middle section 19 4 counter sinks are set on the flange at both ends, it is corresponding on the flange of gear side fixed part 18 and non-gear side is fixed The through-hole matched with counter sink size and location is respectively provided on partial flange, by screw bolt and nut by gear side fixed part Divide 18, middle section 19 together with non-20 assembly and connection of gear side fixed part.When assembling reel 16, line is by flexible air-bag 1 bottom is come up from inside fold, and the part for making fold come up forms a banded strip, and strip is placed in above-mentioned reel 16 Between two semicylinders of middle section, completes the assembling of 16 various pieces of reel again later, enable the strip by reel 16 fricton-tight roll.The structure of reel, which is realized, to be fixed and rolls and discharge for the strip of flexible air-bag 1, is finally made soft Property air bag 1 can carry out eat crawl and release to article.

The both sides of the manipulator upper housing and lower casing outside are provided with groove, are used to installation control component and driving Partial part, groove shapes and the control section part of required installation and the enveloping surface of drive part part.Upper housing is under Shell can be made of 3D printing.There is ring flange 7 at the top of upper housing 3, for connecting the main body of other kinematic robots Part.

The control section of the manipulator mainly includes two relays 6 and control for controlling 17 positive and negative rotation of direct current generator The relay 6 that air pump 11 processed switchs.

Manipulator of the invention, in the two sides of upper housing 3 and the lateral surface of lower case 4, setting is fluted, for installing control The part of system part and drive part, groove shapes are the control section part of required installation and the envelope of drive part part Face.As shown in Figure 1, the side of 3 lateral surface of upper housing is arranged in air pump 11,3 lateral surface of upper housing is arranged in three relays 6 The other side.

The handle up process of target of the manipulator first controls one of relay and opens air pump 11 as shown in Figure 6 and Figure 7, Pressure limiting valve 8 can make to keep certain pressure inside flexible air-bag, to play the role of supporting flexible air-bag 1, then control is another An outer relay opens direct current generator 17, rotates forward direct current generator 17, the part that flexible air-bag 1 is rolled in Fig. 6 is driven, when soft When property air bag 1 touches object, by flexible air-bag 1 to the frictional force of object, object is made to be eaten to flexibility Inside air bag 1.Since flexible air-bag 1 has certain length, when eaten an object after, can also continue to eat next Object.It eats after completion, control third relay inverts direct current generator 17, due to the pressure inside flexible air-bag 1 Effect makes object be detached from flexible air-bag 1, completes the movement spat.Then relay is controlled, direct current generator 17 and air pump are closed 11。

The gas that the present invention gives eat part and casing part to be filled with certain pressure by air pump, inflates flexible air-bag Afterwards, better surface can contacts with article of being eaten, to increase flexible air-bag and by the frictional force between article of eating, according to Flexible air-bag inner surface is pulled by direct current generator, to drive article of being eaten to moving inside flexible air-bag, is come with this Completion is eaten movement, and the success rate of this manipulator crawl article is increased.When the length of flexible air-bag is very long, this machinery of eating Hand can disposably eat multiple objects.

The present invention is provided with flexible air-bag as the gripping portion of manipulator, while flexible air-bag is in the volume of drive part Under the control action of cylinder and air pump, crawl of eating can be carried out to article, not only realize and disposably grab multiple articles, also There can be good protectiveness to crawl article.

The present invention is provided with eat part, casing part, drive part and control section, and four most of mutual cooperations are real The work of the software manipulator based on effect of eating is showed.