阅读说明：本技术 一种易碎物品的分体式柔性抓取机器人及工作方法 (Split type flexible grabbing robot for fragile articles and working method ) 是由 房殿军 罗尔夫·施密特 蒋红琰 张维杰 叶剑 于 2021-07-23 设计创作，主要内容包括：本发明公开了一种易碎物品的分体式柔性抓取机器人,包括底座、分体式柔性抓取模块、升降移动模块；底座底部设置移动车轮；分体式柔性抓取模块位于底座上部且与升降移动模块相连；分体式柔性抓取模块的上下端面之间开设菱形夹取孔,菱形夹取孔的四个端面处设置有柔性伸缩模块；柔性伸缩模块包括伸缩腔体,伸缩腔体内设置伸缩块,伸缩块包括若干上下叠放的柔性伸缩单元；每个柔性伸缩单元均与压力控制系统相连。本发明中每个柔性伸缩单元均能实现各自的伸出与缩回,以适应易碎物品的外壁形状,从而能够抓取具有不同外壁形状的易碎物品；同时本申请中伺服溢流阀的设置,能够满足易碎物品对夹紧力的要求,实现对易碎物品的安全、高效抓取。(The invention discloses a split type flexible grabbing robot for fragile articles, which comprises a base, a split type flexible grabbing module and a lifting moving module, wherein the base is provided with a plurality of support columns; the bottom of the base is provided with a movable wheel; the split type flexible grabbing module is positioned at the upper part of the base and is connected with the lifting moving module; diamond-shaped clamping holes are formed between the upper end surface and the lower end surface of the split type flexible grabbing module, and flexible telescopic modules are arranged at the four end surfaces of the diamond-shaped clamping holes; the flexible telescopic module comprises a telescopic cavity, a telescopic block is arranged in the telescopic cavity, and the telescopic block comprises a plurality of flexible telescopic units which are stacked up and down; each flexible telescopic unit is connected with a pressure control system. In the invention, each flexible telescopic unit can realize respective extension and retraction to adapt to the shape of the outer wall of the fragile object, so that the fragile object with different outer wall shapes can be grabbed; simultaneously servo overflow valve's setting in this application can satisfy fragile object to the requirement of clamp force, realizes snatching to fragile object's safety, high efficiency.)

1. A split type flexible grabbing robot for fragile articles is characterized by comprising a base, a split type flexible grabbing module and a lifting moving module;

the bottom of the base is provided with a movable wheel;

the lifting moving module is positioned at the upper part of the base and is fixedly connected with the base;

the split flexible grabbing module is positioned at the upper part of the base and is connected with the lifting moving module, and the lifting moving module controls the vertical lifting movement of the split flexible grabbing module;

diamond-shaped clamping holes are formed between the upper end surface and the lower end surface of the split type flexible grabbing module, and flexible telescopic modules are arranged at the four end surfaces of the diamond-shaped clamping holes; the flexible telescopic module comprises a telescopic cavity connected with the upper end surface and the lower end surface of the split type flexible grabbing module, a telescopic block is arranged in the telescopic cavity, and the telescopic block comprises a plurality of flexible telescopic units which are stacked up and down and can be telescopic along the direction of the perpendicular line of the corresponding end surface of the diamond clamping hole;

each flexible telescopic unit is connected with a pressure control system.

2. The split type flexible grabbing robot for fragile articles according to claim 1, wherein the flexible telescopic unit is a flexible air bag.

3. The split type flexible grabbing robot for fragile articles according to claim 1, wherein the pressure control system comprises an air compressor, an air dryer, an air tank and a plurality of pneumatic control units which are connected in parallel and correspond to the flexible telescopic units one by one, wherein the pneumatic control units are located at the rear end of the air tank;

the pneumatic control unit comprises a three-position four-way electromagnetic valve, an execution cylinder and a controller; the gas path input end of the three-position four-way electromagnetic valve is connected with the outlet of the gas tank, the gas path output end of the three-position four-way electromagnetic valve is connected with the execution cylinder, and the controller is connected with the control input end of the three-position four-way electromagnetic valve;

and the end part of a piston rod of the execution cylinder is connected with the corresponding flexible telescopic unit.

4. The split type flexible grabbing robot for fragile articles according to claim 3, wherein a gas path input port P of the three-position four-way electromagnetic valve is connected with an outlet of a gas tank, and a backflow port T of the three-position four-way electromagnetic valve is connected with a gas exhaust pipeline; the gas path output interface A of the three-position four-way electromagnetic valve is connected with the extending cavity of the execution cylinder through a first gas path, and the gas path output interface B of the three-position four-way electromagnetic valve is connected with the retracting cavity of the execution cylinder through a second gas path.

5. The split type flexible grabbing robot for fragile articles according to claim 4, wherein a flow sensor and a pressure sensor are arranged on each of the first air path and the second air path;

servo overflow valves are arranged on a first gas path and a second gas path between the flow sensor and the pressure sensor;

the servo overflow valve is connected with the controller;

the flow sensor and the pressure sensor are in communication connection with the controller;

the controller is in communication connection with the computer.

6. The split type flexible grabbing robot for fragile articles according to claim 1, wherein the lifting moving module comprises two fixing plates which are arranged in parallel up and down, a back fixing plate is fixedly arranged on the back sides of the two fixing plates, and the bottom of the back fixing plate is fixedly connected with the base;

a guide post and a ball screw which extend along the vertical direction are arranged between the two fixed plates; the guide post is fixedly connected with the fixed plate, and the ball screw is rotatably connected with the fixed plate; the top end of the ball screw is coaxially and fixedly connected with a rotating shaft of the lifting servo motor;

a sliding block is fixedly arranged at one end of the split type flexible grabbing module, and a guide hole and a nut through hole which are communicated up and down are formed in the sliding block; a lubricating sleeve is arranged in the guide hole, and a ball nut is arranged in the nut through hole;

the lubricating sleeve is in sliding fit with the guide column, and the ball nut is in threaded fit with the ball screw.

7. The article grabbing method of the split type flexible grabbing robot based on the fragile article according to any one of claims 1 to 6 is characterized by comprising the following steps:

step 11: starting a lifting servo motor to enable the split type flexible grabbing module to descend to a position to be grabbed of the fragile object;

step 12: the air compressor flushes high-pressure gas into the gas tank and reaches preset pressure;

step 13: the computer sends a grabbing and carrying instruction to the controller;

step 14: the controller in each pneumatic control unit sets the limiting pressure of the servo overflow valve;

step 15: the controller in each pneumatic unit controls the coil P1 at the left end of the corresponding three-position four-way electromagnetic valve to be electrified and the coil P2 at the right end of the corresponding three-position four-way electromagnetic valve to be deenergized, so that PA is switched on and BT is switched on;

step 16: air in the air tank is input into the extending cavity of the execution cylinder, and a piston rod of the execution cylinder drives the corresponding flexible telescopic unit to extend; meanwhile, the pressure sensor on the first air path in each pneumatic control unit transmits the detected pressure value to the controller;

and step 17: when the pressure value detected by a pressure sensor on a first air passage in the pneumatic control unit reaches the limit pressure of a servo overflow valve on the air passage, stopping inputting air into the extending cavity of the corresponding execution cylinder; until the pressure values detected by the pressure sensors on the first air paths of all the pneumatic control units reach the limit pressure of the servo overflow valves on the corresponding air paths, the air tank stops conveying air outwards;

step 18: after grabbing, starting a lifting servo motor, driving the fragile articles to ascend and separate from the ground by the split type flexible grabbing module, and moving the fragile articles to a specified position by moving wheels;

step 19: the lifting servo motor is started, and the split type flexible grabbing module descends to enable the fragile articles to fall to the ground;

step 110: the controller controls the coil P1 AT the left end of each three-position four-way electromagnetic valve to lose power and the coil P2 AT the right end of each three-position four-way electromagnetic valve to be powered on, so that the PB is switched on, the AT is switched on, and the piston rod of each execution cylinder drives the flexible telescopic unit to retract until the flexible telescopic unit resets.

8. The method for judging the shape of the fragile object based on the split type flexible grabbing robot of any one of claims 1 to 6 is characterized by comprising the following steps:

step 21: starting a lifting servo motor to enable the split type flexible grabbing module to descend to a position to be grabbed of the fragile object;

step 22: the air compressor flushes high-pressure gas into the gas tank and reaches preset pressure;

step 23: the computer sends a shape judgment instruction to the controller;

step 24: the controller in each pneumatic control unit sets the limiting pressure of the servo overflow valve;

step 25: the controller in each pneumatic control unit controls the coil P1 at the left end of the corresponding three-position four-way electromagnetic valve to be electrified and the coil P2 at the right end of the corresponding three-position four-way electromagnetic valve to be deenergized, so that PA is switched on and BT is switched on;

step 26: air in the air tank is input into the extending cavity of the execution cylinder, and a piston rod of the execution cylinder drives the corresponding flexible telescopic unit to extend; meanwhile, the gas flow detected by the flow sensor and the pressure value detected by the pressure sensor on the first gas path in each pneumatic control unit are transmitted to the controller;

step 27: when the pressure value detected by a pressure sensor on a first air path in the pneumatic control unit is increased from a constant state, stopping inputting air into the extending cavity of the corresponding execution cylinder; until the pressure values detected by the pressure sensors on the first air paths of all the pneumatic control units are increased in a constant state, the air tank stops conveying air outwards;

step 28: a flow sensor on a first air path in each pneumatic control unit detects the flow of gas flowing into the extending cavity of each actuating cylinder and transmits the data of the flow of the gas extending out of the cavity of each actuating cylinder to a computer through a controller; a pressure sensor on a first air path in each pneumatic control unit detects the gas pressure in the extending cavity of each actuating cylinder and transmits the gas pressure value in the extending cavity of each actuating cylinder to a computer through a controller;

step 29: the computer calculates the extension length of each flexible telescopic unit according to the gas flow and the gas pressure of each execution cylinder in the extension cavity to obtain the peripheral outline shape trend of the article, and stores the obtained shape parameter information in a database of the computer;

step 210: the controller controls the coil P1 AT the left end of each three-position four-way electromagnetic valve to lose power and the coil P2 AT the right end of each three-position four-way electromagnetic valve to be powered on, so that the PB is switched on, the AT is switched on, and the piston rod of each execution cylinder drives the flexible telescopic unit to retract until the flexible telescopic unit resets.

9. The method for judging the strength of the fragile object based on the split type flexible grabbing robot of any one of claims 1 to 6 is characterized by comprising the following steps:

step 31: starting a lifting servo motor to enable the split type flexible grabbing module to descend to a position to be grabbed of the fragile object;

step 32: the air compressor flushes high-pressure gas into the gas tank and reaches preset pressure;

step 33: the computer sends out an intensity judgment instruction to the controller;

step 34: the controller in each pneumatic control unit sets the limiting pressure of the servo overflow valve;

step 35: the controller in each pneumatic control unit controls the coil P1 at the left end of the corresponding three-position four-way electromagnetic valve to be electrified and the coil P2 at the right end of the corresponding three-position four-way electromagnetic valve to be deenergized, so that PA is switched on and BT is switched on;

step 36: air in the air tank is input into the extending cavity of the execution cylinder, and a piston rod of the execution cylinder drives the corresponding flexible telescopic unit to extend;

step 37: when the pressure value detected by a pressure sensor on a first air path in the pneumatic control unit is increased from a constant state, stopping inputting air into the extending cavity of the corresponding execution cylinder; until the pressure values detected by the pressure sensors on the first air paths of all the pneumatic control units are all increased in a constant state; the gas flow detected by a flow sensor on a first gas path in each pneumatic control unit and the pressure value detected by a pressure sensor are transmitted to a controller;

step 38: the controller continuously controls a coil P1 at the left end of the three-position four-way electromagnetic valve to be electrified and a coil P2 at the right end of the three-position four-way electromagnetic valve to be deenergized, so that PA is switched on and BT is switched on; the air tank continuously inputs air into the execution air cylinder, so that the pressure value detected by the pressure sensor on each first air path is increased by delta P;

step 39: when the pressure value detected by the pressure sensor on the first air path suddenly drops, stopping inputting air into the extending cavity of the corresponding execution cylinder, and uploading the pressure value before the detected pressure suddenly drops to the controller by the pressure sensor on the first air path; when the pressure values detected by the pressure sensors on the first air paths do not drop suddenly, gas is continuously filled into the extending cavities of the corresponding execution cylinders, so that the pressure values detected by the pressure sensors on the corresponding first air paths are continuously increased by delta P until the pressure values detected by the pressure sensors on all the first air paths drop suddenly;

step 310: the computer calculates the strength of the corresponding outer wall of the fragile object according to the pressure value of the pressure sensor on each first air path before the pressure suddenly drops, draws the strength curve of the fragile object and stores the obtained strength parameter information in a database of the computer;

step 311: the controller controls the coil P1 AT the left end of each three-position four-way electromagnetic valve to lose power and the coil P2 AT the right end of each three-position four-way electromagnetic valve to be powered on, so that the PB is switched on, the AT is switched on, and the piston rod of each execution cylinder drives the flexible telescopic unit to retract until the flexible telescopic unit resets.

Technical Field

The invention belongs to the technical field of logistics, and particularly relates to a split type flexible grabbing robot for fragile articles and a working method.

Background

Logistics is a process of organically combining functions such as transportation, storage, loading, unloading, transportation, packaging, distribution, information processing and the like according to actual needs to meet user requirements in the process of physically flowing articles from a supply place to a receiving place. With the development of factory intelligence and logistics intelligence, more and more robots and related intelligent technologies are applied to the aspect of logistics.

At present, in the logistics industry, the types of articles to be transported are increasing, for example, fragile articles such as glass products and fragile articles with irregular shapes are transported to bring great challenges to the logistics industry, and the fragile and irregular shapes of the articles cause that the conventional logistics robot cannot conveniently and efficiently grab and transport the fragile articles, so that the fragile articles in the conventional logistics industry still have great problems in transporting the fragile articles.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a split type flexible grabbing robot for fragile articles and a working method.

In order to achieve the purpose, the invention adopts the following technical scheme:

a split type flexible grabbing robot for fragile articles comprises a base, a split type flexible grabbing module and a lifting moving module;

the bottom of the base is provided with a movable wheel;

the lifting moving module is positioned at the upper part of the base and is fixedly connected with the base;

the split flexible grabbing module is positioned at the upper part of the base and is connected with the lifting moving module, and the lifting moving module controls the vertical lifting movement of the split flexible grabbing module;

diamond-shaped clamping holes are formed between the upper end surface and the lower end surface of the split type flexible grabbing module, and flexible telescopic modules are arranged at the four end surfaces of the diamond-shaped clamping holes; the flexible telescopic module comprises a telescopic cavity connected with the upper end surface and the lower end surface of the split type flexible grabbing module, a telescopic block is arranged in the telescopic cavity, and the telescopic block comprises a plurality of flexible telescopic units which are stacked up and down and can be telescopic along the direction of the perpendicular line of the corresponding end surface of the diamond clamping hole;

each flexible telescopic unit is connected with a pressure control system.

Preferably, the flexible telescopic unit is a flexible air bag.

Preferably, the pressure control system comprises an air compressor, an air dryer, an air tank and a plurality of pneumatic control units which are positioned at the rear end of the air tank and are connected in parallel and correspond to the flexible telescopic units one by one, wherein the air compressor, the air dryer and the air tank are sequentially connected through pipelines;

the pneumatic control unit comprises a three-position four-way electromagnetic valve, an execution cylinder and a controller; the gas path input end of the three-position four-way electromagnetic valve is connected with the outlet of the gas tank, the gas path output end of the three-position four-way electromagnetic valve is connected with the execution cylinder, and the controller is connected with the control input end of the three-position four-way electromagnetic valve;

and the end part of a piston rod of the execution cylinder is connected with the corresponding flexible telescopic unit.

Preferably, the gas path input interface P of the three-position four-way electromagnetic valve is connected with the outlet of the gas tank, and the backflow interface T of the three-position four-way electromagnetic valve is connected with the exhaust pipeline; the gas path output interface A of the three-position four-way electromagnetic valve is connected with the extending cavity of the execution cylinder through a first gas path, and the gas path output interface B of the three-position four-way electromagnetic valve is connected with the retracting cavity of the execution cylinder through a second gas path.

Preferably, the first air path and the second air path are both provided with a flow sensor and a pressure sensor;

servo overflow valves are arranged on a first gas path and a second gas path between the flow sensor and the pressure sensor;

the servo overflow valve is connected with the controller;

the flow sensor and the pressure sensor are in communication connection with the controller;

the controller is in communication connection with the computer.

Preferably, the lifting moving module comprises two fixing plates which are arranged in parallel up and down, a back fixing plate is fixedly arranged on the back side of the two fixing plates, and the bottom of the back fixing plate is fixedly connected with the base;

a guide post and a ball screw which extend along the vertical direction are arranged between the two fixed plates; the guide post is fixedly connected with the fixed plate, and the ball screw is rotatably connected with the fixed plate; the top end of the ball screw is coaxially and fixedly connected with a rotating shaft of the lifting servo motor;

a sliding block is fixedly arranged at one end of the split type flexible grabbing module, and a guide hole and a nut through hole which are communicated up and down are formed in the sliding block; a lubricating sleeve is arranged in the guide hole, and a ball nut is arranged in the nut through hole;

the lubricating sleeve is in sliding fit with the guide column, and the ball nut is in threaded fit with the ball screw.

The invention also discloses an article grabbing method of the split type flexible grabbing robot based on fragile articles, which comprises the following steps:

step 11: starting a lifting servo motor to enable the split type flexible grabbing module to descend to a position to be grabbed of the fragile object;

step 12: the air compressor flushes high-pressure gas into the gas tank and reaches preset pressure;

step 13: the computer sends a grabbing and carrying instruction to the controller;

step 14: the controller in each pneumatic control unit sets the limiting pressure of the servo overflow valve;

step 15: the controller in each pneumatic unit controls the coil P1 at the left end of the corresponding three-position four-way electromagnetic valve to be electrified and the coil P2 at the right end of the corresponding three-position four-way electromagnetic valve to be deenergized, so that PA is switched on and BT is switched on;

step 16: air in the air tank is input into the extending cavity of the execution cylinder, and a piston rod of the execution cylinder drives the corresponding flexible telescopic unit to extend; meanwhile, the pressure sensor on the first air path in each pneumatic control unit transmits the detected pressure value to the controller;

and step 17: when the pressure value detected by a pressure sensor on a first air passage in the pneumatic control unit reaches the limit pressure of a servo overflow valve on the air passage, stopping inputting air into the extending cavity of the corresponding execution cylinder; until the pressure values detected by the pressure sensors on the first air paths of all the pneumatic control units reach the limit pressure of the servo overflow valves on the corresponding air paths, the air tank stops conveying air outwards;

step 18: after grabbing, starting a lifting servo motor, driving the fragile articles to ascend and separate from the ground by the split type flexible grabbing module, and moving the fragile articles to a specified position by moving wheels;

step 19: the lifting servo motor is started, and the split type flexible grabbing module descends to enable the fragile articles to fall to the ground;

step 110: the controller controls the coil P1 AT the left end of each three-position four-way electromagnetic valve to lose power and the coil P2 AT the right end of each three-position four-way electromagnetic valve to be powered on, so that the PB is switched on, the AT is switched on, and the piston rod of each execution cylinder drives the flexible telescopic unit to retract until the flexible telescopic unit resets.

The invention also discloses an article shape determination method of the split type flexible grabbing robot based on fragile articles, which comprises the following steps:

step 21: starting a lifting servo motor to enable the split type flexible grabbing module to descend to a position to be grabbed of the fragile object;

step 22: the air compressor flushes high-pressure gas into the gas tank and reaches preset pressure;

step 23: the computer sends a shape judgment instruction to the controller;

step 24: the controller in each pneumatic control unit sets the limiting pressure of the servo overflow valve;

step 25: the controller in each pneumatic control unit controls the coil P1 at the left end of the corresponding three-position four-way electromagnetic valve to be electrified and the coil P2 at the right end of the corresponding three-position four-way electromagnetic valve to be deenergized, so that PA is switched on and BT is switched on;

step 26: air in the air tank is input into the extending cavity of the execution cylinder, and a piston rod of the execution cylinder drives the corresponding flexible telescopic unit to extend; meanwhile, the gas flow detected by the flow sensor and the pressure value detected by the pressure sensor on the first gas path in each pneumatic control unit are transmitted to the controller;

step 27: when the pressure value detected by a pressure sensor on a first air path in the pneumatic control unit is increased from a constant state, stopping inputting air into the extending cavity of the corresponding execution cylinder; until the pressure values detected by the pressure sensors on the first air paths of all the pneumatic control units are increased in a constant state, the air tank stops conveying air outwards;

step 28: a flow sensor on a first air path in each pneumatic control unit detects the flow of gas flowing into the extending cavity of each actuating cylinder and transmits the data of the flow of the gas extending out of the cavity of each actuating cylinder to a computer through a controller; a pressure sensor on a first air path in each pneumatic control unit detects the gas pressure in the extending cavity of each actuating cylinder and transmits the gas pressure value in the extending cavity of each actuating cylinder to a computer through a controller;

step 29: the computer calculates the extension length of each flexible telescopic unit according to the gas flow and the gas pressure of each execution cylinder in the extension cavity to obtain the peripheral outline shape trend of the article, and stores the obtained shape parameter information in a database of the computer;

step 210: the controller controls the coil P1 AT the left end of each three-position four-way electromagnetic valve to lose power and the coil P2 AT the right end of each three-position four-way electromagnetic valve to be powered on, so that the PB is switched on, the AT is switched on, and the piston rod of each execution cylinder drives the flexible telescopic unit to retract until the flexible telescopic unit resets.

The invention also discloses an article strength judging method of the split type flexible grabbing robot based on fragile articles, which comprises the following steps:

step 31: starting a lifting servo motor to enable the split type flexible grabbing module to descend to a position to be grabbed of the fragile object;

step 32: the air compressor flushes high-pressure gas into the gas tank and reaches preset pressure;

step 33: the computer sends out an intensity judgment instruction to the controller;

step 34: the controller in each pneumatic control unit sets the limiting pressure of the servo overflow valve;

step 35: the controller in each pneumatic control unit controls the coil P1 at the left end of the corresponding three-position four-way electromagnetic valve to be electrified and the coil P2 at the right end of the corresponding three-position four-way electromagnetic valve to be deenergized, so that PA is switched on and BT is switched on;

step 36: air in the air tank is input into the extending cavity of the execution cylinder, and a piston rod of the execution cylinder drives the corresponding flexible telescopic unit to extend;

step 37: when the pressure value detected by a pressure sensor on a first air path in the pneumatic control unit is increased from a constant state, stopping inputting air into the extending cavity of the corresponding execution cylinder; until the pressure values detected by the pressure sensors on the first air paths of all the pneumatic control units are all increased in a constant state; the gas flow detected by a flow sensor on a first gas path in each pneumatic control unit and the pressure value detected by a pressure sensor are transmitted to a controller;

step 38: the controller continuously controls a coil P1 at the left end of the three-position four-way electromagnetic valve to be electrified and a coil P2 at the right end of the three-position four-way electromagnetic valve to be deenergized, so that PA is switched on and BT is switched on; the air tank continuously inputs air into the execution air cylinder, so that the pressure value detected by the pressure sensor on each first air path is increased by delta P;

step 39: when the pressure value detected by the pressure sensor on the first air path suddenly drops, stopping inputting air into the extending cavity of the corresponding execution cylinder, and uploading the pressure value before the detected pressure suddenly drops to the controller by the pressure sensor on the first air path; when the pressure values detected by the pressure sensors on the first air paths do not drop suddenly, gas is continuously filled into the extending cavities of the corresponding execution cylinders, so that the pressure values detected by the pressure sensors on the corresponding first air paths are continuously increased by delta P until the pressure values detected by the pressure sensors on all the first air paths drop suddenly;

step 310: the computer calculates the strength of the corresponding outer wall of the fragile object according to the pressure value of the pressure sensor on each first air path before the pressure suddenly drops, draws the strength curve of the fragile object and stores the obtained strength parameter information in a database of the computer;

step 311: the controller controls the coil P1 AT the left end of each three-position four-way electromagnetic valve to lose power and the coil P2 AT the right end of each three-position four-way electromagnetic valve to be powered on, so that the PB is switched on, the AT is switched on, and the piston rod of each execution cylinder drives the flexible telescopic unit to retract until the flexible telescopic unit resets.

The invention has the beneficial effects that:

(1) according to the invention, through the arrangement of the flexible telescopic modules and the pressure control system connected with the flexible telescopic modules, each flexible telescopic unit can respectively extend out and retract to adapt to the shape of the outer wall of the fragile article, so that the fragile article with different outer wall shapes can be grabbed; simultaneously servo overflow valve's setting in this application just can adjust flexible unit to fragile object's clamp force through setting for its confined pressure to can satisfy fragile object to the requirement of clamp force, realize snatching fragile object's safety, high efficiency.

(2) According to the invention, through the arrangement of the flexible telescopic modules and the pressure control system connected with the flexible telescopic modules, the peripheral outline shape trend of fragile articles is obtained through different extension lengths of the flexible telescopic units, so that the external shape of the grabbed and carried articles is determined to a certain extent and information is stored; meanwhile, due to the arrangement of the flexible telescopic module and the pressure control system, the strength of the outer wall surface of the article can be measured.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.

FIG. 1 is a schematic structural perspective view of a split type flexible gripping robot for fragile articles according to the present invention;

FIG. 2 is a schematic front view of the structure of the split flexible grabbing module of the present invention;

FIG. 3 is a schematic top view of the structure of the split flexible gripping module according to the present invention;

FIG. 4 is a schematic structural diagram of a flexible expansion module according to the present invention;

FIG. 5 is a schematic structural view of a telescopic block according to the present invention;

fig. 6 is a schematic front view of the lifting and moving module according to the present invention.

Fig. 7 is a schematic top view of the lifting and moving module according to the present invention.

FIG. 8 is a schematic view of the grabbing action of the split type flexible grabbing robot for fragile articles in the invention;

FIG. 9 is a schematic diagram of a pressure control system of the present invention (taking two flexible bellows units as an example);

FIG. 10 is a work flow chart of the split type flexible grabbing robot for fragile articles in grabbing and carrying operations;

FIG. 11 is a flow chart of the work of the split type flexible grabbing robot for fragile articles in shape determination operation;

FIG. 12 is a flow chart of the work of the split type flexible grabbing robot for fragile articles in strength judgment;

wherein the content of the first and second substances,

1. the flexible grabbing device comprises a split type flexible grabbing module, 1-1 flexible grabbing shell, 1-2 flexible grabbing end covers, 1-3 first bolts, 1-4 flexible telescopic modules, 1-4-1 telescopic cavities, 1-4-2 telescopic blocks and 1-4-2-1 flexible telescopic units, wherein the split type flexible grabbing modules are connected with the flexible grabbing shell through bolts;

2. a fragile item;

3. the lifting mechanism comprises a base, 3-1 lifting servo motors, 3-2 fixing plates, 3-3 guide posts, 3-4 ball screws, 3-5 back fixing plates, 3-6 sliding blocks, 3-7 chassis end covers, 3-8 chassis bodies, 3-9 driving servo motors and 3-10 moving wheels;

4-1 of an air compressor, 4-2 of an air dryer, 4-3 of an air tank, 4-4 of a flow controller, 4-5 of a three-position four-way electromagnetic valve, 4-6 of a servo overflow valve, 4-7 of a flow sensor, 4-8 of a pressure sensor and 4-9 of an actuating cylinder.

Detailed Description

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

In the present invention, terms such as "connected" and "connecting" should be interpreted broadly, and mean either a fixed connection or an integral connection or a detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be determined according to specific situations by persons skilled in the relevant scientific or technical field, and are not to be construed as limiting the present invention.

The invention is further illustrated with reference to the following figures and examples.

Example 1:

as shown in fig. 1, a split type flexible grabbing robot for fragile articles comprises a base 3, a split type flexible grabbing module 1 and a lifting moving module;

the bottom of the base 3 is provided with moving wheels 3-10, so that the robot can move conveniently to carry the fragile articles 2; specifically, as shown in fig. 7, the base 3 includes a chassis body 3-8 in a U-shaped structure, driving servo motors 3-9 for driving the moving wheels 3-10 are respectively installed at 4 corners inside two parallel sides of the chassis body 3-8, and the upper side of the chassis body 3-8 is fixedly connected with a chassis end cover 3-7;

the lifting moving module is positioned at the upper part of the base 3 and is fixedly connected with the base 3;

the split type flexible grabbing module 1 is positioned at the upper part of the base 3 and is connected with the lifting moving module, and the lifting moving module controls the split type flexible grabbing module 1 to move up and down; specifically, as shown in fig. 2, the split type flexible grabbing module 1 comprises a flexible grabbing shell 1-1 and a flexible grabbing end cover 1-2 which is located at the upper part and is of a plate-shaped structure, and the flexible grabbing end cover 1-2 is fixedly connected through 3 first bolts 1-3 located at three points on the bottom surface of the flexible grabbing shell 1-1 to form a cubic shell;

as shown in fig. 3, diamond-shaped clamping holes are formed between the upper end surface and the lower end surface of the split-type flexible grabbing module 1, and flexible telescopic modules 1-4 are arranged at the four end surfaces of the diamond-shaped clamping holes; as shown in fig. 4-5, the flexible telescopic module 1-4 includes a telescopic cavity 1-4-1 connected to the upper and lower end surfaces of the split type flexible gripping module 1, specifically, the telescopic cavity 1-4-1 is a rectangular housing structure and has an open end, the open end of the telescopic cavity 1-4-1 faces the diamond-shaped gripping hole, the telescopic cavity 1-4-1 is fixedly connected to the upper and lower end surfaces of the split type flexible gripping module 1 through a bolt, a telescopic block 1-4-2 is disposed in the telescopic cavity 1-4-1, and the telescopic block 1-4-2 includes a plurality of flexible telescopic units 1-4-2-1 which are stacked up and down and can be telescopic along the perpendicular direction of the corresponding end surface of the diamond-shaped gripping hole;

each flexible telescopic unit 1-4-2-1 is connected with a pressure control system, and each flexible telescopic unit 1-4-1 can extend and retract respectively to adapt to the shape of the outer wall of the fragile object 2.

Preferably, the flexible telescopic unit 1-4-2-1 is a flexible air bag.

Preferably, as shown in fig. 9, the pressure control system includes an air compressor 4-1, an air dryer 4-2, an air tank 4-3, and a plurality of parallel pneumatic control units located at the rear end of the air tank 4-3 and corresponding to the flexible telescopic units 1-4-2-1 one by one, which are connected in sequence through a pipeline;

the pneumatic control unit comprises a three-position four-way electromagnetic valve 4-5, an execution cylinder 4-9 and a controller; the gas path input end of the three-position four-way electromagnetic valve 4-5 is connected with the outlet of the gas tank 4-3, the gas path output end of the three-position four-way electromagnetic valve 4-5 is connected with the execution cylinder 4-9, the controller is connected with the control input end of the three-position four-way electromagnetic valve 4-5, namely the controller is electrically connected with the coils P1 and P2 at the two ends of the three-position four-way electromagnetic valve 4-5;

the end of the piston rod of the execution cylinder 4-9 is connected with the corresponding flexible telescopic unit 1-4-2-1, thereby controlling the extension or retraction of the flexible telescopic unit 1-4-2-1.

Preferably, the gas path input interface P of the three-position four-way electromagnetic valve 4-5 is connected with the outlet of the gas tank 4-3, and the backflow interface T of the three-position four-way electromagnetic valve 4-5 is connected with the exhaust pipeline; the gas path output interface A of the three-position four-way electromagnetic valve 4-5 is connected with the extending cavity of the execution cylinder 4-9 through a first gas path, and the gas path output interface B of the three-position four-way electromagnetic valve 4-5 is connected with the retracting cavity of the execution cylinder 4-9 through a second gas path.

Specifically, flow controllers 4-4 are arranged on a pipeline between the three-position four-way electromagnetic valve 4-5 gas path input interface P and the gas tank 4-3 and on an exhaust pipeline at the three-position four-way electromagnetic valve 4-5T interface.

Preferably, the first air path and the second air path are both provided with a flow sensor 4-7 and a pressure sensor 4-8;

servo overflow valves 4-6 are arranged on the first gas path and the second gas path between the flow sensors 4-7 and the pressure sensors 4-8;

the servo overflow valve 4-6 is connected with a controller; the controller can set the limited pressure in the servo overflow valve 4-6, when the pressure in the corresponding cavity of the execution cylinder 4-9 is greater than the limited pressure in the servo overflow valve 4-6, the servo overflow valve 4-6 is opened to exhaust outwards, and the pressure safety value in the corresponding cavity of the execution cylinder 4-9 is reduced; meanwhile, the clamping force of the flexible telescopic unit 1-4-2-1 on fragile articles can be adjusted by presetting a limit pressure value in the servo overflow valve 4-6; the controller can control the servo overflow valve 4-6 by adopting the prior art, and particularly, the controller drives and adjusts a spring of the servo overflow valve 4-6 through a motor to realize accurate control of hydraulic pressure in a pipeline, the control of the hydraulic pressure in the pipeline can realize accurate control of the flexible telescopic unit 1-4-2-1, and then the adjustment of clamping force is completed;

the flow sensors 4-7 and the pressure sensors 4-8 are in communication connection with the controller, namely the controller receives flow signals and pressure signals transmitted by the flow sensors 4-7 and the pressure sensors 4-8;

the controller is in communication connection with the computer, namely the controller transmits the received signals to the computer, and meanwhile, the computer also gives related instructions to the controller.

Preferably, as shown in fig. 6, the lifting and moving module includes two fixing plates 3-2 arranged in parallel up and down, a back fixing plate 3-5 is fixedly arranged on the back side of the two fixing plates 3-2, and the bottom of the back fixing plate 3-5 is fixedly connected with the base 3; specifically, the back fixing plate 3-5 is connected with the middle vertical end face of the chassis body 3-8 in a bolt fixing mode;

a guide column 3-3 and a ball screw 3-4 which extend along the vertical direction are arranged between the two fixing plates 3-2; the guide column 3-3 is fixedly connected with the fixing plate 3-2, and the ball screw 3-4 is rotatably connected with the fixing plate 3-2; the top end of the ball screw 3-4 is coaxially and fixedly connected with a rotating shaft of the lifting servo motor 3-1; specifically, the guide columns 3-3 are two in total;

one end of the split type flexible grabbing module 1 is fixedly provided with a sliding block 3-6, specifically, the sliding block 3-6 is fixedly connected with the flexible grabbing shell 1-1 through a bolt, and the sliding block 3-6 is provided with a guide hole and a nut through hole which are vertically communicated; a lubricating sleeve is arranged in the guide hole, and a ball nut is arranged in the nut through hole;

the lubricating sleeve is in sliding fit with the guide column 3-3, and the ball nut is in threaded fit with the ball screw 3-4.

Example 2:

as shown in fig. 10, the article grasping method based on the split type flexible grasping robot for fragile articles in embodiment 1 includes the following steps:

step 11: the lifting servo motor 3-1 is started to enable the split type flexible grabbing module 1 to descend to the position, to be grabbed, of the fragile object 2; namely, the rhombic clamping holes penetrate through the fragile object to be clamped from top to bottom;

step 12: the air compressor 4-1 injects high-pressure gas into the air tank 4-3 and reaches a preset pressure;

step 13: the computer sends a grabbing and carrying instruction to the controller;

step 14: the controller in each pneumatic control unit sets the limiting pressure of the servo overflow valves 4-6; in normal conditions, the set limiting pressure of each servo relief valve 4-6 is the same;

step 15: the controller in each pneumatic unit controls the coil P1 at the left end of the corresponding three-position four-way electromagnetic valve 4-5 to be electrified and the coil P2 at the right end to be deenergized, so that PA is switched on and BT is switched on;

step 16: air in the air tank 3-3 is input into an extension cavity of the execution cylinder 4-9, and a piston rod of the execution cylinder 4-9 drives the corresponding flexible telescopic unit 1-4-2-1 to extend out; meanwhile, the pressure sensors 4-8 on the first air paths in the pneumatic control units transmit the detected pressure values to the controller;

and step 17: when the pressure value detected by a pressure sensor 4-8 on a first air path in the pneumatic control unit reaches the limit pressure of a servo overflow valve 4-6 on the air path, stopping inputting air into the extending cavity of the corresponding execution cylinder 4-9, and clamping the outer wall of the fragile object by the outer end part of a flexible telescopic unit 1-4-2-1 connected with the execution cylinder 4-9; until the pressure values detected by the pressure sensors 4-8 on the first air paths of all the pneumatic control units reach the limiting pressure of the servo overflow valves 4-6 on the corresponding air paths, the air tanks 3-3 stop conveying air outwards, and the outer end parts of all the flexible telescopic units 1-4-2-1 clamp the outer wall of the fragile object 2, so that the outer contour of the fragile object 2 is grabbed in a coating manner, as shown in fig. 8;

specifically, the air circulation circuit is: air is communicated from the air tank 4-3 to the extension cavity of the actuating cylinder 4-9 through the first air passage to enable the piston rod to extend, and meanwhile, air in the retraction cavity of the actuating cylinder 4-9 is exhausted through the second air passage and an exhaust pipeline at the T interface;

the specific process of grabbing the fragile article by the flexible telescopic unit 1-4-2-1 is as follows:

air enters the extending cavity of the execution cylinder 4-9 through the first air path, when the pressure in the extending cavity of the execution cylinder 4-9 reaches a certain value, the air pressure overcomes the friction between the piston and the inner wall of the cylinder in the execution cylinder 4-9 to cause the piston rod of the execution cylinder 4-9 to extend, and the pressure in the extending cavity of the execution cylinder 4-9 keeps constant before the piston rod in the execution cylinder 4-9 begins to extend to the outer end part of the flexible telescopic unit 1-4-2-1 to contact the outer wall of the fragile object, so that the pressure value detected by the pressure sensor 4-8 on the first air path is basically constant in the process;

when the outer end of the flexible telescopic unit 1-4-2-1 contacts the outer wall of the fragile object, the piston rod of the actuating cylinder 4-9 cannot extend continuously, and the air pressure is increased by the input of air in the actuating cylinder 4-9 extending cavity, so that when the pressure value detected by the pressure sensor 4-8 on the first air path is increased from a constant state, the outer end of the flexible telescopic unit 1-4-2-1 contacts the outer wall of the fragile object;

after that, air is continuously input into the extending cavity of the actuating cylinder 4-9, and the air input is stopped until the pressure value detected by the pressure sensor 4-8 on the first air path reaches the limit pressure of the servo overflow valve 4-6, and the air pressure in the extending cavity reaches the required clamping force; the limiting pressure value in the servo overflow valve 4-6 is preset, and the clamping force of the flexible telescopic unit 1-4-2-1 on fragile articles can be adjusted; in the process of grabbing the articles, the pressure value detected by the pressure sensor 4-8 on the first air path is matched with the servo overflow valve 4-6 through air inlet to realize dynamic balance;

step 18: after grabbing, starting a lifting servo motor 3-1, driving a fragile object 2 to lift and separate from the ground by a split type flexible grabbing module 1, and carrying and moving the fragile object to a specified position by moving wheels 3-10;

step 19: starting the lifting servo motor 3-1, and descending the split type flexible grabbing module 1 to enable the fragile object 2 to fall to the ground;

step 110: the controller controls the coil P1 AT the left end of each three-position four-way electromagnetic valve 4-5 to lose power and the coil P2 AT the right end to be powered on, so that the PB is switched on, the AT is switched on, and the piston rod of each execution cylinder 4-9 drives the flexible telescopic unit 1-4-2-1 to retract until the flexible telescopic unit 1-4-2-1 resets.

Specifically, the air circulation circuit is: air is communicated from the air tank 4-3 to the retraction cavity of the actuating cylinder 4-9 through the second air passage to enable the piston rod to retract, and meanwhile air of the extending cavity of the actuating cylinder 4-9 is exhausted through the first air passage and an exhaust pipeline at the T interface.

Example 3:

as shown in fig. 11, the method for determining the shape of an article based on the split type flexible grasping robot for fragile articles in embodiment 1 includes the following steps:

step 21: the lifting servo motor 3-1 is started to enable the split type flexible grabbing module 1 to descend to the position, to be grabbed, of the fragile object 2; namely, the rhombic clamping holes penetrate through the fragile object to be clamped from top to bottom;

step 22: the air compressor 4-1 injects high-pressure gas into the air tank 4-3 and reaches a preset pressure;

step 23: the computer sends a shape judgment instruction to the controller;

step 24: the controller in each pneumatic control unit sets the limiting pressure of the servo overflow valves 4-6;

step 25: the controller in each pneumatic control unit controls the coil P1 at the left end of the corresponding three-position four-way electromagnetic valve 4-5 to be electrified and the coil P2 at the right end to be deenergized, so that PA is switched on and BT is switched on;

step 26: air in the air tank 3-3 is input into an extension cavity of the execution cylinder 4-9, and a piston rod of the execution cylinder 4-9 drives the corresponding flexible telescopic unit 1-4-2-1 to extend out; meanwhile, the gas flow detected by the flow sensors 4-7 and the pressure value detected by the pressure sensors 4-8 on the first gas paths in the pneumatic control units are transmitted to the controller;

step 27: when the pressure value detected by a pressure sensor 4-8 on a first air path in the pneumatic control unit is increased from a constant state, stopping inputting air into the extending cavity of the corresponding execution cylinder 4-9, and at the moment, the outer end part of a flexible telescopic unit 1-4-2-1 connected with the execution cylinder 4-9 is already contacted with the outer wall of the fragile object; until the pressure values detected by the pressure sensors 4-8 on the first air paths of all the pneumatic control units are increased from a constant state, the air tank 3-3 stops conveying air outwards, and at the moment, the outer end parts of all the flexible telescopic units 1-4-2-1 are in contact with the outer wall of the fragile object 2;

when the shape of the fragile object is judged, when the pressure value detected by the pressure sensor 4-8 on the first air path begins to increase from a constant state, the outer end part of the flexible telescopic unit 1-4-2-1 is shown to be in contact with the outer wall of the fragile object, and at the moment, the air input is stopped; by analogy, the shape contour curve of the outer wall of the fragile article to be clamped at different heights can be obtained, so that the shape curve of the outer wall of the whole fragile article can be obtained, the shape judgment of the fragile article is completed, and the amount of gas flowing into the extending cavity of the execution cylinder 4-9 can be detected through the flow sensor 4-7 in the first gas path;

at the moment, the air pressure of the execution cylinder 4-9 in the extending cavity, namely the pressure value detected by the pressure sensor 4-8 on the first air path, is smaller than the limiting pressure of the servo overflow valve 4-6, namely in the shape determination process, no air is discharged from the servo overflow valve 4-6, so that the air flow detected by the flow sensor 4-7 is ensured to enter the extending cavity in the execution cylinder 4-9;

step 28: a flow sensor 4-7 on a first air path in each pneumatic control unit detects the flow of the gas flowing into the extending cavity of each actuating cylinder 4-9, and transmits the data of the flow of the gas extending out of the cavity of each actuating cylinder 4-9 to a computer through a controller; a pressure sensor 4-8 on a first air path in each pneumatic control unit detects the air pressure in the extending cavity of each actuating cylinder 4-9, and transmits the air pressure value of each actuating cylinder 4-9 extending into the cavity to a computer through a controller;

step 29: the computer calculates the extension length of each flexible telescopic unit 1-4-2-1 according to the gas flow and the gas pressure in the extension cavity of each execution cylinder 4-9 to obtain the peripheral outline shape trend of the article, and stores the obtained shape parameter information in a database of the computer;

step 210: the controller controls the coil P1 AT the left end of each three-position four-way electromagnetic valve 4-5 to lose power and the coil P2 AT the right end to be powered on, so that the PB is switched on, the AT is switched on, and the piston rod of each execution cylinder 4-9 drives the flexible telescopic unit 1-4-2-1 to retract until the flexible telescopic unit 1-4-2-1 resets.

Example 4:

as shown in fig. 12, the method for determining the article strength of the split flexible gripping robot based on the fragile article in embodiment 1 includes the following steps:

step 31: the lifting servo motor 3-1 is started to enable the split type flexible grabbing module 1 to descend to the position, to be grabbed, of the fragile object 2; namely, the rhombic clamping holes penetrate through the fragile object to be clamped from top to bottom;

step 32: the air compressor 4-1 injects high-pressure gas into the air tank 4-3 and reaches a preset pressure;

step 33: the computer sends out an intensity judgment instruction to the controller;

step 34: the controller in each pneumatic control unit sets the limiting pressure of the servo overflow valves 4-6;

step 35: the controller in each pneumatic control unit controls the coil P1 at the left end of the corresponding three-position four-way electromagnetic valve 4-5 to be electrified and the coil P2 at the right end to be deenergized, so that PA is switched on and BT is switched on;

step 36: air in the air tank 3-3 is input into an extension cavity of the execution cylinder 4-9, and a piston rod of the execution cylinder 4-9 drives the corresponding flexible telescopic unit 1-4-2-1 to extend out;

step 37: when the pressure value detected by a pressure sensor 4-8 on a first air path in the pneumatic control unit is increased from a constant state, stopping inputting air into the extending cavity of the corresponding execution cylinder 4-9, and at the moment, the outer end part of a flexible telescopic unit 1-4-2-1 connected with the execution cylinder 4-9 is already contacted with the outer wall of the fragile object; until the pressure values detected by the pressure sensors 4-8 on the first air paths of all the pneumatic control units are all increased in a constant state; the gas flow detected by a flow sensor 4-7 and the pressure value detected by a pressure sensor 4-8 on a first gas path in each pneumatic control unit are transmitted to a controller; at the moment, the outer end parts of all the flexible telescopic units 1-4-2-1 contact the outer wall of the fragile object 2;

step 38: the controller continuously controls the coil P1 at the left end of the three-position four-way electromagnetic valve 4-5 to be electrified and the coil P2 at the right end to be electrified, so that PA is switched on and BT is switched on; the air tank continues to input air into the execution cylinders, so that the pressure value detected by the pressure sensors 4-8 on the first air paths is increased by delta P, namely, the pressure of delta P is applied to the outer contour of the fragile object corresponding to the execution cylinders 4-9;

step 39: when the pressure value detected by the pressure sensor 4-8 on the first air path suddenly drops, the flow value detected by the flow sensor 4-7 on the first air path suddenly rises, air is stopped to be input into the extending cavity of the corresponding execution cylinder 4-9, the outer wall of the fragile object corresponding to the execution cylinder 4-9 is damaged at the moment, the pressure sensor 4-8 on the first air path uploads the pressure value before the pressure suddenly drops to the controller, and the controller uploads the pressure value to the computer; when the pressure values detected by the pressure sensors 4-8 on the first air path are not suddenly reduced, continuously filling air into the extending cavities of the corresponding execution air cylinders 4-9, and continuously increasing the pressure values detected by the pressure sensors 4-8 on the corresponding first air path by delta P until the pressure values detected by the pressure sensors 4-8 on all the first air paths are suddenly reduced;

step 310: the computer calculates the strength of the corresponding outer wall of the fragile object according to the pressure value of the pressure sensor 4-8 on each first air path before the pressure is suddenly reduced, draws the strength curve of the fragile object and stores the obtained strength parameter information in a database of the computer;

step 311: the controller controls the coil P1 AT the left end of each three-position four-way electromagnetic valve 4-5 to lose power and the coil P2 AT the right end to be powered on, so that the PB is switched on, the AT is switched on, and the piston rod of each execution cylinder 4-9 drives the flexible telescopic unit 1-4-2-1 to retract until the flexible telescopic unit 1-4-2-1 resets.

Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the present invention, and it should be understood by those skilled in the art that various modifications and changes may be made without inventive efforts based on the technical solutions of the present invention.