CN110640773A - Electric-hydraulic driven robot dexterous hand - Google Patents
Electric-hydraulic driven robot dexterous hand Download PDFInfo
- Publication number
- CN110640773A CN110640773A CN201911006793.7A CN201911006793A CN110640773A CN 110640773 A CN110640773 A CN 110640773A CN 201911006793 A CN201911006793 A CN 201911006793A CN 110640773 A CN110640773 A CN 110640773A
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- knuckle
- electro
- thumb
- hydraulic
- spherical pump
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The patent discloses a dexterous hand of an electro-hydraulic drive robot, wherein electro-hydraulic linear actuators (10) are respectively arranged in a palm (1), a thumb substrate (7), a first knuckle (9) of the thumb, a second knuckle (9) of the thumb, a first knuckle (3), a second knuckle (4) and a third knuckle (5), and corresponding knuckles are bent and stretched back and forth and swing left and right in the palm plane when piston rods (1015) of the electro-hydraulic linear actuators (10) stretch; the thumb rotates back and forth towards the palm center; sensors (6) are arranged on all the fingertips, and each sensor (6) and each electro-hydraulic linear actuator (10) are respectively and electrically connected with a robot controller; the advantage of this patent is: the distributed hydraulic source is used as the driving force, so that the volume of each driving system is reduced, the movement flexibility of the fingers is increased, the impact load can be borne, and the grabbing force of the fingers is increased.
Description
Technical Field
The patent relates to the field of robots, in particular to a dexterous hand of an electro-hydraulic drive robot.
Background
The humanoid robot is an automatic device integrating a plurality of subjects such as electronics, machinery, control, sensing, artificial intelligence and the like and advanced technologies, represents a high-tech development level of a country, has human appearance, can adapt to human life and working environment, replaces human to complete various operations, can expand human ability in many aspects, is rapidly and rapidly developed in application at home and abroad at present, and is widely applied to a plurality of fields such as service, medical treatment, education, entertainment and the like. The dexterous hand is used as a tail end execution part of the humanoid robot and can help people to complete a plurality of works, but the bionic dexterous hand at home and abroad is still in a development stage at present and has few practical applications.
The existing dexterous robot hand generally adopts a mechanical structure of a motor and a speed reducer as a power source, and drives fingers to perform grabbing actions through transmission of a steel wire, a tendon rope and a connecting rod; however, as the motor and the speed reducer are in a rigid connection structure, the impact resistance is poor, the maximum gripping force provided by fingertips is very small, usually less than 10N, the application is limited, and meanwhile, the system is lack of flexibility; the hydraulic power drive can increase the flexibility of the system, the driving force of the system can be greatly improved, and particularly the grabbing force on finger tips can be improved in multiples, so the hydraulic drive is an application research direction of robot drive, but the current hydraulic drive mode generally adopts a concentrated hydraulic source, hydraulic oil is introduced into each driving cylinder through an oil pipe and a control valve to push the fingers to act, so that the self weight of the robot hand is large, the driving force overcomes the dead weight resistance, the size of the robot hand is large, the weight is increased, the power loss is large, and the effective grabbing force on the finger tips is small.
The spherical pump is a power machine newly invented in recent years, can realize ultramicro and high pressure, can realize series-type direct drive in the field of robot dexterous hands, has the characteristics of large moment, impact resistance, ultramicro and the like compared with the traditional wire drive and push rod motor drive modes, and has good application prospect when being used for a robot dexterous hand power source.
Disclosure of Invention
The purpose of this patent is to design a dexterous hand of electric liquid drive robot, adopts the integrative modularization ultramicro electricity liquid linear actuator of spherical pump electricity liquid, sets up the sensor on the finger, sets up ultramicro electricity liquid linear actuator on the knuckle of every finger, adopts the serial-type direct drive of distributing type hydraulic pressure source to realize the nimble action of each finger of the dexterous hand of robot, increase the power of grabbing of finger fingertip, can bear impact load, convenient control.
The technical scheme of this patent is: the dexterous hand of electro-hydraulic drive robot, characterized by: the structure of the index finger, the middle finger, the ring finger and the little finger is the same, each finger comprises a first knuckle, a second knuckle and a third knuckle which are sequentially hinged, and the first knuckle is hinged on the palm through a swing bracket; an electro-hydraulic linear actuator is respectively arranged in the first knuckle, the second knuckle and the third knuckle, a piston rod of the electro-hydraulic linear actuator in the third knuckle is hinged with the second knuckle, a piston rod of the electro-hydraulic linear actuator in the second knuckle is hinged with the first knuckle, and a piston rod of the electro-hydraulic linear actuator in the first knuckle is hinged with the swing bracket, so that a connecting rod mechanism is formed to transmit power, and the corresponding knuckles are bent and stretched back and forth when the piston rods of the electro-hydraulic linear actuators in the first knuckle, the second knuckle and the third knuckle stretch;
the palm is internally provided with five electro-hydraulic linear actuators from the first to the fifth, wherein the first electro-hydraulic linear actuator is used for controlling the motion of the thumb substrate, and the second to the fifth electro-hydraulic linear actuators are respectively used for controlling the motion of the index finger, the middle finger, the ring finger and the little finger; piston rods of the second to fifth electro-hydraulic linear actuators are hinged with a swing bracket respectively, each swing bracket is hinged with a first knuckle of a corresponding index finger, a middle finger, a ring finger and a little finger to form a link mechanism to transmit power, and the corresponding index finger, the middle finger, the ring finger and the little finger which are hinged with the piston rods of the second to fifth electro-hydraulic linear actuators swing left and right in a palm plane when the piston rods of the second to fifth electro-hydraulic linear actuators stretch;
the thumb comprises a thumb base body, a first thumb knuckle and a second thumb knuckle which are sequentially hinged, the first thumb knuckle is hinged to the thumb base body through a swinging support, an electro-hydraulic linear actuator is respectively arranged in the thumb base body, the first thumb knuckle and the second thumb knuckle, a piston rod of the electro-hydraulic linear actuator in the second thumb knuckle is hinged to the first thumb knuckle, a piston rod of the electro-hydraulic actuator in the first thumb knuckle is hinged to the thumb base body through the swinging support to form a connecting rod mechanism to transmit power, the corresponding knuckles are bent back and forth and stretched when the piston rods of the electro-hydraulic linear actuators in the first thumb knuckle and the second thumb knuckle stretch out and stretch out, and when the piston rods of the electro-hydraulic linear actuators in the thumb base body stretch out and draw back, the thumb swings left and right in a palm plane; the thumb base body is hinged to the palm, a piston rod of the first electro-hydraulic linear actuator in the palm is hinged to the thumb base body to form a connecting rod mechanism to transmit power, and the thumb rotates forwards and backwards towards the palm center when the piston rod of the first electro-hydraulic linear actuator stretches;
sensors are arranged on the fingertips of the third knuckle and the second knuckle of the thumb, and each sensor and each electro-hydraulic linear actuator are respectively and electrically connected with the robot controller;
the sensors comprise position sensors and force sensors, and the position sensors and the force sensors are respectively and electrically connected with the robot controller;
the electro-hydraulic linear actuator comprises an actuator substrate, a spherical pump unit and a reciprocating piston mechanism, wherein a hydraulic cylinder and a spherical pump cylinder sleeve are arranged on the actuator substrate, the hydraulic cylinder and the spherical pump cylinder sleeve are cylindrical containing cavities with one open ends, the reciprocating piston mechanism is arranged in the hydraulic cylinder, a hydraulic cylinder end cover is arranged at the open end of the hydraulic cylinder, a piston rod hinge hole is formed in the end part of a piston rod extending out of the bottom of the hydraulic cylinder, and an actuator hinge hole is formed in the hydraulic cylinder end cover; the opening end of the spherical pump cylinder sleeve is provided with a motor end cover, and the spherical pump and the motor are integrated in the spherical pump cylinder sleeve to form a spherical pump unit; two liquid inlet and outlet holes of the spherical pump are respectively communicated with two liquid outlet and inlet holes of the reciprocating piston mechanism; the motor of the spherical pump unit is electrically connected with the robot controller; the electro-hydraulic linear actuator is packaged in a closed elastic leather bag, and the end part of the piston rod extends out of the elastic leather bag;
the reciprocating piston mechanism is a double-piston-rod mechanism, a piston rod on one side of the piston extends out of a piston rod through hole at the bottom of a cylindrical inner cavity of the hydraulic cylinder, and a piston rod on the other side of the piston slides in an end cover of the hydraulic cylinder;
the spherical pump unit comprises a spherical pump and a motor, the spherical pump comprises a spherical pump cylinder body, a spherical pump cylinder cover, a spherical pump piston, a spherical pump turntable and a spherical pump main shaft, the spherical pump cylinder cover and the spherical pump cylinder body are fixedly connected through a spherical pump sleeve, a motor stator and the spherical pump sleeve are fixed on the inner wall of the spherical pump cylinder sleeve, a motor rotor surrounds the outer circumference of the spherical pump main shaft, a motor end cover is fixedly connected to the opening end of the spherical pump cylinder sleeve, a rotary support is formed between the upper end of the spherical pump main shaft and the spherical pump sleeve, and a rotary support is formed between the lower end of the spherical pump main shaft and the motor end cover;
the spherical pump cylinder cover and the spherical pump cylinder body are connected to form a spherical inner cavity, a piston shaft hole and two liquid inlet and outlet holes are formed in the spherical pump cylinder cover, a piston shaft of a spherical pump piston is inserted into the piston shaft hole in the spherical pump cylinder cover, the spherical pump piston is hinged with a spherical pump turntable through a cylindrical hinge to form a spherical rotor which is arranged in the spherical inner cavity, the spherical surfaces of the spherical pump piston and the spherical pump turntable and the spherical inner cavity form sealed movable fit, a turntable shaft of the spherical pump turntable extends out from the lower end of the spherical pump cylinder body, a sliding groove is formed in the upper end face of a spherical pump main shaft, a sliding shoe is arranged at the end of the turntable shaft of the spherical pump turntable, the sliding shoe on the turntable shaft is matched with the sliding groove on the spherical pump main shaft, the sliding shoe on the turntable shaft is inserted into the sliding groove on the spherical pump main shaft, and the sliding shoe.
The advantage of this patent is: the ball pump electro-hydraulic linear actuator has the advantages that the distributed hydraulic source is used as the driving force, the volume of the ball pump electro-hydraulic linear actuator is small, the output power is large, the miniature electro-hydraulic linear actuator is arranged in the part of each finger knuckle needing to move, the volume of each driving system is reduced, the flexibility of finger movement is increased, the impact load can be borne, and the grabbing force of the fingers is increased.
Drawings
FIG. 1 is a schematic diagram of an appearance structure of a dexterous robot hand;
FIG. 2 is a schematic structural view of a frame of a dexterous hand of a robot (with a palm guard plate and a finger guard plate removed);
FIG. 3 is a front view of the robot's index finger;
FIG. 4 is a right side view of the index finger of FIG. 3;
FIG. 5 is a front view of a thumb of the robot;
FIG. 6 is a right thumb view of FIG. 5;
FIG. 7 is a top view of the thumb shown in FIG. 5;
FIG. 8 is a schematic view of the linkage arrangement when the index finger is flexed and extended fore and aft;
FIG. 9 is a schematic view of the link structure when the index finger swings left and right;
FIG. 10 is a schematic diagram of an electro-hydraulic linear actuator;
FIG. 11 is a cross-sectional view E-E of FIG. 10;
FIG. 12 is a schematic view of the piston construction;
fig. 13 is a schematic view of a turntable configuration.
In the figure, 1-palm; 2-swinging the bracket; 3-first knuckle; 4-second knuckle; 5-third knuckle; 6-a sensor; 7-thumb base; 8-first knuckle of thumb; 9-thumb second knuckle; 10-an electro-hydraulic linear actuator;
21-hinging holes of the swing bracket and the palm; 22-a hinge hole I of the swing bracket and the piston rod; 23-a hinged hole II of the swing bracket and the piston rod; 31-first knuckle and swing bracket hinge hole; 32-a first knuckle and an electro-hydraulic linear actuator hinge hole; 33-a first knuckle and piston rod hinge hole; 41-second knuckle and first knuckle hinge hole; 42-a hinge hole of the second knuckle and the electro-hydraulic linear actuator; 43-a second knuckle and piston rod hinge hole; 51-a third knuckle and a second knuckle hinge hole; 52-a third knuckle and an electro-hydraulic linear actuator hinge hole; 71-a hinge hole of the thumb substrate and the electro-hydraulic linear actuator; 72-a thumb base and palm hinge hole; 73-a hinge hole for the thumb base body and the piston rod; 81-a first knuckle of the thumb and a hinged hole of the swing bracket; 82-a first knuckle of the thumb is hinged with a hinge hole of the electro-hydraulic linear actuator; 83-a first knuckle of the thumb and a hinge hole of the piston rod; 91-the second knuckle of the thumb and the first knuckle of the thumb are hinged; 92-a hinge hole of the second knuckle of the thumb and the electro-hydraulic linear actuator;
101-elastic leather bag; 102-a motor end cover; 103-an actuator substrate; 104-a motor stator; 105-a motor rotor; 106-ball pump main shaft; 107-spherical pump turntable; 108-spherical pump cylinder; 109-spherical pump pistons; 1010-spherical pump cylinder cover; 1011-a spherical pump sleeve; 1012-piston rod hinge hole; 1013-sealing rings; 1014-a piston rod and a hydraulic cylinder sealing ring; 1015-a piston rod; 1016-a piston; 1017-piston seal ring; 1018-piston rod and hydraulic cylinder end cap seal ring; 1019-hydraulic cylinder end cover; 1020-hydraulic cylinder end cover and hydraulic cylinder sealing ring; 1021-hydraulic cylinder end cover and elastic leather bag sealing ring; 1022-first liquid inlet and outlet channel; 1023-a second liquid inlet and outlet channel; 1024 — actuator hinge hole.
Detailed Description
As shown in fig. 1 to 4, the dexterous hand of the electro-hydraulic drive robot is of a five-finger structure and comprises a palm 1, a thumb, an index finger, a middle finger, a ring finger and a little finger; the structure of the index finger, the middle finger, the ring finger and the little finger is the same, each finger comprises a first knuckle 3, a second knuckle 4 and a third knuckle 5 which are hinged in sequence, and the first knuckles of the index finger, the middle finger, the ring finger and the little finger are hinged on the palm 1 through the swing bracket 2; an electro-hydraulic linear actuator 10 is hinged in the first knuckle 3, the second knuckle 4 and the third knuckle 5 respectively;
a swinging bracket and palm hinging hole 21, a swinging bracket and piston rod hinging hole I22 (used for hinging with a piston rod 1015 of the electro-hydraulic actuator 10 in the palm 1) and a swinging bracket and piston rod hinging hole II 23 (used for hinging with a piston rod 1015 of the electro-hydraulic actuator 10 in the first knuckle 3) are arranged on the swinging bracket 2; a first knuckle and swing bracket hinge hole 31, a first knuckle and electro-hydraulic linear actuator hinge hole 32 and a first knuckle and piston rod hinge hole 33 are formed in the first knuckle 3; a second knuckle and first knuckle hinge hole 41, a second knuckle and electro-hydraulic linear actuator hinge hole 42 and a second knuckle and piston rod hinge hole 43 are formed in the second knuckle 4; a third knuckle and a second knuckle hinge hole 51 and a third knuckle and an electro-hydraulic linear actuator hinge hole 52 are formed in the third knuckle 5; in addition, a hinge hole connected with the first knuckle 3 is also arranged on the swing bracket 2 (and the first knuckle is matched with the swing bracket hinge hole 31), a hinge hole connected with the second knuckle 4 is also arranged on the first knuckle 3 (and the second knuckle is matched with the first knuckle hinge hole 41), and a hinge hole connected with the third knuckle 5 is also arranged on the second knuckle 4 (and the third knuckle is matched with the second knuckle hinge hole 51);
a piston rod hinge hole 1012 is formed in a piston rod 1015 of the electro-hydraulic linear actuator 10, and is used for enabling the end part of the piston rod 1015 to be hinged with other parts to transmit power; an actuator hinge hole 1024 is formed in a hydraulic cylinder end cover 1019 of the electro-hydraulic linear actuator 10 and used for hinging the electro-hydraulic linear actuator 10 with other parts;
a piston rod 1015 of the electro-hydraulic linear actuator 10 in the third knuckle 5 is hinged with the second knuckle 4, a piston rod 1015 of the electro-hydraulic linear actuator 10 in the second knuckle 4 is hinged with the first knuckle 3, a piston rod 1015 of the electro-hydraulic linear actuator 10 in the first knuckle 3 is hinged with the swing bracket 2, so that a connecting rod mechanism is formed to transmit power, and the piston rods 1015 of the electro-hydraulic linear actuators 10 in the first knuckle 3, the second knuckle 4 and the third knuckle 5 drive the corresponding knuckles to bend and stretch forwards and backwards when stretching;
the palm 1 is internally provided with five first to fifth electro-hydraulic linear actuators 10, wherein the first electro-hydraulic linear actuator 10 is used for controlling the motion of the thumb substrate 7, and the second to fifth electro-hydraulic linear actuators 10 are respectively used for controlling the motion of the index finger, the middle finger, the ring finger and the little finger; the piston rods 1015 of the second to fifth electro-hydraulic linear actuators 10 are respectively hinged with a swing bracket 2, each swing bracket 2 is hinged with the first knuckle 3 of the corresponding index finger, middle finger, ring finger and little finger to form a link mechanism to transmit power, and the corresponding index finger, middle finger, ring finger and little finger which are hinged with the piston rods 1015 of the second to fifth electro-hydraulic linear actuators 10 can swing left and right in a palm plane when the piston rods 1015 are stretched;
the swing support 2 connected with the second to fifth electro-hydraulic linear actuators 10 in the palm 1 is respectively hinged with the piston rods 1015 of the electro-hydraulic linear actuators 10 on the palm 1 and the palm 1, the first knuckle 3 and the piston rod 1015 of the electro-hydraulic linear actuator 10 on the first knuckle 3 through four hinge holes on the swing support; the first knuckle 3 is respectively hinged with the swing bracket 2, the electro-hydraulic actuator 10 on the first knuckle 3, the second knuckle 4 and the piston rod 1015 of the electro-hydraulic actuator 10 on the second knuckle 4 through four hinge holes on the first knuckle; the second knuckle 4 is respectively hinged with the first knuckle 3, the electro-hydraulic actuators 10 on the second knuckle 4, the third knuckle 5 and the piston rods 1015 of the electro-hydraulic actuators 10 on the third knuckle 5 through four hinge holes on the second knuckle 4; the third knuckle 5 is hinged with the electro-hydraulic actuators 10 on the second knuckle 4 and the third knuckle 5 through two hinge holes on the third knuckle.
As shown in fig. 8 to 9, the knuckle connecting rod structures of the index finger, the middle finger, the ring finger and the little finger are as follows: the first knuckle 3, the piston rod 1015 of the electro-hydraulic linear actuator 10 and the swing bracket 2 form a link mechanism; the second knuckle 4, the piston rod 1015 of the electro-hydraulic linear actuator 10 and the first knuckle 3 form a link mechanism; the third knuckle 5, the piston rod 1015 of the electro-hydraulic linear actuator 10 and the second knuckle 4 form a link mechanism; the swing support 2, the palm 1 and a piston rod 1015 of the electro-hydraulic linear actuator 10 form a link mechanism.
As shown in fig. 5 to 7, the thumb comprises a thumb base 7, a first thumb knuckle 8 and a second thumb knuckle 9 which are sequentially hinged, the first thumb knuckle 8 is hinged on the thumb base 7 through the swing bracket 2, and the thumb base 7, the first thumb knuckle 8 and the second thumb knuckle 9 are respectively hinged with an electro-hydraulic linear actuator 10; a thumb substrate and electro-hydraulic linear actuator hinge hole 71, a thumb substrate and palm hinge hole 72 and a thumb substrate and piston rod hinge hole 73 are formed in the thumb substrate 7; a first thumb knuckle and swing support hinge hole 81, a first thumb knuckle and electro-hydraulic linear actuator hinge hole 82 and a first thumb knuckle and piston rod hinge hole 83 are formed in the first thumb knuckle 8; a second knuckle and first knuckle hinge hole 91 and a second knuckle and electro-hydraulic linear actuator hinge hole 92 are formed in the second knuckle 9 of the thumb; in addition, a hinge hole connected with the second knuckle 9 of the thumb (matched with the hinge hole 91 of the first knuckle of the thumb) is also formed in the first knuckle 8 of the thumb, and a hinge hole connected with the first knuckle of the thumb (matched with the hinge hole 81 of the first knuckle of the thumb and the hinge hole 81 of the swing bracket) is also formed in the swing bracket 2; the thumb base 7 is also provided with a hinged hole (matched with the hinged hole 21 of the swinging bracket and the palm) connected with the swinging bracket 2;
the swing support 2 on the thumb substrate 7 is respectively hinged with the thumb substrate 7, a piston rod 1015 of the electro-hydraulic linear actuator 10 on the thumb substrate 7, a first knuckle 8 of the thumb and a piston rod 1015 of the electro-hydraulic linear actuator 10 on the first knuckle 8 of the thumb through four hinge holes on the swing support; the thumb substrate 7 is hinged with the palm 1 and a piston rod 1015 of the first electro-hydraulic linear actuator 10 in the palm 1, the electro-hydraulic linear actuator 10 on the thumb substrate 7 and the first knuckle 8 of the thumb respectively; the first knuckle 8 of the thumb is respectively hinged with the swing bracket 2 connected with the thumb substrate 7, an electro-hydraulic linear actuator 10 on the first knuckle 8 of the thumb, a second knuckle 9 of the thumb and a piston rod 1015 of the electro-hydraulic linear actuator 10 on the second knuckle 9 of the thumb; the second thumb knuckle 9 is hinged with the first thumb knuckle 8 and the electro-hydraulic linear actuator 10 on the second thumb knuckle 9 respectively;
a piston rod 1015 of the electro-hydraulic linear actuator 10 in the second thumb knuckle 9 is hinged with the first thumb knuckle 8, a piston rod 1015 of the electro-hydraulic actuator 10 in the first thumb knuckle 8 is hinged with the thumb substrate 7 through the swing bracket 2 to form a link mechanism to transmit power, corresponding knuckles can be bent and stretched back and forth when the piston rods 1015 of the electro-hydraulic linear actuator 10 in the first thumb knuckle 8 and the second thumb knuckle 9 stretch, and the thumb can swing left and right in a palm plane when the piston rod 1015 of the electro-hydraulic linear actuator 10 in the thumb substrate 7 stretches; the thumb base body 7 is hinged to the palm 1, the piston rod 1015 of the first electro-hydraulic linear actuator 10 in the palm 1 is hinged to the thumb base body 7 to form a connecting rod mechanism to transmit power, and the thumb can rotate forwards and backwards towards the palm center when the piston rod 1015 of the first electro-hydraulic linear actuator 10 stretches.
A sensor 6 is arranged on the fingertip of each finger, namely the third knuckle 5 and the second knuckle 9 of the thumb, and the sensor 6 comprises a position sensor and a force sensor, wherein the position sensor is used for sensing the position change of the finger, and the force sensor is used for detecting the grabbing force on the fingertip. Each sensor 6 and each electro-hydraulic linear actuator 10 are respectively and electrically connected with a robot controller through leads, the controller controls the motor of the electro-hydraulic linear actuator 10 to operate according to the robot command, supplies power to the motor, receives and collects information transmitted back by the sensors 6, adjusts and generates a new command, and intelligent control of finger movement is achieved.
As shown in fig. 10 to 11, the electro-hydraulic linear actuator 10 is an ultra-miniature structure and can be arranged in each knuckle and palm 1 of a finger, the electro-hydraulic linear actuator 10 includes an actuator base 103, a spherical pump unit and a reciprocating piston mechanism, a hydraulic cylinder and a spherical pump cylinder sleeve are arranged on the actuator base 103, and the hydraulic cylinder and the spherical pump cylinder sleeve are both cylindrical cavities with one open end; a hydraulic cylinder end cover 1019 is arranged at the opening end of the hydraulic cylinder, and a hydraulic cylinder end cover and a hydraulic cylinder sealing ring 1020 are arranged at the matching part of the hydraulic cylinder end cover 1019 and the hydraulic cylinder; the reciprocating piston mechanism is a double-piston-rod mechanism, the reciprocating piston mechanism is arranged in the hydraulic cylinder, the diameter of the piston 1016 is matched with the diameter of a cylindrical inner cavity of the hydraulic cylinder, a piston sealing ring 1017 is arranged at the matching position of the piston 1016 and the hydraulic cylinder, a piston rod 1015 at one side of the piston 1016 extends out of a piston rod through hole at the bottom of the cylindrical inner cavity of the hydraulic cylinder, a piston rod and hydraulic cylinder sealing ring 1014 is arranged at the matching position of the piston rod 1015 and a through hole on the actuator substrate 103, a piston rod 1015 at the other side slides in a piston rod hole at the center of a hydraulic cylinder end cover 1019, a piston rod and hydraulic cylinder end cover sealing ring 1018 is arranged at the matching position of the piston rod 1015 and the hydraulic cylinder end cover 1019, a balance hole is arranged; a piston rod hinge hole 1012 is formed in the end portion of the piston rod 1015 extending out of the bottom of the hydraulic cylinder, and an actuator hinge hole 1024 is formed in the hydraulic cylinder end cover 1019.
The spherical pump and the motor are integrated in a spherical pump cylinder sleeve to form a spherical pump unit, and a motor end cover 102 is arranged at the opening end of the spherical pump cylinder sleeve; the spherical pump comprises a spherical pump cylinder body 108, a spherical pump cylinder cover 1010, a spherical pump piston 109, a spherical pump turntable 107 and a spherical pump spindle 106, wherein the spherical pump cylinder cover 1010 and the spherical pump cylinder body 108 are provided with hemispherical inner cavities which are connected to form a spherical inner cavity, after the spherical pump cylinder cover 1010 and the spherical pump cylinder body 108 are combined, a spherical pump sleeve 1011 is fastened on the outer circumferences of the spherical pump cylinder cover 1010 and the spherical pump cylinder body 108 in a hot-assembly interference fit manner, and the spherical pump sleeve 1011 is fastened on the inner circumference of the bottom of a cylindrical cavity of the spherical pump cylinder sleeve in a hot-assembly interference fit manner; the spherical pump cylinder cover 1010 is provided with a piston shaft hole and two liquid inlet and outlet holes, and the spherical pump can run in a forward and reverse rotation mode, so that when the motor rotates forwards, one liquid inlet and outlet hole is a liquid inlet hole and then rotates backwards, and when the other liquid inlet and outlet hole is a liquid outlet hole and then rotates backwards, the hole is a liquid inlet hole.
A spherical pump piston 109 is hinged with a spherical pump turntable 107 through a cylindrical hinge to form a spherical rotor which is arranged in a spherical inner cavity, a coil winding of a motor stator 104 is fixed on the inner wall of the open end of the cylindrical cavity of a cylinder sleeve of the spherical pump cylinder, a silicon steel sheet of a motor rotor 105 is wound on the outer circumference of a main shaft 106 of the spherical pump, a motor end cover 102 is fixedly connected with the open end of the cylindrical cavity of the cylinder sleeve of the spherical pump cylinder through hot-fitting interference fit, a rotary support is formed between the upper end of the main shaft 106 of the spherical pump and a sleeve of the spherical pump, and a rotary support is formed between the; specifically, a sliding fit is arranged at the matching position of the upper end of the spherical pump main shaft 106 and the spherical pump sleeve 1011 to form an upper end rotary support of the spherical pump main shaft 106; a central shaft hole is provided at the lower end of the ball pump main shaft 106, and a support shaft that fits the central shaft hole at the lower end of the ball pump main shaft 106 is provided on the motor end cover 102, and is rotatable within the central shaft hole to form a lower end rotary support of the ball pump main shaft 106.
The electro-hydraulic linear actuator 10 is packaged in a closed elastic leather bag 101 filled with hydraulic oil, and the end part of a piston rod 1015 extends out of the elastic leather bag 101; the end of the piston rod 1015 extending out of the elastic leather bag 101 is connected with the elastic leather bag 101 and is provided with a telescopic sleeve and a sealing ring 1013, the sealing ring 1013 is fixedly clamped at the head of the piston rod 1015, and the telescopic sleeve is connected between the sealing ring 1013 and the elastic leather bag 101. In order to facilitate installation, in practical application, the actuator hinge hole 1024 on the hydraulic cylinder end cover 1019 is exposed from the elastic leather bag 101, and a hydraulic cylinder end cover and an elastic leather bag sealing ring 1021 are arranged between the hydraulic cylinder end cover 1019 and the elastic leather bag 101.
As shown in fig. 12-13, the spherical pump piston 109 has a spherical top surface with the same spherical center as the spherical cavity and a sealed, movable fit, two angled side surfaces and a semi-cylindrical piston pin boss at the lower part of the two side surfaces; a piston shaft protrudes from the center of the spherical top surface of the piston, and the axis of the piston shaft passes through the spherical center of the spherical top surface of the piston; the spherical pump turntable 107 is provided with a turntable pin boss the upper part of which corresponds to the piston pin boss, the peripheral surface between the upper part and the lower end surface of the spherical pump turntable is a turntable spherical surface, and the turntable spherical surface and the spherical inner cavity have the same spherical center and are tightly attached to the spherical inner cavity to form sealing movable fit; the turntable pin boss is a semi-cylindrical groove matched with the piston pin boss, a turntable shaft protrudes out of the center of the lower end of the spherical pump turntable 107, and the turntable shaft passes through the spherical center of the spherical surface of the turntable; the height of the semi-cylindrical groove of the turntable pin boss is slightly higher than the center line of the semi-cylinder, namely the depth of the semi-cylindrical groove is slightly larger than the radius of the semi-cylinder, and the semi-cylinder of the piston pin boss needs to be inserted into the semi-cylindrical groove of the turntable pin boss from the end part to form a cylindrical hinge; the turntable shaft of the spherical pump turntable 107 extends out of the opening at the lower end of the spherical pump cylinder 108, the upper end surface of the spherical pump main shaft 106 is provided with a sliding groove, a sliding shoe is matched with the sliding groove, the end part of the turntable shaft of the spherical pump turntable 107 is provided with the sliding shoe, and the sliding shoe on the turntable shaft is inserted into the sliding groove on the spherical pump main shaft 106 to slide. The axial lines of the piston shaft hole and the turntable shaft pass through the spherical center of the spherical inner cavity, and the included angle between the axial lines of the piston shaft hole and the turntable shaft is alpha;
when the ball pump main shaft 106 rotates, the ball pump turntable 107 and the ball pump piston 109 are driven to rotate in a ball cavity of the ball pump, a sliding shoe of the ball pump turntable 107 swings back and forth in a sliding groove of the ball pump main shaft 106, the ball pump turntable 107 and the ball pump piston 109 swing relatively, and a V1 working chamber and a V2 working chamber with alternately changed volumes are formed among the upper end surface of the ball pump turntable 107, the two side surfaces of the ball pump piston 109 and the ball cavity; two liquid inlet and outlet holes of the spherical pump cylinder cover 1010 are respectively communicated with the liquid inlet and outlet holes of two working chambers at two sides of the piston 1016 of the reciprocating piston mechanism through a first liquid inlet and outlet channel 1022 and a second liquid inlet and outlet channel 1023 which are arranged in the actuator substrate 103 (the liquid inlet and outlet holes are arranged on the two working chambers at two sides of the piston of the reciprocating piston mechanism, one working chamber is the liquid inlet hole, the other working chamber is the liquid outlet hole, the liquid outlet hole of the spherical pump is communicated with the liquid inlet hole of the reciprocating piston mechanism, and the liquid inlet hole of the spherical pump is communicated with the liquid outlet hole of the reciprocating piston mechanism), namely the two liquid inlet and outlet holes on the spherical pump cylinder cover 1010 are respectively communicated with the working chambers at two sides of the piston 1016 of the reciprocating piston mechanism; the robot controller controls the motor to rotate to push the piston rod 1015 to reciprocate, so that the actions of fingers of the dexterous hand are realized.
In the embodiment of the patent, the robot dexterous hand includes five fingers, that is, the thumb, the index finger, the middle finger, the ring finger and the little finger are connected to the palm 1, and the structures of the index finger, the middle finger, the ring finger and the little finger are the same, so other technical solutions that any one or more of the index finger, the middle finger, the ring finger or the little finger is absent from the palm 1 also fall into the technical scope to be protected in the patent. In addition, the absence of one or more of the third knuckle, the second knuckle, or the second knuckle of the thumb also falls within the intended scope of the present patent as long as the corresponding grasping action can be achieved.
Claims (6)
1. The dexterous hand of electro-hydraulic drive robot, characterized by: the structure of the index finger, the middle finger, the ring finger and the little finger is the same, each finger comprises a first knuckle (3), a second knuckle (4) and a third knuckle (5) which are sequentially hinged, and the first knuckle (4) is hinged on the palm (1) through a swing bracket (2); an electro-hydraulic linear actuator (10) is respectively arranged in a first knuckle (3), a second knuckle (4) and a third knuckle (5), a piston rod (1015) of the electro-hydraulic linear actuator (10) in the third knuckle (5) is hinged with the second knuckle (4), a piston rod (1015) of the electro-hydraulic linear actuator (10) in the second knuckle (4) is hinged with the first knuckle (3), a piston rod (1015) of the electro-hydraulic linear actuator (10) in the first knuckle (3) is hinged with a swing bracket (2), so that a link mechanism is formed to transmit power, and the corresponding knuckles are bent back and forth and stretched when the piston rods (1015) of the electro-hydraulic linear actuators (10) in the first knuckle (3), the second knuckle (4) and the third knuckle (5) stretch;
the palm (1) is internally provided with five electro-hydraulic linear actuators (10), namely a first electro-hydraulic linear actuator (10), a second electro-hydraulic linear actuator (10), a fifth electro-hydraulic linear actuator (10), a third electro-hydraulic linear actuator and a fourth electro-hydraulic linear actuator (10), wherein the first electro-hydraulic linear actuator (10) is used for controlling the thumb base body (7) to move, and the second electro-hydraulic linear actuator (10) and the fifth electro-hydraulic linear actuator (10) are; piston rods (1015) of the second electro-hydraulic linear actuator (10) to the fifth electro-hydraulic linear actuator (10) are respectively hinged with a swing bracket (2), each swing bracket (2) is hinged with first knuckles (3) of corresponding index finger, middle finger, ring finger and little finger to form a link mechanism to transmit power, and the corresponding index finger, middle finger, ring finger and little finger hinged with the piston rods (1015) of the second electro-hydraulic linear actuator (10) swing left and right in a palm plane when the piston rods (1015) of the second electro-hydraulic linear actuator extend;
the thumb comprises a thumb substrate (7), a first thumb knuckle (8) and a second thumb knuckle (9) which are sequentially hinged, the first thumb knuckle (8) is hinged on the thumb substrate (7) through a swinging support (2), an electro-hydraulic linear actuator (10) is respectively arranged in the thumb substrate (7), the first thumb knuckle (8) and the second thumb knuckle (9), a piston rod (1015) of the electro-hydraulic linear actuator (10) in the second thumb knuckle (9) is hinged with the first thumb knuckle (8), a piston rod (1015) of the electro-hydraulic actuator (10) in the first thumb knuckle (8) is hinged with the thumb substrate (7) through a swinging support (2) to form a connecting rod mechanism to transmit power, the corresponding knuckles are bent and stretched back and forth when the piston rods (1015) of the electro-hydraulic linear actuators (10) in the first thumb knuckle (8) and the second thumb knuckle (9) stretch, when a piston rod (1015) of an electro-hydraulic linear actuator (10) in the thumb substrate (7) stretches, the thumb swings left and right in the palm plane; the thumb substrate (7) is hinged to the palm (1), a piston rod (1015) of the first electro-hydraulic linear actuator (10) in the palm (1) is hinged to the thumb substrate (7) to form a link mechanism to transmit power, and the thumb rotates forwards and backwards towards the palm center when the piston rod (1015) of the first electro-hydraulic linear actuator (10) stretches;
sensors (6) are arranged on the fingertips of the third knuckle (5) and the second knuckle (9) of the thumb, and each sensor (6) and each electro-hydraulic linear actuator (10) are respectively and electrically connected with the robot controller.
2. The electro-hydraulic driven robot dexterous hand of claim 1, characterized in that: the sensor (6) comprises a position sensor and a force sensor which are respectively and electrically connected with the robot controller.
3. The electro-hydraulic driven robot dexterous hand of claim 1, characterized in that: the electro-hydraulic linear actuator (10) comprises an actuator substrate (103), a spherical pump unit and a reciprocating piston mechanism, wherein a hydraulic cylinder and a spherical pump cylinder sleeve are arranged on the actuator substrate (103), the hydraulic cylinder and the spherical pump cylinder sleeve are cylindrical containing cavities with one open ends, the reciprocating piston mechanism is arranged in the hydraulic cylinder, a hydraulic cylinder end cover (1019) is arranged at the open end of the hydraulic cylinder, a piston rod hinge hole (1012) is arranged at the end part of a piston rod (1015) extending out of the bottom of the hydraulic cylinder, and an actuator hinge hole (1024) is arranged on the hydraulic cylinder end cover (1015); a motor end cover (102) is arranged at the opening end of the spherical pump cylinder sleeve, and the spherical pump and the motor are integrated in the spherical pump cylinder sleeve to form a spherical pump unit; two liquid inlet and outlet holes of the spherical pump are respectively communicated with two liquid outlet and inlet holes of the reciprocating piston mechanism; the motor of the spherical pump unit is electrically connected with the robot controller; the electro-hydraulic linear actuator (10) is packaged in a closed elastic leather bag (101), and the end part of the piston rod (1015) extends out of the elastic leather bag (101).
4. The electro-hydraulic driven robot dexterous hand of claim 3, characterized in that: the reciprocating piston mechanism is a double-piston-rod mechanism, a piston rod (1015) on one side of the piston (1016) extends out of a piston rod through hole at the bottom of a cylindrical inner cavity of the hydraulic cylinder, and a piston rod on the other side of the piston (1016) slides in a hydraulic cylinder end cover (1019).
5. The electro-hydraulic driven robot dexterous hand of claim 3, characterized in that: the spherical pump unit comprises a spherical pump and a motor, the spherical pump comprises a spherical pump cylinder body (108), a spherical pump cylinder cover (1010), a spherical pump piston (109), a spherical pump turntable (107) and a spherical pump spindle (106), the spherical pump cylinder cover (1010) and the spherical pump cylinder body (108) are fixedly connected through a spherical pump sleeve (1011), a motor stator (104), the spherical pump sleeve (1011) is fixed on the inner wall of the spherical pump cylinder sleeve, a motor rotor (105) surrounds on the outer circumference of the spherical pump spindle (106), a motor end cover (102) is fixedly connected at the opening end of the spherical pump cylinder sleeve, a rotary support is formed between the upper end of the spherical pump spindle (106) and the spherical pump sleeve (1011), and a rotary support is formed between the lower end of the spherical pump spindle (106) and the motor end cover (102).
6. The electro-hydraulic driven robot dexterous hand of claim 5, characterized in that: the spherical pump cylinder cover (1010) is connected with the spherical pump cylinder body (108) to form a spherical inner cavity, a piston shaft hole and two liquid inlet and outlet holes are arranged on the spherical pump cylinder cover (1010), a piston shaft of a spherical pump piston (109) is inserted into the piston shaft hole in the spherical pump cylinder cover (1010), the spherical pump piston is hinged with a spherical pump turntable through a cylindrical hinge to form a spherical rotor which is arranged in the spherical inner cavity, the spherical surfaces of the spherical pump piston (109) and the spherical pump turntable (107) are in sealing movable fit with the spherical inner cavity, a turntable shaft of the spherical pump turntable (107) extends out from the lower end of the spherical pump cylinder body (1010), a chute is arranged on the upper end surface of a spherical pump main shaft (106), a sliding shoe is arranged at the end part of the turntable shaft of the spherical pump turntable (107), the sliding shoe on the turntable shaft is matched with the chute on the spherical pump main shaft (106), the sliding shoe on the turntable shaft is inserted into the chute on the spherical pump main shaft, when the main shaft (106) of the spherical pump rotates, the sliding shoes slide in the sliding grooves in a reciprocating mode.
Priority Applications (6)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911006793.7A CN110640773A (en) | 2019-10-22 | 2019-10-22 | Electric-hydraulic driven robot dexterous hand |
| EP20879973.4A EP4039987A4 (en) | 2019-10-22 | 2020-10-22 | Micro electro-hydraulic linear actuator and electro-hydraulic actuated robot dexterous hand |
| PCT/CN2020/122674 WO2021078183A1 (en) | 2019-10-22 | 2020-10-22 | Micro electro-hydraulic linear actuator and electro-hydraulic actuated robot dexterous hand |
| KR2020227000021U KR20220001460U (en) | 2019-10-22 | 2020-10-22 | Small electro-hydraulic linear actuator and electro-hydraulic driven daxrus robot hand |
| JP2022600053U JP3239174U (en) | 2019-10-22 | 2020-10-22 | Robot hands for micro electrohydraulic linear actuators and electrohydraulic drivers |
| US17/725,753 US20220241986A1 (en) | 2019-10-22 | 2022-04-21 | Micro electro-hydraulic linear actuator and hand of electro-hydraulic driven robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911006793.7A CN110640773A (en) | 2019-10-22 | 2019-10-22 | Electric-hydraulic driven robot dexterous hand |
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| Publication Number | Publication Date |
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| CN110640773A true CN110640773A (en) | 2020-01-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911006793.7A Pending CN110640773A (en) | 2019-10-22 | 2019-10-22 | Electric-hydraulic driven robot dexterous hand |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111152247A (en) * | 2020-01-22 | 2020-05-15 | 北京海益同展信息科技有限公司 | Mechanical arm |
| CN111844090A (en) * | 2020-07-10 | 2020-10-30 | 重庆工程职业技术学院 | Aluminum alloy mechanical gripper and processing method thereof |
| WO2021078183A1 (en) * | 2019-10-22 | 2021-04-29 | 深圳市中安动力科技有限公司 | Micro electro-hydraulic linear actuator and electro-hydraulic actuated robot dexterous hand |
| CN113119153A (en) * | 2021-03-26 | 2021-07-16 | 深圳市优必选科技股份有限公司 | Finger structure and robot |
| CN113459118A (en) * | 2021-06-16 | 2021-10-01 | 中国科学院沈阳自动化研究所 | Bionic manipulator capable of flying freely in space station cabin |
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2019
- 2019-10-22 CN CN201911006793.7A patent/CN110640773A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021078183A1 (en) * | 2019-10-22 | 2021-04-29 | 深圳市中安动力科技有限公司 | Micro electro-hydraulic linear actuator and electro-hydraulic actuated robot dexterous hand |
| CN111152247A (en) * | 2020-01-22 | 2020-05-15 | 北京海益同展信息科技有限公司 | Mechanical arm |
| WO2021147667A1 (en) * | 2020-01-22 | 2021-07-29 | 京东数科海益信息科技有限公司 | Mechanical hand |
| CN111844090A (en) * | 2020-07-10 | 2020-10-30 | 重庆工程职业技术学院 | Aluminum alloy mechanical gripper and processing method thereof |
| CN111844090B (en) * | 2020-07-10 | 2022-02-15 | 重庆工程职业技术学院 | Aluminum alloy mechanical gripper and processing method thereof |
| CN113119153A (en) * | 2021-03-26 | 2021-07-16 | 深圳市优必选科技股份有限公司 | Finger structure and robot |
| CN113459118A (en) * | 2021-06-16 | 2021-10-01 | 中国科学院沈阳自动化研究所 | Bionic manipulator capable of flying freely in space station cabin |
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Effective date of registration: 20230809 Address after: A706, Block A, TCL Building, No. 6 Gaoxinyuan 1st Road, Yuehai Street, Nanshan District, Shenzhen City, Guangdong Province, 518000 Applicant after: Shenzhen Spherical Power Technology Co.,Ltd. Address before: 518000 Room 201, building A, No. 1, Qian Wan Road, Qianhai Shenzhen Hong Kong cooperation zone, Shenzhen, Guangdong (Shenzhen Qianhai business secretary Co., Ltd.) Applicant before: Shenzhen Zhong'an Power Technology Co.,Ltd. |