CN104742143A - Flexible palmar self-adaption under-actuation robot hand device - Google Patents
Flexible palmar self-adaption under-actuation robot hand device Download PDFInfo
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- CN104742143A CN104742143A CN201510122206.6A CN201510122206A CN104742143A CN 104742143 A CN104742143 A CN 104742143A CN 201510122206 A CN201510122206 A CN 201510122206A CN 104742143 A CN104742143 A CN 104742143A
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- finger
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Abstract
The invention discloses a flexible palmar self-adaption under-actuation robot hand device, and belongs to the technical field of robots. The device comprises a flexible part, a tendon rope, fingers, a passageway, actuators and a base. A thin-walled structure of cloth, a net or a film is adapted by the flexible part, the passageway is arranged on the flexible part, one end of the tendon rope is fixedly connected with output shafts of the actuators, and the other end of the tendon rope penetrates through the passageway and is fixedly connected with the tail end of the passageway. According to the device, the tendon rope is used for pulling the passageway, a sealing opening of the flexible part is drawn, and a self-adaption grabbing function for objects with different shapes and sizes is achieved; the elasticity of the fingers is used by the device, the most suitable grabbing posture is kept by the flexible part, and the restoration of the flexible part is achieved; less actuators are used for driving a plurality of the fingers, the structure is simple, and the manufacture cost and maintenance cost are low.
Description
Technical field
The invention belongs to robotics, particularly a kind of structural design of flexible facies palmaris self adaptation under-actuated robot hand apparatus
Background technology
Robot, as the execution terminal of robot, needs to realize capturing and release two actions.By the difference of use occasion, anthropomorphic manipulator and the large class robot of general grasping device two mainly can be divided into.Anthropomorphic manipulator is similar to staff, mainly as artifucial limb, for disabled person.General grasping device is industrially widely used, robotic gripper's object on automatic production line.
The people such as Christian Cipriani describe anthropomorphic manipulator SmartHand (the Cipriani C that a kind of tendon rope drives in the literature, et al.Objectives, criteria and methods for the design of the SmartHand transradial prosthesis [J] .Robotica, 2010,28 (06): 919-927.).This anthropomorphic manipulator, by 4 driver drives, moves finger motion by tendon rope band.In addition, the Shadow company of Britain has commercially produced tendon cable-driven humanoid manipulator (U.S. patent Nos US 2013313844A1).The mode that tendon rope drives can simplify the structure of anthropomorphic manipulator, is easy to design light and handy, multivariant Dextrous Hand.But such device due to driving element more, the free degree is high, makes complicated integral structure, manufacture processing cost high.
The people such as John Amend describe a kind of flexible universal grasping device (Amend J R based on bulk material blocking principle in the literature, et al.Apositive pressure universal gripper based on the jamming of granular material [J] .Robotics, IEEETransactions on, 2012,28 (2): 341-350.).Grasping device contacts time flexible and extrudes and waits to capture object, grasping device end ball generation deformation, a large amount of coffee particles is there is in ball, now, ball inside is vacuumized, filter membrane makes coffee particles constrain in the interior wedging mutually of confined space of ball, thus the ball shape after distortion is fixed up, and realizes capturing.This device is applicable to grasping of various shaped objects, and adaptive ability is stronger.The weak point of this device is: this device adopts pneumatic mode to realize, and whole system is bulky, and energy consumption is large, and noise is large, is difficult to miniaturization, involves great expense.
Summary of the invention
The object of the invention is the weak point in order to overcome prior art, a kind of flexible facies palmaris self adaptation under-actuated robot hand apparatus is provided, this device can realize the driving of tendon rope and grasp with flexible universal the effect combined, only need a driver, and possess different objects self adaptation drive lacking crawl function, its type of drive is succinctly reliable, compact conformation, manufactures, maintenance cost is low.
The present invention adopts following technical scheme:
One of the present invention flexible facies palmaris self adaptation under-actuated robot hand apparatus, is characterized in that: this flexible facies palmaris self adaptation under-actuated robot hand apparatus comprises flexible piece, at least one tendon rope, at least two fingers, at least one passage, at least one driver, pedestals; Be connected with pedestal in the middle part of described flexible piece; Described finger is arranged on flexible piece; Described channel setting is on flexible piece; Described driver is arranged in pedestal; Described tendon rope one end and the output shaft fixed connection of driver, the other end passes passage and is connected with the end of passage.
Flexible facies palmaris self adaptation under-actuated robot hand apparatus of the present invention, is characterized in that: described flexible piece is thin-wall construction, and flexible piece adopts cloth, net or film.
Flexible facies palmaris self adaptation under-actuated robot hand apparatus of the present invention, is characterized in that: described tendon rope adopts weaving rope, plastic ties, rubber rope or wire.
Flexible facies palmaris self adaptation under-actuated robot hand apparatus of the present invention, is characterized in that: described finger longitudinal direction and the angle of passage tangential direction are 45 °-135 °; Finger is radially arranged.
Flexible facies palmaris self adaptation under-actuated robot hand apparatus of the present invention, is characterized in that: described finger one end is connected with pedestal; Finger to adopt in sheet spring, leaf spring, extension spring, stage clip or clockwork spring one or more combination;
Flexible facies palmaris self adaptation under-actuated robot hand apparatus of the present invention, is characterized in that: described finger is connected with pedestal by spring part, joint shaft; With one point be connected spring part, joint shaft quantity be at least 1; Finger adopts the rigid structure of shaft-like, tubulose or sheet.
Flexible facies palmaris self adaptation under-actuated robot hand apparatus of the present invention, is characterized in that: described passage can axial stretching; Passage adopts flexible annular chamber, earring-shaped structure or bellows.
Flexible facies palmaris self adaptation under-actuated robot hand apparatus of the present invention, is characterized in that: also comprise conduit (31); Through hole (15) is provided with in described pedestal (11); Two ends connecting through hole (15) and the passage (34) respectively of described conduit (31); Described tendon rope (32) is through through hole (15) and conduit (31).
Flexible facies palmaris self adaptation under-actuated robot hand apparatus of the present invention, is characterized in that: also comprise transmission mechanism; Described transmission mechanism comprises decelerator, rotating shaft, reel; Described driver output shaft is connected with the power shaft of decelerator; Described rotating shaft one end is connected with the output shaft of decelerator, and the other end is connected with support member; Described support member is arranged in pedestal; Described reel is solidly set in rotating shaft; Described tendon rope is connected with reel.
The present invention compared with prior art, has following outstanding feature:
Apparatus of the present invention utilize tendon rope to pull passage, make flexible piece draw sealing in, comprehensively achieve the self-adapting grasping function of difformity, different size object; This device utilizes the elasticity of finger, makes flexible piece keep optimum crawl attitude, and realizes the reset of flexible piece; This device uses the motion of a two or more finger of driver control, achieves drive lacking; This apparatus structure is compact, manufactures, maintenance cost is low.
Accompanying drawing explanation
Fig. 1 is the three-dimensional appearance figure of a kind of embodiment of flexible facies palmaris self adaptation under-actuated robot hand apparatus provided by the invention.
Fig. 2 is three dimensional sectional view embodiment illustrated in fig. 1.
Fig. 3 is the structural representation adopting elastic finger embodiment.
Fig. 4 is partial enlarged drawing embodiment illustrated in fig. 3.
Fig. 5 is the structural representation of employing two passages.
Fig. 6 is the structural representation adopting rigidity finger and elastic joint embodiment.
Fig. 7 is partial enlarged drawing embodiment illustrated in fig. 6.
Fig. 8 is the structural representation in employing two joints.
Fig. 9, Figure 10, Figure 11 are the three-dimensional appearance figure of crawl object process embodiment illustrated in fig. 1.
Figure 12, Figure 13, Figure 14 are the front section views of middle crawl object process embodiment illustrated in fig. 1.
In Fig. 1 to Figure 14:
11-pedestal, 12-top base, 13-support member,
14-rotating shaft, 15-through hole,
21-driver, 22-decelerator, 23-reel,
31-conduit, 32-tendon rope, 33-flexible piece,
34-passage, 35-points, 351-joint shaft,
352-spring part,
41-bolt, 42-sleeve, 43-nut,
Detailed description of the invention
Concrete structure of the present invention, operation principle and the course of work is further described below in conjunction with drawings and Examples.
A kind of embodiment of a kind of flexible facies palmaris self adaptation under-actuated robot hand apparatus of the present invention's design, as shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12, Figure 13 Figure 14.The present embodiment comprises flexible piece 33, at least one tendon rope 32, at least two fingers 35, at least one passage 34, at least one driver 21, pedestals 11; Be connected with pedestal 11 in the middle part of described flexible piece 33; Described finger 35 is arranged on flexible piece 33; Described passage 34 is arranged on flexible piece 33; Described driver 21 is arranged in pedestal 11; Described tendon rope 32 one end and the output shaft fixed connection of driver 21, the other end passes passage 34 and is connected with the end of passage 34.
In the present embodiment, described flexible piece 33 is in thin-wall construction, and flexible piece 33 adopts cloth, net or film.
In the present embodiment, described tendon rope 32 adopts weaving rope, plastic ties, rubber rope or wire.
In the present embodiment, the angle of described finger 35 longitudinal direction and passage 34 tangential direction is 45 °-135 °; Finger 35 is radially arranged.
In the present embodiment, described finger 35 one end is connected with pedestal 11; Finger 35 to adopt in sheet springs, leaf spring, extension spring, stage clip or clockwork spring one or more combination;
In the present embodiment, described finger 35 is connected with pedestal 11 by spring part 352, joint shaft 351; Point the 35 spring parts 352 be connected with one, the quantity of joint shaft 351 is at least 1; Finger 35 adopts the rigid structure of shaft-like, tubulose or sheet.
In the present embodiment, described passage 34 can axial stretching; Passage 34 adopts flexible annular chamber, earring-shaped structure or bellows.
In the present embodiment, also comprise conduit 31; Through hole 15 is provided with in described pedestal 11; Two ends connecting through hole 15 and the passage 34 respectively of described conduit 31; Described tendon rope 32 is through through hole 15 and conduit 31.
In the present embodiment, also comprise transmission mechanism; Described transmission mechanism comprises decelerator 22, rotating shaft 14, reel 23; Described driver 21 output shaft is connected with the power shaft of decelerator 22; Described rotating shaft 14 one end is connected with the output shaft of decelerator 22, and the other end is connected with support member 13; Described support member 13 is arranged in pedestal 11; Described reel 23 is solidly set in rotating shaft 14; Described tendon rope 32 is connected with reel 23.
In the present embodiment, also comprise bindiny mechanism; Comprise top base 12, bolt 41, sleeve 42, nut 43; Described sleeve 42 is set up between pedestal 11 and top base 12; Described bolt 41 passes top base 12, sleeve 42, pedestal 11, and fastening by nut 43; Robot hand device is connected with the mechanical arm of peripheral hardware by top base 12.
In the embodiment of a preferred embodiment of the present invention, described finger 35 adopts sheet spring; Adopt 6 fingers 35 radially uniform with flexible piece 33 center, as shown in Figure 3.Described passage 34 adopts bellows, bellows around and be connected in flexible piece 33 outer rim, as shown in Figure 4.According to two passages 34, then as shown in Figure 5.
In the embodiment of the another kind of preferred version of invention, described finger 35 adopts the laminated structure of rigidity; Described pedestal 11 is arranged with joint shaft 351, and finger 35 is solidly set on joint shaft 351; Described joint shaft 351 is arranged with torsion spring 352; Described torsion spring 352 two ends are affixed respectively at pedestal 11, finger 35; As shown in Figure 6, Figure 7.If finger 35 adopts two joints, then as shown in Figure 8.
The operation principle of the embodiment of the flexible facies palmaris self adaptation under-actuated robot hand apparatus shown in Fig. 1 is introduced below in conjunction with accompanying drawing.
As shown in Figure 9, now driver 21 does not work the original state of the present embodiment, and under the effect of finger 35, flexible piece 33 is unfolded to the form close to plane or umbrella cover.
When driver 21 rotates forward work, carried on tendon rope 32 by reel 23, make the contraction in length of tendon rope 23 in passage 34.Because tendon rope 23 end and passage 34 are connected, passage 34 is shortened under the pulling force effect of tendon rope 32.The finger 35 be arranged on flexible piece 33 has certain rigidity, makes flexible piece 33 outer rim downwardly towards interior contraction.So flexible piece 33 form transits to bowl-shape form by close to plane, as shown in Figure 10.
If driver 2 continues to rotate forward, flexible piece 33 will continue downwardly towards interior contraction, and form transits to lantern-shaped by bowl-shape, reach crawl attitude, as shown in figure 11.
When driver 21 reverses, under the return action of finger 35, flexible piece 33 by lantern-shaped form, will finally return back to the initial configuration close to plane through bowl-shape form, realize resetting.
Specifically, when flexible facies palmaris self adaptation under-actuated robot hand captures object, manipulator motion, flexible facies palmaris self adaptation under-actuated robot hand is close to be waited to capture object.After object, flexible piece 33 starts distortion under the driving effect of driver 2, surrounds downwards and waits to capture object, until flexible piece 33 is subject to waiting that capturing spacing can not the continuation of object is out of shape, and realizes reliably capturing.Capture motion process as shown in Figure 12,13,14.
Apparatus of the present invention utilize tendon rope to pull passage, make flexible piece draw sealing in, comprehensively achieve the self-adapting grasping function of difformity, different size object; This device utilizes the elasticity of finger, makes flexible piece keep optimum crawl attitude, and realizes the reset of flexible piece; This device uses the motion of a two or more finger of driver control, achieves drive lacking; This apparatus structure is compact, manufactures, maintenance cost is low.
Claims (9)
1. a flexible facies palmaris self adaptation under-actuated robot hand apparatus, is characterized in that: this flexible facies palmaris self adaptation under-actuated robot hand apparatus comprises flexible piece (33), at least one tendon rope (32), at least two fingers (35), at least one passage (34), at least one driver (21), pedestal (11); Described flexible piece (33) middle part is connected with pedestal (11); Described finger (35) is arranged on flexible piece (33); Described passage (34) is arranged on flexible piece (33); Described driver (21) is arranged in pedestal (11); Described tendon rope (32) one end and the output shaft fixed connection of driver (21), the other end passes passage (34) and is connected with the end of passage (34).
2. flexible facies palmaris self adaptation under-actuated robot hand apparatus as claimed in claim 1, is characterized in that: described flexible piece (33) is in thin-wall construction, and flexible piece (33) adopts cloth, net or film.
3. flexible facies palmaris self adaptation under-actuated robot hand apparatus as claimed in claim 1, is characterized in that: described tendon rope (32) adopts weaving rope, plastic ties, rubber rope or wire.
4. flexible facies palmaris self adaptation under-actuated robot hand apparatus as claimed in claim 1, is characterized in that: described finger (35) longitudinal direction and the angle of passage (34) tangential direction are 45 °-135 °; Finger (35) is radially arranged.
5. flexible facies palmaris self adaptation under-actuated robot hand apparatus as claimed in claim 1, is characterized in that: described finger (35) one end is connected with pedestal (11); Finger (35) to adopt in sheet spring, leaf spring, extension spring, stage clip or clockwork spring one or more combination.
6. flexible facies palmaris self adaptation under-actuated robot hand apparatus as claimed in claim 1, is characterized in that: described finger (35) is connected with pedestal (11) by spring part (352), joint shaft (351); Point spring part (352) that (35) be connected with one, the quantity of joint shaft (351) is at least 1; Finger (35) adopts the rigid structure of shaft-like, tubulose or sheet.
7. flexible facies palmaris self adaptation under-actuated robot hand apparatus as claimed in claim 1, is characterized in that: described passage (34) can axial stretching; Passage (34) adopts flexible annular chamber, earring-shaped structure or bellows.
8. flexible facies palmaris self adaptation under-actuated robot hand apparatus as claimed in claim 1, is characterized in that: also comprise conduit (31); Through hole (15) is provided with in described pedestal (11); Two ends connecting through hole (15) and the passage (34) respectively of described conduit (31); Described tendon rope (32) is through through hole (15) and conduit (31).
9. flexible facies palmaris self adaptation under-actuated robot hand apparatus as claimed in claim 1, is characterized in that: also comprise transmission mechanism; Described transmission mechanism comprises decelerator (22), rotating shaft (14), reel (23); Described driver (21) output shaft is connected with the power shaft of decelerator (22); Described rotating shaft (14) one end is connected with the output shaft of decelerator (22), and the other end is connected with support member (13); Described support member (13) is arranged in pedestal (11); Described reel (23) is solidly set in rotating shaft (14); Described tendon rope (32) is connected with reel (23).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510122206.6A CN104742143A (en) | 2015-03-20 | 2015-03-20 | Flexible palmar self-adaption under-actuation robot hand device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510122206.6A CN104742143A (en) | 2015-03-20 | 2015-03-20 | Flexible palmar self-adaption under-actuation robot hand device |
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| CN104742143A true CN104742143A (en) | 2015-07-01 |
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| CN201510122206.6A Pending CN104742143A (en) | 2015-03-20 | 2015-03-20 | Flexible palmar self-adaption under-actuation robot hand device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105583850A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Self-adaptive robot hand device with elastic deflection rod clusters wound by flexible pieces |
| CN105729492A (en) * | 2016-04-22 | 2016-07-06 | 清华大学 | Spherical adaptive robot hand device |
| CN111015646A (en) * | 2019-12-25 | 2020-04-17 | 中国科学院沈阳自动化研究所 | Rope-driven under-actuated self-adaptive flexible manipulator |
| CN111791247A (en) * | 2020-07-01 | 2020-10-20 | 北方工业大学 | Variable-rigidity line-driven flexible gripper and variable-rigidity control method thereof |
| CN112621799A (en) * | 2020-12-28 | 2021-04-09 | 南京农业大学 | Robot gripper |
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| JPS6242760B2 (en) * | 1982-12-10 | 1987-09-09 | Kubota Ltd | |
| CN101327361A (en) * | 2008-07-28 | 2008-12-24 | 王秋喜 | Deep well life saving latch jack |
| CN103552087A (en) * | 2013-10-28 | 2014-02-05 | 苏州斯尔特微电子有限公司 | Novel mechanical arm |
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2015
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Patent Citations (5)
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| JPS6242760B2 (en) * | 1982-12-10 | 1987-09-09 | Kubota Ltd | |
| GB2157646A (en) * | 1984-04-19 | 1985-10-30 | Secr Defence | A vacuum gripper |
| JPS6118639A (en) * | 1984-06-30 | 1986-01-27 | Nissan Shatai Co Ltd | Flexible band for loading apparatus |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105583850A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Self-adaptive robot hand device with elastic deflection rod clusters wound by flexible pieces |
| CN105729492A (en) * | 2016-04-22 | 2016-07-06 | 清华大学 | Spherical adaptive robot hand device |
| CN111015646A (en) * | 2019-12-25 | 2020-04-17 | 中国科学院沈阳自动化研究所 | Rope-driven under-actuated self-adaptive flexible manipulator |
| CN111791247A (en) * | 2020-07-01 | 2020-10-20 | 北方工业大学 | Variable-rigidity line-driven flexible gripper and variable-rigidity control method thereof |
| CN111791247B (en) * | 2020-07-01 | 2021-12-10 | 北方工业大学 | Variable-rigidity line-driven flexible gripper and variable-rigidity control method thereof |
| CN112621799A (en) * | 2020-12-28 | 2021-04-09 | 南京农业大学 | Robot gripper |
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