CN105835081B - The underactuated manipulator of the indexable finger of Coupled Rigid-flexible - Google Patents
The underactuated manipulator of the indexable finger of Coupled Rigid-flexible Download PDFInfo
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- CN105835081B CN105835081B CN201610264727.XA CN201610264727A CN105835081B CN 105835081 B CN105835081 B CN 105835081B CN 201610264727 A CN201610264727 A CN 201610264727A CN 105835081 B CN105835081 B CN 105835081B
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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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- 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
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
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Abstract
The underactuated manipulator of the indexable finger of Coupled Rigid-flexible of the present invention, it is made up of stepper motor, driving part and the identical finger of three structures with angular displacement feedback.This finger of finger includes nearly finger joint, middle finger joint, finger tip section, and two become constraint elastic rod and drive middle finger joint and finger tip section to rotate respectively, therefore are Coupled Rigid-flexible structure, and indexable between finger entirety and driving part, indexable between finger entirety and driving part.This manipulator is applied to that fragility is frangible, the grasping of the complex object of soft yielding or shape, size variation, belong to production and the logistics field such as robot, the applied technical field of electromechanical integration, the food that is particularly suitable for use in, agricultural product, the crawl of light industrial goods, sorting and packaging.
Description
Technical field
The underactuated manipulator of the indexable finger of Coupled Rigid-flexible of the present invention, by one with angular displacement feedback stepper motor,
Driving part and the identical finger of three structures are formed.Finger has three finger joints, is Coupled Rigid-flexible structure, finger entirety and drive division
It is indexable between part.This manipulator is applied to that fragility is frangible, the complex object of soft yielding or shape, size variation
Grasping, belongs to robot, electromechanical integration applied technical field, the food that is particularly suitable for use in, agricultural product, light industrial goods crawl,
Production and the logistics field such as sorting and packaging.
Background technology
For light industry and the large-scale production situation of food service industry, to meet raw material complex-shaped, that physical property is various, half
The needs of finished product, the logistics of finished product and packaging, to solve the problems such as recruitment cost of simple work high, working condition difference, it is necessary to
The end grasping device of logistics crawl.With regard to the species of the complex object of crawl：1. object in irregular shape, that size difference is big
(melon fruits and vegetables)；2. frangible brittle body (birds, beasts and eggs, glass and ceramic product)；3. yielding soft object (bread, Soft Roll
Fill article)；4. the object (bottle, bottle for cosmetics) special-shaped, location status confusion and hardly possible are made in order；From the above, complex object
Material character, the difference of geomery and location status it is larger.Traditional industry manipulator (end grasping device) be clamp-type or
Parallel movable structure, the rigid workpiece that shape size is identical, location status is consistent, will not be damaged can only be captured.Humanoid dexterous
Hand needs to perceive the locus of complex object and shape, it is necessary to accurately control motion and grasp force, and it is complicated right otherwise to damage
As or can not reliably capture, but at present humanoid dextrous hand be still in the laboratory research stage.
At present, the finger part of underactuated manipulator is rigid structure, is neither adapted to foregoing by grasping complex object
Shape, size are inconsistent, can not meet that contact force is not damaged and the particularity of reliable grip complex object requires again, while can also
To producing greater impact by grasping complex object.The underactuated manipulator adaptability of rigid structure is bad, it is impossible to effectively grasps
Foregoing complex object.
The content of the invention
Instant invention overcomes above-mentioned deficiency, manipulator of the present invention is made up of the identical finger of three structures, is intersected using elasticity
Double leval jib series connection replaces ordinary elasticity quadric chain.This finger, which includes, refers to root section, middle finger joint, finger tip section, and two become constraint bullet
Property bar (the change constraint elastic rod that big push rod shaft 4a, big spring 5a, big pushing rod sleeve 6a, limited block 12a are formed, it is small pushing rod sleeve 7a, small
The change constraint elastic rod that spring 8a, small push rod shaft 9a, spacer pin 13a are formed) drive middle finger joint and finger tip section to rotate respectively, therefore be
Coupled Rigid-flexible structure, and it is indexable between finger entirety and driving part.
The distinguishing feature of manipulator of the present invention is：There is good shock-absorbing capacity to contact moment impact, to grasping object
Size shape change also have the preferable flexible free degree, while indexable regulation between finger entirety and driving part, therefore
When capturing complex object, wide adaptability, effect are good.
What the primary solutions of the present invention were realized in：
As shown in accompanying drawing 1-4,120 ° of the finger of underactuated manipulator three of the indexable finger of Coupled Rigid-flexible of the present invention is uniform
Installation, can envelope mode capture spherosome, oblate spheroid and pinch and take mode to capture the cylindrical object being disposed vertically.The hard and soft coupling of the present invention
The underactuated manipulator of indexable finger is closed by the stepper motor 1 with angular displacement feedback coder, chassis 2, shaft coupling 3, leading screw
4th, feed screw nut 5, drive disk 6, rotating bar 7, straight pin 8, linear bearing 9, pull bar guide pillar 10, rolling bearing units 11, palm disk 12,
Support 13 and finger part 14 form.
Its structure is：Stepper motor 1 is arranged on chassis 2, two both ends of pull bar guide pillar 10 have cylinder respectively with chassis 2
Coordinate positioning with the circular hole gap on palm disk 12, and fastened with nut it is integral, then with the both ends of three supports 13 respectively with
Chassis 2 and the mode connects for screw of palm disk 12 are reinforced；Two linear bearings 9 coordinate by its guide cylinder with the gap of drive disk 6 to be positioned, directly
Bobbin holds 9 and is fastened on screw on drive disk 6, and drive disk 6 is by two linear bearings 9 under the guiding of two pull bar guide pillars 10
Realize and move along a straight line up and down；Client link, feed screw nut 5 on the output shaft of stepper motor 1 and leading screw 4 are fixed on drive by shaft coupling 3
On Moving plate 6, it is arranged on through the lower end of the leading screw 4 of drive disk 6 in the inner ring of rolling bearing units 11 with being interference fitted, therefore leading screw 4
Rotation by feed screw nut 5 drive drive disk 6 move up and down；The left end of rotating bar 7 by gap coordinate positioning after with finger
End nut fastens on the push rod 1a of part 14, and the right-hand member of rotating bar 7 passes through straight pin 8 and the hinge connection of drive disk 6, finger part 14
Finger block 3a on socket cap gap coordinate and be positioned on palm disk 12, and be fastened on palm disk by compressing dome 2a with screw
On 12, ensure the axiality of socket cap axial line on the axial line of straight pin 8 and finger block 3a, be easy to the integral level of finger part 14
Indexing；Therefore to ensure the installation axiality of two axis of pull bar guide pillar 10, with any upper end cylindrical fit of pull bar guide pillar 10
Hole on chassis 2 and the hole on the palm disk 12 of the lower end cylindrical fit of pull bar guide pillar 10, this two groups of coaxial apertures must manufacture processing；
To ensure the installation axiality of socket cap axial line on straight pin (8) axial line and finger block 3a of three finger parts 14, appoint
The hole on drive disk 6 coordinated in one or three finger parts 14 with straight pin 8 and the palm with socket cap cooperation on finger block 3a
Hole on disk 12, this three groups of holes must manufacture processing.
As shown in Figure 5, foregoing finger part 14 is a part, by push rod 1a, compress dome 2a, finger block 3a,
Big push rod shaft 4a, big spring 5a, big pushing rod sleeve 6a, small pushing rod sleeve 7a, little spring 8a, small push rod shaft 9a, promote mainly plate 10a, refer to root
Save 11a, limited block 12a, spacer pin 13a, middle finger joint 14a, finger tip section 15a compositions.
Each finger joint connecting structure is：Socket cap gap coordinates and is positioned on drive disk 6 and is passed through with screw on finger block 3a
Compress dome 2a to be fastened on palm disk 12, by pin in finger block 3a thickness sides at the right corner for referring to root section 11a of triangle
Connect, refer at root section 11a left comer by pin at the middle finger joint 14a of triangle upper angle among thickness direction to middle hinge
Position hinge connection, at the finger tip section 15a upper right corner of rectangle by pin at middle finger joint 14a inferior horn thickness direction centre position
Hinge connection.
Each finger joint driving structure is：Drive disk 6 drives rotating bar 7, the driving push rod 1a of rotating bar 7 to move up and down, push rod 1a
Thickness direction centre position hinge connection at angle on plate 10a is promoted mainly in triangle by pin, promotes mainly and passes through at the plate 10a lower right corner
The thickness direction centre position hinge connection at the intermediate angle for referring to root section 11a is sold, plate is being promoted mainly in big push rod shaft 4a upper ends by pin
10a lower right-hand corner thickness direction centre position hinge connections, big push rod shaft 4a column part are cased with big spring 5a, big push rod shaft
4a column part coordinates with big pushing rod sleeve 6a interporal lacunas, and the big pushing rod sleeve 6a fulcrum location upper rights of curved leverage are limited
Position block 12a, limited block 12a, which are fixed on, to be referred on root section 11a, and big pushing rod sleeve 6a fulcrum locations are by pin in middle finger joint 14a thickness sides
To centre position hinge connection, small pushing rod sleeve 7a upper ends are connected by pin in big pushing rod sleeve 6a lower ends thickness direction centre position hinge
Connect, small push rod shaft 9a column part is cased with little spring 8a, and small push rod shaft 9a column part is matched somebody with somebody with small pushing rod sleeve 7a interporal lacunas
Close, small push rod shaft 9a lower ends are by pin in finger tip section 15a left upper thickness direction centre position hinge connections, small pushing rod sleeve 7a
Right side limited location pin 13a, spacer pin 13a are fixed on middle finger joint 14a.
Accompanying drawing 6 is finger block 3a graphics, and accompanying drawing 7 is big push rod shaft 4a graphics, and accompanying drawing 8 is big pushing rod sleeve 6a three-dimensional
Figure, accompanying drawing 9 refer to spike knot 15a graphics.Accompanying drawing 10,11 is the front view and top view on chassis 2 respectively, and accompanying drawing 12,13 is distinguished
It is the front view and top view of drive disk 6, accompanying drawing 14,15 is the front view and top view of palm disk 12 respectively.
Compared with the prior art the present invention has advantages below：
1. the inconsistent complexity of the underactuated manipulator crawl congener (such as apple) of Coupled Rigid-flexible finger, geomery
During object, can by selecting appropriate flexible member and physical dimension, realization can free degree adaptability, and can not destroy and
The complex object of this species of reliable grip.
2. (such as apple, orange, orange equal sphere), the shape of the underactuated manipulator crawl similar shape of Coupled Rigid-flexible finger
During the big similar shape complex object of change in size, can by selecting appropriate flexible member and physical dimension, realization can from
Do not destroyed by degree adaptability, and can and the complex object of reliable grip similar shape.
3. the underactuated manipulator of the indexable finger of Coupled Rigid-flexible captures (such as apple, orange, orange ball of different shapes
The tetragonal body such as shape and small square box), geomery differ complex object when, can be by suitably selecting flexible member, structure
After size and accurate adjustment finger indexing, realization can free degree adaptability, and can not destroy and reliable grip is of different shapes
Complex object.
Brief description of the drawings：
Fig. 1 is the A-A semi-cutaways of underactuated manipulator of the present invention
Fig. 2 is the top view of underactuated manipulator of the present invention
Fig. 3 is the B-B sectional views of underactuated manipulator of the present invention
Fig. 4 is the C-C sectional views of underactuated manipulator of the present invention
Fig. 5 is the finger sectional view of underactuated manipulator of the present invention
Fig. 6 is the finger block 3a graphics of activation lacking mechanical hand finger of the present invention
Fig. 7 is the big push rod shaft 4a graphics of activation lacking mechanical hand finger of the present invention
Fig. 8 is the big pushing rod sleeve 6a graphics of activation lacking mechanical hand finger of the present invention
Fig. 9 is the finger tip section 15a graphics of activation lacking mechanical hand finger of the present invention
Figure 10 is the front view on the chassis 2 of underactuated manipulator of the present invention
Figure 11 is the top view on the chassis 2 of underactuated manipulator of the present invention
Figure 12 is the front view of the drive disk 6 of underactuated manipulator of the present invention
Figure 13 is the top view of the drive disk 6 of underactuated manipulator of the present invention
Figure 14 is the front view of the palm disk 12 of underactuated manipulator of the present invention
Figure 15 is the top view of the palm disk 12 of underactuated manipulator of the present invention
Figure 16 be activation lacking mechanical hand finger of the present invention side by side indexing after D-D sectional view
Figure 17 be underactuated manipulator of the present invention two, the right finger side by side indexing after top view
Figure 18 is the top view after the opposite indexing of two, the right finger of underactuated manipulator of the present invention
Figure 19 is the top view after three fingers indexing simultaneously of underactuated manipulator of the present invention
Embodiment：
It is below the operation principle and the course of work of the present invention：
As shown in figure 1, research and analysis process：To spherical, tetragonal body complex object, theoretical and experimental study
Afterwards, according to body form, the excursion of size and material situation is crawled, it is determined that the safe range of crawl contact force, optimization
Design the physical dimension of manipulator, the characterisitic parameter such as optimization design big spring 5a and little spring 8a coefficient of elasticity, pretightning force.
The action process of the present invention：Stepper motor 1 drives leading screw 4 to rotate by shaft coupling 3, due to linear bearing bar screw mandrel
The restricted effect of nut, the drive drive disk 6 of feed screw nut 5 is for linear motion, and the promotion robot finger part 14 of drive disk 6 pushes away
Bar 1a moves up and down, and drives each finger joint to rotate, the opening and closing of control machinery hand.Motor rotates forward, promotion robot grasping article；Motor
Reversion, driving manipulator unclamp article.
The finger part 14 of the underactuated manipulator of the indexable finger of Coupled Rigid-flexible of the present invention is indexable：1. such as accompanying drawing 16,
Shown in 17, two, the right finger part, 14 identical finger joint is assisted into a plane, and with that 14 identical finger joint of finger part of the left side
Together, it can pinch and take that mode captures cuboid and envelope mode captures horizontal positioned cylindrical object, accompanying drawing 16,17 is the right two respectively
Underactuated manipulator D-D sectional views and top view after the indexing side by side of finger part 14.2. as shown in Figure 18, two, the right hand
The plane of symmetry of finger 14 same plane, the rotation direction of finger part 14 on the contrary, and with pair of that finger part 14 of the left side
Title face is vertical, and accompanying drawing 18 is the underactuated manipulator top view after the opposite indexing of the finger parts 14 of the right two, that finger of the left side
Part 14 be able to can capture in cuboid width, spheroid short-axis direction envelope mode, and two, the right finger part 14 can be in length
Cube length, spheroid long axis direction are pinched and take mode to capture.3. as shown in Figure 19, the indexing of two finger part of the right 14 side by side,
Left hand finger 14 three refers to indexing state underactuated manipulator top views also after indexing, pinches and takes mode to capture horizontal cross-section to be
Trapezoidal, triangle object.
The effect of two springs of the invention：1. by becoming constraint principles, change the free degree, flexibility adapts to geomery and differed
Cause, change big complex object；2. realize that contact force is not destroyed and reliable grip by optimization design；Connect 3. also mitigate simultaneously
The shock effect of touch.
As shown in accompanying drawing 16-19, rotating bar 7 of the present invention horizontally rotates center (i.e. the axial line of straight pin 8) and finger block
The axiality structure of the upper socket cap axial lines of 3a, realizes the overall indexing of finger, and manipulator adapts to what geomery differed
Complex object, expand use range.
As shown in Figure 5, limited block 12a of the present invention, spacer pin 13a installation sites ensure big spring 5a, little spring respectively
8a pretension amount, and ensure simultaneously big push rod shaft 4a in big pushing rod sleeve 6a, small push rod shaft 9a is in small pushing rod sleeve 7a when sliding
Relative motion does not produce self-locking problem under stress.
Claims (1)
1. a kind of underactuated manipulator of the indexable finger of Coupled Rigid-flexible, it is characterized in that：Stepper motor (1) is arranged on chassis (2),
Two pull bar guide pillar (10) both ends have cylinder to coordinate positioning with the circular hole gap on chassis (2) and palm disk (12) respectively,
And it is integral with nut fastening, then added respectively with chassis (2) and palm disk (12) mode connects for screw with the both ends of three supports (13)
Gu；Two linear bearings (9) coordinate by its guide cylinder with drive disk (6) gap to be positioned, and linear bearing (9) is fastened on screw
On drive disk (6), drive disk (6) is realized straight up and down by two linear bearings (9) under the guiding of two pull bar guide pillars (10)
Line moves；Client link, feed screw nut (5) on the output shaft of stepper motor (1) and leading screw (4) are fixed on driving by shaft coupling (3)
On disk (6), it is arranged on through the lower end interference fit ground of the leading screw (4) of drive disk (6) in the inner ring of rolling bearing units (11), therefore
The rotation of leading screw (4) drives drive disk (6) to move up and down by feed screw nut (5)；The left end of rotating bar (7) is coordinated by gap
Fastened after positioning with end nut on the push rod (1a) of finger part (14), rotating bar (7) right-hand member passes through straight pin (8) and drive disk
(6) hinge connection, socket cap gap coordinates and is positioned on drive disk (6) on the finger block (3a) of finger part (14), and uses spiral shell
Nail is fastened on palm disk (12) by compressing dome (2a), ensures socket cap on straight pin (8) axial line and finger block (3a)
The axiality of axial line, it is easy to finger part (14) integral level indexable；Therefore it is two pull bar guide pillar (10) axis of guarantee
Hole in axiality, with the chassis (2) of any pull bar guide pillar (10) upper end cylindrical fit and pull bar guide pillar (10) lower end circle are installed
The hole on palm disk (12) that post coordinates, this two groups of coaxial apertures must manufacture processing；To ensure the circle of three finger parts (14)
The installation axiality of socket cap axial line on pin (8) axial line and finger block (3a), in any three finger parts (14), with
Straight pin (8) coordinate drive disk (6) on hole and with finger block (3a) socket cap coordinate palm disk (12) on hole, this
Three groups of holes must manufacture processing；
In each finger joint connecting structure, socket cap gap coordinates and is positioned on palm disk (12) and is led to screw on finger block (3a)
Cross compression dome (2a) to be fastened on palm disk (12), by pin in finger block at the right corner of the finger root section (11a) of triangle
(3a) thickness direction middle hinge connects, and refers at root section (11a) left comer by pin at the upper angle of the middle finger joint (14a) of triangle
Locate thickness direction centre position hinge connection, at finger tip section (15a) upper right corner of rectangle by pin middle finger joint (14a) inferior horn
Locate thickness direction centre position hinge connection；
In each finger joint driving structure, drive disk (6) drives rotating bar (7), rotating bar (7) driving push rod (1a) to move up and down, and pushes away
Bar (1a) promotes mainly thickness direction centre position hinge connection at angle on plate (10a) by pin in triangle, promotes mainly plate (10a) right side
Pass through pin thickness direction centre position hinge connection at the intermediate angle for referring to root section (11a), big push rod shaft (4a) upper end at inferior horn
Plate (10a) lower right-hand corner thickness direction centre position hinge connection, the column part set of big push rod shaft (4a) are being promoted mainly by pin
There is big spring (5a), column part and big pushing rod sleeve (6a) interporal lacuna of big push rod shaft (4a) coordinate, and the big of curved leverage pushes away
Rod set (6a) fulcrum location upper right limited location block (12a), limited block (12a), which is fixed on, to be referred on root section (11a), big pushing rod sleeve
(6a) fulcrum location is passed through by pin in middle finger joint (14a) thickness direction centre position hinge connection, small pushing rod sleeve (7a) upper end
Pin is cased with little spring in big pushing rod sleeve (6a) lower end thickness direction centre position hinge connection, the column part of small push rod shaft (9a)
(8a), column part and small pushing rod sleeve (7a) interporal lacuna of small push rod shaft (9a) coordinate, and small push rod shaft (9a) lower end is existed by pin
Finger tip section (15a) left upper thickness direction centre position hinge connection, small pushing rod sleeve (7a) right side limited location pin (13a), limit
Position pin (13a) is fixed on middle finger joint (14a).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610264727.XA CN105835081B (en) | 2016-04-26 | 2016-04-26 | The underactuated manipulator of the indexable finger of Coupled Rigid-flexible |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610264727.XA CN105835081B (en) | 2016-04-26 | 2016-04-26 | The underactuated manipulator of the indexable finger of Coupled Rigid-flexible |
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| CN105835081A CN105835081A (en) | 2016-08-10 |
| CN105835081B true CN105835081B (en) | 2018-01-19 |
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| CN113510741A (en) * | 2021-07-28 | 2021-10-19 | 华中科技大学 | Under-actuated self-adaptive manipulator based on metamorphic principle |
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| Publication number | Publication date |
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| CN105835081A (en) | 2016-08-10 |
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