CN106826885A - A kind of robot clever hand finger of variation rigidity drive lacking - Google Patents

Abstract

The invention discloses a dexterous hand finger of a robot with variable stiffness and underactuation. There is a driving traction line, the two ends of the driving traction line are respectively connected with two transmission traction lines, and the two transmission traction lines are respectively wound on two winding wheels, and the two winding wheels are respectively composed of two Driven by a motor, the driving traction line and the transmission traction line are connected by a spring; the distal rotary joint and the proximal rotary joint are driven by a linkage wire; multiple depths are set on the distal rotary joint. Different linkage wire winding grooves I, multiple linkage wire winding grooves II with different depths are provided on the proximal rotating joint. The invention has the advantages of simple and compact structure, light weight, small volume, variable linkage transmission ratio between phalanxes, less motors required for under-actuation, and variable stiffness adjustment.

Description

A variable stiffness underactuated robot dexterous hand finger

technical field

The invention belongs to the technical field of robots, and relates to an underactuated robot dexterous finger with variable stiffness.

Background technique

Traditional industrial robot end grippers can only perform some simple tasks. However, more and more practical applications require the end of the robot to achieve more complex and intelligent operations, and the simple end gripper cannot meet the requirements of actual complex operation tasks. The robotic dexterous hand has the advantages of strong versatility, high grasping accuracy, dexterity, and good stability. It has become an effective solution to complex manipulation tasks and has become one of the hot research directions in the field of robotics since the late 20th century.

As the most important part of the dexterous hand, the fingers of the robot dexterous hand determine the grasping accuracy, dexterity, stability and other performances of the dexterous hand.

Chinese invention patent document CN101941205A, Chinese invention patent document CN 10163317A and other prior art robot dexterous hands have complex designs and structures. Most of the dexterous hands are designed with a much larger overall size than human hands, and the fingers are too thick and heavy to grasp small objects. Another example is the Chinese invention patent document CN1031228744, a robot dexterous hand, each finger is provided with three joints coupled by three sets of four-bar linkages, driven by a motor. The movement speed of the three joints is bent at the same time at a fixed angle of 1:1:1, and the linkage transmission of different transmission ratios cannot be realized, and the dexterity is reduced. Another example is the design of the dexterous hand in the Chinese invention patent document CN1418765, which greatly reduces the practicability of the robot dexterous hand due to many drivers required, high difficulty in system control, and huge production costs. Moreover, the rigidity of dexterous fingers is invariable, it is difficult to grasp fragile objects, and it cannot meet the compliance requirements of different stiffnesses required for grasping different objects.

Contents of the invention

In order to solve the technical problems existing in the known technology, the present invention provides a robot dexterous hand finger with variable stiffness and underactuation. Less, variable stiffness adjustment can be realized.

The technical solution adopted by the present invention to solve the technical problems existing in the known technology is: a robot dexterous hand finger with variable stiffness underactuation, including the distal phalanx, the distal revolving joint, the proximal phalanx and the The proximal rotating joint is wound with a driving pull wire, and the two ends of the driving pulling wire are respectively connected with two driving pulling wires, and the two driving pulling wires are wound on two winding wires respectively. On the wheel, the two winding wheels are respectively driven by two motors, and the driving traction line and the transmission traction line are connected by a spring; the distal rotary joint and the proximal rotary joint are driven by a linkage wire ; A plurality of linkage wire winding grooves I with different depths are provided on the distal rotation joint, and a plurality of linkage wire winding grooves II with different depths are provided on the proximal rotation joint.

The proximal phalanx and the proximal rotary joint are fixedly connected together through the connecting piece I.

The distal revolving joint is supported by two side support end plates, the side support end plate and the proximal phalanx are fixedly connected together through the connecting piece II, and the distal revolving joint and the distal phalanx are connected by Pieces III are fixedly connected together.

The advantages and positive effects of the present invention are: 1) the dexterous hand and fingers adopt the under-actuation mode, which has a simple and compact structure, light weight, small volume, and the number of drivers required for under-actuation is small, which also reduces the difficulty of system control; 2) the dexterous hand and fingers Linkage transmission with different transmission ratios can be realized between the phalanges, which is more dexterous than the traditional dexterous fingers that bend at a fixed angle at a fixed transmission ratio; 3) The dexterous fingers can realize bending, stretching and variable stiffness of fingers The adjustment can meet the compliance requirements of different rigidities required for grasping different objects. In summary, the present invention has the characteristics of simple and compact structure, light weight, small volume, variable linkage transmission ratio between phalanges, variable stiffness, underactuation, etc. It has broad application prospects and important social significance in many fields to replace human hands in the environment to realize grasping operations.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Figure 2 is a side view of Figure 1;

Fig. 3 is a schematic diagram of the transmission of the distal revolving joint and the proximal revolving joint of the present invention;

Fig. 4 is a schematic diagram of the structure of the distal rotary joint of the present invention;

Fig. 5 is a structural schematic diagram of the connection between the distal rotary joint, the distal phalanx and the side support end plate of the present invention.

Among the figure: 101, distal phalanx, 102, connecting piece I, 103, side support end plate, 104, distal rotating joint, 105, proximal phalanx, 106, proximal joint, 107, spring, 108, winding wheel , 109, linkage wire rope, 110, driving traction line, 111, transmission traction line, 112, connecting piece II, 113 connecting piece III.

detailed description

In order to further understand the invention content, characteristics and effects of the present invention, the following examples are given, and detailed descriptions are as follows in conjunction with the accompanying drawings:

Please refer to Figs. 1 to 5, a robot dexterous finger with variable stiffness underactuated, including distal phalanx 101, distal revolving joint 104, proximal phalanx 105 and proximal revolving joint 106 connected in sequence from far to near. The proximal rotating joint 106 is wound with a driving pull wire 110, the two ends of the driving pull wire 110 are respectively connected with two transmission pull wires 111, and the two drive pull wires 111 are respectively wound on two winding wheels 108, the two reels 108 are respectively driven by two motors, and the driving traction line 110 and the transmission traction line 111 are connected by a spring 107; the distal rotary joint 104 and the proximal rotary joint 106 is driven by the linkage wire rope 109; on the distal rotary joint 104, there are multiple linkage wire rope winding slots I with different depths; on the proximal rotary joint 106, there are multiple linkage wire ropes with different depth Rope winding groove II, linkage wire rope 109 can be tensioned in linkage wire rope winding groove I and linkage wire rope winding groove II of different depths, so that the linkage transmission ratio of the proximal phalanx 105 and the distal phalanx 101 can be adjusted , Linkage transmissions with different transmission ratios can also be realized by replacing different proximal revolving joints and/or distal revolving joints. When the rotation directions of the two motors are the same, the bending and stretching movements of the fingers are realized, and when the rotation directions of the two motors are different, the variable stiffness adjustment of the fingers is realized.

In this embodiment, the proximal phalanx 105 and the proximal rotary joint 106 are fixedly connected together through the connecting piece I 102 . The distal rotary joint 106 is supported by two side support end plates 103, the side support end plates 103 and the proximal phalanx 105 are fixedly connected together through the connecting piece II 112, the distal rotary joint 104 is connected to the The distal phalanges 101 are fixedly connected together through the connecting piece III 113 .

Working principle of the present invention:

When the two motors rotate counterclockwise, the proximal rotating joint 106 is driven to rotate counterclockwise, so that the proximal phalanx 105 and the distal phalanx 101 rotate counterclockwise to realize the stretching motion of the fingers. When both motors rotate clockwise, the proximal rotating joint 106 is driven to rotate clockwise, and the proximal phalanx 105 and the distal phalanx 101 rotate clockwise to realize the bending motion of the finger. When one motor rotates clockwise and the other rotates counterclockwise, variable stiffness adjustment of fingers is realized.

Although the preferred embodiments of the present invention have been described above in conjunction with the accompanying drawings, the present invention is not limited to the above-mentioned specific embodiments. The above-mentioned specific embodiments are only illustrative and not restrictive. Those of ordinary skill in the art Under the enlightenment of the present invention, people can also make many forms without departing from the purpose of the present invention and the scope of protection of the claims, and these all belong to the protection scope of the present invention.

Claims (3)

1. a kind of robot clever hand finger of variation rigidity drive lacking, including distal phalanx, the distal end being sequentially connected from far near Cradle head, proximal phalanx and near-end cradle head, it is characterised in that driving traction is wound with the near-end cradle head Line, the two ends of the driving draught line are connected with two transmission traction lines respectively, and two transmission traction lines are respectively wound around On two reels, two reels are driven by two motors respectively, described to drive draught line and the transmission traction line Connected by spring；

The distal end cradle head and the near-end cradle head pass through train line rope drive；

The different linkage cotton rope winding slot I of multiple depth is provided with the distal end cradle head, in the near-end cradle head It is provided with the different linkage cotton rope winding slot II of multiple depth.

2. the robot clever hand finger of variation rigidity drive lacking according to claim 1, it is characterised in that the near-end refers to Bone and the near-end cradle head are fixed together by connection sheet I.

3. the robot clever hand finger of variation rigidity drive lacking according to claim 1, it is characterised in that the distal end turns Movable joint is fixedly connected with the proximal phalanx using two collateral support end plate supportings, the collateral support end plate by connection sheet II Together, the distal end cradle head is fixed together with the distal phalanx by connection sheet III.