CN107081744B - Fluid underactuated multi-joint robotic finger device with telescoping hose - Google Patents

Abstract

The stretchable hose fluid underactuated multi-joint robot finger device belongs to the field of robot technology, including a base, a driver, a transmission mechanism, multiple joints, multiple joint shafts, multiple springs, multiple conduits, multiple hoses and fluid wait. The device realizes the adaptive grasping function of the robot finger, and can realize the adaptive grasping mode. In the self-adaptive grasping mode, the device can adapt to the grasping of both circular objects and concave-convex irregular-shaped objects. It adopts an under-actuated method and uses only one driver to drive multiple joints without complex sensing. And control system, large number of joints, strong adaptability, stable grasping, large grasping range, multi-joint linkage grasping, high grasping efficiency; the device is compact in structure, small in size, low in manufacturing and maintenance costs, and is suitable for robot hands .

Description

Fluid underactuated multi-joint robotic finger device with telescoping hose

technical field

The invention belongs to the technical field of robotic hands, and in particular relates to the structural design of a multi-joint robotic finger device under-actuated by a flexible hose fluid.

Background technique

An underactuated robot hand refers to a robot hand with fewer motors than joints. It has an adaptive grasping function and can adapt to the grasping of various objects. It can be used in different occasions to reduce the need for complex sensing and real-time control. The stability and accuracy of grasping are improved, and at the same time, the device is simple, the cost is low, the quality is small, and the volume is small. It can be widely used in industrial, agricultural and service industry robots or used as a prosthetic hand for disabled people.

An existing five-link clamping device with two degrees of freedom underactuated fingers, such as US Pat. No. 8,973,958 B2, includes five links, a first spring, and mechanical constraints. The device realizes the flat clip adaptive grabbing mode. When working, at the beginning stage, the posture of the end finger segment is maintained for near-joint bending, and then the function of parallel pinching or adaptive envelope holding can be realized according to the position of the object. Its disadvantages are that the device adopts a very complicated multi-link mechanism, there is a large dead zone in the movement, the grasping range is small, the mechanism is bulky, lacks flexibility, and the manufacturing cost is too high.

An existing pneumatic soft gripping device, such as Chinese patent CN104959992A, includes a pneumatic soft manipulator, an air guide support assembly, an air guide base, a cover plate and a gas flow divider. The device realizes the grasping of objects with complex shapes. Its disadvantages are that the device is limited by flexible materials, the gripping force is small, and it is difficult to stably grip heavy objects; the gripping anti-interference ability is weak, the pneumatic response is slow, and there is a large delay in the gripping process. The noise in the holding process is large, and the air compressor is large and heavy, so it is not suitable for mobile service robots.

Contents of the invention

The purpose of the present invention is to overcome the deficiencies of the prior art, and provide a multi-joint robot finger device under actuation of the flexible hose fluid. The device realizes the adaptive grasping function of the robot finger, and can realize the adaptive grasping mode. In the self-adaptive grasping mode, the device can adapt to the grasping of both circular objects and concave-convex irregular-shaped objects. It adopts an under-actuated method and uses only one driver to drive multiple joints without complex sensing. And control system, large number of joints, strong adaptability, stable grasping, large grasping range, multi-joint linkage grasping, high grasping efficiency; the device is compact in structure, small in size, and low in manufacturing and maintenance costs.

Technical scheme of the present invention is as follows:

A flexible hose fluid underactuated multi-joint robot finger device designed by the present invention is characterized in that it includes a base, m joint shafts, m-1 intermediate joints, m spring parts, m hoses, and m Conduit, end joint, fluid, driver and transmission mechanism; the first joint shaft is sleeved in the base, the first middle joint is sleeved on the first joint shaft, and the two ends of the first spring are respectively connected to the base seat, the first intermediate joint, the first catheter is fixedly connected to the base, the second joint shaft is sleeved in the first intermediate joint, the second intermediate joint is sleeved on the second joint shaft, and the second joint shaft is sleeved on the second joint shaft. The two ends of a spring piece are respectively connected to the first intermediate condyle and the second intermediate condyle, the second conduit is fixedly connected to the first intermediate condyle, and the two ends of the first flexible tube are respectively connected to the first conduit and the second intermediate condyle. A conduit...the i-th joint shaft is sleeved in the i-1th intermediate joint, the i-th intermediate joint is sleeved on the i-th joint shaft, and the two ends of the i-th spring are respectively connected to the i-1th The i-th intermediate joint, the i-th intermediate joint, the i-th conduit is fixedly connected to the i-1-th intermediate joint, and the two ends of the i-th hose are respectively connected to the i-th conduit, the i+1-th conduit...the m-th The first joint shaft is sleeved in the m-1th intermediate joint, the end joint is sleeved on the mth joint shaft, and the two ends of the m-th spring are connected to the m-th middle joint and the end joint respectively, and the m-th The first conduit is fixedly connected to the m-1th middle condyle, and the two ends of the mth hose are respectively connected to the mth conduit and the end condyle; all joint axes are parallel to each other; the output end of the driver is connected to the input end of the transmission mechanism , the output end of the transmission mechanism is connected to the fluid, and the fluid is sealed in the lumen of all hoses and catheters; the hose is made of elastic material and can be axially stretched along the channel direction; m is greater than 1 Natural number, i is 1, 2...m.

The flexible hose fluid underactuated multi-joint robot finger device of the present invention is characterized in that: the axis of the conduit is perpendicular to the joint axis, and the axis of the hose is perpendicular to the joint axis.

The telescopic hose fluid underactuated multi-joint robot finger device according to the present invention is characterized in that the spring element is a tension spring.

The telescopic hose fluid underactuated multi-joint robot finger device of the present invention is characterized in that it also includes a spring with variable grip; the spring with variable grip is arranged in the transmission chain of the transmission mechanism.

Compared with the prior art, the present invention has the following advantages and outstanding effects:

The device of the present invention utilizes a driver, a transmission mechanism, a plurality of joints, a plurality of joint shafts, a plurality of springs, a plurality of conduits, a plurality of hoses and fluids to comprehensively realize the function of robot finger self-adaptive grasping: the device can realize Adaptive crawl mode. In the self-adaptive grasping mode, the device can adapt to the grasping of both circular objects and concave-convex irregular-shaped objects. It adopts an under-actuated method and uses only one driver to drive multiple joints without complex sensing. And control system, large number of joints, strong adaptability, stable grasping, large grasping range, multi-joint linkage grasping, high grasping efficiency; the device is compact in structure, small in size, low in manufacturing and maintenance costs, and is suitable for robot hands .

Description of drawings

Fig. 1 is a side partial cross-sectional view of an embodiment of the flexible hose fluid underactuated multi-joint robot finger device designed by the present invention.

Figure 2 is a side elevational view of the embodiment shown in Figure 1 (with the hose and spring shown in partial section).

Fig. 3 is the rear exterior view of the embodiment shown in Fig. 1 (the left side view of Fig. 1, some parts are not drawn).

Fig. 4 is a front appearance view of the embodiment shown in Fig. 1 (right side view of Fig. 1).

Fig. 5 to Fig. 8 are action processes of the embodiment shown in Fig. 1 grabbing a circular object.

Fig. 9 to Fig. 12 are the action process of the embodiment shown in Fig. 1 for grabbing the concave-convex special-shaped object.

In Figures 1 to 12:

1-base, 2-joint shaft, 3-intermediate condyle, 4-spring,

5 - Hose, 6 - Conduit, 7 - Distal condyle, 8 - Fluid,

11-driver, 12-screw rod, 13-nut plate, 14-variable grip spring,

15 - piston,

21 - the first joint axis, 22 - the second joint axis, 23 - the third joint axis, 24 - the fourth joint axis,

25-fifth joint axis, 26-sixth joint axis, 27-seventh joint axis, 28-eighth joint axis,

31-First middle condyle, 32-Second middle condyle, 33-Third middle condyle, 34-Fourth middle condyle,

35-fifth middle condyle, 36-sixth middle condyle, 37-seventh middle condyle, 38-eighth middle condyle,

41-the first spring part, 42-the second spring part, 43-the third spring part, 44-the fourth spring part,

45-the fifth spring, 46-the sixth spring, 47-the seventh spring, 48-the eighth spring,

51 - first hose, 52 - second hose, 53 - third hose, 54 - fourth hose,

55 - fifth hose, 56 - sixth hose, 57 - seventh hose, 58 - eighth hose,

61 - first conduit, 62 - second conduit, 63 - third conduit, 64 - fourth conduit,

65 - fifth conduit, 66 - sixth conduit, 67 - seventh conduit, 68 - eighth conduit,

91 - Round objects, 92 - Concave-convex shaped objects.

101-base body, 102-base plate,

301-connecting rod, 302-horizontal plate, 303-limiting bump, 304-surface plate,

701-end connecting rod, 702-end horizontal plate, 703-end limit projection, 704-end surface plate.

Detailed ways

The specific structure and working principle of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

A flexible hose fluid underactuated multi-joint robot finger device designed by the present invention is characterized in that it includes a base, m joint shafts, m-1 intermediate joints, m spring parts, m hoses, and m Conduit, end joint, fluid, driver and transmission mechanism; the first joint shaft is sleeved in the base, the first middle joint is sleeved on the first joint shaft, and the two ends of the first spring are respectively connected to the base seat, the first intermediate joint, the first catheter is fixedly connected to the base, the second joint shaft is sleeved in the first intermediate joint, the second intermediate joint is sleeved on the second joint shaft, and the second joint shaft is sleeved on the second joint shaft. The two ends of a spring piece are respectively connected to the first intermediate condyle and the second intermediate condyle, the second conduit is fixedly connected to the first intermediate condyle, and the two ends of the first flexible tube are respectively connected to the first conduit and the second intermediate condyle. A conduit...the i-th joint shaft is sleeved in the i-1th intermediate joint, the i-th intermediate joint is sleeved on the i-th joint shaft, and the two ends of the i-th spring are respectively connected to the i-1th The i-th intermediate joint, the i-th intermediate joint, the i-th conduit is fixedly connected to the i-1-th intermediate joint, and the two ends of the i-th hose are respectively connected to the i-th conduit, the i+1-th conduit...the m-th The first joint shaft is sleeved in the m-1th intermediate joint, the end joint is sleeved on the mth joint shaft, and the two ends of the m-th spring are connected to the m-th middle joint and the end joint respectively, and the m-th The first conduit is fixedly connected to the m-1th middle condyle, and the two ends of the mth hose are respectively connected to the mth conduit and the end condyle; all joint axes are parallel to each other; the output end of the driver is connected to the input end of the transmission mechanism , the output end of the transmission mechanism is connected to the fluid, and the fluid is sealed in the lumen of all hoses and catheters; the hose is made of elastic material and can be axially stretched along the channel direction; m is greater than 1 Natural number, i is 1, 2...m.

In this embodiment, m=8.

An embodiment of the fluid underactuated multi-joint robotic finger device of the flexible hose designed by the present invention, as shown in Figures 1 to 5, includes a base 1, 8 joint shafts 2, 7 middle joints 3, and 8 springs 4, 8 hoses 5, 8 conduits 6, end condyles 7, fluid 8, driver 11 and transmission mechanism.

In this embodiment, there are eight joint axes 2, which are the first joint axis 21, the second joint axis 22, the third joint axis 23, the fourth joint axis 24, the fifth joint axis 25, and the sixth joint axis. 26. The seventh joint axis 27 and the eighth joint axis 28.

In this embodiment, there are eight intermediate joints 3, which are the first intermediate joint 31, the second intermediate joint 32, the third intermediate joint 33, the fourth intermediate joint 34, the fifth intermediate joint 35, and the sixth intermediate joint. 36. Seventh middle joint 37, Eighth middle joint 38.

In the present embodiment, there are 8 spring parts 4, which are respectively the first spring part 41, the second spring part 42, the third spring part 43, the fourth spring part 44, the fifth spring part 45 and the sixth spring part 46, the seventh spring part 47, the eighth spring part 48.

In this embodiment, there are 8 hoses 5, namely the first hose 51, the second hose 52, the third hose 53, the fourth hose 54, the fifth hose 55, and the sixth hose. 56, the seventh hose 57, the eighth hose 58.

In the present embodiment, there are eight conduits 6, which are first conduit 61, second conduit 62, third conduit 63, fourth conduit 64, fifth conduit 65, sixth conduit 66, seventh conduit 67, Eighth conduit 68 .

In this embodiment, the first joint shaft 21 is sleeved in the base 1, the first intermediate condyle 31 is sleeved on the first joint shaft 21, and the two ends of the first spring member 41 are respectively connected to the base. Seat 1, the first middle joint 31, the first conduit 61 is fixedly connected to the base 1; the second joint shaft 22 is sleeved in the first middle joint 31, and the second middle joint 32 is sleeved in the second joint On the two joint shafts 22, the two ends of the second spring member 42 are respectively connected to the first intermediate joint 31 and the second intermediate joint 32, the second conduit 62 is fixedly connected to the first intermediate joint 31, and the first soft The two ends of the pipe 51 are respectively connected to the first guide tube 61 and the second guide tube 62 . Both ends of the eighth spring member 48 are respectively connected to the seventh middle joint 37 and the end joint 7, the eighth conduit 68 is fixedly connected to the seventh middle joint 37, and the two ends of the eighth flexible tube 58 are respectively connected to the second joint. Eight conduits 68, end joints 7; all joint axes 2 are parallel to each other; the output end of the driver 11 is connected to the input end of the transmission mechanism, and the output end of the transmission mechanism is connected to the fluid 8, and the fluid 8 is sealed in All the hoses 5 and catheters 6 are in the lumen; the hoses 5 are made of elastic material and can be stretched axially along the channel direction; i is 1, 2...8.

In this embodiment, the axis of the catheter 6 is perpendicular to the joint axis 2 , and the axis of the hose 5 is perpendicular to the joint axis 2 .

In this embodiment, the spring member 4 is a tension spring.

In this embodiment, the elastic coefficients of the eight spring elements 4 are different. The elastic coefficient of the first spring element 41 is smaller than that of the second spring element 42, and the elastic coefficient of the second spring element 42 is smaller than that of the third spring element 43. The coefficient of elasticity, the coefficient of elasticity of the third spring part 43 is less than the coefficient of elasticity of the fourth spring part 44, the coefficient of elasticity of the fourth spring part 44 is less than the coefficient of elasticity of the fifth spring part 45, the coefficient of elasticity of the fifth spring part 45 is less than the coefficient of elasticity of the sixth spring part 45 The coefficient of elasticity of the spring part 46, the coefficient of elasticity of the sixth spring part 46 is less than the coefficient of elasticity of the seventh spring part 47, the coefficient of elasticity of the seventh spring part 47 is less than the coefficient of elasticity of the eighth spring part 48; the eight spring parts 4 Among them, the length of the first spring part 41 is the longest, the second spring part 42, the third spring part 43, the fourth spring part 44, the fifth spring part 45, the sixth spring part 46, the seventh spring part 47 and the eighth spring part The spring members 48 are equal in length.

This embodiment also includes a variable grip spring 14, the two ends of the variable grip spring 14 are respectively connected to the transmission mechanism and the fluid 8, when the driver 11 pushes the fluid 8 through the transmission mechanism, the variable grip spring will first be made 14 is deformed, and then the power is transmitted to the fluid 8 through the variable grip spring 14. When the fluid 8 can no longer move, the variable grip spring 14 will deform, and the size of the deformation affects the gripping force of the device to grab objects After the driver 11 stops moving, the gripping force will remain due to the deformation of the variable gripping force spring 14, thereby obtaining a continuous gripping force.

In this embodiment, the base 1 includes a base body 101 and a base plate 102 fixed together.

In this embodiment, the transmission mechanism includes a screw rod 12, a nut plate 13, a variable grip spring 14 and a piston 15; the nut plate 13 is slidably embedded in the base body 101; the output of the screw rod 12 and the driver 11 The ends are connected, and the screw rod 12 cooperates with the nut plate 13 to form a thread transmission relationship; the piston 15 is slidably embedded in the base body 101, and the piston 15 and the nut plate 13 are parallel to each other; the variable grip spring 14 (there may be multiple ) are connected to each other with the nut plate 13 and the piston 15 respectively.

In this embodiment, the middle condyle 3 includes a connecting rod 301, a transverse plate 302, a limiting protrusion 303 and a surface plate 304; the surface plate 304 is made of an elastic material with a large friction coefficient, and the connecting rod 301, the transverse The plate 302 is fixedly connected to the limit projection 303, the surface plate 304 is located on the surface of the connecting rod 301 (the side in contact with the object), the horizontal plate 302 has holes, the conduit 6 passes through the hole on the horizontal plate 302, and the conduit 6 is fixedly connected with the transverse plate 302; the two ends of the connecting rod 301 have holes, and the two ends of the connecting rod 301 are respectively sleeved on different corresponding joint shafts 2; 303 are in contact with each other and limit the initial position of the middle condyle 3, and the adjacent limiting protrusions 303 will separate when grabbing an object.

In this embodiment, the end condyle 7 includes an end connecting rod 701, an end transverse plate 702, an end limiting protrusion 703 and an end surface plate 704; the end surface plate 704 is made of an elastic material with a large coefficient of friction, and the The end connecting rod 701, the end horizontal plate 702 and the end limit projection 703 are fixedly connected, the end surface plate 704 is located on the surface of the end connecting rod 701 (on the side contacting the object), and the end horizontal plate 702 is fixed to the hose 5 connected; one end of the end link 701 has a hole, and one end of the end link 701 is sleeved on the last joint shaft 2; in the initial state, the end limit bump 703 of the end joint 7 is in contact with the limit of the last intermediate joint The projection 303 contacts and limits the initial position of the end condyle 7 , and when grabbing an object, the end limit projection 703 will leave the limit projection 303 of the last middle condyle 3 .

The working principle of the present embodiment, in conjunction with accompanying drawing 5 to Fig. 12, narrates as follows:

As shown in Figure 5 and Figure 9, the driver 11 rotates forward, driving the screw rod 12 to rotate forward, the forward rotation of the screw rod 12 drives the nut plate 13 to move upward, the variable grip spring 14 is deformed to push the piston 15 upward, and the fluid 8 is Pushed into the hose 5 and the catheter 6 , the fluid 8 exerts force on the end condyle 7 and is transmitted to the other intermediate condyles 3 by the action of the spring element 4 . Because the coefficient of elasticity of the first spring 41 is less than that of the second spring 42, the coefficient of elasticity of the second spring 42 is less than that of the third spring 43, and the coefficient of elasticity of the third spring 43 is less than that of the fourth spring. The coefficient of elasticity of 44, the coefficient of elasticity of the fourth spring part 44 is less than the coefficient of elasticity of the fifth spring part 45, the coefficient of elasticity of the fifth spring part 45 is less than the coefficient of elasticity of the sixth spring part 46, the coefficient of elasticity of the sixth spring part 46 is less than The elastic coefficient of the seventh spring element 47, the elastic coefficient of the seventh spring element 47 is smaller than the elastic coefficient of the eighth spring element 48, so the first spring element 41 is first deformed, the first intermediate joint 31 rotates around the first joint axis 21, and the second A hose 51 is stretched, and when the deformation resistance of the first spring part 41 is greater than the deformation resistance of the second spring part 42, the second spring part 42 is deformed, and the second middle joint 32 rotates around the second joint axis 22, and the second The hose 52 stretches... When the deformation resistance of the seventh spring 47 is greater than the deformation resistance of the eighth spring 48, the eighth spring 48 is deformed, the end joint 7 rotates around the eighth joint axis 28, and the eighth hose 58 elongation, the process as shown in Figure 6 and Figure 10. The driver 11 continues to rotate, the variable grip spring 14 continues to deform, the fluid 8 is constantly pushed into the hose 5 and the conduit 6, each spring 4 and the hose 5 are constantly deformed, and each joint is constantly rotating. When touching an object, the joint cannot rotate, but it does not affect the rotation of other joints around the joint axis. Other joints continue to rotate until all joints touch the object, and each joint stops rotating to complete the automatic movement of convex objects or concave-convex objects. Adapt to grabbing, as shown in Figure 7, Figure 8, Figure 11, and Figure 12. The driver 11 continues to rotate, and the variable grip spring part 14 undergoes greater deformation. The deformed elastic force of the variable grip spring part 14 is applied to the gripping force of the object through the transmission of the fluid 8, so that the gripping force is enhanced, and the gripping force 14 is changed. The degree of deformation affects the size of the grasping force on the object. Different deformation degrees can be selected according to the different grasping objects to achieve different grasping forces and ensure stable grasping of the object. After realizing stable grasping, the driver 11 stops rotating, the screw rod 12 stops rotating, the positions of the nut plate 13 and the piston 15 remain unchanged, and the variable grip spring 14 remains in a deformed state, so its deformed elastic force is also retained and passed through The transfer of the fluid 8 is continuously applied to the grasping force on the object, ensuring continuous and stable grasping of the object.

For objects of different shapes and sizes, this embodiment is self-adaptive and can grasp various objects.

The process of releasing the object: the drive is reversed, and the follow-up process is just the opposite of the above-mentioned process of grabbing the object, so I won't repeat it here.

The device of the present invention utilizes a driver, a transmission mechanism, a plurality of joints, a plurality of joint shafts, a plurality of springs, a plurality of conduits, a plurality of hoses and fluids to comprehensively realize the function of robot finger self-adaptive grasping: the device can realize Adaptive crawl mode. In the self-adaptive grasping mode, the device can adapt to the grasping of both circular objects and concave-convex irregular-shaped objects. It adopts an under-actuated method and uses only one driver to drive multiple joints without complex sensing. And control system, large number of joints, strong adaptability, stable grasping, large grasping range, multi-joint linkage grasping, high grasping efficiency; the device is compact in structure, small in size, low in manufacturing and maintenance costs, and is suitable for robot hands .

Claims (4)

1. A flexible hose fluid underactuated multi-joint robotic finger device, characterized in that: comprise a base, m joint shafts, m-1 middle joints, m springs, m flexible pipes, m conduits, The end joint, fluid, driver and transmission mechanism; the first joint shaft is sleeved in the base, the first middle joint is sleeved on the first joint shaft, and the two ends of the first spring are respectively connected to the base, The first intermediate joint, the first catheter is fixed to the base, the second joint shaft is sleeved in the first intermediate joint, the second intermediate joint is sleeved on the second joint shaft, and the second spring The two ends of the piece are respectively connected to the first intermediate condyle and the second intermediate condyle, the second conduit is fixedly connected to the first intermediate condyle, and the two ends of the first hose are respectively connected to the first conduit and the second conduit ...the i-th joint shaft is sleeved in the i-1th middle joint, the i-th middle joint is sleeved on the i-th joint shaft, and the two ends of the i-th spring are respectively connected to the i-1 middle The joint, the i-th intermediate joint, the i-th conduit is fixedly connected to the i-1-th intermediate joint, and the two ends of the i-th hose are respectively connected to the i-th conduit, the i+1-th conduit...the m-th joint The shaft sleeve is set in the m-1th intermediate condyle, the terminal condyle is sleeved on the m-th joint axis, the two ends of the m-th spring are respectively connected to the m-th intermediate condyle and the terminal condyle, and the m-th catheter It is fixedly connected to the m-1th middle condyle, and the two ends of the m-th hose are respectively connected to the m-th conduit and the end condyle; all joint axes are parallel to each other; the output end of the driver is connected to the input end of the transmission mechanism, so The output end of the transmission mechanism is connected to the fluid, and the fluid is sealed in the inner cavity of all the hoses and catheters; the hose is made of elastic material and can be axially stretched along the channel direction; m is a natural number greater than 1, i is 1, 2...m. 2. The telescopic hose fluid underactuated multi-joint robot finger device according to claim 1, wherein the axis of the conduit is perpendicular to the joint axis, and the axis of the hose is perpendicular to the joint axis. 3. The multi-joint robot finger device under-actuated by the flexible hose fluid as claimed in claim 1, characterized in that: the spring member is a tension spring. 4 . The multi-joint robot finger device under-actuated by flexible hose fluid as claimed in claim 1 , further comprising a variable grip spring; the variable grip spring is arranged in the transmission chain of the transmission mechanism.

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