CN107081744B - Flexible hose fluid underactuated multi-joint robot finger device - Google Patents
Flexible hose fluid underactuated multi-joint robot finger device Download PDFInfo
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- CN107081744B CN107081744B CN201710365006.2A CN201710365006A CN107081744B CN 107081744 B CN107081744 B CN 107081744B CN 201710365006 A CN201710365006 A CN 201710365006A CN 107081744 B CN107081744 B CN 107081744B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
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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
- B25J15/0023—Gripper surfaces directly activated by a fluid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/1625—Truss-manipulator for snake-like motion
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Abstract
A finger device of a telescopic hose fluid underactuated multi-joint robot belongs to the technical field of robots and comprises a base, a driver, a transmission mechanism, a plurality of bone joints, a plurality of joint shafts, a plurality of spring pieces, a plurality of guide pipes, a plurality of hoses, fluid and the like. The device realizes the function of self-adaptive grabbing of the robot fingers, and can realize a self-adaptive grabbing mode. In the self-adaptive grabbing mode, the device can adapt to grabbing of round objects and grabbing of concave-convex special-shaped objects, only one driver is used for driving a plurality of joints in an underactuated mode, a complex sensing and control system is not needed, the number of the joints is large, the adaptability is strong, the grabbing is stable, the grabbing range is large, the multi-joint linkage grabbing is realized, and the grabbing efficiency is high; the device has compact structure, small volume and low manufacturing and maintenance cost, and is suitable for robot hands.
Description
Technical Field
The invention belongs to the technical field of robot hands, and particularly relates to a structural design of a flexible hose fluid underactuated multi-joint robot finger device.
Background
The under-actuated robot hand refers to a robot hand with the number of motors being less than the number of joints, has a self-adaptive grabbing function, can adapt to grabbing of various objects, can be used in different occasions to meet the requirements of reducing complex sensing and real-time control, improves the grabbing stability and accuracy, is simple and convenient in device, low in cost, small in mass and small in size, and can be widely applied to industrial, agricultural and service robots or used as a fake hand for disabled people.
One known five-bar linkage clamping device with a two-degree-of-freedom underactuated finger, such as U.S. patent No. 8973958B2, includes five bars, a first spring member, and mechanical constraints. The device realizes a flat clamp self-adaptive grabbing mode. During working, the gesture of the tail end finger section is kept at the beginning stage to perform near joint bending action, and then the parallel pinching or self-adaptive enveloping holding function can be realized according to the position of an object. The device has the defects that a very complex multi-link mechanism is adopted, a large dead zone exists in motion, the grabbing range is small, the mechanism is large in size, flexibility is lacked, and the manufacturing cost is too high.
A pneumatic soft grip device, such as chinese patent CN104959992a, has been known, which includes a pneumatic soft manipulator, an air guide support assembly, an air guide base, a cover plate, and a gas diverter. The device realizes the grabbing of objects with complex shapes. The device has the defects that the device is limited by flexible materials, the gripping force is small, and the heavy objects are difficult to stably grip; the anti-interference capability of the grabbing is weak, the pneumatic response is slow, the grabbing process has larger time delay, the noise of the grabbing process is large, and meanwhile, the air compressor is large in size and heavy and is not suitable for a mobile service robot.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a telescopic hose fluid underactuated multi-joint robot finger device. The device realizes the function of self-adaptive grabbing of the robot fingers, and can realize a self-adaptive grabbing mode. In the self-adaptive grabbing mode, the device can adapt to grabbing of round objects and grabbing of concave-convex special-shaped objects, only one driver is used for driving a plurality of joints in an underactuated mode, a complex sensing and control system is not needed, the number of the joints is large, the adaptability is strong, the grabbing is stable, the grabbing range is large, the multi-joint linkage grabbing is realized, and the grabbing efficiency is high; the device has compact structure, small volume and low manufacturing and maintenance cost.
The technical scheme of the invention is as follows:
the invention relates to a flexible hose fluid underactuated multi-joint robot finger device, which is characterized in that: the device comprises a base, m joint shafts, m-1 middle condyles, m spring pieces, m hoses, m guide pipes, end condyles, fluid, a driver and a transmission mechanism; the 1 st joint shaft is sleeved in the base, the 1 st middle joint is sleeved on the 1 st joint shaft, two ends of the 1 st spring piece are respectively connected with the base and the 1 st middle joint, the 1 st guide pipe is fixedly connected with the base, the 2 nd joint shaft is sleeved in the 1 st middle joint, the 2 nd middle joint is sleeved on the 2 nd joint shaft, two ends of the 2 nd spring piece are respectively connected with the 1 st middle joint and the 2 nd middle joint, the 2 nd guide pipe is fixedly connected with the 1 st middle joint, two ends of a 1 st hose are respectively connected with the 1 st guide pipe and the 2 nd guide pipe … … ith joint shaft are respectively arranged in the i-1 st middle joint, the i-th middle joint is sleeved on the i-th joint shaft, two ends of the i-th spring piece are respectively connected with the i-1 th middle joint, the i-th guide pipe is fixedly connected with the i-1 th middle joint, two ends of the i-th guide pipe are respectively connected with the i-1 st guide pipe, the i+1st guide pipe … … m-th guide pipe is fixedly connected with the m-th joint, and the m-th guide pipe is respectively connected with two ends of the m-th joint, and the m-th guide pipe is fixedly connected with the two ends of the m-th joint, and the m-th guide pipe is respectively connected with the two ends of the m-th joint, and the m-th guide pipe is fixedly connected with the m-th joint, respectively; all joint axes are parallel to each other; the output end of the driver is connected with the input end of the transmission mechanism, the output end of the transmission mechanism is connected with fluid, and the fluid is sealed in the inner cavities of all hoses and pipes; the hose is made of elastic materials and can axially stretch and retract along the direction of the channel; m is a natural number greater than 1, i is 1, 2 … … m.
The invention relates to a flexible hose fluid underactuated multi-joint robot finger device, which is characterized in that: the axis of the guide pipe is perpendicular to the joint shaft, and the axis of the hose is perpendicular to the joint shaft.
The invention relates to a flexible hose fluid underactuated multi-joint robot finger device, which is characterized in that: the spring part adopts a tension spring.
The invention relates to a flexible hose fluid underactuated multi-joint robot finger device, which is characterized in that: the device also comprises a variable grabbing spring piece; the variable grabbing spring piece is arranged in a transmission chain of the transmission mechanism.
Compared with the prior art, the invention has the following advantages and outstanding effects:
the device comprehensively realizes the function of self-adaptive grabbing of the robot fingers by utilizing a driver, a transmission mechanism, a plurality of bone segments, a plurality of joint shafts, a plurality of spring pieces, a plurality of guide pipes, a plurality of hoses, fluid and the like: the device can realize an adaptive grabbing mode. In the self-adaptive grabbing mode, the device can adapt to grabbing of round objects and grabbing of concave-convex special-shaped objects, only one driver is used for driving a plurality of joints in an underactuated mode, a complex sensing and control system is not needed, the number of the joints is large, the adaptability is strong, the grabbing is stable, the grabbing range is large, the multi-joint linkage grabbing is realized, and the grabbing efficiency is high; the device has compact structure, small volume and low manufacturing and maintenance cost, and is suitable for robot hands.
Drawings
FIG. 1 is a side partial cross-sectional view of one embodiment of a bellows fluid under-actuated multi-joint robotic finger device of the present invention.
Fig. 2 is a side elevational view of the embodiment of fig. 1 (with the hose and spring shown in partial cross-section).
Fig. 3 is a rear view of the embodiment of fig. 1 (left view of fig. 1, with parts not shown).
Fig. 4 is a front exterior view of the embodiment shown in fig. 1 (right side view of fig. 1).
Fig. 5 to 8 are the actions of the embodiment of fig. 1 for gripping a circular object.
Fig. 9 to 12 are the operational procedures for gripping the irregular object in the embodiment shown in fig. 1.
In fig. 1 to 12:
1-base, 2-joint shaft, 3-middle condyle, 4-spring part,
5-hose, 6-catheter, 7-distal condyle, 8-fluid,
11-driver, 12-screw, 13-nut plate, 14-variable grip spring,
15-a piston, which is provided with a piston,
21-first joint axis, 22-second joint axis, 23-third joint axis, 24-fourth joint axis,
25-fifth joint axis, 26-sixth joint axis, 27-seventh joint axis, 28-eighth joint axis,
31-first intermediate condyle, 32-second intermediate condyle, 33-third intermediate condyle, 34-fourth intermediate condyle,
35-fifth intermediate condyle, 36-sixth intermediate condyle, 37-seventh intermediate condyle, 38-eighth intermediate condyle,
41-first spring element, 42-second spring element, 43-third spring element, 44-fourth spring element,
45-fifth spring element, 46-sixth spring element, 47-seventh spring element, 48-eighth spring element,
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-a round object and 92-a concave-convex special-shaped object.
101-a base body, 102-a base plate,
301-connecting rod, 302-transverse plate, 303-limit bump, 304-surface plate,
701-end links, 702-end cross plates, 703-end limit bumps, 704-end surface plates.
Detailed Description
The details of the specific construction and operation of the present invention will be further described with reference to the accompanying drawings and examples.
The invention relates to a flexible hose fluid underactuated multi-joint robot finger device, which is characterized in that: the device comprises a base, m joint shafts, m-1 middle condyles, m spring pieces, m hoses, m guide pipes, end condyles, fluid, a driver and a transmission mechanism; the 1 st joint shaft is sleeved in the base, the 1 st middle joint is sleeved on the 1 st joint shaft, two ends of the 1 st spring piece are respectively connected with the base and the 1 st middle joint, the 1 st guide pipe is fixedly connected with the base, the 2 nd joint shaft is sleeved in the 1 st middle joint, the 2 nd middle joint is sleeved on the 2 nd joint shaft, two ends of the 2 nd spring piece are respectively connected with the 1 st middle joint and the 2 nd middle joint, the 2 nd guide pipe is fixedly connected with the 1 st middle joint, two ends of a 1 st hose are respectively connected with the 1 st guide pipe and the 2 nd guide pipe … … ith joint shaft are respectively arranged in the i-1 st middle joint, the i-th middle joint is sleeved on the i-th joint shaft, two ends of the i-th spring piece are respectively connected with the i-1 th middle joint, the i-th guide pipe is fixedly connected with the i-1 th middle joint, two ends of the i-th guide pipe are respectively connected with the i-1 st guide pipe, the i+1st guide pipe … … m-th guide pipe is fixedly connected with the m-th joint, and the m-th guide pipe is respectively connected with two ends of the m-th joint, and the m-th guide pipe is fixedly connected with the two ends of the m-th joint, and the m-th guide pipe is respectively connected with the two ends of the m-th joint, and the m-th guide pipe is fixedly connected with the m-th joint, respectively; all joint axes are parallel to each other; the output end of the driver is connected with the input end of the transmission mechanism, the output end of the transmission mechanism is connected with fluid, and the fluid is sealed in the inner cavities of all hoses and pipes; the hose is made of elastic materials and can axially stretch and retract along the direction of the channel; m is a natural number greater than 1, i is 1, 2 … … m.
In this embodiment, m=8.
An embodiment of a flexible hose fluid underactuated multi-joint robot finger device designed by the invention, as shown in fig. 1 to 5, comprises a base 1, 8 joint shafts 2, 7 middle condyles 3, 8 spring pieces 4, 8 hoses 5, 8 guide pipes 6, end condyles 7, fluid 8, a driver 11 and a transmission mechanism.
In this embodiment, the number of joint shafts 2 is 8, and the first joint shaft 21, the second joint shaft 22, the third joint shaft 23, the fourth joint shaft 24, the fifth joint shaft 25, the sixth joint shaft 26, the seventh joint shaft 27, and the eighth joint shaft 28 are respectively.
In this embodiment, the number of the intermediate condyles 3 is 8, and the intermediate condyles are a first intermediate condyle 31, a second intermediate condyle 32, a third intermediate condyle 33, a fourth intermediate condyle 34, a fifth intermediate condyle 35, a sixth intermediate condyle 36, a seventh intermediate condyle 37, and an eighth intermediate condyle 38.
In this embodiment, there are 8 springs 4, which are a first spring 41, a second spring 42, a third spring 43, a fourth spring 44, a fifth spring 45, a sixth spring 46, a seventh spring 47, and an eighth spring 48, respectively.
In this embodiment, there are 8 hoses 5, namely, a first hose 51, a second hose 52, a third hose 53, a fourth hose 54, a fifth hose 55, a sixth hose 56, a seventh hose 57, and an eighth hose 58.
In this embodiment, the number of the pipes 6 is 8, and the pipes are a first pipe 61, a second pipe 62, a third pipe 63, a fourth pipe 64, a fifth pipe 65, a sixth pipe 66, a seventh pipe 67, and an eighth pipe 68.
In this embodiment, the first joint shaft 21 is sleeved in the base 1, the first middle bone segment 31 is sleeved on the first joint shaft 21, two ends of the first spring element 41 are respectively connected with the base 1 and the first middle bone segment 31, and the first conduit 61 is fixedly connected with the base 1; the second joint shaft 22 is sleeved in the first middle joint 31, the second middle joint 32 is sleeved on the second joint shaft 22, two ends of the second spring piece 42 are respectively connected with the first middle joint 31 and the second middle joint 32, the second guide pipe 62 is fixedly connected with the first middle joint 31, two ends of the first hose 51 are respectively connected with the first guide pipe 61 and the second guide pipe 62 … …, the eighth joint shaft 28 is sleeved in the seventh middle joint 37, the tail end joint 7 is sleeved on the eighth joint shaft 28, two ends of the eighth spring piece 48 are respectively connected with the seventh middle joint 37 and the tail end joint 7, the eighth guide pipe 68 is fixedly connected with the seventh middle joint 37, and two ends of the eighth hose 58 are respectively connected with the eighth guide pipe 68 and the tail end joint 7; all the joint shafts 2 are parallel to each other; the output end of the driver 11 is connected with the input end of a transmission mechanism, the output end of the transmission mechanism is connected with a fluid 8, and the fluid 8 is sealed in the inner cavities of all the hoses 5 and the guide pipes 6; the hose 5 is made of elastic materials and can axially stretch and retract along the channel direction; i is 1, 2, … 8.
In this embodiment, the axis of the conduit 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 adopts a tension spring.
In this embodiment, the elastic coefficients of the 8 springs 4 are different, the elastic coefficient of the first spring 41 is smaller than the elastic coefficient of the second spring 42, the elastic coefficient of the second spring 42 is smaller than the elastic coefficient of the third spring 43, the elastic coefficient of the third spring 43 is smaller than the elastic coefficient of the fourth spring 44, the elastic coefficient of the fourth spring 44 is smaller than the elastic coefficient of the fifth spring 45, the elastic coefficient of the fifth spring 45 is smaller than the elastic coefficient of the sixth spring 46, the elastic coefficient of the sixth spring 46 is smaller than the elastic coefficient of the seventh spring 47, and the elastic coefficient of the seventh spring 47 is smaller than the elastic coefficient of the eighth spring 48; of the 8 springs 4, the first spring 41 has the longest length, and the second spring 42, the third spring 43, the fourth spring 44, the fifth spring 45, the sixth spring 46, the seventh spring 47 and the eighth spring 48 have the same length.
The embodiment further comprises a variable grabbing spring piece 14, wherein two ends of the variable grabbing spring piece 14 are respectively connected with a transmission mechanism and the fluid 8, when the driver 11 pushes the fluid 8 through the transmission mechanism, the variable grabbing spring piece 14 is deformed firstly, then force is transmitted to the fluid 8 through the variable grabbing spring piece 14, when the fluid 8 can not move any more, the variable grabbing spring piece 14 can deform, the deformation size influences the grabbing force of the device for grabbing an object, and after the driver 11 stops moving, the grabbing force can be kept due to the deformation of the variable grabbing spring piece 14, so that the continuous grabbing force is obtained.
In this embodiment, the base 1 includes a base body 101 and a base plate 102 fixedly connected together.
In the embodiment, the transmission mechanism comprises a screw rod 12, a nut plate 13, a variable grabbing spring piece 14 and a piston 15; the nut plate 13 is slidably embedded in the base body 101; the screw rod 12 is connected with the output end of the driver 11, and the screw rod 12 is matched with the nut plate 13 to form a threaded transmission relationship; the piston 15 is embedded in the base body 101 in a sliding manner, and the piston 15 and the nut plate 13 are parallel to each other; the two ends of the spring piece 14 (there may be a plurality of spring pieces) are respectively connected with the nut plate 13 and the piston 15.
In this embodiment, the middle condyle 3 includes a connecting rod 301, a transverse plate 302, a limiting bump 303, and a surface plate 304; the surface plate 304 is made of elastic material with large friction coefficient, the connecting rod 301, the transverse plate 302 and the limit bump 303 are fixedly connected, the surface plate 304 is positioned on the surface (object contacting side) of the connecting rod 301, the transverse plate 302 is provided with a hole, the guide pipe 6 passes through the hole on the transverse plate 302, and the guide pipe 6 is fixedly connected with the transverse plate 302; holes are formed at two ends of the connecting rod 301, and the two ends of the connecting rod 301 are respectively sleeved on different corresponding joint shafts 2; in the initial state, the limit protrusions 303 of the adjacent intermediate condyles 3 contact each other and limit the initial position of the intermediate condyle 3, and when an object is grasped, the adjacent limit protrusions 303 are separated.
In this embodiment, the distal condyle 7 includes a distal link 701, a distal transverse plate 702, a distal stop tab 703, and a distal surface plate 704; the end surface plate 704 is made of elastic material with high friction coefficient, the end connecting rod 701, the end transverse plate 702 and the end limiting bump 703 are fixedly connected, the end surface plate 704 is positioned on the surface (object contacting side) of the end connecting rod 701, and the end transverse plate 702 is fixedly connected with the hose 5; one end of the tail connecting rod 701 is provided with a hole, and one end of the tail connecting rod 701 is sleeved on the last joint shaft 2; in the initial state, the end limit bump 703 of the end condyle 7 contacts with the limit bump 303 of the last middle condyle and limits the initial position of the end condyle 7, and when the object is grabbed, the end limit bump 703 is separated from the limit bump 303 of the last middle condyle 3.
The working principle of the present embodiment, with reference to fig. 5 to 12, is described as follows:
as shown in fig. 5 and 9, the driver 11 rotates forward, the screw 12 rotates forward, the nut plate 13 moves upward by the forward rotation of the screw 12, the variable grip spring 14 deforms to push the piston 15 upward, the fluid 8 is pushed into the hose 5 and the conduit 6, and the fluid 8 exerts a force on the end condyle 7 and is transferred to the other intermediate condyle 3 by the action of the spring 4. Because the coefficient of elasticity of the first spring element 41 is smaller than the coefficient of elasticity of the second spring element 42, the coefficient of elasticity of the second spring element 42 is smaller than the coefficient of elasticity of the third spring element 43, the coefficient of elasticity of the third spring element 43 is smaller than the coefficient of elasticity of the fourth spring element 44, the coefficient of elasticity of the fourth spring element 44 is smaller than the coefficient of elasticity of the fifth spring element 45, the coefficient of elasticity of the fifth spring element 45 is smaller than the coefficient of elasticity of the sixth spring element 46, the coefficient of elasticity of the sixth spring element 46 is smaller than the coefficient of elasticity of the seventh spring element 47, the coefficient of elasticity of the seventh spring element 47 is smaller than the coefficient of elasticity of the eighth spring element 48, so that the first spring element 41 is deformed first, the first intermediate joint 31 rotates about the first joint axis 21, the first hose 51 stretches, when the resistance to deformation of the first spring element 41 is greater than the resistance to deformation of the second spring element 42, the second intermediate joint 32 rotates about the second joint axis 22, the second hose 52 stretches … …, when the resistance to deformation of the seventh spring element 47 is greater than the eighth spring element 48, and the eighth joint 48 stretches about the eighth joint 8, as shown in fig. 10, 58. The driver 11 continuously rotates, the spring piece 14 with variable holding power continuously deforms, the fluid 8 is continuously pushed into the hose 5 and the guide tube 6, each spring piece 4 and the hose 5 continuously deform, each condyle continuously rotates, when one condyle touches an object, the condyle cannot rotate, but the rotation of other condyles around the joint shaft is not influenced, the other condyles continuously rotate, until all the condyles touch the object, each condyle stops rotating, and the self-adaptive grabbing of a convex object or a concave-convex irregularly-shaped object is completed, as shown in fig. 7, 8, 11 and 12. The driver 11 continues to rotate, the variable grabbing force spring piece 14 deforms more, the deformation elastic force of the variable grabbing force spring piece 14 is applied to the grabbing force of the object through the transmission of the fluid 8, so that the grabbing force is enhanced, the deformation degree of the variable grabbing force 14 influences the grabbing force of the object, different grabbing forces can be realized by selecting different deformation degrees according to different grabbing objects, and stable grabbing of the object is ensured. When stable gripping is achieved, the driver 11 stops rotating, the screw 12 stops rotating, the positions of the nut plate 13 and the piston 15 remain unchanged, the variable gripping force spring 14 remains unchanged in a deformed state, and the deformation elastic force thereof remains and is continuously applied to the gripping force of the object through the transfer of the fluid 8, so that continuous stable gripping of the object is ensured.
Aiming at objects with different shapes and sizes, the embodiment has self-adaptability and can grasp various objects.
The process of releasing the object: the driver is reversed, and the subsequent process is just opposite to the process of grabbing the object, and is not repeated.
The device comprehensively realizes the function of self-adaptive grabbing of the robot fingers by utilizing a driver, a transmission mechanism, a plurality of bone segments, a plurality of joint shafts, a plurality of spring pieces, a plurality of guide pipes, a plurality of hoses, fluid and the like: the device can realize an adaptive grabbing mode. In the self-adaptive grabbing mode, the device can adapt to grabbing of round objects and grabbing of concave-convex special-shaped objects, only one driver is used for driving a plurality of joints in an underactuated mode, a complex sensing and control system is not needed, the number of the joints is large, the adaptability is strong, the grabbing is stable, the grabbing range is large, the multi-joint linkage grabbing is realized, and the grabbing efficiency is high; the device has compact structure, small volume and low manufacturing and maintenance cost, and is suitable for robot hands.
Claims (4)
1. A flexible hose fluid under-actuated multi-joint robot finger device, characterized in that: the device comprises a base, m joint shafts, m-1 middle condyles, m spring pieces, m hoses, m guide pipes, end condyles, fluid, a driver and a transmission mechanism; the 1 st joint shaft is sleeved in the base, the 1 st middle joint is sleeved on the 1 st joint shaft, two ends of the 1 st spring piece are respectively connected with the base and the 1 st middle joint, the 1 st guide pipe is fixedly connected with the base, the 2 nd joint shaft is sleeved in the 1 st middle joint, the 2 nd middle joint is sleeved on the 2 nd joint shaft, two ends of the 2 nd spring piece are respectively connected with the 1 st middle joint and the 2 nd middle joint, the 2 nd guide pipe is fixedly connected with the 1 st middle joint, two ends of a 1 st hose are respectively connected with the 1 st guide pipe and the 2 nd guide pipe … … ith joint shaft are respectively arranged in the i-1 st middle joint, the i-th middle joint is sleeved on the i-th joint shaft, two ends of the i-th spring piece are respectively connected with the i-1 th middle joint, the i-th guide pipe is fixedly connected with the i-1 th middle joint, two ends of the i-th guide pipe are respectively connected with the i-1 st guide pipe, the i+1st guide pipe … … m-th guide pipe is fixedly connected with the m-th joint, and the m-th guide pipe is respectively connected with two ends of the m-th joint, and the m-th guide pipe is fixedly connected with the two ends of the m-th joint, and the m-th guide pipe is respectively connected with the two ends of the m-th joint, and the m-th guide pipe is fixedly connected with the m-th joint, respectively; all joint axes are parallel to each other; the output end of the driver is connected with the input end of the transmission mechanism, the output end of the transmission mechanism is connected with fluid, and the fluid is sealed in the inner cavities of all hoses and pipes; the hose is made of elastic materials and can axially stretch and retract along the direction of the channel; m is a natural number greater than 1, i is 1, 2 … … m.
2. The bellows fluid under-actuated multi-joint robotic finger device according to claim 1, wherein: the axis of the guide pipe is perpendicular to the joint shaft, and the axis of the hose is perpendicular to the joint shaft.
3. The bellows fluid under-actuated multi-joint robotic finger device according to claim 1, wherein: the spring part adopts a tension spring.
4. The bellows fluid under-actuated multi-joint robotic finger device according to claim 1, wherein: the device also comprises a variable grabbing spring piece; the variable grabbing spring piece is arranged in a transmission chain of the transmission mechanism.
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| CN201710365006.2A CN107081744B (en) | 2017-05-22 | 2017-05-22 | Flexible hose fluid underactuated multi-joint robot finger device |
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| CN201710365006.2A CN107081744B (en) | 2017-05-22 | 2017-05-22 | Flexible hose fluid underactuated multi-joint robot finger device |
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| CN107081744A CN107081744A (en) | 2017-08-22 |
| CN107081744B true CN107081744B (en) | 2023-07-14 |
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| CN101628416A (en) * | 2009-07-31 | 2010-01-20 | 清华大学 | Biarticulate sliding block type directly driving robot finger device with variable holding force |
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| JPH10249774A (en) * | 1997-03-11 | 1998-09-22 | Kubota Corp | Robot hand finger |
| EP3058237B1 (en) * | 2013-10-18 | 2020-12-02 | President and Fellows of Harvard College | Mechanically programmed soft actuators with conforming sleeves |
| WO2015188071A2 (en) * | 2014-06-05 | 2015-12-10 | Medrobotics Corporation | Articulating robotic probes, systems and methods incorporating the same, and methods for performing surgical procedures |
| CN105773643B (en) * | 2016-03-17 | 2018-06-29 | 清华大学 | Closed loop flexible piece fluid puts down folder adaptive robot finger apparatus |
| CN206869879U (en) * | 2017-05-22 | 2018-01-12 | 清华大学 | Bellows fluid drive lacking articulated robot finger apparatus |
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