CN107696045A - A kind of intelligent bionic manipulator - Google Patents
A kind of intelligent bionic manipulator Download PDFInfo
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- CN107696045A CN107696045A CN201710914347.0A CN201710914347A CN107696045A CN 107696045 A CN107696045 A CN 107696045A CN 201710914347 A CN201710914347 A CN 201710914347A CN 107696045 A CN107696045 A CN 107696045A
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- muscle
- thumb
- hand
- bone
- pneumatic artificial
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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
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a kind of intelligent bionic manipulator, including the size and shape identical hand bone module with actual human hand's bone, by the joint of bionical tough band connection, it is laid out identical Pneumatic artificial muscle with actual human hand's muscle and supply control system is connected with each Pneumatic artificial muscle；The Pneumatic artificial muscle includes rubber tube and the fibrage set being sheathed on outside the rubber tube, the rubber tube is connected with the tracheae of the supply control system, the Pneumatic artificial muscle is divided into inherent flesh and extrinsic muscles, and the external diameter of the inherent flesh is less than the external diameter of the extrinsic muscles.The size of bionic mechanical hand is reduced while guarantee power output, enhances the flexibility of bionic mechanical hand, improves compliance and stability.For bionic hand of the present invention compared with existing bionic hand, shape size is highly similar to human hand, has the characteristics of light weight, flexible, submissive.
Description
Technical field
The present invention relates to Research on Intelligent Robots technical field, more particularly to a kind of intelligent bionic manipulator.
Background technology
As society is continuously increased to robot technology demand, the research and development of bionic mechanical hand is past four
Swift and violent development is obtained between more than ten years, scope is throughout various fields such as industry, medical treatment, service trades.Appoint to adapt to various crawls
Business, the bionic mechanical hand research and development of multiple degrees of freedom, multi-joint become one of focus of world wide inner machine people's research field.
Actuation techniques are the key technologies of bionic mechanical hand research and development.Existing bionic hand is more using motor as actuator, exists
The shortcomings of quality is heavy, security is low, compliance is poor.For the compliance for mitigating quality, improving bionic hand, in recent years many researchs
Personnel consider to replace direct current generator using air-driven type actuator.The gasbag-type executing agency that university of Japanese comrade society oneself will develop
As actuator, a kind of Lightweight nonmetal mechanical hand have developed.Humboldt Demel et al. have developed based on air impeller
RBO hands, can flexibly it be captured.The units such as domestic Zhejiang Polytechnical University have also been carried out based on Pneumatic flexible actuator
Dextrous Hand research work.
McKibben types Pneumatic artificial muscle can realize contractile motion so as to produce convergent force by adjusting air pressure inside.
Because operation principle is simple and has the characteristics that light weight, High power output, softness, McKibben type Pneumatic artificial muscles are fast
Speed develops into one of driving actuator of conventional air pressure.Company of Shadow robots of Britain is proposed Shadow robots
Hand, the hand share 20 frees degree, 24 joints, and each joint is driven by a pair of McKibben types Pneumatic artificial muscles.Base
Substantially mitigate in the bionical Dextrous Hand quality of pneumatic actuator, and the ability with submissive operation.But with real muscle phase
It is still more larger than the size of actuator, it is difficult to human hand size similar in space by all muscle be all disposed within forearm and
In palm space, therefore, the degree of flexibility of existing bionic mechanical hand is still poor.
The content of the invention
It is an object of the invention to provide a kind of more preferable intelligent bionic manipulator of degree of flexibility.
To achieve the above object, the invention provides a kind of intelligent bionic manipulator, including it is big with actual human hand's bone
Small and shape identical hand bone module, by the joint of bionical tough band connection, the pneumatic people of identical is laid out with actual human hand's muscle
Work muscle and be connected with each Pneumatic artificial muscle supply control system；
The Pneumatic artificial muscle includes rubber tube and the fibrage set being sheathed on outside the rubber tube, the rubber
Manage and be connected with the tracheae of the supply control system, the Pneumatic artificial muscle is divided into inherent flesh and extrinsic muscles, the inherent flesh
External diameter be less than the extrinsic muscles external diameter.
Optionally, the hand bone module is made using 3D printing technique, and the hand bone module includes 8 pieces of carpal bones, 5 palms
Bone, 5 proximal phalanxs, 4 middle phalanxs and 5 distal phalanxs；Wherein, thumb is by a metacarpal bone, a proximal phalanx
With a distal phalanx composition, forefinger, middle finger, the third finger and little finger of toe are respectively by a metacarpal bone, a proximal phalanx, one
The middle phalanx and distal phalanx composition, 8 pieces of carpal bones and the forefinger, the middle finger, it is described nameless and
The metacarpal bone of the little finger of toe is bonded by adhesive, the metacarpal bone, the proximal phalanx, the middle phalanx and the remote section
The both ends of phalanges are equipped with through hole, and according to the arrangement mode of hand bone module, adjacent two through hole wears connection by steel wire ring, and
Spacing knot is set on the steel wire at each through hole both ends, and the spacing knot is more than the aperture of the through hole, the through hole, institute
State steel wire and the spacing knot collectively forms the joint, the steel wire is bionical ligament.
Optionally, the through-hole diameter is 1mm, and the steel wire diameter is 0.6mm.
Optionally, the joint that the metacarpal bone is connected with the proximal phalanx is metacarpophalangeal joints, the proximal phalanx with it is described
The joint of middle phalanx connection is proximal phalangeal joints, and the joint that the middle phalanx is connected with the distal phalanx refers to for distal side
Between joint；Distance on the metacarpophalangeal joints positioned at the spacing knot at the through hole both ends of the proximal phalanx is more than described
Distance of spacing knot at the through hole both ends at the length of through hole, the proximal phalangeal joints and the distal interphalangeal joint etc.
In the length of the through hole.
Optionally, one end of the Pneumatic artificial muscle and the junction of the tracheae are fixed by connector, the gas
The other end of dynamic artificial-muscle is provided with tubercle, and the tubercle connects bionical tendon.
Optionally, the inherent flesh uses McKibben type Pneumatic artificial muscle of the external diameter for 1.3mm, and the extrinsic muscles is adopted
The McKibben type Pneumatic artificial muscles for being 2mm with external diameter.
Optionally, the inherent flesh includes volar interosseous muscles, dorsal interosseous muscles, musculus flexor digiti quinti brevis, abductor digiti minimi, thumb receipts
Flesh, short flexor muscel of thumb and short abductor muscle of thumb, the volar interosseous muscles, dorsal interosseous muscles, musculus flexor digiti quinti brevis, abductor digiti minimi, mesothenar, thumb
Breviflexor and short abductor muscle of thumb are laid in the relevant position of the hand bone module according to actual human hand's muscle；The extrinsic muscles bag
Include deep flexor muscle of fingers, long flexor muscle of thumb, musculus flexor digitorum sublimis, long abductor muscle of thumb, musculus extensor brevis pollicis, long extensor muscle of thumb, extensor indicis, extensor muscle of fingers and little finger of toe
Extensor, the deep flexor muscle of fingers, long flexor muscle of thumb, musculus flexor digitorum sublimis, long abductor muscle of thumb, musculus extensor brevis pollicis, long extensor muscle of thumb, extensor indicis, refer to and stretch
Flesh and musculus extensor digiti minimi are laid in the corresponding positions of the hand bone module according to actual human hand's muscle.
Optionally, the supply control system includes air compressor, controller and magnetic valve, the air compressor with
The magnetic valve is connected with the controller respectively, and the gas outlet of the air compressor connects with the tracheae, the electromagnetism
For valve on the tracheae, the controller controls the aperture of the magnetic valve to realize to entering the pneumatic people through the tracheae
The number of the gas of work muscle, and then realize the contraction of the Pneumatic artificial muscle.
Optionally, each Pneumatic artificial muscle connects a tracheae with the magnetic valve, multiple described
Magnetic valve is connected with the controller respectively.
Optionally, the air compressor output pressure is 0.32MPa gas.
According to specific embodiment provided by the invention, the invention discloses following technique effect：Intelligence provided by the invention
Bionic mechanical hand is laid out with muscle fully according to the bone of actual human hand and lays hand bone module and Pneumatic artificial muscle, and will be pneumatic
Artificial-muscle is divided into inherent flesh and extrinsic muscles and is controlled respectively by supplying control system, and according to the big of actual human hand's muscle
The small external diameter by inherent flesh is set smaller than the external diameter of extrinsic muscles, by controlling the contraction of the Pneumatic artificial muscle, so as to realize
All kinds of actions of finger, ensure to reduce the size of bionic mechanical hand while power output, enhance the flexible of bionic mechanical hand
Property, improve compliance and stability.For bionic hand of the present invention compared with existing bionic hand, shape size is highly similar to human hand,
With light weight, it is flexible, submissive the characteristics of.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
The accompanying drawing needed to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention
Example, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is the structural representation of the hand bone module for the intelligent bionic manipulator that embodiments of the invention provide；
Fig. 2 is the structural representation in joint in hand bone module of the invention；
Fig. 3 is the structural representation of the Pneumatic artificial muscle of the present invention；
Fig. 4 is structural representation of the Pneumatic artificial muscle with dependency structure annexation of the present invention；
Fig. 5 is layout of the Pneumatic artificial muscle of the present invention on hand bone module.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
It is an object of the invention to provide a kind of more preferable intelligent bionic manipulator of degree of flexibility.
In order to facilitate the understanding of the purposes, features and advantages of the present invention, it is below in conjunction with the accompanying drawings and specific real
Applying mode, the present invention is further detailed explanation.
The intelligent bionic manipulator that the present embodiment provides includes the size and shape identical hand bone with actual human hand's bone
Module, by the joint of bionical tough band connection, with actual human hand's muscle be laid out identical Pneumatic artificial muscle and with each institute
State Pneumatic artificial muscle connection supply control system.
As shown in figure 1, hand bone module is made using 3D printing technique, make the hand bone module that there is light weight, intensity height etc.
Feature, the weight for the hand bone module made by the 3D printing technique is 0.45kg, and the weight is with size identical actual human hand's
The weight of human hand bone is essentially identical.The hand bone module, which includes saving in 8 pieces of proximal phalanxs 3,4 of metacarpal bone 2,5 of carpal bone 1,5, to be referred to
Bone 4 and 5 distal phalanxs 5；Wherein, thumb (rightmost side finger in Fig. 1) is by a metacarpal bone 2, a proximal phalanx 3 and a distal phalanx
5 compositions, forefinger (second finger in right side in Fig. 1), middle finger, the third finger (second finger in left side in Fig. 1) and little finger of toe are (in Fig. 1
Leftmost side finger) it is made up of respectively a metacarpal bone 2, a proximal phalanx 3, a middle phalanx 4 and a distal phalanx 5.In order to reduce wrist
Joint and the influence of elbow joint, humerus, ulna, radius and 8 pieces of carpal bones are be bonded by adhesive, 8 pieces of carpal bones 1 and forefinger, middle finger,
Nameless and little finger of toe metacarpal bone 2 is bonded by adhesive.Such as Fig. 2, metacarpal bone 2, proximal phalanx 3, middle phalanx 4 and distal phalanx 5
Both ends be equipped with through hole 6, according to the arrangement mode of hand bone module, adjacent two through hole 6 wears connection by the ring of steel wire 7, and every
Spacing knot 8 is set on the steel wire 7 at the both ends of one through hole 6, and spacing knot 8 is more than the aperture of through hole 6, and through hole 6, steel wire 7 and spacing knot 8 are common
With joint is formed, steel wire 7 is bionical ligament.The setting of spacing knot is to limit the motion of the abduction/adduction in each joint
Position.In actual applications, 6 a diameter of 1mm of through hole, 7 a diameter of 0.6mm of steel wire, the steel wire use low bullet steel wire, using ensure as
The steel wire 7 of bionical ligament smooth can be slided freely in through hole 6.To realize the motion of the abduction/adduction of bionic mechanical hand
Scope is similar to human hand, and 6 liang of the through hole of proximal phalanx 3 is located on metacarpophalangeal joints 9 (metacarpophalangealpoint, MP)
The distance of the spacing knot 8 at end is more than the length of through hole 6, the ((proximal of proximal phalangeal joints 10
Interphalangealpoint, PIP) and distal interphalangeal joint 11 (distal interphalangeal point, DIP) place
The both ends of through hole 6 spacing knot 8 distance be equal to through hole 6 length.Wherein, the joint that metacarpal bone 2 is connected with proximal phalanx 3 is the palm
Articulations digitorum manus 9, the joint that proximal phalanx 3 is connected with middle phalanx 4 are proximal phalangeal joints 10, and middle phalanx 4 connects with distal phalanx 5
The joint connect is distal interphalangeal joint 11.
As shown in Figures 3 and 4, Pneumatic artificial muscle includes rubber tube 12 and the fibrage set being sheathed on outside rubber tube 12
13, rubber tube 12 is connected with supplying the tracheae 14 of control system, and Pneumatic artificial muscle is divided into inherent flesh and extrinsic muscles, inherent flesh
External diameter is less than the external diameter of extrinsic muscles.One end of Pneumatic artificial muscle and the junction of tracheae 14 are fixed by connector 15, pneumatically
The other end of artificial-muscle is provided with tubercle 16, and tubercle 16 connects bionical tendon 17.In the present embodiment, inherent flesh use external diameter for
For 1.3mm McKibben types Pneumatic artificial muscle to save space, extrinsic muscles uses McKibben type pneumatic people of the external diameter for 2mm
Work muscle is to provide larger power output.Actual human hand's muscle layout is simulated, uses 35 McKibben air-driven type artificial-muscles
Motion to finger is controlled.
Specifically, as illustrated in figs. 5 a-5 c, inherent flesh includes volar interosseous muscles 18, dorsal interosseous muscles 19, musculus flexor digiti quinti brevis
20th, abductor digiti minimi 21, mesothenar 22, short flexor muscel of thumb 23 and short abductor muscle of thumb 24, volar interosseous muscles 18, dorsal interosseous muscles 19, little finger of toe
Breviflexor 20, abductor digiti minimi 21, mesothenar 22, short flexor muscel of thumb 23 and short abductor muscle of thumb 24 are laid according to actual human hand's muscle
The relevant position of hand bone module；As shown in Fig. 5 d-5g, extrinsic muscles include deep flexor muscle of fingers 25, long flexor muscle of thumb 26, musculus flexor digitorum sublimis 27,
Long abductor muscle of thumb 28, musculus extensor brevis pollicis 29, long extensor muscle of thumb 30, extensor indicis 31, extensor muscle of fingers 32 and musculus extensor digiti minimi 33, deep flexor muscle of fingers 25,
Long flexor muscle of thumb 26, musculus flexor digitorum sublimis 27, long abductor muscle of thumb 28, musculus extensor brevis pollicis 29, long extensor muscle of thumb 30, extensor indicis 31, the and of extensor muscle of fingers 32
Musculus extensor digiti minimi 33 is laid in the corresponding positions of hand bone module according to actual human hand's muscle.
Supply control system includes air compressor, controller and magnetic valve, air compressor and magnetic valve respectively with control
Device connection processed, the gas outlet of air compressor connect with tracheae, and for magnetic valve on tracheae, controller controls the aperture of magnetic valve
Realize the gas that enters Pneumatic artificial muscle to transtracheal number, and then realize the contraction of Pneumatic artificial muscle.It is each pneumatic
Artificial-muscle connects a tracheae with magnetic valve, and multiple magnetic valves are connected with controller respectively.Air compressor exports gas
Press the gas for 0.32MPa.When magnetic valve is opened, air supply system artificial-muscle for corresponding to provides 0.32MPa air pressure, control
The contraction of the muscle is made, so as to realize all kinds of actions of finger.
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.
Specific case used herein is set forth to the principle and embodiment of the present invention, and above example is said
It is bright to be only intended to help the method and its core concept for understanding the present invention；Meanwhile for those of ordinary skill in the art, foundation
The thought of the present invention, in specific embodiments and applications there will be changes.In summary, this specification content is not
It is interpreted as limitation of the present invention.
Claims (10)
1. a kind of intelligent bionic manipulator, it is characterised in that including the size and shape identical hand bone with actual human hand's bone
Module, by the joint of bionical tough band connection, with actual human hand's muscle be laid out identical Pneumatic artificial muscle and with the gas
Dynamic artificial-muscle connection supply control system；
The Pneumatic artificial muscle includes rubber tube and the fibrage set that is sheathed on outside the rubber tube, the rubber tube with
The tracheae of the supply control system is connected, and the Pneumatic artificial muscle is divided into inherent flesh and extrinsic muscles, the inherent flesh it is outer
Footpath is less than the external diameter of the extrinsic muscles.
2. intelligent bionic manipulator according to claim 1, it is characterised in that the hand bone module uses 3D printing technique
Make, the hand bone module includes 8 pieces of carpal bones, 5 metacarpal bones, 5 proximal phalanxs, 4 middle phalanxs and 5 distal phalanxs；Its
In, thumb is made up of a metacarpal bone, a proximal phalanx and a distal phalanx, forefinger, middle finger, the third finger and little finger of toe
It is made up of respectively a metacarpal bone, a proximal phalanx, a middle phalanx and a distal phalanx, 8 pieces of wrists
Bone and the metacarpal bone of the forefinger, the middle finger, described nameless and described little finger of toe are be bonded by adhesive, the metacarpal bone,
The both ends of the proximal phalanx, the middle phalanx and the distal phalanx are equipped with through hole, according to the arrangement side of hand bone module
Formula, adjacent two through hole wears connection by steel wire ring, and sets spacing knot on the steel wire at each through hole both ends, described
For spacing knot more than the aperture of the through hole, the through hole, the steel wire and the spacing knot collectively form the joint, the steel
Silk is bionical ligament.
3. intelligent bionic manipulator according to claim 2, it is characterised in that the through-hole diameter is 1mm, the steel wire
A diameter of 0.6mm.
4. intelligent bionic manipulator according to claim 3, it is characterised in that the metacarpal bone is connected with the proximal phalanx
Joint be metacarpophalangeal joints, the joint that the proximal phalanx is connected with the middle phalanx is proximal phalangeal joints, the middle section
The joint that phalanges is connected with the distal phalanx is distal interphalangeal joint；It is located at the institute of the proximal phalanx on the metacarpophalangeal joints
The distance for stating the spacing knot at through hole both ends is more than the length of the through hole, between the proximal phalangeal joints and the distal side refer to
The distance of the spacing knot at the through hole both ends of joint is equal to the length of the through hole.
5. intelligent bionic manipulator according to claim 1, it is characterised in that one end of the Pneumatic artificial muscle and institute
The junction for stating tracheae is fixed by connector, and the other end of the Pneumatic artificial muscle is provided with tubercle, and the tubercle connection is imitative
Myogenic tendon.
6. intelligent bionic manipulator according to claim 1, it is characterised in that the inherent flesh uses external diameter as 1.3mm
McKibben type Pneumatic artificial muscles, the extrinsic muscles uses McKibben type Pneumatic artificial muscle of the external diameter for 2mm.
7. intelligent bionic manipulator according to claim 6, it is characterised in that the inherent flesh include volar interosseous muscles,
Dorsal interosseous muscles, musculus flexor digiti quinti brevis, abductor digiti minimi, mesothenar, short flexor muscel of thumb and short abductor muscle of thumb, between the volar interosseous muscles, bone
Dorsal part flesh, musculus flexor digiti quinti brevis, abductor digiti minimi, mesothenar, short flexor muscel of thumb and short abductor muscle of thumb are laid out according to actual human hand's muscle and laid
In the relevant position of the hand bone module；The extrinsic muscles includes deep flexor muscle of fingers, long flexor muscle of thumb, musculus flexor digitorum sublimis, long abductor muscle of thumb, thumb
Extensor hallucis brevis, long extensor muscle of thumb, extensor indicis, extensor muscle of fingers and musculus extensor digiti minimi, the deep flexor muscle of fingers, long flexor muscle of thumb, musculus flexor digitorum sublimis, thumb length
Diductor muscle, musculus extensor brevis pollicis, long extensor muscle of thumb, extensor indicis, extensor muscle of fingers and musculus extensor digiti minimi are laid in institute according to actual human hand's muscle
State the corresponding positions of hand bone module.
8. intelligent bionic manipulator according to claim 1, it is characterised in that the supply control system includes air pressure
Contracting machine, controller and magnetic valve, the air compressor and the magnetic valve are connected with the controller respectively, the air pressure
The gas outlet of contracting machine connects with the tracheae, and for the magnetic valve on the tracheae, the controller controls the magnetic valve
Aperture realize gas to entering the Pneumatic artificial muscle through the tracheae number, and then realize the artificial pneumatic flesh
The contraction of meat.
9. intelligent bionic manipulator according to claim 8, it is characterised in that each Pneumatic artificial muscle connection one
Root has the tracheae of the magnetic valve, and multiple magnetic valves are connected with the controller respectively.
10. intelligent bionic manipulator according to claim 8, it is characterised in that the air compressor output pressure is
0.32MPa gas.
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| CN201710914347.0A CN107696045A (en) | 2017-09-30 | 2017-09-30 | A kind of intelligent bionic manipulator |
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| CN109227587A (en) * | 2018-11-28 | 2019-01-18 | 董月阳 | A kind of bionic mechanical hand |
| CN109483574A (en) * | 2018-11-12 | 2019-03-19 | 上海交通大学 | The just soft coupling machinery finger of variation rigidity endoskeleton |
| CN113524243A (en) * | 2021-07-17 | 2021-10-22 | 吉林大学 | Bionic tension-compression body two-degree-of-freedom mechanical wrist |
| CN114290357A (en) * | 2022-01-14 | 2022-04-08 | 吉林大学 | Bionic pulling and pressing body multi-degree-of-freedom dexterous hand |
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| CN113524243A (en) * | 2021-07-17 | 2021-10-22 | 吉林大学 | Bionic tension-compression body two-degree-of-freedom mechanical wrist |
| CN113524243B (en) * | 2021-07-17 | 2022-03-04 | 吉林大学 | Bionic tension-compression body two-degree-of-freedom mechanical wrist |
| CN114290357A (en) * | 2022-01-14 | 2022-04-08 | 吉林大学 | Bionic pulling and pressing body multi-degree-of-freedom dexterous hand |
| CN114290357B (en) * | 2022-01-14 | 2023-11-17 | 吉林大学 | Bionic multi-freedom degree smart hand with pulling and pressing body |
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