CN108890677B - Flexible underactuated manipulator cooperatively driven by finger root joint and finger tip joint - Google Patents
Flexible underactuated manipulator cooperatively driven by finger root joint and finger tip joint Download PDFInfo
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- CN108890677B CN108890677B CN201810886249.5A CN201810886249A CN108890677B CN 108890677 B CN108890677 B CN 108890677B CN 201810886249 A CN201810886249 A CN 201810886249A CN 108890677 B CN108890677 B CN 108890677B
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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
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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
- B25J15/02—Gripping heads and other end effectors servo-actuated
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Abstract
The invention relates to a flexible underactuated manipulator cooperatively driven by a finger root joint and a finger tip joint, which comprises an upper seat plate and a base plate, wherein the upper seat plate and the base plate are fixed into a whole through guide connecting rods; the flexible finger is characterized by further comprising a flexible finger, the head of the flexible finger is fixedly mounted on the hollow fingertip drive plate, the middle of the flexible finger is connected with the base plate through a finger root hinge seat, the tail of the flexible finger is connected with the finger root drive plate through a bent rod hinge seat, two screw shaft servo motors convert rotary motion into linear motion through a screw rod nut mechanism, the flexible finger root joint and the fingertip joint are driven to rotate respectively, objects with different sizes in states can be reliably grabbed, the grabbing range is wide, and the flexible finger has a flexible self-adaptive effect.
Description
Technical Field
The invention relates to the technical field of industrial robots, service robots, sorting and packaging mechanical arms and mechanical and electrical integration, in particular to a flexible underactuated mechanical arm cooperatively driven by a finger root section and a finger tip section.
Background
Aiming at large-scale production in light industry and food industry, in order to meet the logistics and packaging requirements of raw materials, semi-finished products and finished products with complex shapes and diverse physical properties and solve the problems of high labor cost, poor labor conditions and the like of simple labor, a tail end gripper for gripping logistics is required, such as an under-actuated manipulator, and the finger part of the under-actuated manipulator commonly used in the prior art is of a rigid variable constraint structure, and each finger has three degrees of freedom. Under the drive of a single motor, the motion trail of any point of a finger is fixed and unchanged when the finger does not contact the grasped object, and interference can be generated on the small support surface (such as a conveying belt) of the grasped object. When the object to be grabbed is contacted, the action of the two torsion springs needs to be overcome, and the action point and the action force direction cannot be changed. The aforesaid shape and size inconsistency of the grasped complex object can not be accommodated, and the special requirement that the contact force is not damaged and the complex object is reliably grasped can not be satisfied, and at the same time, a large impact is generated on the grasped complex object.
Therefore, the rigid structure of the underactuated manipulator is not suitable for holding objects with large differences in material properties, shape, size and position, such as irregular and large-size objects (fruits and vegetables), fragile and fragile objects (eggs, glass-ceramic products), easily deformable and soft objects (bread, soft packaged objects), and irregular and disordered and difficult-to-handle objects (wine bottles and cosmetic bottles).
Disclosure of Invention
The applicant aims at the defects in the prior art, and provides a flexible underactuated manipulator driven by the cooperation of a finger root joint and a finger tip joint, which has the advantages of adjustable grabbing posture, adjustable action point of contact force, wider grabbing range, capability of effectively clamping and grabbing objects with larger differences in material properties, shapes, sizes and position states, and flexible self-adaptive grabbing effect.
The technical scheme adopted by the invention is as follows:
a finger root joint and finger tip joint cooperatively driven flexible underactuated manipulator comprises an upper seat plate and a base plate, wherein the upper seat plate and the base plate are fixed into a whole through four guide connecting rods; the device comprises a hollow fingertip drive plate, a base shaft servo motor, a base hinge seat, a bent rod hinge seat, a base shaft servo motor, a hollow fingertip drive plate, a base plate, two lead screw shaft servo motors and two guide connecting rods, wherein fingertip drive parts of the flexible fingers are fixedly arranged on the hollow fingertip drive plate, a finger root rotating part of the flexible fingers is connected with the base plate through the finger root hinge seat, the finger root drive parts of the flexible fingers are connected with the finger root drive plate through the bent rod hinge seat, and the two lead.
The further technical scheme is as follows:
the mounting structure of the flexible finger is as follows: the right-handed threaded rod, the left-handed threaded sleeve and the left-handed threaded rod are sequentially connected through threads, the right-handed threaded rod is fixed on the hollow fingertip drive plate through a nut, the lower end of the left-handed threaded rod is connected with a finger tip section through two first thick washer hinges, and the finger tip section with a fan-shaped appearance is of a U-shaped hollow structure; still include well knuckle, well knuckle both ends are articulated respectively through turning round spring dabber and turning round the spring and have indicate sharp festival and finger root festival, well knuckle and finger root festival also all are the hollow structure of U-shaped, fixedly connected with dysmorphism board on the finger root festival, the cross-section of dysmorphism board is triangle-shaped, triangle-shaped's one side is the indent arc, indent arc's one end articulates there is a finger root hinge seat, the articulated curved knee of bending of the curved other end of indent, the knee other end is connected on installing the knee hinge seat on the finger root drive plate.
A second thick gasket is arranged between the finger root joint and the special-shaped plate, and the finger root joint, the second thick gasket and the special-shaped plate are fixed into a whole through pins; a thin gasket is arranged between the finger root joint and the finger root hinge seat, and the finger root joint, the thin gasket, the finger root hinge seat and the special-shaped plate form hinge connection through cylindrical pins; the bent rod pushes the special-shaped plate to enable the knuckle to rotate.
The torsion spring mandrel at one end of the middle knuckle is sleeved with a small-rigidity torsion spring, the torsion spring mandrel at the other end of the middle knuckle is sleeved with a large-rigidity torsion spring, and two sides of the small-rigidity torsion spring and the large-rigidity torsion spring are pre-tightened through two torsion spring stop pins.
The three flexible fingers are uniformly distributed at spatial positions along the circumference and used for vertically grabbing round objects; or when the square object is vertically grabbed, one flexible finger on the left side is positioned on the vertex angle of the isosceles triangle, the two flexible fingers on the right side are respectively positioned on the two base angles of the isosceles triangle, circles which pass through the vertex and are tangent to the base edges are concentric with the circles uniformly distributed along the circumference, and the original points of the mechanical arm coordinates for vertically grabbing the circular and square objects are unchanged.
The middle part of the hollow fingertip driving board is of a hollow structure, and the hollow part is used for the upper part of the bent rod and the fingertip driving board to pass through.
The upper seat plate is of a T-shaped structure, two positioning holes are formed in the symmetrical axis of the T-shaped structure at intervals, two symmetrical ends of the T-shaped structure on two sides of the symmetrical axis are respectively provided with one positioning hole, the upper ends of the four guide connecting rods are fixed in the four positioning holes respectively, and the corresponding positions of the base plate are provided with positioning holes which are coaxial with the four positioning holes and used for fixing the lower ends of the guide connecting rods. The base plate is also provided with two positioning holes for mounting the bearing with the seat, and a positioning spigot on the bearing with the seat is in clearance fit with the positioning holes; the output of the two screw shaft servo motor rotors is a screw, and the two bearings with seats respectively provide support at the tail end of the screw.
The upper end and the lower end of each of the four guide connecting rods are in clearance fit with the eight positioning holes through cylindrical surfaces respectively, and the upper seat plate and the base plate are fixed into a whole by nuts.
The hollow fingertip drive plate and the finger root drive plate are guided by two guide connecting rods and driven by a screw shaft servo motor; the hollow fingertip drive plate and the hollow fingertip drive plate are respectively provided with two coaxial through holes which respectively pass through two corresponding guide connecting rods, the four through holes are respectively in clearance fit with the cylindrical surfaces of the linear bearings, and the linear bearings are sleeved on the guide connecting rods and take the guide connecting rods as the guide; the hollow fingertip drive plate and the finger root drive plate are respectively provided with a positioning hole for mounting a screw nut seat, and a positioning spigot on the screw nut seat is in clearance fit with the positioning hole.
Five T-shaped grooves are formed in the finger root driving plate, and the bent rod hinge seat is guided in the T-shaped grooves and fixed through screws.
The invention has the following beneficial effects:
1. according to the invention, through the control of the screw shaft servo motor, the angle between the root knuckle and the grasped object can be adjusted, the position of the contact point is adjusted, the contact point of the grasped object is adjusted, the action point of the contact force and the direction of the action force can be selected according to the situation, so that the object is not deformed and damaged in the grasping process, and the grasping is more accurate and reliable; meanwhile, the angle between the root knuckle and the gripped object can be adjusted to adapt to the large change of the size of the gripped object and to vertically grip cylindrical, spherical and square objects or horizontally grip cylindrical and square objects.
2. The invention directly drives the finger tip joint to rotate through the control of another screw shaft servo motor, overcomes two torques of a high-rigidity torsion spring on a connection hinge of a finger root joint and a middle finger joint and a low-rigidity spring on the connection hinge of the middle finger joint and the finger root joint, and grabs an object, wherein the action point and the force of the grabbing force are related to the angular displacement of the screw shaft servo motor; through the parameter optimization of the large-stiffness torsion spring and the small-stiffness spring, the action point and the force of the grabbing force have the flexible self-adaptive effect.
3. The invention ensures that the manipulator is suitable for vertically grabbing cylindrical, spherical and square objects on the premise of keeping the original point of coordinates of the manipulator unchanged by changing the relative installation position of the flexible fingers.
4. The middle part of the hollow fingertip drive plate is hollow, the fingertip drive plate 7 can move above the hollow fingertip drive plate and can also move below the hollow fingertip drive plate 4, and the grabbing range is enlarged.
5. According to the invention, the right-handed threaded rod, the left-handed threaded sleeve and the right-handed threaded sleeve are in threaded connection, and the left-handed threaded sleeve and the right-handed threaded sleeve are respectively provided with the left-handed thread and the right-handed thread and are locked by the nuts, so that the length can be adjusted, and the grabbing range is enlarged.
6. The bent rod hinge seat is positioned and moved in the T-shaped groove on the finger base driving plate and is fixed by the screw, and the initial state of the flexible finger is adjusted by adjusting the position of the bent rod hinge seat on the finger base driving plate, so that the grabbing range is enlarged.
Drawings
FIG. 1 is a bottom view taken along line A-A of FIG. 2;
FIG. 2 is a front elevation view of section B-B of FIG. 3 (in full section of the invention);
FIG. 3 is a top view of section C-C of FIG. 2;
FIG. 4 is a top view of section D-D of FIG. 2;
FIG. 5 is a front view of the flexible finger member of the present invention;
FIG. 6 is a partial cross-sectional view of E-E of FIG. 5;
FIG. 7 is a partial cross-sectional view F-F of FIG. 5;
FIG. 8 is a partial sectional view taken along line G-G of FIG. 5;
FIG. 9 is a cross-sectional view of the upper deck component H-H of the present invention;
FIG. 10 is a top plan view of the upper deck component of the present invention;
FIG. 11 is a cross-sectional view of part I-I of the hollow fingertip drive plate of the present invention;
FIG. 12 is a top view of a hollow fingertip drive plate component of the present invention;
FIG. 13 is a cross-sectional view of a portion J-J of the finger drive plate of the present invention;
FIG. 14 is a top plan view of a finger drive plate component of the present invention;
FIG. 15 is a cross-sectional view of the base plate component K-K of the present invention;
FIG. 16 is a top view of the base plate components of the present invention;
FIG. 17 is a cross-sectional view L-L of a finger knuckle feature of the flexible finger member of the present invention;
FIG. 18 is a top plan view of a finger tip segment component of the flexible finger member of the present invention;
FIG. 19 is a cross-sectional view of the middle knuckle part M-M of the flexible finger member of the present invention;
FIG. 20 is a top plan view of a middle knuckle part of the flexible finger member of the present invention;
FIG. 21 is a front view of a bent rod part of the flexible finger member of the present invention;
FIG. 22 is a right side elevational view of the bent stem component of the flexible finger member of the present invention;
FIG. 23 is a front view of a contoured plate part of the flexible finger member of the present invention;
fig. 24 is a top view of a contoured plate part of the flexible finger member of the present invention.
Wherein: 1. a screw shaft servo motor; 2. an upper seat plate; 3. a guide coupling rod; 4. a hollow fingertip drive plate; 5. a lead screw nut seat; 6. a knee-lever hinge mount; 7. a finger root drive board; 8. a linear bearing; 9. a finger root hinge base; 10. a base plate; 11. a pedestal bearing; 12. a flexible finger; 1a, a right-handed threaded rod; 2a, screwing left and right; 3a, a left-handed threaded rod; 4a, a finger tip section; 5a, twisting a spring mandrel; 6a, a low-stiffness torsion spring; 7a, a torsion spring stop pin; 8a, middle knuckle; 9a, a high-stiffness torsion spring; 10a, a finger root joint; 11a, a shaped plate; 12a, bending a rod; 13a, a thin gasket; 14a, a first thick gasket; 15a, a second thick washer.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1, 2, 3 and 4, the flexible underactuated manipulator cooperatively driven by a finger root joint and a finger tip joint of the present embodiment includes an upper seat plate 2 and a base plate 10, the upper seat plate 2 and the base plate 10 are fixed into a whole through four guide connecting rods 3, two screw shaft servo motors 1 are installed on the upper seat plate 2 at intervals, screws of the two screw shaft servo motors 1 are respectively connected with a hollow finger tip drive plate 4 and a finger root drive plate 7 through screw nut seats 5, ends of the two screws are respectively supported on the base plate 10 through two bearings 11 with seats, the hollow finger tip drive plate 4 and the finger root drive plate 7 are respectively installed with two linear bearings 8, and the four linear bearings 8 are respectively sleeved on the four guide connecting rods 3; the finger-tip drive mechanism further comprises a flexible finger 12, a fingertip drive part of the flexible finger 12 is fixedly mounted on the hollow fingertip drive plate 4, a finger-tip rotating part of the flexible finger 12 is connected with the base plate 10 through a finger-tip hinge seat 9, the finger-tip drive part of the flexible finger 12 is connected with the finger-tip drive plate 7 through a bent rod hinge seat 6, and the two screw shaft servo motors 1 respectively drive the finger-tip drive plate 7 and the hollow fingertip drive plate 4 through respective screws and do vertical linear motion under the guidance of the respective two guide connecting rods 3.
As shown in fig. 5, 6, 7 and 8, the mounting structure of the flexible finger 12 is: the left-handed threaded rod 3a is hinged with a finger tip section 4a through two first thick washers 14 a; the finger joint is characterized by further comprising a middle knuckle 8a, wherein two ends of the middle knuckle 8a are respectively hinged with a finger tip knuckle 4a and a finger root knuckle 10a through a torsion spring mandrel 5a and a torsion spring, and the finger root knuckle 10a is fixedly connected with a special-shaped plate 11 a;
a second thick washer 15a is arranged between the finger root joint 10a and the special-shaped plate 11a, and the finger root joint 10a, the second thick washer 14a and the special-shaped plate 11a are fixed into a whole through pins; a thin gasket 13a is arranged between the finger root section 10a and the finger root hinge seat 9, and the finger root section 10a, the thin gasket 13a, the finger root hinge seat 9 and the special-shaped plate 11a form hinge connection through cylindrical pins; the bent rod 12a pushes the shaped plate 11a to rotate the knuckle 10 a.
A torsion spring 6a with small rigidity is sleeved on the torsion spring mandrel 5a positioned at one end of the middle knuckle 8a, a torsion spring 9a with large rigidity is sleeved on the torsion spring mandrel 5a positioned at the other end of the middle knuckle 8a, and two sides of the torsion spring 6a with small rigidity and the torsion spring 9a with large rigidity are pre-tightened through two torsion spring stop pins 7 a.
As shown in fig. 5, 17 and 18, the finger tip segment 4a having a fan-shaped outer shape is a U-shaped hollow structure, and the middle finger segment 8a and the base finger segment 10a are also U-shaped hollow structures;
as shown in fig. 5, 23 and 24, the cross section of the special-shaped plate 11a is triangular, one side of the triangle is concave arc, one end of the concave arc is hinged with the finger base hinge seat 9, the other end of the concave arc is hinged with the bent rod 12a, and the other end of the bent rod 12a is connected to the bent rod hinge seat 6 mounted on the finger base driving plate 7.
As shown in fig. 3, three flexible fingers 12 are provided, and the three flexible fingers 12 are uniformly distributed along the circumference at spatial positions and are used for vertically grabbing a round object; or when the square object is vertically grabbed, one flexible finger 12 on the left side is positioned on the vertex angle of the isosceles triangle, the two flexible fingers 12 on the right side are respectively positioned on the two base angles of the isosceles triangle, a circle which passes through the vertex and is tangent to the base edges is concentric with the circles uniformly distributed along the circumference, namely, the original points of the coordinates of the mechanical hand which vertically grabs the circular object and the square object are unchanged.
The middle part of the hollow fingertip drive plate 4 is of a hollow structure, and the hollow part is used for the upper part of the bent rod 12a and the fingertip drive plate 7 to pass through.
As shown in fig. 2, 9, 10, 11, 12, 13, 14, 15 and 16, the upper base plate 2 is a T-shaped structure, two positioning holes are spaced along the symmetry axis of the T-shaped structure, two ends of the T-shaped structure on two sides of the symmetry axis are respectively provided with one positioning hole, the four positioning holes are respectively used for fixing the upper ends of four guide connecting rods 3, and the corresponding positions on the base plate 10 are provided with positioning holes coaxial with the four positioning holes for fixing the lower ends of the guide connecting rods 3. The base plate 10 is also provided with two positioning holes for mounting the bearing with seat 11, and a positioning spigot on the bearing with seat 11 is in clearance fit with the positioning holes; the output of the rotors of the two screw shaft servo motors 1 is a screw, and two bearings with seats 11 respectively provide support at the tail ends of the screw.
The upper end and the lower end of the four guide connecting rods 3 are in clearance fit with the eight positioning holes through cylindrical surfaces respectively, and the upper base plate 2 and the base plate 10 are fixed into a whole by nuts.
The hollow fingertip drive plate 4 and the hollow fingertip drive plate 7 are guided by two guide connecting rods 3 and driven by a screw shaft servo motor 1; the hollow fingertip drive plate 4 and the fingertip drive plate 7 are respectively provided with two coaxial through holes which respectively pass through two corresponding guide connecting rods 3, the four through holes are respectively in clearance fit with the cylindrical surfaces of the linear bearings 8, and the linear bearings 8 are sleeved on the guide connecting rods and take the guide connecting rods 3 as the guide; the hollow fingertip drive plate 4 and the finger base drive plate 7 are respectively provided with a positioning hole for mounting the screw nut seat 5, and a positioning spigot on the screw nut seat 5 is in clearance fit with the positioning hole.
As shown in fig. 1, five T-shaped grooves are formed on the finger base driving plate 7, and the bent rod hinge bases 6 are guided in the T-shaped grooves and fixed by screws.
The flexible underactuated manipulator driven by the cooperative finger root joint and the finger tip joint of the embodiment overcomes the defect that the manipulator in the prior art cannot grasp a complex object, and the installation principle is as follows:
the two screw shaft servo motors 1 convert the rotary motion into linear motion through the screw nut seat 5 to drive the three flexible fingers 12 to work, wherein one screw shaft servo motor 1 directly drives the finger root sections 10a of the three flexible fingers 12 to rotate so as to adapt to the size change of an object, and the other screw shaft servo motor 1 directly drives the finger tip sections 4a of the three flexible fingers 12 to rotate so as to reliably hold the object. The device is suitable for vertically grabbing cylindrical, square, spherical and ellipsoidal objects or horizontally grabbing cylindrical and square objects by changing the installation positions of the three flexible fingers 12. Through the angular displacement control of the motor with the angular displacement feedback encoder, the grabbing posture is adjustable, and the action point of the contact force is adjustable, so that the grabbing range is wider when a complex object is grabbed; the flexible structure generates a flexible self-adaptive grabbing effect by the small-rigidity torsion spring 6a on the hinge between the finger tip joint 4a and the middle finger joint 8a, the large-rigidity torsion spring 9a on the hinge between the middle finger joint 8a and the finger root joint 10a and the screw shaft servo motor 1 which directly drives the finger tip joint 4 a.
As shown in fig. 1-4, two screw shaft servo motors 1 are fixed on an upper seat plate 2, a screw nut seat 5 and two linear bearings 8 are respectively installed on a hollow fingertip drive plate 4 and a finger root drive plate 7, one screw shaft servo motor 1 drives the hollow fingertip drive plate 4, the other screw shaft servo motor 1 drives the finger root drive plate 7, and the hollow fingertip drive plate 4 and the finger root drive plate 7 respectively move linearly under the guidance of a guide connecting rod 3 by the two linear bearings 8; because the middle part of the hollow fingertip drive plate 4 is hollowed out, the fingertip drive plate 7 can be arranged above the hollow fingertip drive plate 4 or below the hollow fingertip drive plate 4; two bearings with seats 11 are respectively arranged on the base plate 10 and are used for supporting the screw rods of the two screw rod shaft servo motors 1; a screw shaft servo motor 1 positioning hole on the upper seat plate 2, a screw nut seat 5 positioning hole on the hollow fingertip drive plate 4 and a bearing 11 positioning hole with a seat on the base plate 10 ensure coaxiality, and another screw shaft servo motor 1 positioning hole on the upper seat plate 2, a screw nut seat 5 positioning hole on the finger root drive plate 7 and another bearing 11 positioning hole with a seat on the base plate 10 ensure coaxiality; the positioning holes of the four guide connecting rods 3 on the upper seat plate 2 and the base plate 10 ensure the coaxiality, the upper end and the lower end of each of the four guide connecting rods 3 are respectively provided with a cylindrical surface which is in clearance fit with the eight positioning holes, and the four guide connecting rods 3 fix the upper seat plate 2 and the base plate 10 into a whole;
the three flexible fingers 12 can be installed in a circular and uniform distribution manner, or can be installed symmetrically between one flexible finger 12 and two flexible fingers 12 on another parallel plane; a right-handed threaded rod 1a on a flexible finger 12 is fixed on the hollow fingertip drive plate 4 by a nut, one end of a bent rod 12a on the flexible finger 12 is hinged with a bent rod hinge seat 6, and the bent rod hinge seat 6 can move in a positioning way in a T-shaped groove on the finger base drive plate 7 and is fixed by a screw; as shown in fig. 7, the outer part and the inner part respectively refer to a root node 10a, a thin gasket 13a, a root hinge seat 9 and a special-shaped plate 11a, and the four parts form hinge connection by cylindrical pins.
As shown in fig. 5-8, in the flexible finger 12, three parts of a right-handed threaded rod 1a, a left-handed threaded sleeve 2a and a left-handed threaded rod 3a are in threaded connection, and because the three parts are respectively a left-handed thread and a right-handed thread, the length can be adjusted by rotating the left-handed threaded sleeve 2a and locking the left-handed threaded sleeve with a nut; as shown in fig. 6, the lower end of the left-handed threaded rod 3a is flattened to form a hinge connection with the fingertip joint 4a and two first thick washers 14 a; the fingertip joint 4a and the middle knuckle 8a are hinged by a torsion spring mandrel 5a, the torsion spring mandrel 5a is sleeved with a small-stiffness torsion spring 6a, and the small-stiffness torsion spring 6a is pre-tightened by two torsion spring stop pins 7 a; similarly, the middle knuckle 8a and the knuckle 10a are hinged by a torsion spring mandrel 5a, the torsion spring mandrel 5a is sleeved with a high-rigidity torsion spring 9a, and the high-rigidity torsion spring 9a is pre-tightened by two torsion spring stop pins 7 a; as shown in fig. 8, the four parts are respectively a root node 10a, a thin gasket 13a, a root hinge seat 9 and a special-shaped plate 11a from outside to inside, and the four parts are hinged by a cylindrical pin; a second thick gasket 15a is arranged between the finger root section 10a and the special-shaped plate 11a, and the three parts are fixed by pins, so that the finger root section 10a and the special-shaped plate 11a form an integral structure; the shaped plate 11a is hinged to a bent rod 12a, and the bent rod 12a pushes the shaped plate 11a to rotate the knuckle 10 a.
The cotter pin on the torsion spring mandrel 5a is taken down (at the round hole of the torsion spring mandrel 5a in fig. 8), the torsion spring mandrel 5a is quickly disassembled, and the torsion spring 6a with small rigidity or the torsion spring 9a with large rigidity can be conveniently replaced so as to adapt to different grabbing objects.
In this embodiment, a screw shaft servo motor 1 drives the hollow fingertip drive plate 4 to move linearly up and down, so that the fingertip joint 4a rotates to perform a grabbing function.
In this embodiment, the other screw shaft servo motor 1 drives the finger base driving plate 7 to move linearly up and down, so as to drive the curved rod 12a and adjust the included angle between the finger base joint 10a and the base plate 10.
In this embodiment, the hinge seat 6 can be positioned and moved in a T-shaped slot on the finger base driving plate 7 and fixed by a screw, and the position of the hinge seat 6 on the finger base driving plate 7 can be adjusted, thereby adjusting the initial state of the flexible finger 12.
In this embodiment, the three parts of the right-handed threaded rod 1a, the left-handed threaded sleeve 2a, and the left-handed threaded rod 3a are connected by threads, and since the threads are left-handed and right-handed threads, the length can be adjusted by rotating the left-handed and right-handed threaded sleeves 2a and locking the same with nuts, thereby adjusting the initial state of the flexible finger 12.
In this embodiment, the three flexible fingers 12 may be installed in a circular and uniform manner, and may be used to vertically grab a cylinder or a sphere; one flexible finger 12 and two flexible fingers 12 on the other parallel plane are symmetrically arranged in the middle and used for vertically grabbing a cuboid or a cylinder with a horizontal axis.
The working principle and the using flow of the embodiment are as follows: after optimized calculation is carried out on a specific grasped object, the rigidity of the small-rigidity torsion spring 6a and the rigidity of the large-rigidity torsion spring 9a are designed, the grasping posture and the contact point position corresponding to the required grasping force can be calculated, and the grasping posture and the contact point position are accurately and cooperatively controlled by the rotation angles of the two screw shaft servo motors 1.
The method comprises the following steps: 1. when complex objects of the same kind (such as apples) and inconsistent shapes and sizes are grabbed, the complex objects of the kind can be grabbed reliably without damage and freedom adaptability by selecting proper torsion spring parameters and finger structure sizes; 2. when complex objects with the same shape (such as spherical objects like apples, oranges and the like or quadrate objects like big and small square boxes and the like) and large shape and size changes are grabbed, the complex objects with the same shape can be grabbed reliably without damaging and not only can the adaptability of the freedom degree be realized by selecting proper torsion spring parameters and the structure size of the fingers; 3. when complex objects with different shapes (such as spherical objects like apples, oranges and tangerines and quadrate objects like small square boxes) and different shapes and sizes are grabbed, the flexibility adaptability can be realized, and the complex objects with different shapes can be reliably grabbed without damage by changing the installation positions of the two flexible fingers 12.
Based on the structure of the flexible finger 12, the manipulator state is: 1. no-load movement of the fingers without contact; 2. the contact force is in a zero state after the contact; 3. the contact object does not move, but the contact force is increased, and the action point position and the contact force direction of the contact force are changed; 4. the contact force is maximum when the object does not move after being contacted; 5. the object and the manipulator simultaneously move in a grabbing manner by acceleration displacement, and the action point position, the size and the direction of the contact force are changed; 6. the object and the manipulator move at a constant speed simultaneously, and the action point position, the size and the direction of the contact force are changed; 7. the object and the manipulator simultaneously perform the holding movement of deceleration displacement, and the action point position, the size and the direction of the contact force are changed; 8. the object and the manipulator are in a static hovering state.
The above description is intended to be illustrative and not restrictive, and the scope of the invention is defined by the appended claims, which may be modified in any manner within the scope of the invention.
Claims (4)
1. The utility model provides a flexible underactuated manipulator of finger root festival and fingertip festival cooperation drive which characterized in that: the device comprises an upper seat plate (2) and a base plate (10), wherein the upper seat plate (2) and the base plate (10) are fixed into a whole through four guide connecting rods (3), two screw shaft servo motors (1) are installed on the upper seat plate (2) at intervals, lead screws of the two screw shaft servo motors (1) are respectively connected with a hollow fingertip drive plate (4) and a finger root drive plate (7) through lead screw nut seats (5), the tail ends of the two lead screws are respectively supported on the base plate (10) through two bearings (11) with seats, the hollow fingertip drive plate (4) and the finger root drive plate (7) are respectively provided with two linear bearings (8), and the four linear bearings (8) are respectively sleeved on the four guide connecting rods (3); the device is characterized by further comprising a flexible finger (12), wherein a fingertip driving part of the flexible finger (12) is fixedly mounted on the hollow fingertip driving plate (4), a finger root rotating part of the flexible finger (12) is connected with the base plate (10) through a finger root hinge seat (9), the fingertip driving part of the flexible finger (12) is connected with the finger root driving plate (7) through a bent rod hinge seat (6), and the two screw shaft servo motors (1) respectively drive the finger root driving plate (7) and the hollow fingertip driving plate (4) through respective screws and do vertical linear motion under the guidance of the respective two guide connecting rods (3);
the middle part of the hollow fingertip driving plate (4) is of a hollow structure, and the hollow part is used for the upper part of the bent rod (12a) and the fingertip driving plate (7) to pass through;
five T-shaped grooves are formed in the finger root driving plate (7), and the bent rod hinge seat (6) is positioned and fixed in the T-shaped grooves through screws;
the three flexible fingers (12) are uniformly distributed at the spatial position along the circumference and are used for vertically grabbing a circular object or a square object, one flexible finger (12) on the left side is positioned on the vertex angle of the isosceles triangle, two flexible fingers (12) on the right side are respectively positioned on two base angles of the isosceles triangle, a circle which passes through the vertex and is tangent to the base edges is concentric with the circle uniformly distributed along the circumference, namely the origin of coordinates of a manipulator which vertically grabs the circular object and the square object is unchanged;
the mounting structure of the flexible finger (12) is as follows: the hand-operated finger tip driving plate comprises a right-handed threaded rod (1a), a left-handed threaded sleeve (2a) and a left-handed threaded rod (3a) which are sequentially connected through threads, wherein the right-handed threaded rod (1a) is fixed on the hollow finger tip driving plate (4) through a nut, the lower end of the left-handed threaded rod (3a) is hinged with a finger tip joint (4a) through two first thick gaskets (14a), and the finger tip joint (4a) with a fan-shaped appearance is of a U-shaped hollow structure; the finger-root joint is characterized by further comprising a middle finger joint (8a) and a finger-root joint (10a), wherein the middle finger joint (8a) and the finger-root joint (10a) are both of U-shaped hollow structures, two ends of the middle finger joint (8a) are respectively hinged with a finger tip joint (4a) and the finger-root joint (10a) through a torsion spring mandrel (5a) and a torsion spring, a special-shaped plate (11a) is fixedly connected onto the finger-root joint (10a), the cross section of the special-shaped plate (11a) is triangular, one side of the triangle is in an inwards concave arc shape, one end of the inwards concave arc is hinged with a finger-root hinge seat (9), the other end of the inwards concave arc is hinged with a bent rod (12a), and the other end of the bent rod (12a) is connected onto a bent rod hinge seat (6);
the three parts of the right-handed threaded rod (1a), the left-handed threaded sleeve (2a) and the left-handed threaded rod (3a) are in threaded connection, and the left-handed threaded sleeve (2a) and the right-handed threaded sleeve are respectively in left-handed and right-handed threads, so that the left-handed and right-handed threaded sleeves are rotated and locked by nuts, and the length can be adjusted.
2. The flexible underactuated manipulator of claim 1 wherein the rhizosphere and fingertip segments are cooperatively actuated, wherein: a second thick gasket (15a) is arranged between the finger root joint (10a) and the special-shaped plate (11a), and the finger root joint (10a), the second thick gasket (15a) and the special-shaped plate (11a) are fixed into a whole through pins; a thin gasket (13a) is arranged between the finger root joint (10a) and the finger root hinge seat (9), and the finger root joint (10a), the thin gasket (13a), the finger root hinge seat (9) and the special-shaped plate (11a) form hinge connection through cylindrical pins; the bent rod (12a) pushes the special-shaped plate (11a) to rotate the knuckle (10 a).
3. The flexible underactuated manipulator of claim 1 wherein the rhizosphere and fingertip segments are cooperatively actuated, wherein: a torsion spring with small rigidity (6a) is sleeved on a torsion spring mandrel (5a) positioned at one end of the middle knuckle (8a), a torsion spring with large rigidity (9a) is sleeved on a torsion spring mandrel (5a) positioned at the other end of the middle knuckle (8a), and two sides of the torsion spring with small rigidity (6a) and the torsion spring with large rigidity (9a) are pre-tightened through two torsion spring stop pins (7 a); the split pin on the torsion spring mandrel (5a) is taken down, the torsion spring mandrel (5a) is disassembled quickly, and the torsion spring (6a) with small rigidity or the torsion spring (9a) with large rigidity can be replaced conveniently to adapt to different grabbing objects.
4. The flexible underactuated manipulator of claim 1 wherein the rhizosphere and fingertip segments are cooperatively actuated, wherein: the upper seat plate (2) is of a T-shaped structure, two positioning holes are formed at intervals along the symmetrical axis of the T-shaped structure, two symmetrical ends of the T-shaped structure on two sides of the symmetrical axis are respectively provided with one positioning hole, the upper ends of the four guide connecting rods (3) are respectively fixed in the four positioning holes, and the corresponding positions on the base plate (10) are provided with positioning holes coaxial with the four positioning holes and used for fixing the lower ends of the guide connecting rods (3); two positioning holes for mounting the bearing with the seat (11) are arranged on the base plate (10), and a positioning spigot on the bearing with the seat (11) is in clearance fit with the positioning holes; the output of the rotors of the two screw shaft servo motors (1) is a screw, and two bearings (11) with seats respectively provide support at the tail ends of the screws; the upper end and the lower end of each of the four guide connecting rods (3) are in clearance fit with the eight positioning holes through cylindrical surfaces respectively, and the upper seat plate (2) and the base plate (10) are fixed into a whole by nuts;
the hollow fingertip drive plate (4) and the finger root drive plate (7) are guided by two guide connecting rods (3) and are respectively driven by a screw shaft servo motor (1); the hollow fingertip drive plate (4) and the finger root drive plate (7) are respectively provided with two coaxial through holes which respectively pass through two corresponding guide connecting rods (3), and the four through holes are respectively in clearance fit with the cylindrical surface of the linear bearing (8); the hollow fingertip drive plate (4) and the finger root drive plate (7) are respectively provided with a positioning hole for mounting the screw nut seat (5), and a positioning spigot on the screw nut seat (5) is in clearance fit with the positioning hole.
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| CN105835051B (en) * | 2016-04-26 | 2018-06-12 | 江南大学 | The underactuated manipulator of Dual-motors Driving Collaborative Control |
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