CN109176568B

CN109176568B - Tendon rope-electromagnetic force combined driven rigid-soft coupling multi-finger dexterous hand

Info

Publication number: CN109176568B
Application number: CN201811137823.3A
Authority: CN
Inventors: 宋荆洲; 王钒宇
Original assignee: Beijing University of Posts and Telecommunications
Current assignee: Beijing University of Posts and Telecommunications
Priority date: 2018-09-28
Filing date: 2018-09-28
Publication date: 2021-10-01
Anticipated expiration: 2038-09-28
Also published as: CN109176568A

Abstract

The invention relates to a flexible coupling multi-finger dexterous hand driven by a tendon rope-electromagnetic force combination, which consists of four mechanical finger parts, a mechanical palm part and a transmission module. The mechanical finger part comprises four link units with proportional sizes. The connecting rod unit consists of an iron convex ball and two semi-arc electromagnetic grooves, and the size is limited between the joints to ensure the single-shaft swing between the joints. The palm part is used for connecting the four mechanical finger parts and the transmission module. The transmission module is used for controlling the stretching and the grabbing of each mechanical finger part to realize the transmission of the mechanical claw. Compared with the existing dexterous hand, the invention has the characteristics of rigid and soft coupling, has better stability and grasping force, can adapt to various objects with larger differences in appearance, and has good adaptability and practicability.

Description

Tendon rope-electromagnetic force combined driven rigid-soft coupling multi-finger dexterous hand

Technical Field

The invention relates to the field of dexterous hands, in particular to a rigid-flexible coupling multi-finger dexterous hand driven by a tendon rope and electromagnetic force in a combined mode, which is mainly used for flexibly grabbing objects with different characteristics.

Background

As a hot spot in recent decades, a dexterous hand is a key component of a robot for performing object grasping and releasing operations, and research on the dexterous hand is greatly concerned and has wide application. The traditional dexterous hand generally adopts a design mode of multi-rigidity electromechanical drive joint fingers, the flexibility of the action of the traditional dexterous hand is usually realized only by a very complicated control technology, and the application range of the traditional dexterous hand is limited. At present, based on a pneumatic driving technology, for example, a novel flexible dexterous hand composed of pneumatic artificial muscles and the like has good motion flexibility, and has advantages in the aspect of grabbing objects which are fragile, easy to break and the like, but the flexible dexterous hand can not meet the requirement on required rigidity.

Therefore, in order to change the current situation of the design of the dexterous hand which is mostly in a single driving mode at the present stage, it becomes an important requirement to design a multi-finger dexterous hand with rigid and soft coupling, and increase the types of objects which can be grabbed.

The invention provides a new driving mode, adopts a driving mode of combining the tendon rope and the electromagnetic force for driving, has the characteristic of rigid-soft coupling compared with the existing dexterous hand, has better stability and grasping force, can adapt to various objects with larger differences in appearance, and has good adaptability and practicability.

Disclosure of Invention

The invention aims to provide a rigid-flexible coupling multi-finger dexterous hand driven by a tendon rope and electromagnetic force in a combined manner, which has a simple structural design, can adapt to more objects of different types, adopts a driving mode of the tendon rope tension and the electromagnetic force in a combined manner, and has high grabbing reliability and large grabbing force.

In order to achieve the purpose, the invention adopts the following technical scheme: the invention relates to a rigid-flexible coupling multi-finger dexterous hand driven by a tendon rope-electromagnetic force combination. Wherein the mechanical finger is composed of five single joint units with proportional sizes.

The single joint unit consists of an iron spherical convex ball and two semi-arc electromagnetic grooves, and the size is limited between the joints to ensure single-degree-of-freedom swing between the joints. Each mechanical finger consists of four middle connecting rods with the sizes in proportion and a fingertip connecting rod, each finger is provided with 5 pitching rotating joints, and the whole paw is provided with 20 degrees of freedom.

The mechanical palm is used for connecting the four mechanical finger parts and the transmission module. The transmission module is used for controlling the stretching and the grabbing of each mechanical finger part to realize the driving of the mechanical claw. There are dimensional constraints between the links to ensure that the joint can only pitch in a single degree of freedom. There are dimensional constraints between the joints to ensure that the joints can only tilt in a single degree of freedom. The electromagnetic groove is designed according to the electromagnet principle, and can provide the holding torque of the position for the joint when being electrified.

The manipulator has 20 degrees of freedom. When a grabbing instruction comes, the dexterous hand moves to the position right above a grabbed object through the rear mechanical arm, the relaxation control module and the grasping control module are controlled to envelop the grabbed object, and after the required pretightening force is achieved, the electromagnetic concave joint is electrified to achieve fastening and grab the object. And then the robot arm moves to grab the object to the designated position.

The invention has the advantages that:

1. novel in design, the operation is reliable, and the structure is light, the dismouting of being convenient for is maintained.

2. In the grabbing process, the dexterous hand has good enveloping performance, and the grabbing force is large in the mode of combining two driving modes, so that the grabbing device can adapt to heavier objects.

3. Has four flexible fingers and can adapt to various different objects.

4. Can realize multiple snatchs the mode, operational environment's strong adaptability.

Drawings

FIG. 1 is an overall structural view of a dexterous hand of the present invention;

FIG. 2 is a mechanical palm structure view of the device of the present invention;

FIG. 3 is a block diagram of a grasping actuator module of the device of the present invention;

FIG. 4 is a block diagram of the diastolic transmission module of the device of the present invention;

figure 5 is a diagram of a finger link configuration of the device of the present invention.

Fig. 6 is a diagram of the finger tip portion of the device of the present invention.

Reference designations in the above figures: 1. mechanical finger 101, finger connecting rod 10101, iron convex ball 10102, electromagnetic groove 10103, cuboid step 10104, inner small hole 10105, outer small hole 102, outer tendon rope 103, finger tip 10301, outer small hole 10302, inner small hole 10303, electromagnetic groove 104, inner tendon rope 2, mechanical palm 3, transmission module 201, iron convex ball 202, groove 301, grasping control module 302, relaxation control module 30201, relaxation control module through hole

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The invention mainly comprises four mechanical fingers 1, a mechanical palm 2 and a transmission module 3, which are shown in figure 1. Wherein the mechanical finger 1 is the core part of the dexterous hand. The mechanical finger 1 is placed on the mechanical palm 2, the opening and closing of the mechanical finger part are controlled by the transmission module 3, after a specified object is grabbed, the mechanical finger is tensioned through an inner tendon rope 104 of the transmission module, and then the mechanical finger is fixed by using the electromagnetic force between joints of the mechanical finger.

Fig. 2 is a mechanical palm structure diagram of the device of the invention, four mechanical fingers 1 are connected through an iron convex ball 201, and the sliding of a grasping control module 301 is ensured through a middle through hole 202. The mechanical palm is used as a connecting part and plays a role in communicating the upper part and the lower part.

Figures 3-5 illustrate the transmission module of a dexterous hand. The grasping control module 301 utilizes the inner tendon rope 104 to link the inner small holes 10104 of the four single-joint units, grasping of the mechanical finger 1 is controlled by upward sliding of the grasping control module 301, and the grasping control module 301 has a certain preset sliding space, namely a groove 202, at the palm of the hand to avoid interference with an object during sliding; the diastole control module 302 uses the lateral tendon rope 102 to link the outer eyelets 10105 of the four links, and controls the diastole of the mechanical finger 1 by the upward sliding of the diastole control module 302.

Fig. 5 is a finger link included in the robot finger. Through the cooperation of the iron convex balls 10101 and the electromagnetic grooves 10102 in the four groups of finger connecting rods 101, the matching surfaces of the inner side end faces of the grooves and the left and right end faces of the cuboid steps below the convex balls are utilized, so that each mechanical finger can only do pitching motion around the axis of the electromagnetic grooves, and the circumferential rotation of the finger is avoided.

Fig. 6 is a mechanical finger tip. The upper end surface of the fingertip has an outer side pinhole 10301 and an inner side pinhole 10302 for connecting the outer side tendon string 102 and the inner side tendon string 104. As the tail end fixing positions of the tendon ropes, the left side and the right side of the upper end surface are respectively provided with a concave groove, and the electromagnetic grooves 10303 are arranged on the upper end surface, similar to those on the connecting rod mechanism, so that the relaxation of fingertips and the maintenance of torque can be realized.

According to the structural characteristics, the rigid-flexible coupling multi-finger dexterous hand driven by the combination of the tendon rope and the electromagnetic force has a reliable mechanical appearance and good enveloping property, and can adapt to more objects of different types. The driving mode of combined driving by using the tendon rope and the electromagnetic force is high in grabbing reliability and large in grabbing force. The four flexible fingers are provided, so that the device can adapt to various different objects, can realize various grabbing modes and has strong adaptability to working environments.

Claims

1. A tendon rope-electromagnetic force combined driven rigid-soft coupling multi-finger dexterous hand is characterized in that: the device mainly comprises four mechanical fingers (1), a mechanical palm (2) and a transmission module (3); wherein, mechanical finger (1) is the core part of this dexterous hand, its characterized in that: the mechanical finger comprises four finger connecting rods (101) and a finger tip (103), wherein a joint on each finger is formed by matching an iron convex ball (10101) of the finger connecting rod (101) with an electromagnetic groove (10102); the mechanical finger (1) is arranged on a mechanical palm (2), the opening and closing of the mechanical finger part are controlled by the transmission module (3), before a specified object is grabbed, the outer side tendon rope (102) of the finger is tensioned by the transmission module to open the paw, then the envelope of the paw on the object or the pinching of the finger tip (103) of the finger is controlled by tensioning the inner side tendon rope (104) of the transmission module, and finally the joint is locked and fixed by the electromagnetic force in the mechanical finger joint.

2. The tendon rope-electromagnetic force combined driven rigid-soft coupling multi-finger dexterous hand as claimed in claim 1, wherein: the grasping of the paw is realized by the grasping control module (301) sliding and tensioning the tendon rope passing through the internal small holes (10104) of the four connecting rods of the finger; the paw is relaxed by sliding the tendon rope which passes through the external small holes (10105) of the four connecting rods of the finger on the relaxation control module (302).

3. The tendon rope-electromagnetic force combined driven rigid-soft coupling multi-finger dexterous hand as claimed in claim 1, wherein: the grasping control module (301) utilizes the inner tendon rope (104) to link the inner pores (10104) of the four link mechanisms, and the grasping of the mechanical finger (1) is controlled by the upward sliding of the grasping control module (301); the diastole control module (302) links the external pinholes (10105) of the four link mechanisms by using the outer tendon ropes (102), and controls the diastole of the mechanical finger (1) by the upward sliding of the diastole control module (302); the four mechanical fingers (1) are connected through iron convex balls on the mechanical palm (2), the sliding of the grasping control module (301) is ensured through a through hole in the middle of the mechanical palm (2), the relaxation control module (302) is nested on the grasping control module (301), and the normal sliding of the relaxation control module (302) is ensured through the relaxation control module through hole (30201); the upper end face of the finger tip (103) is provided with an outer side small hole (10301) and an inner side small hole (10302) for connecting the outer side tendon rope (102) and the inner side tendon rope (104), and the upper end face is similar to the connecting rod mechanism and is provided with an electromagnetic groove, so that the relaxation of the finger tip and the maintenance of torque can be realized.

4. The tendon rope-electromagnetic force combined driven rigid-soft coupling multi-finger dexterous hand as claimed in claim 1, wherein: the size of the electromagnetic force between the finger connecting rods can be adjusted according to the size of the current applied to the electromagnetic groove, so that different objects can be grabbed by using different grabbing holding forces.