CN109397278B - Hedgehog-like magnetic driving rod ball self-adaptive robot hand device - Google Patents
Hedgehog-like magnetic driving rod ball self-adaptive robot hand device Download PDFInfo
- Publication number
- CN109397278B CN109397278B CN201811491586.0A CN201811491586A CN109397278B CN 109397278 B CN109397278 B CN 109397278B CN 201811491586 A CN201811491586 A CN 201811491586A CN 109397278 B CN109397278 B CN 109397278B
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- swinging rod
- hedgehog
- fixedly connected
- robot hand
- rod
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Classifications
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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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rheumatology (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a hedgehog magnetic drive rod ball self-adaptive robot hand device which comprises a base, a motor, a speed reducer, a winding reel, a hemispherical piece, K electromagnetic slide bar assemblies and at least one tendon rope, wherein the motor is fixedly connected to the base, the hemispherical piece is covered on the base, the hemispherical piece is provided with K through holes in a scattered mode, the electromagnetic slide bar assemblies comprise elastic hinges, swinging rods, reset springs, slide pipes and at least one electromagnet, one end of each swinging rod is connected with the hemispherical piece through the elastic hinges, the slide pipes are nested at the other end of each swinging rod, the electromagnets are fixedly connected to the middle of each swinging rod, the winding reel is fixedly sleeved on an output shaft of the speed reducer, one end of each tendon rope is fixedly connected to the winding reel, and the other end of each tendon rope is wound around the periphery of each swinging rod and fixedly connected to the base. The robot hand device can provide gripping force for objects in multiple directions, has a multidirectional gripping effect of self-adaption to the size and shape of the objects, and can effectively grip objects in various shapes placed in different directions.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a hedgehog-like magnetic drive pole ball self-adaptive robot hand device.
Background
Robot hands have a wide range of uses in the robot field for temporarily connecting and fixing the robot hands to objects and for releasing them when appropriate, the former effecting gripping of the objects and the latter effecting releasing of the objects. A general robot hand is manufactured to have two parts which move relative to each other in order to achieve the grasping and releasing functions most simply for the sake of cost reduction. There are also many structures that mimic the human hand, designed with more fingers and several joints on the fingers, but that can lead to complexity of mechanical systems, sensing systems, control systems, etc.
Peter b. Scott describes in the literature a mechanically passive universal gripper omnigrippr adapted to the shape of an object. The gripper is provided with two groups of rod cluster sets, each group of rod cluster set is provided with a plurality of long rods which are parallel to each other, the long rods which are pushed by an object to be gripped and slide up and down freely achieve the purpose of adapting to the shape of the object, and the two groups of rod clusters are driven to be close or separate by combining a driver, so that the object is gripped. The device has the following defects: 1, the multi-directional gripping cannot be realized. When the device applies the grabbing force to the target object, the grabbing force can only be along the direction of the gathering and closing of the two groups of rod clusters, and only one-dimensional clamping mode is generated, so that the clamping effect is poor. 2 grip failure for a particular orientation of a placed elongated object. When the target object is parallel to the direction and the target object is longer than the device in the direction, the target object is not gripped by the folding of the two groups of telescopic rods. 3, the structure is complex and the energy consumption is large. The device has 2 groups of rod cluster sets, 2 movable supporting pieces (or movable bases) which need to move mutually, a set of linear guide rails, 2 sliding blocks, a driver, a transmission mechanism and the like, the structure is complex, and the heavy rod cluster set motion with a plurality of long rods is relatively energy-consuming.
The prior art also discloses a fluid-driven flexible rod cluster self-adaptive robot hand device CN105583831B, which comprises a base, a plurality of sliding push rods, a membrane, a fluid, a plurality of pistons and a plurality of spring pieces. The device is used for the robot to snatch the object, realizes discrete space self-adaptation and snatches the function: utilizing a plurality of sliding push rods to obtain the self-adaptive effect on the size and shape of the object; the bending elasticity of the fluid discharge, the membrane and the push rods is utilized to realize the bending deformation of the plurality of push rods gathering towards the center, so as to achieve the multidirectional gripping effect on the object. The device has the following defects: the fluid driving of the device has higher requirement on tightness and high cost; the push rod is difficult to recover to a straightening state due to fatigue caused by frequent bending of the push rod, the reliability of long-term use is low, the push rod is limited by a membrane, and the sliding of the sliding push rod is greatly influenced.
Disclosure of Invention
The invention aims to solve the defects of the technical problems, and provides the self-adaptive robot hand device for the imitated hedgehog magnetic driving pole ball, which can provide gripping force for objects in multiple directions, has a multi-directional gripping effect with self-adaption to the sizes and the shapes of the objects, can effectively grip objects in various shapes placed in different directions, and is rapid in gripping.
The invention solves the technical problems, and adopts the following technical scheme: the utility model provides a imitative hedgehog magnetism drives pole ball self-adaptation robot hand device, includes base, motor, reduction gear, bobbin, hemisphere spare, K electromagnetism slide bar subassembly and at least one tendon rope, the motor rigid coupling is on the base, and the output of motor is connected with the reduction gear, and hemisphere spare cover is established on the base, and the dispersion is provided with K through-holes on the sphere of hemisphere spare, electromagnetism slide bar subassembly includes elastic hinge, swinging rod, reset spring, slide tube and at least one electro-magnet, and the one end of swinging rod stretches into in the hemisphere spare and is connected with the hemisphere spare through elastic hinge by the through-hole, and the slide tube nestification is at the other end of swinging rod, and reset spring sets up between slide tube and swinging rod, the electro-magnet rigid coupling is at the middle part of swinging rod, and the adsorption plane of electro-magnet sets up relatively on a plurality of swinging rods, the bobbin cover is fixed on the output shaft of reduction gear, and the one end rigid coupling of tendon rope is on the bobbin, and the other end of tendon rope is walked around and is fixedly connected on the base by the periphery of swinging rod.
As the hedgehog-like magnetic driving rod ball self-adaptive robot hand device, the invention is further optimized: the K is a natural number greater than 5.
As the hedgehog-like magnetic driving rod ball self-adaptive robot hand device, the invention is further optimized: the K is 12.
As the hedgehog-like magnetic driving rod ball self-adaptive robot hand device, the invention is further optimized: and a reset spring is arranged in the inner cavity of the sliding tube, one end of the reset spring is fixedly connected with the end head of the swinging rod, and the other end of the reset spring is fixedly connected with the inner wall of the head end of the sliding tube.
As the hedgehog-like magnetic driving rod ball self-adaptive robot hand device, the invention is further optimized: the inside cavity that can hold the motor that has of base, the motor is fixed to be set up in the cavity of base.
As the hedgehog-like magnetic driving rod ball self-adaptive robot hand device, the invention is further optimized: the hemispheroids are arc-shaped shells and are covered on the base through detachable bolts.
As the hedgehog-like magnetic driving rod ball self-adaptive robot hand device, the invention is further optimized: the slide tube is made of carbon fiber or plastic.
As the hedgehog-like magnetic driving rod ball self-adaptive robot hand device, the invention is further optimized: the swing rod is made of polytetrafluoroethylene.
Advantageous effects
1. According to the robot hand device, the self-adaptive function of the size and the shape of an object can be realized through the electromagnetic slide bar assemblies, the electromagnetic slide bar assemblies are helped to be folded by utilizing transverse electromagnetic suction generated by electrifying the electromagnet, so that the electromagnetic slide bar assemblies swing towards the center, and the tendon ropes are used for tightly fastening the swing bar to increase the grabbing force, so that the robot hand device has a multidirectional grabbing effect on the object;
2. the robot hand device can effectively grasp objects in various shapes placed in different directions, is quick in grasping and short in time consumption, and is suitable for grasping sharp objects because the used electromagnetic slide bar assembly is good in compression resistance and high in toughness; the device is suitable for being used in severe working environments such as more dust, flying cotton and the like, and has good reliability and long service life in long-term use;
3. the robot hand device disclosed by the invention has the advantages of simple structure and high grasping stability by means of magnetic drive grasping, and is high in grasping force and high in grasping success rate by means of the assistance of the magnetic drive grasping by means of the motor, the tendon rope and the transmission mechanism when the robot hand device is used for grasping a large-mass object.
Drawings
FIG. 1 is a schematic perspective view of a robot hand apparatus according to the present invention;
FIG. 2 is a schematic top view of a robot hand apparatus according to the present invention;
FIG. 3 is a schematic view of the front cross-sectional structure of the robot hand apparatus of the present invention;
FIG. 4 is a schematic perspective view of an electromagnetic slide bar assembly in a robot hand apparatus according to the present invention;
FIG. 5 is a schematic view of a robot hand apparatus according to the present invention in a configuration ready for gripping a spherical object;
FIG. 6 is a schematic diagram of a structure of a robot hand device of the present invention successfully gripping a spherical object;
FIG. 7 is a schematic view of a robot hand device of the present invention in a configuration ready for gripping a bulk object;
FIG. 8 is a schematic diagram of a structure of a robot hand device of the present invention successfully gripping a bulk object;
the drawing shows that the drawing comprises a base 1, a hemispherical part 2, a hemispherical part 3, a winding reel 4, an elastic hinge 5, a swinging rod 6, an electromagnet 7, a sliding tube 8, a motor 9 and a tendon rope.
Detailed Description
The technical scheme of the invention is further described below with reference to the specific embodiments.
As shown in fig. 1-5: a hedgehog-like magnetic driving pole ball self-adaptive robot hand device comprises a base 1, a motor 8, a speed reducer, a winding reel 3, a hemispherical piece 2, 12 electromagnetic slide bar components and at least one tendon rope 9, wherein a cavity capable of accommodating the motor 8 is formed in the base 1, and the motor 8 is fixedly arranged in the cavity of the base 1. The output end of the motor 8 is connected with a speed reducer, the hemisphere is an arc-shaped shell, the hemisphere is covered on the base 1 through a detachable bolt, 12 through holes are formed in the spherical surface of the hemispherical piece 2 in a scattered mode, the electromagnetic slide bar assembly comprises an elastic hinge 4, a swinging rod 5, a reset spring, a slide tube 7 and at least one electromagnet 6, one end of the swinging rod 5 stretches into the hemispherical piece 2 through the through holes and is connected with the hemispherical piece 2 through the elastic hinge 4, the slide tube 7 is nested at the other end of the swinging rod 5, the swinging rod 5 is made of polytetrafluoroethylene, the slide tube 7 is made of carbon fiber or plastic, the reset spring is arranged in an inner cavity of the slide tube 7, one end of the reset spring is fixedly connected with the end of the swinging rod 5, and the other end of the reset spring is fixedly connected with the inner wall of the head end of the slide tube 7. The electromagnet 6 is fixedly connected to the middle of the swinging rods 5, the adsorption surfaces of the electromagnets 6 on the swinging rods 5 are oppositely arranged, the winding reel 3 is fixedly sleeved on an output shaft of the speed reducer, one end of the tendon rope 9 is fixedly connected to the winding reel 3, and the other end of the tendon rope 9 is wound around the periphery of the swinging rods 5 and fixedly connected to the base 1.
As shown in fig. 6-8: in the initial state of the robot hand device, all electromagnetic slide bar assemblies are in an expanded state under the limitation of the hemispherical piece 2 and the elastic hinge 4, the slide tube 7 nested on the swing rod 5 naturally stretches out of the outermost side under the action of the spring, the electromagnet 6 is in a power-off state, the motor 8 is not started, and the tendon rope 9 is in a loose state. When an object needs to be grabbed, the object placed on the tabletop is approached and extruded, if the sliding tube 7 touches the object, the sliding tube 7 slides relatively under the extrusion of the object, and if the sliding tube 7 does not touch the object, the sliding tube 7 does not slide relative to the hemispherical piece 2; the sliding tube 7 generates different sliding degrees due to the reaction force of the object, so that the object is adaptively wrapped, and the device has good adaptability to objects with different shapes and sizes. After the object is wrapped, the electromagnet 6 on the swinging rod 5 is electrified, and the swinging rod 5 is folded towards the center under the action of transverse electromagnetic attraction; the sliding tube 7 is contracted and gathered due to the attraction of the electromagnet 6, so that the sliding tube 7 is completely attached to an object, the electromagnet 6 is kept in an electric state, a robot hand is moved, and grabbing movement of the object is realized.
In the process of grabbing an object, if the object is heavier, in order to increase the grabbing force, the motor 8 is started, the tendon rope 9 is tightened through the winding reel 3, and the sliding tube 7 is used for grabbing the object under the common action of the tightening force of the tendon rope 9 and the suction force of the electromagnet 6 of the swinging rod 5, so that the force for grabbing the object is increased, and more stable and reliable grabbing is implemented. When the device releases an object, the electromagnet 6 is powered off, meanwhile, the motor 8 reverses to loosen the tendon rope, the electromagnet 6 of the swinging rod 5 is attracted for a small time, the tightening force of the tendon rope 9 disappears, the slide tube 7 is in a free state, and the object leaves the embodiment by means of gravity, so that the release of the object is realized.
The present invention is not limited to the above-mentioned embodiments, but is intended to be limited to the following embodiments, and any modifications, equivalent changes and variations in the above-mentioned embodiments can be made by those skilled in the art without departing from the scope of the present invention.
Claims (6)
1. The utility model provides a hedgehog magnetic drive pole ball self-adaptation robot hand device which characterized in that: the electromagnetic sliding rod assembly comprises an elastic hinge (4), a swinging rod (5), a reset spring, a sliding tube (7) and at least one electromagnet (6), wherein one end of the swinging rod (5) extends into the hemispherical member (2) through the through hole and is connected with the hemispherical member (2) through the elastic hinge (4), the sliding tube (7) is nested at the other end of the swinging rod (5), the reset spring is arranged between the sliding tube (7) and the swinging rod (5), the electromagnet (6) is fixedly connected with the middle part of the swinging rod (5) and is sleeved on the output shaft of the bobbin (3) opposite to the swinging rod (3), the other end of the tendon rope (9) bypasses the periphery of the swinging rod (5) and is fixedly connected to the base (1), a reset spring is arranged in the inner cavity of the sliding tube (7), one end of the reset spring is fixedly connected with the end of the swinging rod (5), and the other end of the reset spring is fixedly connected with the inner wall of the head end of the sliding tube (7).
2. The hedgehog-like magnetically driven ball-adaptable robotic hand apparatus of claim 1, wherein: the K is a natural number greater than 5.
3. The hedgehog-like magnetically driven ball-adaptable robotic hand apparatus of claim 2, wherein: the K is 12.
4. The hedgehog-like magnetically driven ball-adaptable robotic hand apparatus of claim 1, wherein: the hemispherical piece (2) is an arc-shaped shell, and the hemispherical piece (2) is covered on the base (1) through a detachable bolt.
5. The hedgehog-like magnetically driven ball-adaptable robotic hand apparatus of claim 1, wherein: the slide tube (7) is made of carbon fiber or plastic.
6. The hedgehog-like magnetically driven ball-adaptable robotic hand apparatus of claim 1, wherein: the swing rod (5) is made of polytetrafluoroethylene.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811491586.0A CN109397278B (en) | 2018-12-07 | 2018-12-07 | Hedgehog-like magnetic driving rod ball self-adaptive robot hand device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811491586.0A CN109397278B (en) | 2018-12-07 | 2018-12-07 | Hedgehog-like magnetic driving rod ball self-adaptive robot hand device |
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| Publication Number | Publication Date |
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| CN109397278A CN109397278A (en) | 2019-03-01 |
| CN109397278B true CN109397278B (en) | 2023-09-12 |
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| CN201811491586.0A Active CN109397278B (en) | 2018-12-07 | 2018-12-07 | Hedgehog-like magnetic driving rod ball self-adaptive robot hand device |
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| CN110465965A (en) * | 2019-08-06 | 2019-11-19 | 李泽铭 | Fluid force balances elastic component array adaptive robot arm device |
| CN110653841B (en) * | 2019-09-30 | 2022-09-13 | 佛山科学技术学院 | Simple and convenient mechanical gripper |
| CN111152257B (en) * | 2020-02-13 | 2024-08-27 | 清研(洛阳)先进制造产业研究院 | Dandelion-like general grabbing robot hand device |
| CN111331587B (en) * | 2020-03-20 | 2024-08-27 | 清研(洛阳)先进制造产业研究院 | Tendon rope driving expansion grabbing sliding rod self-adaptive robot hand device |
| CN111452065B (en) * | 2020-04-03 | 2024-08-27 | 清研(洛阳)先进制造产业研究院 | Fluid-driven membrane shrinkage rod array self-adaptive robot hand device |
| CN111717391B (en) * | 2020-06-28 | 2022-11-22 | 中国科学院长春光学精密机械与物理研究所 | Four-rotor parallel acquisition robot |
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