CN110640773B - Electrohydraulic driving robot smart hand - Google Patents
Electrohydraulic driving robot smart hand Download PDFInfo
- Publication number
- CN110640773B CN110640773B CN201911006793.7A CN201911006793A CN110640773B CN 110640773 B CN110640773 B CN 110640773B CN 201911006793 A CN201911006793 A CN 201911006793A CN 110640773 B CN110640773 B CN 110640773B
- Authority
- CN
- China
- Prior art keywords
- knuckle
- spherical pump
- thumb
- spherical
- piston
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 210000003813 thumb Anatomy 0.000 claims abstract description 119
- 210000003811 finger Anatomy 0.000 claims abstract description 80
- 239000011159 matrix material Substances 0.000 claims abstract description 9
- 239000007788 liquid Substances 0.000 claims description 28
- 210000004932 little finger Anatomy 0.000 claims description 18
- 239000010985 leather Substances 0.000 claims description 14
- 230000005057 finger movement Effects 0.000 abstract description 2
- 238000007789 sealing Methods 0.000 description 13
- 241000282414 Homo sapiens Species 0.000 description 5
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
- 229910000976 Electrical steel Inorganic materials 0.000 description 1
- 241000203475 Neopanax arboreus Species 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 210000002435 tendon Anatomy 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Abstract
The patent discloses an electrohydraulic driving robot dexterous hand, wherein electrohydraulic linear actuators (10) are respectively arranged in a palm (1), a thumb matrix (7), a thumb first knuckle (9), a thumb second knuckle (9), a first knuckle (3), a second knuckle (4) and a third knuckle (5), and when a piston rod (1015) of the electrohydraulic linear actuator (10) stretches, the corresponding knuckles bend and stretch forwards and backwards and swing left and right in the palm plane; the thumb rotates back and forth towards the palm center; the fingertips are provided with sensors (6), and each sensor (6) and each electrohydraulic linear actuator (10) are respectively and electrically connected with a robot controller; the advantage of this patent is: the distributed hydraulic source is used as driving force, so that the volume of each driving system is reduced, the flexibility of finger movement is increased, impact load can be born, and the grabbing force of fingers is increased.
Description
Technical Field
The patent relates to the field of robots, in particular to an electrohydraulic driving robot dexterous hand.
Background
The humanoid robot is an automatic device integrating a plurality of subjects such as electronics, machinery, control, sensing, artificial intelligence and the like and integrating advanced technologies, represents a national high-tech development level, has the appearance of human beings, can adapt to the living and working environment of the human beings, can replace the human beings to finish various operations, can expand the capabilities of the human beings in many aspects, is rapidly and rapidly developed in the fields of service, medical treatment, education, entertainment and the like at present, and is widely applied. The smart hand is used as an end execution part of the humanoid robot, so that the humanoid robot can help the human to finish a plurality of works, but the current home and abroad bionic smart hand is still in a development stage and has few practical applications.
The existing robot smart hand generally adopts a mechanical structure of a motor and a speed reducer as a power source, and is driven by steel wires, tendon ropes and connecting rods, so that fingers are driven to perform grabbing actions; however, as the motor and the speed reducer are of rigid connection structures, the impact resistance is poor, the maximum grabbing force provided by fingertips is very small and is usually less than 10N, the application is limited, and meanwhile, the system lacks flexibility; the hydraulic power driving is adopted to increase the flexibility of the system, and the driving force of the system can be greatly improved, especially the grabbing force on finger tips can be doubled, so the hydraulic driving is an application research direction of the robot driving, but the current hydraulic driving mode generally adopts a centralized hydraulic source, hydraulic oil is introduced into each driving cylinder through an oil pipe and a control valve to push the finger to act, so that the self weight of the robot is large, the self weight resistance is overcome by the driving force, the robot is large in size and weight, the power loss is large, and the effective grabbing force on the finger tips is small.
The spherical pump is a power machine newly invented in recent years, can realize microminiaturization and high pressure, can realize serial direct drive in the field of robot dexterous hands, has the characteristics of large moment, impact resistance, microminiaturization and the like compared with the traditional line drive and push rod motor drive modes, and has good application prospect when being used for a robot dexterous manual force source.
Disclosure of Invention
The utility model provides a purpose design a nimble hand of electrohydraulic drive robot adopts the ultra-miniature electrohydraulic linear drive of spherical pump electrohydraulic integral modularization, sets up the sensor on the finger, sets up ultra-miniature electrohydraulic linear drive on the knuckle of every finger, adopts distributed hydraulic source tandem type direct drive to realize the nimble action of each finger of the nimble hand of robot, increase the grabbing power of finger fingertip, can bear impact load, convenient control.
The technical scheme of this patent is: electro-hydraulic drive robot dexterous hand, characterized by: the index finger, the middle finger, the ring finger and the little finger have the same structure, each finger comprises a first knuckle, a second knuckle and a third knuckle which are hinged in sequence, and the first knuckle is hinged on the palm through a swinging bracket; the first knuckle, the second knuckle and the third knuckle are respectively provided with an electrohydraulic linear actuator, a piston rod of the electrohydraulic linear actuator in the third knuckle is hinged with the second knuckle, a piston rod of the electrohydraulic linear actuator in the second knuckle is hinged with the first knuckle, and a piston rod of the electrohydraulic linear actuator in the first knuckle is hinged with the swinging bracket, so that a connecting rod mechanism is formed to transmit power, and the corresponding knuckles are bent and stretched forwards and backwards when the piston rods of the electrohydraulic linear actuators in the first knuckle, the second knuckle and the third knuckle stretch;
the palm is internally provided with first to fifth electro-hydraulic linear actuators, wherein the first electro-hydraulic linear actuator is used for controlling the movement of the thumb matrix, and the second to fifth electro-hydraulic linear actuators are respectively used for controlling the movements of the index finger, the middle finger, the ring finger and the little finger; the piston rods of the second to fifth electro-hydraulic linear actuators are respectively hinged with one swinging bracket, each swinging bracket is hinged with the first knuckle of the corresponding index finger, middle finger, ring finger and little finger to form a link mechanism for transmitting power, and the corresponding index finger, middle finger, ring finger and little finger hinged with the piston rods of the second to fifth electro-hydraulic linear actuators swing left and right in the palm plane when the piston rods of the second to fifth electro-hydraulic linear actuators stretch;
The thumb comprises a thumb base body, a thumb first knuckle and a thumb second knuckle which are hinged in sequence, the thumb first knuckle is hinged on the thumb base body through a swinging bracket, an electrohydraulic linear actuator is respectively arranged in the thumb base body, the thumb first knuckle and the thumb second knuckle, a piston rod of the electrohydraulic linear actuator in the thumb second knuckle is hinged with the thumb first knuckle, a piston rod of the electrohydraulic linear actuator in the thumb first knuckle is hinged with the thumb base body through the swinging bracket to form a connecting rod mechanism to transmit power, the corresponding knuckles are bent and stretched forwards and backwards when the piston rods of the electrohydraulic linear actuators in the thumb first knuckle and the thumb second knuckle are stretched, and the thumb swings left and right in a palm plane when the piston rods of the electrohydraulic linear actuators in the thumb base body are stretched; the thumb base body is hinged on the palm, a piston rod of the first electrohydraulic linear actuator in the palm is hinged with the thumb base body to form a connecting rod mechanism for transmitting power, and the thumb rotates back and forth towards the palm center when the piston rod of the first electrohydraulic linear actuator stretches;
The fingertips of the third knuckle and the second knuckle of the thumb are provided with sensors, and each sensor and each electrohydraulic linear actuator are respectively and electrically connected with a robot controller;
the sensor comprises a position sensor and a force sensor, and the position sensor and the force sensor are respectively and electrically connected with the robot controller;
The electro-hydraulic linear actuator comprises an actuator matrix, a spherical pump unit and a reciprocating piston mechanism, wherein a hydraulic cylinder and a spherical pump cylinder sleeve are arranged on the actuator matrix, the hydraulic cylinder and the spherical pump cylinder sleeve are cylindrical containing cavities with one ends open, the reciprocating piston mechanism is arranged in the hydraulic cylinder, a hydraulic cylinder end cover is arranged at the open end of the hydraulic cylinder, a piston rod hinge hole is arranged at the end part of a piston rod extending out of the bottom of the hydraulic cylinder, and an actuator hinge hole is arranged on the hydraulic cylinder end cover; a motor end cover is arranged at the opening end of the spherical pump cylinder sleeve, and the spherical pump and the motor are integrated in the spherical pump cylinder sleeve to form a spherical pump unit; the two liquid inlet holes and the liquid outlet holes of the spherical pump are respectively communicated with the two rows of liquid inlet holes of the reciprocating piston mechanism; the motor of the spherical pump unit is electrically connected with the robot controller; the electrohydraulic linear actuator is packaged in a sealed elastic leather bag, and the end part of the piston rod extends out of the elastic leather bag;
The reciprocating piston mechanism is a double-piston rod mechanism, a piston rod on one side of the piston extends out of a piston rod through hole at the bottom of a cylindrical inner cavity of the hydraulic cylinder, and a piston rod on the other side of the piston slides in an end cover of the hydraulic cylinder;
The spherical pump unit comprises a spherical pump and a motor, the spherical pump comprises a spherical pump cylinder body, a spherical pump cylinder cover, a spherical pump piston, a spherical pump turntable and a spherical pump main shaft, the spherical pump cylinder cover and the spherical pump cylinder body are fixedly connected through a spherical pump sleeve, the motor stator and the spherical pump sleeve are fixed on the inner wall of a spherical pump cylinder sleeve, a motor rotor surrounds the outer circumference of the spherical pump main shaft, a motor end cover is fixedly connected with the opening end of the spherical pump cylinder sleeve, a rotary support is formed between the upper end of the spherical pump main shaft and the spherical pump sleeve, and a rotary support is formed between the lower end of the spherical pump main shaft and the motor end cover;
The spherical pump cylinder cover is connected with the spherical pump cylinder body to form a spherical inner cavity, a piston shaft hole and two liquid inlet and outlet holes are formed in the spherical pump cylinder cover, a piston shaft of the spherical pump piston is inserted into the piston shaft hole in the spherical pump cylinder cover, a spherical rotor is formed after the spherical pump piston is hinged with the spherical pump rotary table through a cylindrical surface hinge and is arranged in the spherical inner cavity, spherical surfaces of the spherical pump piston and the spherical pump rotary table form a sealing movable fit with the spherical inner cavity, a rotary table shaft of the spherical pump rotary table extends out of the lower end of the spherical pump cylinder body, a sliding groove is formed in the upper end face of the spherical pump main shaft, a sliding shoe is arranged at the end part of the rotary table shaft of the spherical pump rotary table, the sliding shoe on the rotary table shaft is matched with the sliding groove on the spherical pump main shaft, the sliding shoe on the rotary table shaft is inserted into the sliding groove on the spherical pump main shaft, and the sliding shoe slides back and forth in the sliding groove when the spherical pump main shaft rotates.
The advantage of this patent is: the distributed hydraulic source is adopted as the driving force, the volume of the electro-hydraulic linear actuator of the spherical pump is small, the output power is large, and the miniature electro-hydraulic linear driver is arranged in the part of each knuckle of the finger, which is required to move, so that the volume of each driving system is reduced, the flexibility of the finger movement is increased, the impact load can be borne, and the grabbing force of the finger is increased.
Drawings
FIG. 1 is a schematic view of the external appearance and structure of a robot smart hand;
FIG. 2 is a schematic view of the structure of a robot smart hand skeleton (with the palm guard and finger guard removed);
FIG. 3 is a front view of a robot index finger;
FIG. 4 is a right side view of the index finger shown in FIG. 3;
FIG. 5 is a front view of a robot thumb;
FIG. 6 is a right side view of the thumb shown in FIG. 5;
FIG. 7 is a top view of the thumb shown in FIG. 5;
FIG. 8 is a schematic view of the structure of the connecting rod when the index finger is bent back and forth and stretched;
FIG. 9 is a schematic view of the structure of the connecting rod when the index finger swings left and right;
FIG. 10 is a schematic view of an electro-hydraulic linear actuator;
FIG. 11 is a cross-sectional view E-E of FIG. 10;
FIG. 12 is a schematic diagram of a piston configuration;
Fig. 13 is a schematic diagram of a turntable structure.
In the figure, 1-palm; 2-swinging a bracket; 3-a first knuckle; 4-a second knuckle; 5-a third knuckle; 6-a sensor; 7-a thumb base; 8-thumb first knuckle; 9-thumb second knuckle; 10-an electrohydraulic linear actuator;
21-a swing bracket and palm hinge hole; a 22-swing bracket and a piston rod hinge hole I; 23-a hinge hole II of the swing bracket and the piston rod; 31-a first knuckle and swing bracket hinge hole; 32-a first knuckle and an electrohydraulic linear actuator hinge hole; 33-a first knuckle and piston rod hinge hole; 41-a second knuckle hinge hole with the first knuckle; 42-a second knuckle and an electrohydraulic linear actuator hinge hole; 43-second knuckle and piston rod hinge hole; 51-a third knuckle and second knuckle hinge hole; 52-a third knuckle and an electrohydraulic linear actuator hinge hole; 71-hinging holes of the thumb matrix and the electrohydraulic linear actuator; 72-thumb base and palm hinge holes; 73-a hinge hole between the thumb base and the piston rod; 81-the first knuckle of the thumb and the hinge hole of the swing bracket; 82-the hinge hole of the thumb first knuckle and the electrohydraulic linear actuator; 83-a hinge hole of the first knuckle of the thumb and the piston rod; 91-a thumb second knuckle and thumb first knuckle hinge hole; 92-the second knuckle of the thumb and the hinge hole of the electrohydraulic linear actuator;
101-elastic leather bags; 102-a motor end cap; 103-an actuator base; 104-a motor stator; 105-motor rotor; 106-a spherical pump spindle; 107-spherical pump carousel; 108-a spherical pump cylinder; 109-a spherical pump piston; 1010-spherical pump head; 1011-a spherical pump sleeve; 1012-a piston rod hinge hole; 1013-sealing rings; 1014-piston rod and cylinder seal ring; 1015-a piston rod; 1016-piston; 1017-piston seal ring; 1018-piston rod and cylinder end cap seal ring; 1019-cylinder end cap; 1020-hydraulic cylinder end cover and hydraulic cylinder sealing ring; 1021-cylinder end cap and elastic bladder seal ring; 1022-a first liquid inlet and outlet channel; 1023-a second liquid inlet and outlet channel; 1024-actuator hinge holes.
Detailed Description
As shown in fig. 1 to 4, the electro-hydraulic driving robot dexterous hand is of a five-finger structure and comprises a palm 1, a thumb, an index finger, a middle finger, a ring finger and a little finger; the structure of the index finger, the middle finger, the ring finger and the little finger is the same, each finger comprises a first knuckle 3, a second knuckle 4 and a third knuckle 5 which are hinged in sequence, and the first knuckles of the index finger, the middle finger, the ring finger and the little finger are hinged on the palm 1 through a swinging bracket 2; an electrohydraulic linear actuator 10 is respectively hinged in the first knuckle 3, the second knuckle 4 and the third knuckle 5;
The swing bracket 2 is provided with a swing bracket and palm hinge hole 21, a swing bracket and piston rod hinge hole I22 (used for being hinged with a piston rod 1015 of the electrohydraulic linear actuator 10 in the palm 1) and a swing bracket and piston rod hinge hole II 23 (used for being hinged with a piston rod 1015 of the electrohydraulic linear actuator 10 in the first knuckle 3); the first knuckle 3 is provided with a first knuckle and swing bracket hinge hole 31, a first knuckle and electrohydraulic linear actuator hinge hole 32 and a first knuckle and piston rod hinge hole 33; the second knuckle 4 is provided with a second knuckle and first knuckle hinge hole 41, a second knuckle and electrohydraulic linear actuator hinge hole 42 and a second knuckle and piston rod hinge hole 43; the third knuckle 5 is provided with a third knuckle and second knuckle hinge hole 51 and a third knuckle and electrohydraulic linear actuator hinge hole 52; in addition, the swing bracket 2 is also provided with a hinge hole connected with the first knuckle 3 (and the first knuckle is matched with the swing bracket hinge hole 31), the first knuckle 3 is also provided with a hinge hole connected with the second knuckle 4 (and the second knuckle is matched with the first knuckle hinge hole 41), and the second knuckle 4 is also provided with a hinge hole connected with the third knuckle 5 (and the third knuckle is matched with the second knuckle hinge hole 51);
A piston rod hinge hole 1012 is arranged on a piston rod 1015 of the electro-hydraulic linear actuator 10 and is used for hinging the end part of the piston rod 1015 with other parts to transmit power; an actuator hinge hole 1024 is arranged on a hydraulic cylinder end cover 1019 of the electrohydraulic linear actuator 10 and is used for hinging the electrohydraulic linear actuator 10 with other parts;
The piston rod 1015 of the electro-hydraulic linear actuator 10 in the third knuckle 5 is hinged with the second knuckle 4, the piston rod 1015 of the electro-hydraulic linear actuator 10 in the second knuckle 4 is hinged with the first knuckle 3, the piston rod 1015 of the electro-hydraulic linear actuator 10 in the first knuckle 3 is hinged with the swinging bracket 2, so that a link mechanism is formed to transmit power, and when the piston rods 1015 of the electro-hydraulic linear actuators 10 in the first knuckle 3, the second knuckle 4 and the third knuckle 5 are telescopic, the corresponding knuckles are driven to bend and stretch forwards and backwards;
A first to a fifth electro-hydraulic linear actuators 10 are arranged in the palm 1, wherein the first electro-hydraulic linear actuator 10 is used for controlling the thumb base 7 to act, and the second to the fifth electro-hydraulic linear actuators 10 are respectively used for controlling the index finger, the middle finger, the ring finger and the little finger to act; the piston rods 1015 of the second to fifth electro-hydraulic linear actuators 10 are hinged with one swinging bracket 2 respectively, each swinging bracket 2 is hinged with the first knuckle 3 of the corresponding index finger, middle finger, ring finger and little finger to form a link mechanism for transmitting power, and the corresponding index finger, middle finger, ring finger and little finger hinged with the piston rods 1015 of the second to fifth electro-hydraulic linear actuators 10 can swing left and right in the palm plane;
The swing bracket 2 connected with the second to fifth electro-hydraulic linear actuators 10 in the palm 1 is hinged with the palm 1, the piston rod 1015 of the electro-hydraulic linear actuator 10 on the palm 1, the first knuckle 3 and the piston rod 1015 of the electro-hydraulic linear actuator 10 on the first knuckle 3 through four hinge holes on the swing bracket; the first knuckle 3 is hinged with the swing bracket 2, the electrohydraulic linear actuator 10 on the first knuckle 3, the second knuckle 4 and the piston rod 1015 of the electrohydraulic linear actuator 10 on the second knuckle 4 through four hinge holes on the first knuckle; the second knuckle 4 is hinged with the electro-hydraulic linear actuators 10 on the first knuckle 3 and the second knuckle 4, the third knuckle 5 and the piston rod 1015 of the electro-hydraulic linear actuator 10 on the third knuckle 5 through four hinge holes on the second knuckle; the third knuckle 5 is hinged with the electro-hydraulic linear actuators 10 on the second knuckle 4 and the third knuckle 5 through two hinge holes on the third knuckle.
As shown in fig. 8 to 9, the knuckle link structures of the index finger, the middle finger, the ring finger and the little finger are: the first knuckle 3, a piston rod 1015 of the electro-hydraulic linear actuator 10 and the swing bracket 2 form a link mechanism; the second knuckle 4, a piston rod 1015 of the electro-hydraulic linear actuator 10 and the first knuckle 3 form a link mechanism; the third knuckle 5, a piston rod 1015 of the electro-hydraulic linear actuator 10 and the second knuckle 4 form a link mechanism; the swing bracket 2, the palm 1 and a piston rod 1015 of the electrohydraulic linear actuator 10 form a link mechanism.
As shown in fig. 5 to 7, the thumb comprises a thumb base body 7, a thumb first knuckle 8 and a thumb second knuckle 9 which are hinged in sequence, wherein the thumb first knuckle 8 is hinged on the thumb base body 7 through a swinging bracket 2, and an electrohydraulic linear actuator 10 is respectively hinged on the thumb base body 7, the thumb first knuckle 8 and the thumb second knuckle 9; the thumb basal body 7 is provided with a thumb basal body and electrohydraulic linear actuator hinge hole 71, a thumb basal body and palm hinge hole 72 and a thumb basal body and piston rod hinge hole 73; the thumb first knuckle 8 is provided with a thumb first knuckle and swing bracket hinge hole 81, a thumb first knuckle and electrohydraulic linear actuator hinge hole 82 and a thumb first knuckle and piston rod hinge hole 83; the thumb second knuckle 9 is provided with a thumb second knuckle and thumb first knuckle hinge hole 91 and a thumb second knuckle and electrohydraulic linear actuator hinge hole 92; in addition, the first knuckle 8 of the thumb is also provided with a hinge hole connected with the second knuckle 9 of the thumb (and the second knuckle of the thumb is matched with the hinge hole 91 of the first knuckle of the thumb), and the swinging bracket 2 is also provided with a hinge hole connected with the first knuckle of the thumb (and the first knuckle of the thumb is matched with the hinge hole 81 of the swinging bracket); the thumb base 7 is also provided with a hinge hole connected with the swinging bracket 2 (and the swinging bracket is matched with the palm hinge hole 21);
The swing bracket 2 on the thumb base 7 is respectively hinged with the thumb base 7, a piston rod 1015 of the electro-hydraulic linear actuator 10 on the thumb base 7, the thumb first knuckle 8 and a piston rod 1015 of the electro-hydraulic linear actuator 10 on the thumb first knuckle 8 through four hinge holes on the swing bracket; the thumb base 7 is hinged with the palm 1, a piston rod 1015 of a first electro-hydraulic linear actuator 10 in the palm 1, the electro-hydraulic linear actuator 10 on the thumb base 7 and a thumb first knuckle 8 respectively; the first thumb knuckle 8 is hinged with the swing bracket 2 connected with the thumb base 7, the electrohydraulic linear actuator 10 on the first thumb knuckle 8, the second thumb knuckle 9 and the piston rod 1015 of the electrohydraulic linear actuator 10 on the second thumb knuckle 9 respectively; the thumb second knuckle 9 is hinged with the electro-hydraulic linear actuators 10 on the thumb first knuckle 8 and the thumb second knuckle 9 respectively;
The piston rod 1015 of the electrohydraulic linear actuator 10 in the thumb second knuckle 9 is hinged with the thumb first knuckle 8, the piston rod 1015 of the electrohydraulic linear actuator 10 in the thumb first knuckle 8 is hinged with the thumb base 7 through the swinging bracket 2 to form a link mechanism for transmitting power, the corresponding knuckles can be bent and stretched back and forth when the piston rods 1015 of the electrohydraulic linear actuators 10 in the thumb first knuckle 8 and the thumb second knuckle 9 are stretched, and the thumb can swing left and right in the palm plane when the piston rod 1015 of the electrohydraulic linear actuator 10 in the thumb base 7 is stretched; the thumb matrix 7 is hinged on the palm 1, a piston rod 1015 of the first electro-hydraulic linear actuator 10 in the palm 1 is hinged with the thumb matrix 7 to form a link mechanism for transmitting power, and when the piston rod 1015 of the first electro-hydraulic linear actuator 10 stretches, the thumb can rotate forward and backward towards the palm center.
A sensor 6 is provided on the tip of each finger, i.e. the third knuckle 5 and the tip of the thumb second knuckle 9, the sensor 6 comprising a position sensor for sensing a change in position of the finger and a force sensor for detecting a gripping force on the tip. Each sensor 6 and each electrohydraulic linear actuator 10 are respectively and electrically connected with a robot controller through wires, the controller controls the motor of the electrohydraulic linear actuator 10 to operate according to the robot instructions, supplies power to the motor, receives and collects information transmitted back by the sensor 6, adjusts and generates new instructions, and achieves intelligent control of finger actions.
As shown in fig. 10 to 11, the electro-hydraulic linear actuator 10 is in an ultra-micro structure and can be arranged in each knuckle and palm 1 of a finger, the electro-hydraulic linear actuator 10 comprises an actuator base 103, a spherical pump unit and a reciprocating piston mechanism, a hydraulic cylinder and a spherical pump cylinder sleeve are arranged on the actuator base 103, and the hydraulic cylinder and the spherical pump cylinder sleeve are cylindrical cavities with one ends open; the opening end of the hydraulic cylinder is provided with a hydraulic cylinder end cover 1019, and a hydraulic cylinder end cover and a hydraulic cylinder sealing ring 1020 are arranged at the matching position of the hydraulic cylinder end cover 1019 and the hydraulic cylinder; the reciprocating piston mechanism is a double-piston rod mechanism, the reciprocating piston mechanism is arranged in a hydraulic cylinder, the diameter of a piston 1016 is matched with the diameter of a cylindrical inner cavity of the hydraulic cylinder, a piston sealing ring 1017 is arranged at the matched position of the piston 1016 and the hydraulic cylinder, a piston rod 1015 on one side of the piston 1016 extends out of a piston rod through hole at the bottom of the cylindrical inner cavity of the hydraulic cylinder, a piston rod and hydraulic cylinder sealing ring 1014 is arranged at the matched position of the piston rod 1015 and a through hole on an actuator base 103, the piston rod 1015 on the other side slides in a piston rod hole in the center of a hydraulic cylinder end cover 1019, a piston rod and hydraulic cylinder end cover sealing ring 1018 is arranged at the matched position of the piston rod 1015 and the hydraulic cylinder end cover 1019, a balance hole is arranged at the bottom of the piston rod hole on the hydraulic cylinder end cover 1019, and the balance hole is communicated with a gap formed by an elastic leather bag 101 and the actuator base 103; a piston rod hinge hole 1012 is provided at an end of a piston rod 1015 extending from the bottom of the cylinder, and an actuator hinge hole 1024 is provided at a cylinder end cover 1019.
The spherical pump and the motor are integrated in a spherical pump cylinder sleeve to form a spherical pump unit, and a motor end cover 102 is arranged at the opening end of the spherical pump cylinder sleeve; the spherical pump comprises a spherical pump cylinder body 108, a spherical pump cylinder cover 1010, a spherical pump piston 109, a spherical pump turntable 107 and a spherical pump spindle 106, wherein the spherical pump cylinder cover 1010 and the spherical pump cylinder body 108 are provided with hemispherical inner cavities, the spherical pump cylinder cover 1010 and the spherical pump cylinder body 108 are connected to form a spherical inner cavity, after the spherical pump cylinder cover 1010 and the spherical pump cylinder body 108 are combined, a spherical pump sleeve 1011 is fastened on the outer circumferences of the spherical pump cylinder cover 1010 and the spherical pump cylinder body 108 in a hot-set interference fit manner, and the spherical pump sleeve 1011 is fastened on the inner circumference of the bottom of the cylindrical cavity of the spherical pump cylinder sleeve in a hot-set interference fit manner; the spherical pump cylinder cover 1010 is provided with a piston shaft hole and two liquid inlet and outlet holes, and because the spherical pump can move forward and backward, when the motor rotates forward, one liquid inlet and outlet hole is a liquid inlet hole, and when the motor rotates backward, the other liquid inlet and outlet hole is a liquid outlet hole, and when the motor rotates backward, the other liquid inlet and outlet hole is a liquid inlet hole.
The spherical pump piston 109 and the spherical pump turntable 107 are hinged through a cylindrical hinge to form a spherical rotor, the spherical rotor is arranged in a spherical inner cavity, a coil winding of the motor stator 104 is fixed on the inner wall of the opening end of the cylindrical cavity of the spherical pump cylinder sleeve, a silicon steel sheet of the motor rotor 105 surrounds the outer circumference of the spherical pump main shaft 106, the motor end cover 102 is fixedly connected with the opening end of the cylindrical cavity of the spherical pump cylinder sleeve through hot-set interference fit, a rotary support is formed between the upper end of the spherical pump main shaft 106 and the spherical pump sleeve, and a rotary support is formed between the lower end of the spherical pump main shaft 106 and the motor end cover 102; specifically, a sliding fit is arranged at the matching position of the upper end of the spherical pump spindle 106 and the spherical pump sleeve 1011 to form an upper end rotary support of the spherical pump spindle 106; a central shaft hole is provided at the lower end of the spherical pump spindle 106, and a support shaft is provided on the motor end cover 102, which is matched with the central shaft hole at the lower end of the spherical pump spindle 106, and is rotatable in the central shaft hole to form a lower end rotary support of the spherical pump spindle 106.
The electrohydraulic linear actuator 10 is packaged in a sealed elastic leather bag 101 filled with hydraulic oil, and the end part of a piston rod 1015 extends out of the elastic leather bag 101; a telescopic sleeve and a sealing ring 1013 are arranged at the joint of the end part of the piston rod 1015 extending out of the elastic leather bag 101 and the elastic leather bag 101, the sealing ring 1013 is fixedly clamped at the head part of the piston rod 1015, and the telescopic sleeve is connected between the sealing ring 1013 and the elastic leather bag 101. In order to expose the actuator hinge hole 1024 on the cylinder end cover 1019 from the elastic leather bag 101 in the practical application, a cylinder end cover and an elastic leather bag sealing ring 1021 are arranged between the cylinder end cover 1019 and the elastic leather bag 101.
As shown in fig. 12 to 13, the spherical pump piston 109 has a spherical top surface, two angled side surfaces and a semi-cylindrical piston pin boss at the lower part of both side surfaces, the spherical top surface of the piston has the same center of sphere as the spherical cavity and forms a sealing movable fit; a piston shaft is protruded from the center of the spherical top surface of the piston, and the axis of the piston shaft passes through the spherical center of the spherical top surface of the piston; the spherical pump turntable 107 is provided with a turntable pin seat, the upper part of the turntable pin seat corresponds to the piston pin seat, the outer peripheral surface between the upper part and the lower end surface of the spherical pump turntable is a turntable spherical surface, and the turntable spherical surface and the spherical cavity have the same spherical center and are tightly clung to the spherical cavity to form sealing movable fit; the turntable pin seat is a semi-cylindrical groove matched with the piston pin seat, a turntable shaft is protruded from the center of the lower end of the spherical pump turntable 107, and the turntable shaft passes through the center of the sphere of the turntable; the height of the semi-cylindrical groove of the turntable pin boss is slightly higher than the center line of the semi-cylinder, namely the depth dimension of the semi-cylindrical groove is slightly larger than the radius of the semi-cylinder, and the semi-cylinder of the piston pin boss is required to be inserted into the semi-cylindrical groove of the turntable pin boss from the end part to form a cylindrical surface hinge; the rotary disc shaft of the spherical pump rotary disc 107 extends out from the opening of the lower end of the spherical pump cylinder body 108, a chute is arranged on the upper end face of the spherical pump main shaft 106, a sliding shoe is matched with the chute, a sliding shoe is arranged at the end part of the rotary disc shaft of the spherical pump rotary disc 107, and the sliding shoe on the rotary disc shaft is inserted into the chute on the spherical pump main shaft 106 to slide. The axes of the piston shaft hole and the turntable shaft pass through the sphere center of the spherical inner cavity, and the included angle between the axes of the piston shaft hole and the turntable shaft is alpha;
When the spherical pump spindle 106 rotates, the spherical pump turntable 107 and the spherical pump piston 109 are driven to rotate in the spherical inner cavity of the spherical pump, the sliding shoes of the spherical pump turntable 107 reciprocate in the sliding grooves of the spherical pump spindle 106, the spherical pump turntable 107 and the spherical pump piston 109 relatively oscillate, and a V1 working chamber and a V2 working chamber with alternately changed volumes are formed among the upper end surface of the spherical pump turntable 107, the two side surfaces of the spherical pump piston 109 and the spherical inner cavity; the two liquid inlet and outlet holes of the spherical pump cylinder cover 1010 are respectively communicated with the liquid inlet and outlet holes of the two working chambers on the two sides of the piston 1016 of the reciprocating piston mechanism through a first liquid inlet and outlet channel 1022 and a second liquid inlet and outlet channel 1023 which are arranged in the actuator matrix 103 (the two working chambers on the two sides of the piston of the reciprocating piston mechanism are provided with liquid inlet and outlet holes, one working chamber is a liquid outlet hole, the liquid outlet hole of the spherical pump is communicated with the liquid inlet hole of the reciprocating piston mechanism, and the liquid inlet hole of the spherical pump is communicated with the liquid outlet hole of the reciprocating piston mechanism), namely the two liquid inlet and outlet holes on the spherical pump cylinder cover 1010 are respectively communicated with the working chambers on the two sides of the piston 1016 of the reciprocating piston mechanism; the motor is controlled by the robot controller to rotate so as to push the piston rod 1015 to reciprocate, so that the action of each finger of the dexterous hand is realized.
In this patent embodiment, the smart hand of robot includes five fingers, is connected with thumb, index finger, middle finger, ring finger and little finger promptly on palm 1, and index finger, middle finger, ring finger and little finger structure are the same, so other technical scheme that lacks the finger of any one or several of index finger, middle finger, ring finger or little finger on palm 1 also falls into the technical scope of the protection of this patent. In addition, the absence of one or more of the third knuckle, the second knuckle or the second knuckle of the thumb, provided that the corresponding grasping action can be accomplished, falls within the scope of the claimed technology.
Claims (5)
1. Electro-hydraulic drive robot dexterous hand, characterized by: the index finger, the middle finger, the ring finger and the little finger have the same structure, each finger comprises a first knuckle (3), a second knuckle (4) and a third knuckle (5) which are hinged in sequence, and the first knuckle (3) is hinged on the palm (1) through the swinging bracket (2); a piston rod (1015) of the electro-hydraulic linear actuator (10) in the third knuckle (5) is hinged with the second knuckle (4), a piston rod (1015) of the electro-hydraulic linear actuator (10) in the second knuckle (4) is hinged with the first knuckle (3), and a piston rod (1015) of the electro-hydraulic linear actuator (10) in the first knuckle (3) is hinged with the swing bracket (2), so that a link mechanism is formed to transmit power, and the corresponding knuckles are bent and stretched back and forth when the piston rods (1015) of the electro-hydraulic linear actuators (10) in the first knuckle (3), the second knuckle (4) and the third knuckle (5) are stretched;
A first to fifth electro-hydraulic linear actuators (10) are arranged in the palm (1), wherein the first electro-hydraulic linear actuator (10) is used for controlling the action of the thumb matrix (7), and the second to fifth electro-hydraulic linear actuators (10) are respectively used for controlling the actions of the index finger, the middle finger, the ring finger and the little finger; the piston rods (1015) of the second to fifth electro-hydraulic linear actuators (10) are hinged with one swinging bracket (2), each swinging bracket (2) is hinged with the first knuckle (3) of the corresponding index finger, middle finger, ring finger and little finger to form a connecting rod mechanism for transmitting power, and the corresponding index finger, middle finger, ring finger and little finger hinged with the piston rods (1015) of the second to fifth electro-hydraulic linear actuators (10) swing left and right in the palm plane when the piston rods (1015) stretch;
The thumb comprises a thumb base body (7), a thumb first knuckle (8) and a thumb second knuckle (9) which are hinged in sequence, the thumb first knuckle (8) is hinged on the thumb base body (7) through a swinging bracket (2), an electrohydraulic linear actuator (10) is respectively arranged in the thumb base body (7), the thumb first knuckle (8) and the thumb second knuckle (9), a piston rod (1015) of the electrohydraulic linear actuator (10) in the thumb second knuckle (9) is hinged with the thumb first knuckle (8), a piston rod (1015) of the electrohydraulic linear actuator (10) in the thumb first knuckle (8) is hinged with the thumb base body (7) through a swinging bracket (2), a connecting rod mechanism is formed to transmit power, when the piston rods (1015) of the electrohydraulic linear actuators (10) in the thumb first knuckle (8) and the thumb second knuckle (9) are telescopic, the corresponding knuckles are bent and stretched back and forth, and the thumb swings left and right in a palm plane; the thumb base body (7) is hinged on the palm (1), a piston rod (1015) of the first electro-hydraulic linear actuator (10) in the palm (1) is hinged with the thumb base body (7) to form a connecting rod mechanism for transmitting power, and the thumb rotates forwards and backwards towards the palm center when the piston rod (1015) of the first electro-hydraulic linear actuator (10) stretches;
each electrohydraulic linear actuator (10) is electrically connected with the robot controller respectively;
The electro-hydraulic linear actuator (10) comprises an actuator base body (103), a spherical pump unit and a reciprocating piston mechanism, wherein a hydraulic cylinder and a spherical pump cylinder sleeve are arranged on the actuator base body (103), the hydraulic cylinder and the spherical pump cylinder sleeve are cylindrical containing cavities with one ends open, the reciprocating piston mechanism is arranged in the hydraulic cylinder, a hydraulic cylinder end cover (1019) is arranged at the open end of the hydraulic cylinder, a piston rod hinge hole (1012) is formed in the end part of a piston rod (1015) extending out of the bottom of the hydraulic cylinder, and an actuator hinge hole (1024) is formed in the hydraulic cylinder end cover (1019); a motor end cover (102) is arranged at the opening end of the spherical pump cylinder sleeve, and the spherical pump and the motor are integrated in the spherical pump cylinder sleeve to form a spherical pump unit; the two liquid inlet holes and the liquid outlet holes of the spherical pump are respectively communicated with the two rows of liquid inlet holes of the reciprocating piston mechanism; the motor of the spherical pump unit is electrically connected with the robot controller; the electrohydraulic linear actuator (10) is encapsulated in a sealed elastic leather bag (101), and the end part of the piston rod (1015) extends out of the elastic leather bag (101).
2. The electrohydraulic driven robotic dexterous hand of claim 1 wherein: the fingertips of the third knuckle (5) and the thumb second knuckle (9) are provided with sensors (6), and each sensor (6) is electrically connected with a robot controller; the sensor (6) comprises a position sensor and a force sensor, and the position sensor and the force sensor are respectively and electrically connected with the robot controller.
3. The electrohydraulic driven robotic dexterous hand of claim 1 wherein: the reciprocating piston mechanism is a double-piston rod mechanism, a piston rod (1015) on one side of a piston (1016) extends out of a piston rod through hole at the bottom of a cylindrical inner cavity of the hydraulic cylinder, and a piston rod on the other side of the piston (1016) slides in a hydraulic cylinder end cover (1019).
4. The electrohydraulic driven robotic dexterous hand of claim 1 wherein: the spherical pump unit comprises a spherical pump and a motor, the spherical pump comprises a spherical pump cylinder body (108), a spherical pump cylinder cover (1010), a spherical pump piston (109), a spherical pump rotary table (107) and a spherical pump main shaft (106), the spherical pump cylinder cover (1010) is fixedly connected with the spherical pump cylinder body (108) through a spherical pump sleeve (1011), the motor stator (104) and the spherical pump sleeve (1011) are fixed on the inner wall of the spherical pump cylinder sleeve, the motor rotor (105) surrounds the outer circumference of the spherical pump main shaft (106), the motor end cover (102) is fixedly connected with the opening end of the spherical pump cylinder sleeve, a rotary support is formed between the upper end of the spherical pump main shaft (106) and the spherical pump sleeve (1011), and a rotary support is formed between the lower end of the spherical pump main shaft (106) and the motor end cover (102).
5. The electrohydraulic driven robotic dexterous hand of claim 4 wherein: the spherical pump cylinder cover (1010) is connected with the spherical pump cylinder body (108) to form a spherical inner cavity, a piston shaft hole and two liquid inlet and outlet holes are formed in the spherical pump cylinder cover (1010), a piston shaft of the spherical pump piston (109) is inserted into the piston shaft hole in the spherical pump cylinder cover (1010), a spherical rotor is arranged in the spherical inner cavity after the spherical pump piston is hinged with the spherical pump rotary table through a cylindrical surface hinge, spherical surfaces of the spherical pump piston (109) and the spherical pump rotary table (107) form a sealed movable fit with the spherical inner cavity, a rotary table shaft of the spherical pump rotary table (107) extends out of the lower end of the spherical pump cylinder body (108), a chute is formed in the upper end face of the spherical pump main shaft (106), a sliding shoe is arranged at the end part of the rotary table shaft of the spherical pump rotary table (107), the sliding shoe on the rotary table shaft is matched with the chute on the spherical pump main shaft (106), the sliding shoe on the rotary table shaft is inserted into the chute on the spherical pump main shaft (106), and the sliding shoe slides reciprocally in the chute when the spherical pump main shaft (106) rotates.
Priority Applications (6)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911006793.7A CN110640773B (en) | 2019-10-22 | Electrohydraulic driving robot smart hand | |
| JP2022600053U JP3239174U (en) | 2019-10-22 | 2020-10-22 | Robot hands for micro electrohydraulic linear actuators and electrohydraulic drivers |
| KR2020227000021U KR20220001460U (en) | 2019-10-22 | 2020-10-22 | Small electro-hydraulic linear actuator and electro-hydraulic driven daxrus robot hand |
| EP20879973.4A EP4039987A4 (en) | 2019-10-22 | 2020-10-22 | Micro electro-hydraulic linear actuator and electro-hydraulic actuated robot dexterous hand |
| PCT/CN2020/122674 WO2021078183A1 (en) | 2019-10-22 | 2020-10-22 | Micro electro-hydraulic linear actuator and electro-hydraulic actuated robot dexterous hand |
| US17/725,753 US20220241986A1 (en) | 2019-10-22 | 2022-04-21 | Micro electro-hydraulic linear actuator and hand of electro-hydraulic driven robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911006793.7A CN110640773B (en) | 2019-10-22 | Electrohydraulic driving robot smart hand |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110640773A CN110640773A (en) | 2020-01-03 |
| CN110640773B true CN110640773B (en) | 2024-06-28 |
Family
ID=
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN210968923U (en) * | 2019-10-22 | 2020-07-10 | 深圳市中安动力科技有限公司 | Electric-hydraulic driven robot dexterous hand |
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN210968923U (en) * | 2019-10-22 | 2020-07-10 | 深圳市中安动力科技有限公司 | Electric-hydraulic driven robot dexterous hand |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Wei et al. | A novel, variable stiffness robotic gripper based on integrated soft actuating and particle jamming | |
| Whitney et al. | A hybrid hydrostatic transmission and human-safe haptic telepresence robot | |
| CN108578173B (en) | Flexible upper limb assistance exoskeleton | |
| CN108542718B (en) | A kind of wearable flexible lower limb exoskeleton based on negative pressure rotary pneumatic artificial-muscle | |
| CN103786165A (en) | Pneumatic space bending flexible joint | |
| CN103786164A (en) | Pneumatic multidirectional bending flexible joint | |
| CN210650736U (en) | Mechanical arm joint assembly and mechanical arm | |
| CN105856185A (en) | Piston-drive magnetic flow flexible robot hand device | |
| CN109454665A (en) | A kind of hydraulic software manipulator of two-way linear driving | |
| Khin et al. | Fabric-based actuator modules for building soft pneumatic structures with high payload-to-weight ratio | |
| CN103786167A (en) | Pneumatic plane bending flexible joint | |
| CN110640773B (en) | Electrohydraulic driving robot smart hand | |
| CN205343163U (en) | Pneumatic bend in one direction flexible joint of dual drive | |
| CN205799474U (en) | Piston drives magnetic current flexible machine hand apparatus | |
| Suzumori | New robotics pioneered by fluid power | |
| CN215848227U (en) | Bionic soft finger, soft manipulator and underwater operation robot | |
| CN210968923U (en) | Electric-hydraulic driven robot dexterous hand | |
| CN110685970A (en) | Miniature electro-hydraulic linear actuator | |
| CN101811302B (en) | Five-finger independently-driven mechanical artificial hand | |
| CN110640773A (en) | Electric-hydraulic driven robot dexterous hand | |
| Wang et al. | A novel design of soft robotic hand with a human-inspired soft palm for dexterous grasping | |
| WO2021078183A1 (en) | Micro electro-hydraulic linear actuator and electro-hydraulic actuated robot dexterous hand | |
| CN215548737U (en) | Finger device, manipulator and robot | |
| Bao et al. | Flexible pneumatic robotic actuator FPA and its applications | |
| CN113787520B (en) | Method for establishing model of motion angle and input air pressure of soft glove |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20230809 Address after: A706, Block A, TCL Building, No. 6 Gaoxinyuan 1st Road, Yuehai Street, Nanshan District, Shenzhen City, Guangdong Province, 518000 Applicant after: Shenzhen Spherical Power Technology Co.,Ltd. Address before: 518000 Room 201, building A, No. 1, Qian Wan Road, Qianhai Shenzhen Hong Kong cooperation zone, Shenzhen, Guangdong (Shenzhen Qianhai business secretary Co., Ltd.) Applicant before: Shenzhen Zhong'an Power Technology Co.,Ltd. |
|
| CB02 | Change of applicant information |
Country or region after: China Address after: Room D, 9th Floor, Building 12, Lehui Science and Technology Innovation Center, No. 489 Jihua Road, Bantian Street, Longgang District, Shenzhen City, Guangdong Province, 518129 Applicant after: Shenzhen Spherical Power Technology Co.,Ltd. Address before: A706, Block A, TCL Building, No. 6 Gaoxinyuan 1st Road, Yuehai Street, Nanshan District, Shenzhen City, Guangdong Province, 518000 Applicant before: Shenzhen Spherical Power Technology Co.,Ltd. Country or region before: China |
|
| GR01 | Patent grant |