CN111037592A - Flexible bionic manipulator - Google Patents
Flexible bionic manipulator Download PDFInfo
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- CN111037592A CN111037592A CN201911404568.9A CN201911404568A CN111037592A CN 111037592 A CN111037592 A CN 111037592A CN 201911404568 A CN201911404568 A CN 201911404568A CN 111037592 A CN111037592 A CN 111037592A
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- knuckle
- finger
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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
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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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a flexible bionic manipulator which comprises a palm, a plurality of fingers and a driving device, wherein the fingers are rotatably connected with the palm; a plurality of fingers are in a parallel structure, and each finger is formed by connecting a finger root unit, a plurality of knuckle units and a fingertip unit in series through a rotating shaft; in each finger, the finger root unit and the knuckle unit, the knuckle unit and the finger tip unit are driven by the driving device, so that the finger root unit and the knuckle unit move mutually, the knuckle unit moves mutually and the knuckle unit and the finger tip unit move mutually, and the finger is bent or straightened. The flexible bionic manipulator disclosed by the invention has strong flexibility and strong universality, can be suitable for clamping objects in various shapes, can meet larger load and is suitable for carrying occasions of objects with larger mass.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a flexible bionic manipulator.
Background
Along with the continuous development of robot technique, humanoid robot constantly arouses people's concern and attention, and humanoid robot is applied to industry field, medical field etc. more, and wherein, humanoid robot's bionic manipulator has the palm structure that can simulate people's hand action usually, and the motion of imitative people hand replaces people's work in order to realize some centre gripping, transport actions.
Bionic manipulator technique is occupying important position in the robotechnology field, and wherein, the shape and the structure of bionic manipulator palm stably snatch to bionic manipulator has important influence, and bionic manipulator's finger structure and distribution position determine bionic manipulator's workspace, and bionic manipulator's palm shape is related to the contact point distribution condition that forms when contacting with the object, and then influences the effort to the object.
The bionic manipulator in the prior art usually has four direct finger mechanisms capable of freely bending or straightening and a thumb mechanism capable of independently working, but due to the restriction on the aspects of structures and electrical systems, the defects of poor load capacity, low flexibility and single control mode exist, and the bionic manipulator cannot be suitable for grabbing and carrying of large-quality articles or grabbing and carrying of irregular-shaped articles, so that the application range of the bionic manipulator is limited, the existing bionic manipulator does not have the personification characteristic, and the universality and the practicability are greatly reduced.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a flexible bionic manipulator which has strong flexibility and universality, is suitable for clamping articles with various shapes, can meet larger load and is suitable for carrying occasions with articles with larger mass.
In order to achieve the purpose, the invention is realized by the following technical scheme: a flexible bionic manipulator is characterized in that: comprises a palm, a plurality of fingers which are rotatably connected with the palm and a driving device; a plurality of fingers are in a parallel structure, and each finger is formed by connecting a finger root unit, a plurality of knuckle units and a fingertip unit in series through a rotating shaft; in each finger, the finger root unit and the knuckle unit, the knuckle unit and the finger tip unit are driven by the driving device, so that the finger root unit and the knuckle unit move mutually, the knuckle unit moves mutually and the knuckle unit and the finger tip unit move mutually, and the finger is bent or straightened.
In the above scheme, the bionic manipulator of the invention not only can rotate the fingers around the palm, but also comprises the following components: the finger root unit, the knuckle unit and the fingertip unit can be independently controlled by the driving device, and compared with a traditional mechanical gripper with a single control mode, the mechanical gripper is high in structural flexibility, the curvature of each unit of a finger can be achieved, and the mechanical gripper is suitable for clamping articles with various shapes, so that the universality of the mechanical gripper is improved. In addition, the fingers are connected in parallel, and the manipulator is driven by a plurality of driving devices, so that the manipulator can meet the requirement of large load and is suitable for carrying occasions of articles with large mass. The bionic manipulator provided by the invention has the two performances of flexibility and load, can be suitable for various application ranges, not only has the personification characteristic, but also greatly improves the practicability.
Specifically, each of the knuckle units includes a knuckle housing; one end of the knuckle shell is provided with a first hole connected with the adjacent finger root unit, the knuckle unit or the fingertip unit, and the other end of the knuckle shell is provided with a first shaft connected with the adjacent finger root unit, the knuckle unit or the fingertip unit; the knuckle shell is also provided with a second hole and a third hole which are connected with the driving device.
The finger root unit comprises a finger root shell; and one end of the finger root shell is provided with a hole IV for connecting with the knuckle unit and a hole V for connecting with the driving device.
The fingertip unit includes a fingertip housing; one end of the fingertip shell is provided with a shaft IV used for being connected with the knuckle unit and a hole VI connected with the driving device. The fingertip unit can be designed into different shapes according to requirements to meet the requirements of different occasions, and can bear certain load.
Each finger is formed by connecting a finger root unit, a plurality of knuckle units and a finger tip unit in series through a rotating shaft: the finger root shell, the finger joint shells and the finger tip shell of each finger are sequentially connected with the first shaft through the fourth hole, connected with the first shaft through the first hole and connected with the fourth shaft through the first hole to realize mutual series connection. The design of the finger series structure of the invention can carry out mutual transmission under the driving of the driving device, thus greatly simplifying the structure of the manipulator.
The driving device comprises a piezoelectric driver, a telescopic rod, a second shaft for connecting with the finger root unit or the knuckle unit and a third shaft for connecting with the knuckle unit or the fingertip unit; the second shaft is arranged on the side part of the piezoelectric actuator; the telescopic rod is arranged on the piezoelectric driver and connected with the third shaft, and the piezoelectric driver drives the telescopic rod to stretch and contract so as to drive the third shaft to move. The piezoelectric actuator has the characteristic of large moment, and the load performance of the manipulator can be further improved by adopting the piezoelectric actuator.
And a second shaft of the driving device is connected with a fifth hole of the finger root shell, and a third shaft of the driving device is connected with a third hole of the finger node shell, so that the piezoelectric driver drives the telescopic rod to stretch and retract to drive the third shaft to move, and the relative motion between the finger root unit and the finger node unit is controlled.
And a second shaft of the driving device arranged between the knuckle units is connected with a second hole of the previous knuckle shell, and a third shaft of the driving device is connected with a third hole of the next knuckle unit, so that the piezoelectric driver drives the telescopic rod to stretch and contract to drive the third shaft to move, and the relative motion between the knuckle units is controlled.
And a second shaft of the driving device is connected with a second hole of the knuckle shell, and a third shaft of the driving device is connected with a sixth hole of the fingertip unit, so that the piezoelectric driver drives the telescopic rod to stretch and retract to drive the third shaft to move, and the relative movement between the knuckle unit and the fingertip unit is controlled.
The invention also comprises a driving part for driving a plurality of fingers to rotate around the palm; the driving part comprises a motor arranged in the palm, a driving gear connected with the motor and a driven gear connected with the finger root unit through a rotating shaft; the number of the motors is equal to that of the fingers, the driving gear is meshed with the driven gear, the motors drive the driving gear to drive the fingers to rotate around the palm, and the rotating shaft of the fingers rotating around the palm is orthogonal to the rotating shaft of the two adjacent units when the fingers are bent; wherein, two adjacent units mean: between the finger root unit and the knuckle unit, between two knuckle units, or between a knuckle unit and a fingertip unit.
Each finger of the bionic manipulator can realize finger bending through the serial connection of the units and the action of the driving device: two adjacent units are connected respectively with the axle third, and the telescopic link is flexible will lead to the distance change between two axles and the axle third, and two adjacent units are connected through a revolute pair, will lead to the joint bending in the middle of two adjacent units when two adjacent unit below distance changes to realize that the finger is crooked. Wherein, two adjacent units are: between the finger root unit and the knuckle unit, between two knuckle units, or between a knuckle unit and a fingertip unit.
The bionic manipulator has a simple structure, a plurality of fingers are connected in parallel, each finger is connected in series, and the connection mode is operated, so that the positions of the fingers on the palm, the number of the fingers, the number of the units connected in series in each finger and the fingertip units in various shapes can be freely combined according to requirements in the actual application process, the bionic manipulator has various functions, and the requirements of various use occasions can be met.
Compared with the prior art, the invention has the following advantages and beneficial effects: the flexible bionic manipulator disclosed by the invention has strong flexibility and strong universality, can be suitable for clamping objects in various shapes, can meet larger load and is suitable for carrying occasions of objects with larger mass.
Drawings
FIG. 1 is a first schematic view of a biomimetic manipulator of the present invention;
FIG. 2 is a second schematic view of the bionic manipulator of the present invention;
FIG. 3 is a cross-sectional view of a knuckle housing in the bionic manipulator of the present invention;
FIG. 4 is a cross-sectional view of a finger root housing of the bionic manipulator of the invention;
FIG. 5 is a cross-sectional view of a finger tip housing of the bionic manipulator of the invention;
FIG. 6 is a cross-sectional view of a finger in the biomimetic manipulator of the present invention;
FIG. 7 is a schematic view of a driving device in the bionic manipulator of the present invention;
FIG. 8 is a schematic view of a driving part in the bionic manipulator of the invention;
wherein, 1 is palm, 2 is finger, 3 is finger root unit, 4 is knuckle unit, 5 is finger tip unit, 6 is hole one, 7 is axle one, 8 is hole two, 9 is hole three, 10 is hole four, 11 is hole five, 12 is axle four, 13 is hole six, 14 is piezoelectric driver, 15 is telescopic link, 16 is axle two, 17 is axle three, 18 is motor, 19 is driving gear, 20 is driven gear.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Example one
As shown in fig. 1 to 8, the flexible bionic manipulator of the present invention comprises a palm 1, 5 fingers 2 rotatably connected with the palm 1, and a driving device, wherein the 5 fingers 2 are connected in parallel, and each finger 2 is composed of a finger root unit 3, 2 knuckle units 4, and a fingertip unit 5 which are connected in series through a rotating shaft; in each finger 2, the base finger unit 3 and the knuckle unit 4, the knuckle unit 4 and the fingertip unit 5 are driven by a driving device, so that the base finger unit 3 and the knuckle unit 4 move mutually, the knuckle unit 4 moves mutually and the knuckle unit 4 and the fingertip unit 5 move mutually, and the finger 2 is bent or straightened.
Specifically, each knuckle unit 4 includes a knuckle housing, one end of the knuckle housing is provided with a first hole 6 connected to the adjacent knuckle unit 3, 4 or 5, the other end is provided with a first shaft 7 connected to the adjacent knuckle unit 3, 4 or 5, and the knuckle housing is further provided with a second hole 8 and a third hole 9 connected to the driving device. The finger root unit 3 comprises a finger root shell, one end of the finger root shell is provided with a hole four 10 used for being connected with the knuckle unit 4 and a hole five 11 connected with a driving device. And the fingertip unit 5 comprises a fingertip shell, one end of the fingertip shell is provided with a shaft four 12 used for being connected with the knuckle unit 4 and a hole six 13 connected with the driving device. The fingertip unit 5 can be designed into different shapes according to requirements to meet the requirements of different occasions, and can also bear certain load.
In this embodiment, the base housing, 2 knuckle housings and fingertip housing of each finger are sequentially connected to the first shaft 7 through the fourth hole 10, the first shaft 7 through the first hole 6, and the fourth shaft 12 through the first hole 6. The design of the finger series structure of the invention can carry out mutual transmission under the driving of the driving device, thus greatly simplifying the structure of the manipulator.
The driving device comprises a piezoelectric driver 14, a telescopic rod 15, a second shaft 16 used for being connected with the finger root unit 3 or the knuckle unit 4 and a third shaft 17 used for being connected with the knuckle unit or the fingertip unit, wherein the second shaft 16 is arranged on the side of the piezoelectric driver 14, and the telescopic rod 15 is arranged on the piezoelectric driver 14 and connected with the third shaft 17, so that the piezoelectric driver 14 drives the telescopic rod 15 to stretch and contract to drive the third shaft 17 to move. The piezoelectric actuator 14 of the invention has the characteristic of large moment, and the load performance of the manipulator can be further improved by adopting the piezoelectric actuator 14.
The specific connection of the driving device of the invention to the finger 2 is such that: and a second shaft 16 of the driving device arranged between the finger root unit 3 and the knuckle unit 4 is connected with a fifth hole 11 of the finger root shell, and a third shaft 17 of the driving device is connected with a third hole 9 of the knuckle shell, so that the piezoelectric driver 14 drives the telescopic rod 15 to stretch and contract to drive the third shaft 17 to move, and the relative movement between the finger root unit 3 and the knuckle unit 4 is controlled.
And a second shaft 16 of the driving device arranged between the knuckle units 4 is connected with a second hole 8 of the previous knuckle shell, and a third shaft 17 of the driving device is connected with a third hole 9 of the next knuckle unit, so that the piezoelectric driver 14 drives the telescopic rod 15 to stretch and contract to drive the third shaft 17 to move, and the relative movement between the knuckle units 4 is controlled.
And a second shaft 16 of the driving device arranged between the knuckle unit 4 and the fingertip unit 5 is connected with a second hole 8 of the knuckle shell, and a third shaft 17 of the driving device is connected with a sixth hole 13 of the fingertip unit 5, so that the piezoelectric driver 14 drives the telescopic rod 15 to stretch and contract to drive the third shaft 17 to move, and the relative movement between the knuckle unit 4 and the fingertip unit 5 is controlled.
The invention also comprises a driving part for driving the 5 fingers 2 to rotate around the palm 1, wherein the driving part comprises a motor 18 arranged inside the palm 1, a driving gear 19 connected with the motor 18 and a driven gear 20 connected with the finger root unit 3 through a rotating shaft. The number of the motors 18 is equal to that of the fingers 2, the driving gear 19 is meshed with the driven gear 20, so that the motors 18 drive the driving gear 19 to drive the fingers 2 to rotate around the palm 1, and the rotating shaft of the fingers 2 rotating around the palm 1 is orthogonal to the rotating shaft of the two adjacent units when the fingers 2 are bent; wherein, two adjacent units mean: between the base element 3 and the knuckle element 4, between two knuckle elements 4 or between a knuckle element 4 and a fingertip element 5.
The bionic manipulator of the invention not only can rotate the finger 2 around the palm 1, but also comprises the following components of the finger 2: the finger root unit 3, the knuckle unit 4 and the fingertip unit 5 can be independently controlled by the driving device, and compared with a traditional mechanical gripper with a single control mode, the mechanical gripper is high in structural flexibility, the bending degree of each unit of a finger can be achieved, and the mechanical gripper is suitable for clamping articles with various shapes, so that the universality of the mechanical gripper is improved. In addition, the fingers 2 are connected in parallel, and are driven by a plurality of piezoelectric drivers 14, so that the manipulator can meet the requirement of large load and is suitable for the transportation occasion of articles with large mass. The bionic manipulator provided by the invention has the two performances of flexibility and load, can be suitable for various application ranges, not only has the personification characteristic, but also greatly improves the practicability.
Example two
The present embodiment is different from the first embodiment only in that: in the actual application process, the positions of the fingers on the palm, the number of the fingers, the number of the units connected in series in each finger and the finger tip units in different shapes can be freely combined according to requirements, so that the bionic manipulator has various functions and can meet the requirements of various use occasions.
Other structures of the present embodiment are consistent with the present embodiment.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (10)
1. A flexible bionic manipulator is characterized in that: comprises a palm, a plurality of fingers which are rotatably connected with the palm and a driving device; a plurality of fingers are in a parallel structure, and each finger is formed by connecting a finger root unit, a plurality of knuckle units and a fingertip unit in series through a rotating shaft; in each finger, the finger root unit and the knuckle unit, the knuckle unit and the finger tip unit are driven by the driving device, so that the finger root unit and the knuckle unit move mutually, the knuckle unit moves mutually and the knuckle unit and the finger tip unit move mutually, and the finger is bent or straightened.
2. The flexible biomimetic manipulator according to claim 1, wherein: each of the knuckle units comprises a knuckle housing; one end of the knuckle shell is provided with a first hole connected with the adjacent finger root unit, the knuckle unit or the fingertip unit, and the other end of the knuckle shell is provided with a first shaft connected with the adjacent finger root unit, the knuckle unit or the fingertip unit; the knuckle shell is also provided with a second hole and a third hole which are connected with the driving device.
3. The flexible biomimetic manipulator according to claim 2, wherein: the finger root unit comprises a finger root shell; and one end of the finger root shell is provided with a hole IV for connecting with the knuckle unit and a hole V for connecting with the driving device.
4. The flexible biomimetic manipulator according to claim 3, wherein: the fingertip unit includes a fingertip housing; one end of the fingertip shell is provided with a shaft IV used for being connected with the knuckle unit and a hole VI connected with the driving device.
5. The flexible biomimetic manipulator according to claim 4, wherein: each finger is formed by connecting a finger root unit, a plurality of knuckle units and a finger tip unit in series through a rotating shaft: the finger root shell, the finger joint shells and the finger tip shell of each finger are sequentially connected with the first shaft through the fourth hole, connected with the first shaft through the first hole and connected with the fourth shaft through the first hole to realize mutual series connection.
6. The flexible biomimetic manipulator according to claim 4, wherein: the driving device comprises a piezoelectric driver, a telescopic rod, a second shaft for connecting with the finger root unit or the knuckle unit and a third shaft for connecting with the knuckle unit or the fingertip unit; the second shaft is arranged on the side part of the piezoelectric actuator; the telescopic rod is arranged on the piezoelectric driver and connected with the third shaft, and the piezoelectric driver drives the telescopic rod to stretch and contract so as to drive the third shaft to move.
7. The flexible biomimetic manipulator according to claim 6, wherein: and a second shaft of the driving device is connected with a fifth hole of the finger root shell, and a third shaft of the driving device is connected with a third hole of the finger node shell, so that the piezoelectric driver drives the telescopic rod to stretch and retract to drive the third shaft to move, and the relative motion between the finger root unit and the finger node unit is controlled.
8. The flexible biomimetic manipulator according to claim 6, wherein: and a second shaft of the driving device arranged between the knuckle units is connected with a second hole of the previous knuckle shell, and a third shaft of the driving device is connected with a third hole of the next knuckle unit, so that the piezoelectric driver drives the telescopic rod to stretch and contract to drive the third shaft to move, and the relative motion between the knuckle units is controlled.
9. The flexible biomimetic manipulator according to claim 6, wherein: and a second shaft of the driving device is connected with a second hole of the knuckle shell, and a third shaft of the driving device is connected with a sixth hole of the fingertip unit, so that the piezoelectric driver drives the telescopic rod to stretch and retract to drive the third shaft to move, and the relative movement between the knuckle unit and the fingertip unit is controlled.
10. The flexible biomimetic manipulator according to claim 1, wherein: the hand-held electric hand cleaner also comprises a driving part for driving a plurality of fingers to rotate around the palm; the driving part comprises a motor arranged in the palm, a driving gear connected with the motor and a driven gear connected with the finger root unit through a rotating shaft; the number of the motors is equal to that of the fingers, the driving gear is meshed with the driven gear, the motors drive the driving gear to drive the fingers to rotate around the palm, and the rotating shaft of the fingers rotating around the palm is orthogonal to the rotating shaft of the two adjacent units when the fingers are bent; wherein, two adjacent units mean: between the finger root unit and the knuckle unit, between two knuckle units, or between a knuckle unit and a fingertip unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911404568.9A CN111037592A (en) | 2019-12-31 | 2019-12-31 | Flexible bionic manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911404568.9A CN111037592A (en) | 2019-12-31 | 2019-12-31 | Flexible bionic manipulator |
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| Publication Number | Publication Date |
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| CN111037592A true CN111037592A (en) | 2020-04-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911404568.9A Pending CN111037592A (en) | 2019-12-31 | 2019-12-31 | Flexible bionic manipulator |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115056259A (en) * | 2022-08-16 | 2022-09-16 | 太仓奥林吉汽车零部件有限公司 | Novel flexible tongs for transferring non-metal parts |
| CN115486270A (en) * | 2022-10-28 | 2022-12-20 | 安徽农业大学 | Copying lossless picking mechanical device capable of intelligently wrapping fruit appearance |
-
2019
- 2019-12-31 CN CN201911404568.9A patent/CN111037592A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115056259A (en) * | 2022-08-16 | 2022-09-16 | 太仓奥林吉汽车零部件有限公司 | Novel flexible tongs for transferring non-metal parts |
| CN115486270A (en) * | 2022-10-28 | 2022-12-20 | 安徽农业大学 | Copying lossless picking mechanical device capable of intelligently wrapping fruit appearance |
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Inventor after: Zhao Yongjie Inventor after: Yu Jie Inventor after: Luo Tiexuan Inventor after: Xie Weikai Inventor after: Lu Xinjian Inventor after: Zhang Xingwei Inventor before: Zhao Yongjie Inventor before: Luo Tiexuan Inventor before: Yu Jie Inventor before: Xie Weikai Inventor before: Lu Xinjian Inventor before: Zhang Xingwei |
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