CN111390891B - Tensioning structure for robot full-drive finger pneumatic muscle - Google Patents
Tensioning structure for robot full-drive finger pneumatic muscle Download PDFInfo
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- CN111390891B CN111390891B CN201911018675.8A CN201911018675A CN111390891B CN 111390891 B CN111390891 B CN 111390891B CN 201911018675 A CN201911018675 A CN 201911018675A CN 111390891 B CN111390891 B CN 111390891B
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- tendon rope
- tightening
- tendon
- rope
- restoring
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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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- 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
- 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
Abstract
The invention discloses a tensioning structure for a full-drive finger pneumatic muscle of a robot, and aims to overcome the defects that a tendon rope of an existing under-driven hand is easy to deform, a drive dead zone is caused, the working space of a manipulator is reduced, and the accurate control of the manipulator is increased. The tension device comprises a driving tendon rope and a restoring tendon rope, wherein the tendon rope is wound on a pulley in an 8 shape, the tendon rope is fixedly connected with the pulley, the winding directions of the driving tendon rope and the restoring tendon rope are opposite, and a tension spring for tensioning is arranged at the tail end of the tendon rope. The tensioning device can tension the driven tendon rope in time, ensure the working space of the manipulator as long as possible and reduce the difficulty of accurate control.
Description
Technical Field
The invention relates to the field of robots, in particular to a tensioning structure for a full-drive finger pneumatic muscle of a robot.
Background
At present, the dexterous hand based on pneumatic muscle driving mainly adopts an under-actuated driving mode, although the under-actuation can reduce the number of drivers and the complexity of control, the weight and the volume of the under-actuated hand are greatly reduced, so that the under-actuated hand can have wide application fields. However, in some scenes requiring fine operation, different joints of the underactuated hand are coupled seriously, and the target object cannot be operated delicately. In addition, most of the dexterous hand drivers based on pneumatic muscles are placed at the end and are driven by a tendon rope in the middle, which can reduce the weight and volume of the end effector to some extent, but also increases a disadvantage. Because the tendon ropes are all subjected to fatigue damage, the tendon ropes can generate unrecoverable deformation after long-term use, and the tendon ropes are loosened, so that a driving dead zone is formed, the working space of the mechanical arm is indirectly reduced, and the difficulty in accurately controlling the mechanical arm is increased.
Chinese patent publication No. CN101797753B, entitled tendon rope parallel connection smart under-actuated bionic robot finger device, discloses a tendon rope parallel connection smart under-actuated bionic robot finger device, which belongs to the technical field of anthropomorphic robots, and comprises a base, a first motor, a second motor, a near joint shaft, a first finger section, a far joint shaft, a tail end finger section and a reset spring. The device also comprises a first rope wheel, a second rope wheel, a third rope wheel, a first tendon rope, a second tendon rope and a third tendon rope. The multi-joint finger device further comprises at least one middle finger section and at least one middle rope wheel. The device utilizes motor, rope sheave, tendon rope and reset spring spare to realize comprehensively that the finger initial configuration is variable with the special effect that self-adaptation snatchs and combine together. The device can flexibly bend the middle joints of the fingers before grabbing to achieve a stable anthropomorphic pre-bending posture, and an object is grabbed in a self-adaptive under-actuated mode during grabbing. The device has the defects that different joints of an underactuated hand are seriously coupled, and the target object cannot be operated flexibly. In addition, most of the drivers of dexterous hands based on pneumatic muscles are placed at the end, and the middle is driven by a tendon rope, which can reduce the weight and the volume of the end effector to a certain extent, but also increases a disadvantage. Because the tendon ropes are all subjected to fatigue damage, the tendon ropes can generate unrecoverable deformation after long-term use, and the tendon ropes are loosened, so that a driving dead zone is formed, the working space of the mechanical arm is indirectly reduced, and the difficulty in accurately controlling the mechanical arm is increased.
Disclosure of Invention
The invention overcomes the problems that the tendon rope of the existing underactuated hand is easy to deform to cause a driving dead zone and reduce the working space of a manipulator and the deficiency of accurate control, and provides a tensioning structure for the full-actuated finger pneumatic muscle of a robot, which can tension the driven tendon rope in real time, ensures the inconvenience of the working space of the manipulator working for a long time and simultaneously reduces the difficulty of accurate control.
In order to solve the technical problems, the invention adopts the following technical scheme:
a tensioning structure for a pneumatic muscle of a full-drive finger of a robot is characterized in that the pneumatic muscle drives a joint of the finger to rotate, a pulley is fixedly connected to the joint, a tendon rope is connected between the pneumatic muscle and the joint and drives the joint to rotate through the tendon rope, the tendon rope comprises a driving tendon rope and a restoring tendon rope, the tendon rope is wound on the pulley in an 8 shape and is fixedly connected with the pulley, the winding directions of the driving tendon rope and the restoring tendon rope are opposite, and a tension spring for tensioning is arranged at the tail end of the tendon rope.
The driving force arm and the restoring force arm can be kept constant by using the way that the tendon rope pulls the movable pulley, so that the change relation between the displacement of the tendon rope and the angular displacement of the joint is a linear relation, the problem of increased control difficulty caused by the nonlinear characteristic of a controlled object is reduced, and the output quantity of the controller works in a reasonable interval. The pulley ensures that the pulley and the knuckle do not move relatively through the D-shaped hole, the tendon rope ensures that the tendon rope and the knuckle do not move relatively through the fixing hole, and meanwhile, the pulley can rotate due to the fact that the pulley and the pulley do not slide relatively through the winding mode of the driving tendon rope and the restoring tendon rope. When the tendon rope is pulled, the corresponding driving tendon rope or the corresponding restoring tendon rope is inevitably loosened, and at the moment, the tension spring in a stretching state provides a contraction force between the tendon ropes so that the tendon ropes are still kept tensioned; the tension spring can also play a tensioning role in the fatigue pulling phenomenon of the tendon rope caused by long-term use.
Preferably, the pneumatic muscle support further comprises a pneumatic muscle support, the pneumatic muscle support comprises a first flat plate, a second flat plate, a first pre-tightening mechanism positioning block and a second pre-tightening mechanism positioning block, the first flat plate, the second flat plate, the first pre-tightening mechanism positioning block and the second pre-tightening mechanism positioning block are enclosed to form a box structure with two open sides, the first flat plate and the second flat plate are respectively provided with a hole which is parallel to each other, the holes form a guide hole for allowing a tendon rope to pass through, the first pre-tightening mechanism positioning block and the second pre-tightening mechanism positioning block are respectively connected with an adjustable pre-tightening screw, the tail end of the pre-tightening screw is rotatably connected with a pre-tightening bearing, and the outer edge of the pre-tightening bearing is.
The tendon ropes pass through the pneumatic muscle support of the box body structure through the guide holes, and the tendon ropes are parallel. And pre-tightening screws perpendicular to the pre-tightening mechanism positioning blocks are arranged on the first pre-tightening mechanism positioning block and the second pre-tightening mechanism positioning block which are parallel to the tendon rope, the pre-tightening screws are perpendicular to the tendon rope, the axis of a pre-tightening bearing on each pre-tightening screw is also perpendicular to the tendon rope, and the tangent plane of the outer edge of each pre-tightening bearing is parallel to the direction of the tendon rope. With the pretension screw screwed in, the pretension bearing approaches the tendon rope until it abuts the tendon rope. The tendon rope drives the outer ring of the pre-tightening bearing to rotate correspondingly while being pulled. Through the butt joint of pretension bearing for the tendon rope takes place to buckle, and produces axial motion, so can carry out initiative pretension to corresponding tendon rope, and this pretension system's specific working process is as follows: under the initial state, the extension spring is in tensile state, and along with the continuous grow of tendon rope fatigue strain, the extension spring can produce adaptive shrink to guarantee the tensioning of tendon rope. When the fatigue strain of the tendon rope reaches a certain degree, even if the pretension spring is restored to the original length, the tendon rope is not sufficiently tensioned, at the moment, the pretension screw corresponding to the tendon rope needs to be rotated, the tendon rope is pushed by the tail end pretension bearing to be tensioned again, and the pretension spring is stretched to a certain length. The active and passive matched pre-tightening system has the following advantages: the passive pre-tightening mode can realize the tensioning of the tendon rope without human intervention, and when the pre-tightening effect of the passive pre-tightening system reaches the limit, the passive pre-tightening effect can be recovered through active pre-tightening. Therefore, the fingers do not need to be manually pre-tightened all the time, and only need to be manually pre-tightened after a period of working time.
Preferably, the tail end of the pre-tightening screw is fixedly connected with a pre-tightening screw fixing support, the end part of the pre-tightening screw support is rotatably connected with a pre-tightening screw fixing support bearing, a pre-tightening bearing support is fixedly sleeved on the pre-tightening screw fixing support bearing, a pre-tightening bearing is rotatably connected on the pre-tightening bearing support, and the pre-tightening bearing rotates along with the pulling of the tendon rope. The pre-tightening screw fixing support at the end part of the pre-tightening screw rotates along with the pre-tightening screw and moves transversely, the end part of the pre-tightening screw fixing support is inserted on an inner ring of a bearing of the pre-tightening screw fixing support, an outer ring of the pre-tightening screw fixing support is inserted on a corresponding pre-tightening bearing support, the upper end and the lower end of the support are respectively abutted on the first flat plate and the second flat plate, so that the pre-tightening screw fixing support cannot rotate due to rotation of the pre-tightening screw and only can move transversely along with the pre-tightening screw, the pre-tightening bearing on the pre-tightening screw freely rotates, and.
Preferably, the drive tendon ropes include a first revolute joint drive tendon rope, a second revolute joint drive tendon rope, a first bevel gear pulley drive tendon rope, and a second bevel gear pulley drive tendon rope; the restoring tendon rope comprises a first rotary joint restoring tendon rope, a second rotary joint restoring tendon rope, a first bevel gear pulley restoring tendon rope and a second bevel gear pulley restoring tendon rope. There are 3 joints in total, 4 degrees of freedom, controlling the first revolute joint, the second revolute joint, the bending of the ball joint and the swinging of the ball joint, respectively.
Preferably, the pulleys of the joints are provided with shaft holes through which the tendon ropes can pass. The tendon rope penetrates through the subsequent joint axis, so that joint driving and restoring force can be ensured to always pass through the axis, the force of the joint cannot generate moment on other joints, decoupling between the joints is realized, and the target joint control capability of the full-drive dexterous hand is improved.
Preferably, the first flat plate and the second flat plate are respectively provided with eight guide holes, and the first rotary joint driving tendon rope, the second rotary joint driving tendon rope, the first bevel gear pulley driving tendon rope, the second bevel gear pulley driving tendon rope, the first rotary joint restoring tendon rope, the second rotary joint restoring tendon rope, the first bevel gear pulley restoring tendon rope and the second bevel gear pulley restoring tendon rope respectively pass through the corresponding guide holes. The pre-tightening screw, the pre-tightening mechanism positioning block, the pre-tightening bearing bracket and the pre-tightening bearing form an active pre-tightening system. The active pre-tightening means that: different pre-tightening screws are rotated, the position of a pre-tightening bearing at the tail end of each pre-tightening screw can be adjusted, when the pre-tightening screws rotate in the pre-tightening direction, the pre-tightening bearings can apply thrust to the tendon ropes, the tendon ropes can be bent and move axially, and therefore the corresponding tendon ropes can be actively pre-tightened. And the active and passive pre-tightening system of the whole finger is formed by combining the passive pre-tightening system taking the tension spring as the active part. The total number of the guide holes on the first flat plate and the second flat plate is 8, the guide holes are uniformly divided into two rows and are symmetrically arranged.
Preferably, four pre-tightening screws for pre-tightening the tendon rope are respectively arranged on the first pre-tightening mechanism positioning block and the second pre-tightening mechanism positioning block. The first pre-tightening mechanism positioning block and the second pre-tightening mechanism positioning block are respectively connected with 4 pre-tightening screws through threads, and each tendon rope corresponds to one pre-tightening screw and the number of the pre-tightening screws is 8.
Preferably, one end of each of the driving tendon rope and the restoring tendon rope is connected with a telescopic driving member, the driving tendon rope is wound on the pulley, one side of the telescopic driving member, which is far away from the pulley, is also provided with a restoring guide wheel, and the restoring tendon rope is wound on the pulley through the restoring guide wheel. The device realizes that two tendon ropes can be driven simultaneously only by one telescopic driving piece, in the working process, the two tendon ropes are pulled down by the contraction of the telescopic driving piece, the tendon ropes are driven to rotate the joints in one direction, the restoring tendon ropes become loose after the reversion of the restoring guide wheels, and the slack allowance is absorbed by a passive tensioning system; the extension of the telescopic driving piece pulls the two upwards to drive the tendon rope to be loosened, the rest is absorbed by the passive tensioning system, and the restoring tendon rope is pulled to drive the joint to reset.
Preferably, a third flat plate and a fourth flat plate which correspond to each other are arranged on two open surfaces of the box body structure, a roller with a cam-shaped section is rotatably connected between the third flat plate and the third flat plate, an adjusting handle extends out of the roller towards the box body in the axis direction, the roller is arranged above the pre-tightening bearing, and the roller is abutted to the tendon rope. The axis of the roller is arranged on the central line of the two rows of tendon ropes, and the posture of the roller can be adjusted by adjusting the adjusting handle, so that the positions of the roller and the tendon ropes are adjusted, and then 8 tendon ropes are completely tensioned.
Compared with the prior art, the invention has the beneficial effects that: (1) the device has a passive conditional pre-tightening mode, and can tension tendon rope fatigue in time; (2) when the pre-tightening effect of the passive pre-tightening system reaches the limit, the passive pre-tightening effect can be recovered through active pre-tightening, and meanwhile, the defect that only a passive mode is difficult to install when the manipulator is built is overcome.
Drawings
FIG. 1 is a schematic view of a finger in a flexed condition according to the present invention;
FIG. 2 is a side cross-sectional view of the present invention;
FIG. 3 is a cross-sectional view of the front of the present invention;
FIG. 4 is a schematic view of the connection of the drive and return tendon ropes of the present invention to the telescoping drive members;
FIG. 5 is a side sectional view of example 2 of the present invention;
in the figure:
a distal toe end 1, a middle toe end 2, a proximal toe end 3, a ball joint 4, a pneumatic muscle support 5, a pneumatic muscle 6, a first rotary joint 7, a second rotary joint 8, a shaft hole 9, a tension spring 10, a first flat plate 11, a second flat plate 12, a first pre-tightening mechanism positioning block 13, a second pre-tightening mechanism positioning block 14, a guide hole 15, a pre-tightening screw 16, a pre-tightening screw fixing support 161, a pre-tightening screw fixing support bearing 162, a pre-tightening bearing support 163, a pre-tightening bearing 164, a driving tendon rope 17, a first rotary joint driving tendon rope 171, a second rotary joint driving tendon rope 172, a first bevel gear pulley driving tendon rope 173, a second bevel gear pulley driving tendon rope 174, a restoring tendon rope 18, a first rotary joint restoring tendon rope 181, a second rotary joint restoring tendon rope 182, a first bevel gear pulley restoring rope 183, a second bevel gear restoring tendon rope 184, a telescopic driving member 19, pulley 20, return guide 21, and roller 22.
Detailed Description
The technical scheme of the invention is further described in detail by the following specific embodiments in combination with the attached drawings:
example 1:
a full-drive bionic dexterous hand based on pneumatic muscles and capable of actively and passively adjusting pre-tightening mainly aims to increase the operation accuracy of the dexterous hand and prolong the service life of the dexterous hand.
The dexterous hand mainly comprises five full-drive fingers with the same shape and size, a bottom bracket and necessary transmission and connection parts. As shown in figure 1, the full-driving finger is an important component of the dexterous hand and mainly comprises a far finger end 1, a middle finger end 2, a near finger end 3, a ball joint 4, a single-finger pneumatic muscle support 5 and pneumatic muscles 6. The bottom bracket is composed of five supporting blocks. Every two supporting blocks are hinged, and corresponding drivers are arranged on corresponding hinge axes. The bottom support has the beneficial effects that the supporting blocks can rotate along the axis, so that the overlapping degree of the finger operation space is increased, and the fingers can write and hold objects.
As shown in fig. 2 and 3, the distal finger end 1 is connected with the middle finger end 2 through a first rotary joint 7; the middle finger end 2 is connected with the proximal finger end 3 through a second rotary joint 8; the proximal end 3 of the finger is connected with the ball joint 4 by a cross shaft; the ball joint 4 is connected with the single-finger pneumatic muscle support 5 by a fastener. The four joints of the finger comprise a far finger end 1, a middle finger end 2, a near finger end 3 and a ball joint 4 which are all in left-right separation structures. The two parts are respectively positioned by fixing pins and connected by bolts and nuts. The structure has the advantage of reducing the difficulty of finger assembly. The far finger end 1 of the finger is of a cone-like structure imitating a human finger, a small object can be grabbed by the fingertip, accurate operation is achieved, and the weight of the tail end can be reduced due to the hollow design of the inside of the finger. The ball joint 4 has two degrees of freedom of swinging and bending, and can realize the side swinging and bending movement of fingers. The two degrees of freedom are realized by two mutually perpendicular bevel gears 1, 2. When the bevel gears rotate in the same direction, the fingers realize the bending motion of the proximal finger ends 3; when the driving gear rotates reversely, the fingers swing laterally. The sphere formed by the spherical outer surface joint 1 and the spherical outer surface joint 2 is of a semi-closed structure, the upper end of the sphere is of an open structure, and the lower end of the sphere is of a closed structure. The upper opening is used for realizing the movement of the arc-shaped inner spherical surface guide mechanism. And the lower part closing mechanism is used for supporting the arc-shaped inner spherical surface guide mechanism and realizing the guide function.
As shown in fig. 4, one end of each of the driving tendon rope and the restoring tendon rope is connected with a telescopic driving member, the driving tendon rope is wound on the pulley, one side of the telescopic driving member, which is far away from the pulley, is further provided with a restoring guide wheel 21, and the restoring tendon rope is wound on the pulley through the restoring guide wheel 21. The ends of the driving tendon rope and the restoring tendon rope close to the pulley are respectively fixed on the pulley, and the two tendon ropes are not connected together, so that pre-tightening is realized better and the tendon ropes are kept tense. The device realizes that two tendon ropes can be driven simultaneously only by one telescopic driving piece, in the working process, the two tendon ropes are pulled down by the contraction of the telescopic driving piece, the tendon ropes are driven to rotate the joints in one direction, the restoring tendon ropes become loose after the reversion of the restoring guide wheels, and the slack allowance is absorbed by a passive tensioning system; the extension of the telescopic driving piece pulls the two upwards to drive the tendon rope to be loosened, the rest is absorbed by the passive tensioning system, and the restoring tendon rope is pulled to drive the joint to reset.
The degrees of freedom of the fully-driven finger are distributed as follows, and the far finger end 1 and the middle finger end 2 both have one degree of freedom of rotation; the proximal finger end 3 and the ball joint 4 are mutually matched and have two degrees of freedom of bending and side swinging. The four degrees of freedom are realized by respectively driving the tendon ropes to be connected by four pneumatic muscles 6. Each degree of freedom is driven by one driving tendon rope 17 and one restoring tendon rope 18, respectively, a first revolute joint driving tendon rope 17 and a first revolute joint restoring tendon rope 18, a second revolute joint driving tendon rope 17 and a second revolute joint restoring tendon rope 18, a first bevel gear pulley driving tendon rope 173 and a first bevel gear pulley restoring tendon rope 183, a second bevel gear pulley driving tendon rope 174, and a second bevel gear pulley restoring tendon rope 184. The tendon ropes are wound on the pulley 20 in an 8 shape, relative sliding does not exist between the tendon ropes and the pulley 20, each tendon rope penetrates through the axle center of a subsequent joint, the first rotary joint drives the tendon rope 17 and the first rotary joint restores the tendon rope 18 to pass through the axle centers of the second rotary joint 8 and the cross shaft; the second revolute joint driving tendon rope 17 and the second revolute joint restoring tendon rope 18 pass through the axis of the cross. The driving force arm and the restoring force arm can be kept constant by using the way that the tendon rope pulls the pulley 20, so that the change relationship between the displacement of the tendon rope and the angular displacement of the joint is a linear relationship, the control difficulty is increased due to the nonlinear characteristic of a controlled object, and the output quantity of the controller works in a reasonable interval. The tendon rope penetrates through the subsequent joint axis, so that joint driving and restoring force can be ensured to always pass through the axis, the force of the joint cannot generate moment on other joints, the decoupling of the force between the joints is realized, and the target joint control capability of the full-drive dexterous hand is improved.
A tension spring 10 is connected between the tendon rope and the telescopic end of the driving mechanism. Two corresponding tendon ropes with the same degree of freedom are fixedly connected with the end part of a lifting sliding shaft of a driving mechanism, and the sliding shaft is fixedly connected with the end part of a pneumatic muscle 6. Finger joint driven power distribution: the rotation of the distal finger end 1 is realized by a first rotary joint driving tendon rope 17 and a first rotary joint restoring tendon rope 18; the rotation of the middle finger end 2 is realized through a second rotary joint driving tendon rope 17 and a second rotary joint restoring tendon rope 18; the bending and side swinging of the proximal end 3 are realized by a first bevel gear pulley driving tendon rope 173 and a first bevel gear pulley restoring tendon rope 183, a second bevel gear pulley driving tendon rope 174 and a second bevel gear pulley restoring tendon rope 184; each tendon rope is provided with a tension spring 10, and the tension spring 10 plays a role in passive pre-tightening. The passive pre-tightening means that the tension spring 10 is pulled open for a certain displacement and then fixed on a corresponding sliding shaft through a tendon rope when a finger is installed. Along with the working time of the finger, when the tendon rope is subjected to fatigue deformation, the tension spring 10 corresponding to the tendon rope is contracted, so that the tendon rope is kept tensioned at any time.
The single-finger pneumatic muscle support 5 is a base of a finger and is also a mounting support of the pneumatic muscle 6, and the spherical outer joint 1 and the spherical outer joint 2 are connected with the single-finger pneumatic muscle support 5 through a bolt and nut structure. The single-finger pneumatic muscle support 5 is composed of a first flat plate 11, a second flat plate 12, a first pre-tightening mechanism positioning block 13 and a second pre-tightening mechanism positioning block 14. The first plate 11 and the second plate 12 are the top surface and the bottom surface of the box structure; the first pre-tightening mechanism positioning block 13 and the second pre-tightening mechanism positioning block 14 are arranged on the left and right sides thereof. The first flat plate 11 and the second flat plate 12 are provided with guide holes 15 which are parallel to each other, the 4 pairs of tendon ropes respectively pass through the guide holes 15, and the total number of the guide holes 15 on the first flat plate 11 and the second flat plate 12 is 8, and the tendon ropes are divided into two rows and symmetrically arranged. The first pre-tightening mechanism positioning block 13 and the second pre-tightening mechanism positioning block 14 are respectively connected with 4 pre-tightening screws 16 through threads, and similarly, each tendon rope corresponds to one pre-tightening screw 16, and the number of the pre-tightening screws 16 is 8. The tail end of the pre-tightening screw 16 is fixedly connected with a pre-tightening bearing support 163 and a pre-tightening bearing 164, and the pre-tightening bearing 164 and the pre-tightening bearing support 163 are in interference fit. The preload bearing 164 bears against the tendon rope described above. The pre-tightening screw 16, the pre-tightening mechanism positioning block, the pre-tightening bearing bracket 163 and the pre-tightening bearing 164 form an active pre-tightening system. The active pre-tightening means that: different pre-tightening screws 16 are rotated, the positions of pre-tightening bearings 164 at the tail ends of the pre-tightening screws 16 can be adjusted, when the pre-tightening screws 16 rotate towards the pre-tightening direction, the pre-tightening bearings 164 can apply thrust to the tendon ropes, the tendon ropes can be bent and generate axial movement, and therefore the corresponding tendon ropes can be actively pre-tightened. And the active and passive pre-tightening system of the whole finger is formed by combining the passive pre-tightening system taking the tension spring 10 as the active part. The specific working process of the pre-tightening system is as follows: in an initial state, the pre-tightening tension spring 10 is in a tension state, and as the fatigue strain of the tendon rope is continuously increased, the pre-tightening tension spring 10 can generate self-adaptive contraction to ensure the tensioning of the tendon rope. When the fatigue strain of the tendon rope reaches a certain degree, even if the pretension spring 10 recovers to the original length, the tendon rope is not sufficiently tensioned, at this time, the pretension screw 16 corresponding to the tendon rope needs to be rotated, the tendon rope is pushed by the end pretension bearing 164 to be tensioned again, and the pretension spring 10 is stretched to a certain length. The active and passive matched pre-tightening system has the following advantages: the passive pre-tightening mode can realize the tensioning of the tendon rope without human intervention, and when the pre-tightening effect of the passive pre-tightening system reaches the limit, the passive pre-tightening effect can be recovered through active pre-tightening. Therefore, the fingers do not need to be manually pre-tightened all the time, and only need to be manually pre-tightened after a period of working time.
The pneumatic muscle 6 support 5 is also provided with a platform 3, four sliding shaft holes are punched on the platform, and two circumferential fixing blocks are reserved on each sliding shaft hole. Each sliding shaft hole corresponds to one sliding shaft and is respectively used for driving the tendon ropes in two freedom directions of the first rotating joint 7, the second rotating joint 8 and the ball joint 4, and each sliding shaft is provided with two corresponding circumferential fixing grooves. The slide shaft is slidable in the slide shaft hole. And a linear bearing is embedded in the middle of the sliding shaft hole. The sliding shaft passes through the corresponding linear bearing and is connected with the pneumatic muscle 6. The structure has the following functions: the cooperation of the sliding shaft and the sliding shaft hole can reduce the shaking of the pneumatic muscle 6 in the contraction process; the circumferential movement of the pneumatic muscle 6 in the contraction process can be eliminated by the matching of the fixed block and the fixed groove; and the friction between the sliding shaft and the sliding shaft hole can be reduced by using the linear bearing. The structures act together to reduce external interference, thereby improving control precision.
Four pneumatic muscle positioning holes are punched on the platform 4 of the single-finger pneumatic muscle support 5 and are used for positioning each pneumatic muscle 6. The positioning hole is matched with the thread structure at the tail end of the pneumatic muscle 6, and is fixed by a fixing nut.
The working process of the far finger end 1 and the middle finger end 2 is as follows: the corresponding pneumatic muscle 6 is inflated and contracted to drive the sliding shaft to move downwards, and meanwhile, the corresponding driving tendon rope 17 is pulled and the corresponding restoring tendon rope 18 is loosened, so that the far finger end 1 and the middle finger end 2 generate bending motion; when the pneumatic muscle 6 is deflated and extended, the first rotary joint 7 is driven to slide axially and move upwards, and meanwhile, the corresponding restoring tendon rope 18 is pulled and the corresponding driving tendon rope 17 is loosened, so that the far finger end 1 and the middle finger end 2 generate restoring motion.
The working process of the proximal finger end 3 and the ball joint 4 is as follows: in the initial state, the pneumatic muscle 6 corresponding to the first bevel gear pulley and the second bevel gear pulley is in a pre-charging state. When the two pneumatic muscles 6 contract simultaneously, the corresponding sliding shafts are driven to move downwards, and meanwhile, the first bevel gear pulley driving tendon rope 173 and the second bevel gear pulley driving tendon rope 174 are pulled, the first bevel gear pulley restoring tendon rope 183 is loosened, and the second bevel gear pulley restoring tendon rope 184 is pulled, so that the ball joint 4 is subjected to bending movement. When the two pneumatic muscles 6 extend simultaneously, the first bevel gear pulley sliding shaft and the second bevel gear pulley sliding shaft are driven to move upwards, the first bevel gear pulley restoring tendon rope 183 and the second bevel gear pulley restoring tendon rope 184 are pulled at the same time, the first bevel gear pulley driving tendon rope 173 is loosened, and the second bevel gear pulley driving tendon rope 174 is loosened, so that the ball joint 4 generates restoring movement. When the first bevel gear pulley pneumatic muscle 6 contracts and the second bevel gear pulley pneumatic muscle 6 extends, the first bevel gear pulley is driven to slide downwards and the second bevel gear pulley is driven to slide upwards respectively, meanwhile, the first bevel gear pulley is pulled to drive the tendon rope 173 and the second bevel gear pulley is pulled to drive the tendon rope 184 to return, the first bevel gear pulley returning tendon rope 183 and the second bevel gear pulley driving tendon rope 174 are loosened, and therefore the ball joint 4 swings towards the second bevel gear pulley. When the first bevel gear pulley pneumatic muscle 6 extends and the second bevel gear pulley pneumatic muscle 6 contracts, the first bevel gear pulley is driven to slide axially upwards and the second bevel gear pulley is driven to slide axially downwards, the first bevel gear pulley restoring tendon rope 183 and the second bevel gear pulley driving tendon rope 174 are pulled simultaneously, the first bevel gear pulley driving tendon rope 173 and the second bevel gear pulley restoring tendon rope 184 are loosened, and therefore the ball joint 4 swings towards the direction of the first bevel gear pulley.
The five fully-driven fingers can form a complete fully-driven bionic dexterous hand based on the pneumatic muscles 6.
Example 2:
as shown in fig. 5, a third flat plate and a fourth flat plate are correspondingly arranged on two open surfaces of the box structure, a roller 22 with a cam-shaped cross section is rotatably connected between the third flat plate and the third flat plate, an adjusting handle extends out of the box body in the axial direction of the roller 22, the roller is arranged above the pre-tightening bearing, and the roller is abutted against the tendon rope. The adjusting handle is in threaded connection with the corresponding third flat plate, and the posture of the roller 22 can be adjusted by adjusting the adjusting handle, so that the positions of the roller and the tendon ropes are adjusted, and then 8 tendon ropes are completely tensioned at one time. The tensioning is convenient and the custom tensioning of each tendon rope is realized by matching with a pre-tensioning screw.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit of the invention or exceeding the scope of the appended claims.
The above-described embodiments are merely preferred embodiments of the present invention, which is not intended to be limiting in any way, and other variations and modifications are possible without departing from the scope of the invention as set forth in the appended claims.
Claims (8)
1. A tensioning structure for a pneumatic muscle of a full-drive finger of a robot is characterized in that a tendon rope is connected between the pneumatic muscle and the joint and comprises a driving tendon rope and a restoring tendon rope, the tendon rope is wound on the two pulleys and fixedly connected with the pulleys above, the winding directions of the driving tendon rope and the restoring tendon rope are opposite, a tension spring for tensioning is arranged at the tail end of the tendon rope, the pneumatic muscle support further comprises a pneumatic muscle support, the pneumatic muscle support comprises a first flat plate, a second flat plate, a first pre-tightening mechanism positioning block and a second pre-tightening mechanism positioning block, the first flat plate, the second flat plate, the first pre-tightening mechanism positioning block and the second pre-tightening mechanism positioning block are enclosed to form a box body structure with two open sides, and openings which are parallel to each other are respectively arranged on the first flat plate and the second flat plate, the hole is formed to form a guide hole for passing through the tendon rope, the first pre-tightening mechanism positioning block and the second pre-tightening mechanism positioning block are respectively and adjustably connected with a pre-tightening screw, the tail end of the pre-tightening screw is rotatably connected with a pre-tightening bearing, and the outer edge of the pre-tightening bearing is abutted against the tendon rope.
2. The tensioning structure for the full-drive finger pneumatic muscle of the robot as claimed in claim 1, wherein a pre-tightening screw fixing bracket is fixedly connected to the end of the pre-tightening screw, a pre-tightening screw fixing bracket bearing is rotatably connected to the end of the pre-tightening screw fixing bracket, a pre-tightening bearing bracket is fixedly sleeved on the pre-tightening screw fixing bracket bearing, a pre-tightening bearing is rotatably connected to the pre-tightening bearing bracket, and the pre-tightening bearing rotates along with the pulling of the tendon rope.
3. The tensioning structure for the full-drive finger pneumatic muscle of the robot as claimed in claim 1, wherein the driving tendon rope comprises a first revolute joint driving tendon rope, a second revolute joint driving tendon rope, a first bevel gear pulley driving tendon rope and a second bevel gear pulley driving tendon rope; the restoring tendon rope comprises a first rotary joint restoring tendon rope, a second rotary joint restoring tendon rope, a first bevel gear pulley restoring tendon rope and a second bevel gear pulley restoring tendon rope.
4. The tensioning structure for the full-driving finger pneumatic muscle of the robot as claimed in claim 1, wherein the pulleys of the joints are provided with shaft holes through which the tendon ropes of the upper joint can be controlled.
5. The tensioning structure for the full-drive finger pneumatic muscle of the robot as claimed in claim 3, wherein the first flat plate and the second flat plate are respectively provided with eight guide holes, and the first rotary joint driving tendon rope, the second rotary joint driving tendon rope, the first bevel gear pulley driving tendon rope, the second bevel gear pulley driving tendon rope, the first rotary joint restoring tendon rope, the second rotary joint restoring tendon rope, the first bevel gear pulley restoring tendon rope and the second bevel gear pulley restoring tendon rope respectively pass through the corresponding guide holes.
6. The tensioning structure for the full-drive finger pneumatic muscle of the robot as claimed in claim 5, wherein four pre-tightening screws for pre-tightening the tendon rope are respectively arranged on the first pre-tightening mechanism positioning block and the second pre-tightening mechanism positioning block.
7. The tensioning structure for the full-drive finger pneumatic muscle of the robot as claimed in claim 1, wherein one end of the drive tendon rope and one end of the return tendon rope are respectively connected with a telescopic driving member, the drive tendon rope is wound on the pulley, one side of the telescopic driving member away from the pulley is further provided with a return guide wheel, and the return tendon rope is wound on the pulley through the return guide wheel.
8. The tensioning structure for the full-drive finger pneumatic muscle of the robot as claimed in claim 1, wherein the box structure is provided with a third flat plate and a fourth flat plate on two open surfaces, a roller with a cam-shaped section is rotatably connected between the third flat plate and the third flat plate, the roller axially extends out of the box structure and is provided with an adjusting handle, the roller is arranged above the pre-tightening bearing, and the roller is abutted against the tendon rope.
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| CN201911018675.8A CN111390891B (en) | 2019-10-24 | 2019-10-24 | Tensioning structure for robot full-drive finger pneumatic muscle |
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| CN201911018675.8A CN111390891B (en) | 2019-10-24 | 2019-10-24 | Tensioning structure for robot full-drive finger pneumatic muscle |
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| CN111923067B (en) * | 2020-07-17 | 2021-12-17 | 浙江工业大学 | Tendon transmission full-drive humanoid dexterous hand |
| CN114083565A (en) * | 2021-12-24 | 2022-02-25 | 浙江工业大学 | Flexible operation-oriented self-adaptive three-finger hand |
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| JP2005349489A (en) * | 2004-06-08 | 2005-12-22 | Sharp Corp | Multi-finger hand of multi-degree of freedom |
| US8424941B2 (en) * | 2009-09-22 | 2013-04-23 | GM Global Technology Operations LLC | Robotic thumb assembly |
| CN104589310B (en) * | 2014-12-29 | 2016-08-24 | 浙江理工大学 | A kind of self adaptation multiple degrees of freedom Apery manipulator based on Pneumatic artificial muscle |
| DE102017204735B4 (en) * | 2017-03-21 | 2019-04-25 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | The robotic articulation |
| CN108312174B (en) * | 2018-04-11 | 2023-05-26 | 河北工业大学 | Robot smart hand |
| CN108994864B (en) * | 2018-08-15 | 2021-06-01 | 哈尔滨工业大学 | Double-tendon rope series connection type coupling self-adaptive finger device |
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