CN111496828A - Bionic under-actuated gripper with flexible tail end of robot - Google Patents
Bionic under-actuated gripper with flexible tail end of robot Download PDFInfo
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- CN111496828A CN111496828A CN202010424576.6A CN202010424576A CN111496828A CN 111496828 A CN111496828 A CN 111496828A CN 202010424576 A CN202010424576 A CN 202010424576A CN 111496828 A CN111496828 A CN 111496828A
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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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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Abstract
The invention discloses a flexible under-actuated bionic gripper at the tail end of a robot, which comprises: base, actuating mechanism and at least two bionical fingers that circumference ring cloth on the base, wherein: any one bionic finger comprises a proximal end finger joint, a middle end finger joint, a front end fingertip joint, a first pulley block, a second pulley block, a winch, a flexor-simulated cable, an extensor-simulated cable and a tension spring. The middle end finger joint, the near end finger joint and the front end finger joint are flexibly pivoted and connected in sequence; the flexor-imitated cable and the extensor-imitated cable are flexible cables and are connected to the winch through corresponding pulley blocks, and during work, the driving mechanism is controlled to drive the winch to rotate forwards and backwards to control the clamping, unfolding and clamping positions and the clamping force of the parallel manipulator. The setting of this structure is compared in numerous dexterous hand products in current market, and when snatching and expand the action, response speed is faster, snatchs and adds the holding power more balanced, and compact structure.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a smart under-actuated bionic gripper at the tail end of a robot.
Background
The research of the bionic hand grip is considered to be one of the most challenging works, and in recent decades, in order to simulate the actions of a human hand, a plurality of research institutions make effective researches on the aspects of design, analysis, control and the like of a human-simulated mechanical hand, and a plurality of skillful hands with accurate gripping and operating functions are successively produced. To enhance the dexterity of a biomimetic manipulator, it is often necessary to design more joint freedom for the manipulator, with various highly articulated dexterous hands DEXMART, Utah/MIT, NASA, etc. taking place. The manipulator mainly takes space operation as background, the control strategy is complex, and complicated kinematic models of fingers and objects need to be established and complex control strategy algorithms need to be matched. In order to reduce the control difficulty of the manipulator and reduce the volume and weight of the manipulator, the number of drivers needs to be reduced, meanwhile, in order to better grasp the object, the manipulator needs to have certain adaptability when executing grasping action, and another type of manipulator which has simple structure, light weight and relatively simple function is represented by CN 109773658A. The common characteristics of the two devices are that the self-adaptive grabbing is realized by using the elasticity of the fingers of the under-actuated mechanism, and the design difficulty and the control of the dexterous manual operation are simplified by using fewer actuating mechanisms. However, the hand operation and the grabbing action of the current mainstream mechanical gripper need to be driven by multiple motors, and the defects are that the control strategy is complex, and a complex kinematic model of fingers and an object needs to be established and a complex control strategy algorithm needs to be matched; or the simple driving gripper in the forms of pneumatic adsorption, double-finger opening and closing clamping and the like has the defects of poor gripping precision and self-adaptive capacity and can not meet the development trend of robot tool flexibility.
Disclosure of Invention
In order to solve the technical problems in the background technology, the invention provides a flexible under-actuated bionic gripper at the tail end of a robot.
The invention provides a smart under-actuated bionic gripper at the tail end of a robot, which comprises: base, actuating mechanism and two at least bionical fingers that circumference ring cloth was on the base, wherein:
any one bionic finger comprises a near-end finger joint, a middle-end finger joint, a front-end fingertip joint, a first pulley block, a second pulley block, a winch, a flexor-imitating cable, an extensor-imitating cable and a tension spring;
the near-end finger joint comprises a four-bar linkage mechanism consisting of a base rod, a coupling rod, a near-end crank rod and a near-end rocker arm rod, the base rod is arranged along the radial direction of the ring cloth ring of the bionic finger and can be arranged on the base in a swinging mode, the outer side end of the base rod is connected with the base through a tension spring, and the base rod is parallel to the coupling rod; the joint of the near-end crank rod and the base rod is positioned between two ends of the base rod, and the near-end crank rod is positioned on the inner side of the near-end rocker arm rod;
the middle end knuckle is positioned at one end of the near end knuckle far away from the base and comprises a middle end crank rod and a middle end rocker rod, wherein the middle end crank rod is in pivot connection with the near end crank rod, and the middle end rocker rod is in pivot connection with the near end rocker rod;
the front end fingertip joint is positioned at one end of the middle end fingertip joint, which is far away from the near end fingertip joint, and the front end fingertip joint is respectively in pivot connection with the middle end crank rod and the middle end rocker arm rod;
the first pulley block comprises a first large pulley fixedly arranged on the crank rod at the near end and a first small pulley fixedly arranged on the crank rod at the middle end;
the second pulley block comprises a second small pulley fixedly arranged on the near-end rocker arm rod and a second large pulley fixedly arranged on the middle-end rocker arm rod;
the winch is rotatably arranged on the base and is provided with a through hole and connecting parts which are symmetrically arranged with the through hole;
the flexo-simulated cable and the extensor-simulated cable are flexible cables, one end of the flexo-simulated cable is fixed on the crank rod at the middle end, and the other end of the flexo-simulated cable sequentially winds the first small pulley and the first large pulley and passes through the through hole in the winch to be fixed with the inner side end of the base rod; one end of the extensor-imitating rope is fixed on the middle-end rocker arm rod, and the other end of the extensor-imitating rope sequentially rounds the second large pulley and the second small pulley and is fixed on the connecting part of the winch;
the driving mechanism is respectively connected with the winches in the bionic fingers and used for driving the winches to synchronously rotate.
Preferably, the driving mechanism comprises a motor and a worm connected with the motor, and the winch is a worm wheel winch meshed with the worm.
Preferably, the base has an abdominal cavity, and the motor is fixedly mounted within the abdominal cavity.
Preferably, the worm and the winch are both located within the abdominal cavity.
Preferably, the clamping surfaces of the middle finger joint and the front finger joint are made of elastic or flexible materials.
Preferably, the first pulley block and the second pulley block, and the flexor simulating cable and the extensor simulating cable are respectively provided with two groups, and the two groups of the first pulley block and the second pulley block, and the flexor simulating cable and the extensor simulating cable are oppositely arranged at two sides of the proximal end knuckle and the middle end knuckle.
Preferably, the bionic fingers are three and are uniformly distributed in a 120-degree annular manner.
Preferably, the base is provided with an interface flange for connecting with the robot.
The flexo-simulated muscle cable and the extensor-simulated muscle cable are separately arranged to realize quick action switching, when the winch rotates forwards, the flexor-simulated muscle cable is pulled to relax the extensor-simulated muscle cable, and the diameter of a first large pulley on the proximal end knuckle on the flexor side is larger than that of a first small pulley on the middle end knuckle, so that the torque borne by the proximal end knuckle is larger than that of the middle end knuckle, namely the proximal end knuckle is closed firstly during clamping, meanwhile, a lever is formed by the proximal end knuckle base rod under the traction of the muscle cable to drive the front end fingertip knuckle to be pressed and closed downwards, an object to be clamped is locked, and after the proximal end knuckle is closed and contacts the object to be clamped, the middle end knuckle is closed immediately under the pulling of the flexor-simulated muscle cable to finish the self-adaptive clamping process of the object. When the winch is reversely rotated, the extensor-simulated cable is tensioned, the flexor-simulated cable is relaxed, the fingertip joint is opened firstly, and because the diameter of a second large pulley on the middle-end finger joint is larger than that of a second small pulley on the near-end finger joint at the extensor side, and the torque borne by a middle-end rocker arm rod of the middle-end finger joint is larger than that of a near-end rocker arm rod in the near-end finger joint, the middle-end finger joint is opened before the near-end finger joint under the traction of the extensor-simulated cable, and the quick release of the grabbed object is completed.
In conclusion, in the invention, the middle finger joint, the near finger joint and the front finger joint are flexibly and pivotally connected in sequence; the flexor-imitated cable and the extensor-imitated cable are flexible cables and are connected to the winch through corresponding pulley blocks, and during work, the driving mechanism is controlled to drive the winch to rotate forwards and backwards to control the clamping, unfolding and clamping positions and the clamping force of the parallel manipulator. The setting of this structure is compared in numerous dexterous hand products in current market, and when snatching and expand the action, response speed is faster, snatchs and adds the holding power more balanced. And have compact structure, control strategy are simple, in higher centre gripping precision and efficiency, the workspace numerous advantages such as flexible, the self-adaptation snatchs, compare in the parallel clamping jaw of traditional hand operating device system and mainstream, the terminal dexterous type under-actuated bionical tongs of a robot be expected to become the multi-functional manipulator solution of a ripe robot, have wide scientific research and application prospect.
Drawings
FIG. 1 is a schematic structural diagram of a smart under-actuated bionic gripper at the tail end of a robot;
fig. 2 is a schematic structural diagram of the bionic finger in the smart under-actuated bionic gripper at the tail end of the robot;
fig. 3 is a schematic view of the installation of the first pulley block and the second pulley block in the smart under-actuated bionic gripper at the tail end of the robot;
fig. 4 is a schematic structural diagram of the extensor-like cable and the extensor-like cable in the smart under-actuated bionic gripper at the tail end of the robot;
fig. 5 is a schematic winding diagram of the extensor-like cable and the extensor-like cable in the smart under-actuated bionic gripper at the tail end of the robot;
FIG. 6 is a schematic structural diagram of the driving mechanism in the smart under-actuated bionic gripper at the tail end of the robot;
FIG. 7 is a schematic structural diagram of a smart under-actuated bionic gripper at the tail end of a robot in a gripping state;
fig. 8 is a schematic structural diagram of the robot with the smart under-actuated bionic gripper at the tail end in a released state.
Detailed Description
The technical solution of the present invention will be described in detail below with reference to specific examples.
As shown in fig. 1-8, fig. 1 is a schematic structural view of a smart under-actuated bionic gripper at the tail end of a robot according to the present invention; fig. 2 is a schematic structural diagram of the bionic finger in the smart under-actuated bionic gripper at the tail end of the robot; fig. 3 is a schematic view of the installation of the first pulley block and the second pulley block in the smart under-actuated bionic gripper at the tail end of the robot; fig. 4 is a schematic structural diagram of the extensor-like cable and the extensor-like cable in the smart under-actuated bionic gripper at the tail end of the robot; fig. 5 is a schematic winding diagram of the extensor-like cable and the extensor-like cable in the smart under-actuated bionic gripper at the tail end of the robot; FIG. 6 is a schematic structural diagram of the driving mechanism in the smart under-actuated bionic gripper at the tail end of the robot; FIG. 7 is a schematic structural diagram of a smart under-actuated bionic gripper at the tail end of a robot in a gripping state; fig. 8 is a schematic structural diagram of the robot with the smart under-actuated bionic gripper at the tail end in a released state.
Referring to fig. 1-5, the invention provides a smart under-actuated bionic gripper at the tail end of a robot, which comprises: base 1, actuating mechanism 2 and three are the bionical finger of 120 annular equipartitions on base 1, and arbitrary bionical finger is equally divided and is included near-end finger joint 3, middle-end finger joint 4, front end fingertip joint 5, first assembly pulley 6, second assembly pulley 7, capstan winch 8, imitative flexor cable 10, imitative extensor cable 11 and extension spring 12 respectively, wherein:
the proximal end knuckle 3 comprises a four-bar linkage mechanism consisting of a base rod 301, a coupling rod 302, a proximal end crank rod 303 and a proximal end rocker arm rod 304, wherein the base rod 301 is arranged along the radial direction of a ring of the bionic finger and can be arranged on the base 1 in a swinging manner, the outer end of the base rod 301 is connected with the base 1 through a tension spring 12, and the base rod 301 and the coupling rod 302 are parallel to each other; the point where the proximal crank lever 303 meets the base lever 301 is located between the two ends of the base lever 301, and the proximal crank lever 303 is located inside the proximal rocker lever 304. The middle finger joint 4 is located at the end of the proximal finger joint 3 remote from the base 1, and the middle finger joint 4 comprises a middle crank lever 401 pivotally connected to the proximal crank lever 303 and a middle rocker lever 402 pivotally connected to the proximal rocker lever 304. The front end fingertip joint 5 is positioned at one end of the middle end fingertip joint 4 far away from the near end fingertip joint 3, and the front end fingertip joint 5 is respectively pivoted with the middle end crank rod 401 and the middle end rocker arm rod 402, so that the front end fingertip joint 5 and the middle end fingertip joint 4 are mutually matched to form two groups of four-bar structures which are mutually coupled and connected in series.
The first set of pulleys 6 comprises a first large pulley 601 fixedly mounted on the proximal crank rod 303 and a first small pulley 602 fixedly mounted on the middle crank rod 401. The second pulley block 7 comprises a second small pulley 701 fixedly mounted on the proximal rocker arm lever 304 and a second large pulley 702 fixedly mounted on the middle rocker arm lever 402. The winch 8 can be rotatably arranged on the base 1, and the winch 8 is provided with a through hole and connecting parts which are symmetrically arranged with the through hole. Both the flexonics cable 10 and the extensionnics cable 11 are flexible cables, one end of the flexonics cable 10 is fixed on the middle-end crank rod 401, and the other end of the flexonics cable sequentially rounds the first small pulley 602 and the first large pulley 601 and passes through a through hole in the winch 8 to be fixed with the inner side end of the base rod 301; one end of the extensionmimetic cord 11 is fixed to the middle-end rocker lever 402, and the other end thereof is fixed to the connection portion of the capstan 8 by passing around the second large pulley 702 and the second small pulley 701 in sequence. The driving mechanism 2 is respectively connected with the winches 8 in the bionic fingers and is used for driving the winches 8 to rotate synchronously. The specific working mode is as follows:
when the winch 8 rotates forwards, the imitative flexor cable is pulled, the imitative extensor cable is relaxed, the diameter of the first large pulley 601 on the proximal end knuckle 3 on the flexor side is larger than the diameter of the first small pulley 602 on the middle end knuckle 4, so that the torque borne by the proximal end knuckle 3 is larger than that of the middle end knuckle 4, namely, the proximal end knuckle 3 is closed firstly during clamping, meanwhile, the base rod 301 of the proximal end knuckle 3 forms a lever under the traction of the flexor cable to drive the front end knuckle 5 to be pressed and closed, an object to be clamped is locked, and after the proximal end knuckle 3 is closed and contacts the object to be clamped, the middle end knuckle 4 is closed immediately under the pulling of the imitative flexor cable, and the self-adaptive clamping process of the object is completed. When the winch 8 rotates reversely, the extensor-simulated muscle cable is tightened, the flexor-simulated muscle cable is loosened, the fingertip joint is opened firstly, and because the diameter of the second large pulley 702 on the middle-end finger joint 4 is larger than that of the second small pulley 701 on the near-end finger joint 3 on the extensor side, and the torque borne by the middle-end rocker arm 402 of the middle-end finger joint 4 is larger than that of the near-end rocker arm 304 in the near-end finger joint 3, the middle-end finger joint 4 is opened before the near-end finger joint 3 under the traction of the extensor-simulated muscle cable, and the quick release of the grabbed object is completed.
According to the invention, the middle end knuckle, the near end knuckle and the front end fingertip are respectively and flexibly pivoted and connected in sequence through the hinge mechanism; the flexor-imitated cable and the extensor-imitated cable are flexible cables, are connected to the winch through pulleys on two sides of the finger joint, and control the driving mechanism to drive the winch to rotate forwards and backwards to control the clamping, unfolding and clamping positions and the clamping force of the parallel manipulator. Compared with a plurality of dexterous hand products on the market at present, the invention has the advantages of higher response speed and more balanced grabbing and holding force during grabbing and unfolding actions. And have compact structure, control strategy are simple, in higher centre gripping precision and efficiency, the workspace numerous advantages such as flexible, the self-adaptation snatchs, compare in the parallel clamping jaw of traditional hand operating device system and mainstream, the terminal dexterous type under-actuated bionical tongs of a robot be expected to become the multi-functional manipulator solution of a ripe robot, have wide scientific research and application prospect.
Referring to fig. 6 to 8, the driving mechanism 2 includes a motor 201 and a worm 202 connected to the motor 201, and the capstan 8 is a worm gear capstan engaged with the worm 202. The single motor drives the worm to rotate, torque is transmitted to the winch of each bionic finger, the structure is smaller and more compact, the reduction ratio can be increased through a worm and turbine transmission mode, more accurate position control over the single motor is achieved, the system is low in cost, and the cost performance is higher.
In this embodiment, the base 1 has an abdominal cavity, the motor 201 is fixedly installed in the abdominal cavity, and the worm 202 and the winch 8 are both located in the abdominal cavity.
In this embodiment, the clamping surfaces of the middle finger joint 4 and the front finger joint 5 are made of elastic or flexible materials, so as to ensure flexible grabbing of flexible objects and skid resistance in the clamping process.
In this embodiment, two sets of the first pulley block 6 and the second pulley block 7, and the flexo-simulated cable 10 and the extensor-simulated cable 11 are respectively provided, and the two sets of the first pulley block 6 and the second pulley block 7, and the flexo-simulated cable 10 and the extensor-simulated cable 11 are oppositely disposed on two sides of the proximal knuckle 3 and the middle knuckle 4 to ensure the stability and the traction strength of traction.
In this embodiment, the base 1 is provided with an interface flange 9 for connecting with a robot.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (8)
1. The utility model provides a bionical tongs of terminal dexterous type underactuated of robot which characterized in that includes: base (1), actuating mechanism (2) and at least two bionical fingers that encircle cloth in base (1) circumference, wherein:
any one bionic finger comprises a near-end finger joint (3), a middle-end finger joint (4), a front-end fingertip joint (5), a first pulley block (6), a second pulley block (7), a winch (8), a flexo-simulated cable (10), a extensor-simulated cable (11) and a tension spring (12);
the near-end finger joint (3) comprises a four-bar linkage mechanism consisting of a base rod (301), a coupling rod (302), a near-end crank rod (303) and a near-end rocker arm rod (304), the base rod (301) is arranged along the radial direction of a ring cloth ring of the bionic finger and can be arranged on the base (1) in a swinging mode, the outer side end of the base rod (301) is connected with the base (1) through a tension spring (12), and the base rod (301) is parallel to the coupling rod (302); the joint of the near-end crank rod (303) and the base rod (301) is positioned between two ends of the base rod (301), and the near-end crank rod (303) is positioned on the inner side of the near-end rocker arm rod (304);
the middle finger joint (4) is positioned at one end of the near finger joint (3) far away from the base (1), and the middle finger joint (4) comprises a middle crank rod (401) which is pivotally connected with the near crank rod (303) and a middle rocker rod (402) which is pivotally connected with the near rocker rod (304);
the front end fingertip joint (5) is positioned at one end of the middle end fingertip joint (4) far away from the near end knuckle (3), and the front end fingertip joint (5) is respectively in pivot connection with the middle end crank rod (401) and the middle end rocker arm rod (402);
the first pulley block (6) comprises a first large pulley (601) fixedly arranged on the near end crank rod (303) and a first small pulley (602) fixedly arranged on the middle end crank rod (401);
the second pulley block (7) comprises a second small pulley (701) fixedly arranged on the near-end rocker arm rod (304) and a second large pulley (702) fixedly arranged on the middle-end rocker arm rod (402);
the winch (8) is rotatably arranged on the base (1), and the winch (8) is provided with a through hole and connecting parts which are symmetrically arranged with the through hole;
both the flexonics cable (10) and the extensionmimetic cable (11) are flexible cables, one end of the flexonics cable (10) is fixed on the crank rod (401) at the middle end, and the other end of the flexonics cable sequentially rounds the first small pulley (602) and the first large pulley (601) and passes through a through hole in the winch (8) to be fixed with the inner side end of the base rod (301); one end of the extensor-imitating rope (11) is fixed on the middle-end rocker arm rod (402), and the other end of the extensor-imitating rope sequentially rounds a second large pulley (702) and a second small pulley (701) and is fixed on a connecting part of the winch (8);
the driving mechanism (2) is respectively connected with the winches (8) in the bionic fingers and used for driving the winches (8) to synchronously rotate.
2. The smart type under-actuated bionic gripper at the tail end of the robot according to claim 1, characterized in that the driving mechanism (2) comprises a motor (201) and a worm (202) connected with the motor (201), and the winch (8) is a turbine winch engaged with the worm (202).
3. The smart under-actuated bionic gripper at the tail end of the robot according to claim 2, characterized in that the base (1) is provided with an abdominal cavity, and the motor (201) is fixedly arranged in the abdominal cavity.
4. The robotic smart-tipped under-actuated biomimetic grasper of claim 3, wherein the worm (202) and the capstan (8) are both located within the abdominal cavity.
5. The smart under-actuated bionic gripper at the tail end of the robot according to claim 1, characterized in that the gripping surfaces of the middle finger joint (4) and the front finger joint (5) are made of elastic or flexible materials.
6. The smart under-actuated bionic gripper at the tail end of the robot according to claim 1, characterized in that two groups of the first pulley block (6) and the second pulley block (7) and the flexor-imitated cable (10) and the extensor-imitated cable (11) are respectively arranged, and the two groups of the first pulley block (6) and the second pulley block (7) and the flexor-imitated cable (10) and the extensor-imitated cable (11) are oppositely arranged at two sides of the proximal end knuckle (3) and the middle end knuckle (4).
7. The smart under-actuated bionic gripper at the tail end of the robot according to any one of claims 1 to 6, wherein the number of the bionic fingers is three and the bionic fingers are uniformly distributed in a 120-degree annular manner.
8. The smart under-actuated bionic gripper at the tail end of a robot according to any one of claims 1 to 6, characterized in that an interface flange (9) for connecting with the robot is arranged on the base (1).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010424576.6A CN111496828A (en) | 2020-05-19 | 2020-05-19 | Bionic under-actuated gripper with flexible tail end of robot |
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| CN202010424576.6A CN111496828A (en) | 2020-05-19 | 2020-05-19 | Bionic under-actuated gripper with flexible tail end of robot |
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| CN112706186A (en) * | 2020-12-24 | 2021-04-27 | 杭州电子科技大学 | Humanoid wrist type robot claw and grabbing method thereof |
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| CN112706186A (en) * | 2020-12-24 | 2021-04-27 | 杭州电子科技大学 | Humanoid wrist type robot claw and grabbing method thereof |
| CN112706186B (en) * | 2020-12-24 | 2022-03-08 | 杭州电子科技大学 | Humanoid wrist type robot claw and grabbing method thereof |
| CN112720545A (en) * | 2021-01-04 | 2021-04-30 | 北京交通大学 | Humanoid parallel robot dexterous hand |
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