CN112123361A - Flexible finger and flexible manipulator - Google Patents
Flexible finger and flexible manipulator Download PDFInfo
- Publication number
- CN112123361A CN112123361A CN202011146832.6A CN202011146832A CN112123361A CN 112123361 A CN112123361 A CN 112123361A CN 202011146832 A CN202011146832 A CN 202011146832A CN 112123361 A CN112123361 A CN 112123361A
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- finger
- section
- head end
- deformation
- flexible
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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
-
- 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
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- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention is suitable for the technical field of soft robots and provides a flexible finger which comprises a finger section, a deformation section and a traction rope; the finger sections comprise a head end finger section, at least two middle finger sections and a tail end finger section, and head end wire holes, middle wire holes and tail end wire holes are sequentially arranged in the head end finger section, the middle finger sections and the tail end finger sections; the deformation section comprises a head end deformation section, a middle deformation section and a tail end deformation section, the traction rope sequentially penetrates through a tail end wire hole, a middle wire hole and a head end wire hole, the head end of the traction rope is fixedly connected with the head end finger section, and the traction rope can move in the middle wire hole and the head end wire hole; when the hauling cable is in a relaxed state, the deformation section is in a bending state. The invention can be suitable for grabbing small objects with different sizes, has simple structure and control and has better cladding property when grabbing the objects.
Description
Technical Field
The invention belongs to the technical field of soft robots, and particularly relates to a flexible finger and a flexible manipulator.
Background
With the increasingly frequent exploration of human space, the demands of various countries in the world on the in-orbit service technologies such as spacecraft maintenance, cargo handling, garbage cleaning, satellite recovery and the like are more and more urgent. The traditional rigid space manipulator has the problems of poor adaptability, low interactive safety and the like, is very easy to damage an operated object, ensures the safe operation of the manipulator by means of accurate sensing and feedback control, and has high technical difficulty and high cost.
In order to solve the above-mentioned defects of the conventional rigid space manipulator, a flexible manipulator appears in the prior art, such as a rope-driven flexible claw and a robot in patent CN109278034A, where the rope-driven flexible claw includes a driving device, a transmission device connected to the driving device, and a flexible finger connected to the transmission device, the flexible finger is made of a soft material and has good deformability, and when an object is gripped, the flexible finger has strong self-adaptive capability and can adapt to a non-structural environment well.
However, the soft mechanical hand in the prior art still has difficulty in grabbing small objects, and the finger has poor fitting property with the surface of the object to be grabbed.
Disclosure of Invention
The invention aims to provide a flexible finger and a flexible manipulator, and aims to solve the technical problems that small objects are difficult to grab and the fitting performance of the finger and the surface of the grabbed object is poor in the prior art.
The invention provides a flexible finger which comprises a finger section, a deformation section and a traction rope, wherein the finger section is provided with a finger hole;
the finger sections comprise a head end finger section, at least two middle finger sections and a tail end finger section, and head end wire holes, middle wire holes and tail end wire holes are sequentially arranged in the head end finger section, the middle finger sections and the tail end finger sections;
the deformation sections comprise a head end deformation section, a middle deformation section and a tail end deformation section, wherein the head end deformation section is arranged between the middle finger section close to the head end finger section and the head end finger section, the middle deformation section is arranged between at least two middle finger sections, the tail end deformation section is arranged between the middle finger section close to the tail end finger section and the tail end finger section,
the traction rope sequentially penetrates through the tail end wire hole, the middle wire hole and the head end wire hole, the head end of the traction rope is fixedly connected with the head end finger section, and the traction rope can move in the middle wire hole and the head end wire hole;
when the hauling cable is in a relaxed state, the deformation section is in a bending state.
Further, the thickness of the deformation section is smaller than the thickness of the finger section.
Furthermore, the middle finger section close to the head end finger section, the opposite end faces of the head end finger section and the outer side face of the head end deformation section form a head end gap, the opposite end faces of the at least two middle finger sections and the outer side face of the middle deformation section form a middle gap, and the middle finger section close to the tail end finger section, the opposite end faces of the tail end finger section and the outer side face of the tail end deformation section form a tail end gap.
Further, the rigidity of the head end deformation section, the middle deformation section and the tail end deformation section is sequentially increased.
Further, the thicknesses of the head end deformation section, the middle deformation section and the tail end deformation section are sequentially increased.
Further, the finger section and the deformation section are made of thermoplastic polyurethane materials, and preferably, the finger section and the deformation section are made of thermoplastic polyurethane wires through printing.
Further, a flexible contact part is arranged on the inner side of the finger section, and preferably, the flexible contact part is made of liquid silicone rubber material.
Further, when the hauling cable is in a loose state, an angle between the middle finger section close to the head end finger section and the head end finger section is an acute angle, an angle between the at least two middle finger sections is an acute angle, and an angle between the middle finger section close to the tail end finger section and the tail end finger section is an obtuse angle.
Further, the flexible finger is spiral in shape as a whole.
The invention also provides a flexible manipulator which comprises an actuator, a winch and the flexible finger, wherein the winch is fixed at the tail end of the rotating shaft of the actuator, and the tail end of the traction rope is fixed on the winch; also included is a base comprising an actuator base and a finger base, wherein the actuator is mounted on the actuator base and the terminal finger segment is mounted on the finger base.
Compared with the prior art, the invention has the technical effects that:
1. according to the invention, when the traction rope is in a loose state, the deformation section is in a bending state, so that the whole flexible finger is in a curling state, and an object with a small size can be grabbed; meanwhile, the degree of the curling state of the flexible fingers can be adjusted by setting the bending degree of the deformation section when the traction rope is in a loose state, so that the flexible finger can be suitable for small objects with different sizes to grab;
2. in the invention, only one traction rope is needed to control the opening and the tightening of the flexible fingers, and the structure and the control are simple;
3. in the invention, the rigidity of the head end deformation section, the middle deformation section and the tail end deformation section is sequentially increased, so that the flexible fingers have better fitting property when grabbing objects; the flexible contact part is arranged on the inner side of the finger section, so that the flexible finger has better coating property when grabbing an object;
4. when the whole flexible finger is in a spiral shape, the flexible finger can be spirally wound outside an object, so that the grabbing stability is improved, and the flexible finger can also adapt to grabbing of objects with certain length.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention or in the description of the prior art will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a first schematic diagram of a flexible finger structure according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a flexible finger structure according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a flexible finger structure according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating the operation of a flexible finger according to an embodiment of the present invention;
FIG. 5 is a schematic view of a flexible finger gripping a small object according to an embodiment of the present invention;
FIG. 6 is a schematic view of another flexible finger structure provided by an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a flexible manipulator according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it should be noted that when an element is referred to as being "fixed" or "disposed" to another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and is therefore not to be construed as limiting the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments.
Fig. 1-3 show a flexible finger 1 according to an embodiment of the present invention, which comprises a finger section, a deformation section, a pulling rope 30;
the finger sections comprise a head end finger section 11, at least two middle finger sections 12 and a tail end finger section 13, and head end wire holes H1, middle wire holes H2 and tail end wire holes H3 are sequentially arranged in the head end finger section 11, the middle finger sections 12 and the tail end finger section 13;
the deformation sections comprise a head end deformation section 21, a middle deformation section 22 and a tail end deformation section 23, wherein the head end deformation section 21 is arranged between the middle finger section 12 close to the head end finger section 11 and the head end finger section 11, the middle deformation section 22 is arranged between the at least two middle finger sections 12, and the tail end deformation section 23 is arranged between the middle finger section 12 close to the tail end finger section 13 and the tail end finger section 13;
the hauling rope 30 sequentially penetrates through a tail end wire guide hole H3, a middle wire guide hole H2 and a head end wire guide hole H1, the head end of the hauling rope 30 is fixedly connected with the head end finger section 11, and the hauling rope 30 can move in the middle wire guide hole H2 and the head end wire guide hole H1;
when the pull cord 30 is in a relaxed state, the deformation segment is in a bent state.
Fig. 4 shows an operation principle diagram of the embodiment of the present invention:
when the flexible finger 1 in the embodiment of the present invention is used to grasp an object W, before formally grasping the object W, the pulling rope 30 is in a slack state, and the deformed section is in a bent state, so that the entire flexible finger 1 assumes a crimped state;
then, the pulling rope 30 moves along the rear direction, and because the head end of the pulling rope 30 is fixedly connected with the head end finger section 11, in the process that the pulling rope 30 moves along the rear direction, the deformed section which is originally in a bent state gradually unfolds, and the whole flexible finger 1 unfolds to receive the object W;
after the whole flexible finger 1 has enough space to receive the object W, the pulling rope 30 moves along the front direction, the unfolded deformation section starts to bend again, the whole flexible finger 1 moves towards the direction of the rolling state, and finally the object W is received in the space of the flexible finger 1.
In the embodiment of the present invention, when the pulling rope 30 is in the slack state, the deformation section is in the bending state, so that the whole flexible finger 1 is in the rolling state, and thus, an object with a small size can be grabbed, as shown in fig. 5.
In addition, the degree of the bending of the deformation section when the pulling rope 30 is in the loose state can be adjusted, so that the degree of the rolling state of the flexible finger 1 can be adjusted, and the flexible finger can be suitable for small objects with different sizes to grab.
Furthermore, in the embodiment of the invention, only one pulling rope is needed to control the opening and the tightening of the flexible fingers, wherein the pulling rope 30 provides an opening force for the flexible fingers, the deformation section provides a tightening force for the flexible fingers, when the opening force is greater than the tightening force, the flexible fingers are gradually opened, when the opening force is less than the tightening force, the flexible fingers are gradually tightened, and when the opening force is equal to the tightening force, the flexible fingers are in a balanced state; therefore, the structure and control of the flexible finger in the embodiment of the invention are simple, and more than two hauling ropes are generally needed in the prior art.
Further, in order to better enable the flexible fingers to be opened and closed, the thickness of the deformation section is smaller than that of the finger section.
Further, the middle finger segment 12 close to the head end finger segment 11 forms a head end gap Q1 with the opposite end face of the head end finger segment 11 and the outer side face of the head end deformation segment 21, the opposite end faces of the at least two middle finger segments 12 and the outer side face of the middle deformation segment 22 form a middle gap Q2, and the middle finger segment 12 close to the tail end finger segment 13 forms a tail end gap Q2 with the opposite end face of the tail end finger segment 13 and the outer side face of the tail end deformation segment 23;
this arrangement is made with the aim of providing the flexible fingers with a large opening angle.
Further, the rigidity of the head end deformation section 21, the intermediate deformation section 22, and the tail end deformation section 23 increases in sequence. Through the arrangement of rigidity change, the flexible finger in the embodiment of the invention has better fitting property when grabbing an object.
Preferably, the stiffness variation can be set by the thicknesses of the head end deformation section 21, the intermediate deformation section 22 and the end deformation section 23, and specifically, the thicknesses of the head end deformation section 21, the intermediate deformation section 22 and the end deformation section 23 are sequentially increased.
Of course, adjusting the rigidity of the head end deformation section 21, the intermediate deformation section 22, and the end deformation section 23 by the thickness is only one way in the embodiment of the present invention, and the present invention may also adopt other ways, for example, the head end deformation section 21, the intermediate deformation section 22, and the end deformation section 23 are made of different materials, and the present invention is not limited to this.
Furthermore, the finger section and the deformation section are made of thermoplastic polyurethane materials, and the thermoplastic polyurethane materials can enable the flexible finger in the embodiment of the invention to have light weight; preferably, the finger section and the deformation section are made of thermoplastic polyurethane wires through 3D printing, so that the flexible finger in the embodiment of the invention can be conveniently manufactured, is simple to assemble and maintain, has a simple transmission relation and is high in transmission efficiency.
Furthermore, in order to enable the flexible finger to have better cladding performance when grabbing an object, the inner side of the finger section is provided with a flexible contact part F, and the flexible contact part F can generate self-adaptive large deformation after being contacted with the object W, so that the object W can be better cladded;
preferably, the flexible contact part F is made of liquid silicone rubber material.
Further, in order to enable the flexible finger in the embodiment of the present invention to better grip a small object, when the pulling rope 30 is in a relaxed state, an angle between the middle finger section 12 close to the head end finger section 11 and the head end finger section 11 is an acute angle, an angle between the at least two middle finger sections 12 is an acute angle, and an angle between the middle finger section 12 close to the end finger section 13 and the end finger section 13 is an obtuse angle.
When the object W has a certain length, in order to better grip the object, as shown in fig. 6, the flexible finger 1 is overall in a spiral shape, so that when gripping the object, the flexible finger in the embodiment of the present invention can be spirally wound outside the object, thereby improving the gripping stability.
As shown in fig. 7, the embodiment of the present invention further provides a flexible manipulator, which includes an actuator 40, a winch 41 and the flexible finger 1 as described above, wherein the winch 41 is fixed to the end of the rotating shaft of the actuator 40, and the end of the pulling rope 30 is fixed to the winch 41; further comprising a base comprising an actuator base 51 and a finger base 52, wherein the actuator 40 is mounted on the actuator base 51 and the distal finger segment 13 is mounted on the finger base 52.
Preferably, the actuator 40 is a motor.
When the flexible manipulator is used, the winch 41 is driven to rotate by the rotating shaft of the actuator 40, so that the pulling rope 30 can be wound on the winch 41, and the tightening or loosening of the pulling rope 30 can be controlled by changing the rotating direction of the actuator 40, so as to further control the opening and tightening of the flexible fingers.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A flexible finger (1) comprising a finger section, a deformable section, a pull cord (30);
the finger sections comprise a head end finger section (11), at least two middle finger sections (12) and a tail end finger section (13), and head end wire holes (H1), middle wire holes (H2) and tail end wire holes (H3) are sequentially arranged in the head end finger section (11), the middle finger sections (12) and the tail end finger section (13);
the deformation sections comprise a head end deformation section (21), a middle deformation section (22) and a tail end deformation section (23), wherein the head end deformation section (21) is arranged between the middle finger section (12) close to the head end finger section (11) and the head end finger section (11), the middle deformation section (22) is arranged between at least two middle finger sections (12), the tail end deformation section (23) is arranged between the middle finger section (12) close to the tail end finger section (13) and the tail end finger section (13),
the traction rope (30) sequentially penetrates through a tail end wire guide hole (H3), a middle wire guide hole (H2) and a head end wire guide hole (H1), the head end of the traction rope (30) is fixedly connected with the head end finger section (11), and the traction rope (30) can move in the middle wire guide hole (H2) and the head end wire guide hole (H1);
when the hauling cable (30) is in a relaxed state, the deformation section is in a bending state.
2. A flexible finger (1) as claimed in claim 1, characterised in that the thickness of the deformation section is smaller than the thickness of the finger section.
3. A flexible finger (1) as in claim 1, wherein the intermediate finger segment (12) adjacent to the head end finger segment (11) forms a head end gap (Q1) with the opposite end face of the head end finger segment (11) and the outer side face of the head end deformation segment (21), the opposite end faces of the at least two intermediate finger segments (12) and the outer side face of the intermediate deformation segment (22) form an intermediate gap (Q2), and the intermediate finger segment (12) adjacent to the distal finger segment (13) forms a distal gap (Q2) with the opposite end face of the distal finger segment (13) and the outer side face of the distal deformation segment (23).
4. A flexible finger (1) as claimed in claim 1, characterised in that the rigidity of the head end deformation (21), the intermediate deformation (22) and the tip end deformation (23) increases in succession.
5. A flexible finger (1) as claimed in claim 1, characterised in that the thickness of the head end deformation (21), the intermediate deformation (22) and the tip end deformation (23) increases in succession.
6. A flexible finger (1) as claimed in claim 1, wherein said finger section and said deformation section are made of thermoplastic polyurethane material, preferably said finger section and said deformation section are 3D printed using thermoplastic polyurethane wire.
7. A flexible finger (1) as claimed in claim 1, characterised in that the inner side of the finger section is provided with a flexible contact portion (F), preferably a liquid silicone rubber material.
8. A flexible finger (1) as claimed in claim 1, wherein, in a relaxed state of the pull cord (30), the angle between the intermediate finger section (12) adjacent to the head end finger section (11) and the head end finger section (11) is acute, the angle between the at least two intermediate finger sections (12) is acute, and the angle between the intermediate finger section (12) adjacent to the end finger section (13) and the end finger section (13) is obtuse.
9. A flexible finger (1) as claimed in any one of claims 1 to 8, characterised in that the flexible finger (1) is generally spiral-shaped.
10. A flexible manipulator, characterized by comprising an actuator (40), a capstan (41) and a flexible finger (1) according to one of claims 1-9, said capstan (41) being fixed to the end of the rotation axis of said actuator (40), the end of said pulling rope (30) being fixed to said capstan (41); further comprising a base comprising an actuator base (51) and a finger base (52), wherein the actuator (40) is mounted on the actuator base (51) and the terminal finger segment (13) is mounted on the finger base (52).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011146832.6A CN112123361A (en) | 2020-10-23 | 2020-10-23 | Flexible finger and flexible manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011146832.6A CN112123361A (en) | 2020-10-23 | 2020-10-23 | Flexible finger and flexible manipulator |
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| CN112123361A true CN112123361A (en) | 2020-12-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011146832.6A Pending CN112123361A (en) | 2020-10-23 | 2020-10-23 | Flexible finger and flexible manipulator |
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| CN (1) | CN112123361A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113370241A (en) * | 2021-06-28 | 2021-09-10 | 燕山大学 | Large-bearing multi-finger type soft manipulator with net structure |
| CN113386165A (en) * | 2021-07-05 | 2021-09-14 | 北京航空航天大学 | Novel grabbing integrated three-finger rigid-flexible mixed dexterous hand |
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| CN113386165A (en) * | 2021-07-05 | 2021-09-14 | 北京航空航天大学 | Novel grabbing integrated three-finger rigid-flexible mixed dexterous hand |
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Application publication date: 20201225 |