CN112659174A

CN112659174A - Semi-flexible multi-finger manipulator based on soft steel belt and ring surface worm and control method

Info

Publication number: CN112659174A
Application number: CN202011579202.8A
Authority: CN
Inventors: 缪永杰; 贾皓棠; 陆子涵; 张澳; 张毫杰
Original assignee: Zhejiang University of Technology ZJUT
Current assignee: Zhejiang University of Technology ZJUT
Priority date: 2020-12-28
Filing date: 2020-12-28
Publication date: 2021-04-16

Abstract

A semi-flexible multi-finger manipulator based on a soft steel belt and a ring surface worm and a control method are provided, wherein the multi-finger manipulator comprises: the bracket unit comprises a main bracket and a side bracket and is used for installing the grabbing unit; the grabbing unit is arranged on the outer side of the support unit and comprises a plurality of sets of single-finger driving mechanisms and an angle rotating mechanism, wherein the upper end of one set of single-finger driving mechanism is hinged to the mounting area of the main support; the angle rotating mechanism is arranged at the connecting end of the side bracket; the manipulator hoisting unit is arranged above the support unit, the upper end of the manipulator hoisting unit is connected with the manipulator, and the lower end of the manipulator hoisting unit is connected with the support unit; and a control unit comprising a controller and a control switch; the control method comprises the following steps: adjusting the spatial arrangement of the grabbing units according to the object; the grabbing unit is opened and aligned with the target object; adjusting the position of the grabbing unit, and clamping the target object by the finger ends; and adjusting the clamping degree of the grabbing unit. The invention has the beneficial effects that: the flexible clamping device is suitable for target objects in various shapes, and flexible clamping and stable carrying are achieved.

Description

Semi-flexible multi-finger manipulator based on soft steel belt and ring surface worm and control method

Technical Field

The invention belongs to the field of industrial robots, and relates to a semi-flexible multi-finger manipulator based on a soft steel belt and an enveloping worm and a control method.

Background

The manipulator simulates the action of fingers of a human, realizes the actions of grabbing, moving and the like of a target object by mechanical driving, and completes various expected works through programming. The advantages of mechanical strength and flexibility of human fingers are considered in structure and performance.

The existing mechanical arms are divided into special mechanical arms and general mechanical arms: the fingers of the special manipulator are specially designed according to the shape of the target object, and can be well matched with the shape characteristics of the target object to stably grab and carry; most of universal mechanical hands are designed with three fingers and five fingers which are arranged at a certain angle, so that the objects can be grabbed and transported in a coated manner.

The traditional manipulator clamps an object by using a clamping force driven by a machine, but because the shape of the object is different, the contact mode of the traditional manipulator is not ideal curved surface contact or plane contact, but is mostly point contact or line contact, so that the effect of clamping the object by the fingers of the manipulator is poor, and the carrying is not facilitated.

Chinese patent publication No. CN108436957A describes a three-finger under-actuated manipulator with shape adaptation. The utility model discloses a three-finger underactuated manipulator's constitution structure with shape self-adaptation belongs to industrial robot technical field, aim at providing a manipulator's technical scheme, realize rotatoryly with the first phalanx of worm gear drive structure of grabbing, with compression spring and the rotatory laminating surface of target object of push rod drive underactuated finger, and realize that the surface of underactuated finger and the surface of target object take place appropriate slip in the elasticity range of compression spring, passively adjust the second phalanx for the target object passes through to more reliable, more stable stress state, stably snatch and transport with this realization.

The key points of the technical scheme are as follows:

1) designing a first, a second, a third and a third under-actuated fingers with the same structure; the mounting positions of the three fingers are sequentially spaced at 120 degrees on the base and are uniformly distributed;

2) each finger comprises a driving motor, a worm and worm, a first phalanx and a second phalanx, and the first phalanx and the second phalanx are sequentially connected in a rotating mode by a pin shaft, wherein the pin shaft is used as a rotating center, the worm and worm are used as a transmission mode to apply the output of the driving motor to the first phalanx and drive the first phalanx to rotate around the first pin shaft;

3) the second phalanx is provided with a first contact surface and a second contact surface which are in contact with the surface of the target object;

4) compression spring and push rod module are installed to second phalanx downside to this makes the first, the second contact surface of second phalanx can take place to slide with the target object surface passively, makes the whole passive self-adaptation object's of manipulator shape, makes contact surface and target object surface fully contact, reaches the even and stable design purpose who snatchs of atress.

However, the solutions disclosed in the above documents have the following problems:

1) the three finger mounting positions are sequentially spaced by 120 degrees on the base and are uniformly distributed, and the rotation range of the phalange of each finger is in a vertical plane, so that the shape of the grabbed object is limited. Of the basic geometries, it is quite clear that the robot is not suitable for gripping cylindrical objects, such as pipes.

2) When only one finger stably contacts the surface of the target object or the contact mode is point or line contact, the grabbing effect is not ideal;

3) although the cooperation of the compression spring and the push rod is added on the structure of the second phalanx, the contact fit effect is improved to a certain extent, in essence, the first contact surface and the second contact surface of the second phalanx are both rigid surfaces and are still in undesirable small-area contact with the surface of the target object;

4) under the contact state of points, lines and small areas, as the second phalanx and the finger tip are both under-actuated mechanical structures, and stable grabbing is realized, a large force needs to be applied to the first phalanx, so that the possibility of damaging damage to a target object is caused, high requirements on the material and the structural strength of the first phalanx are also provided, and the manufacturing and processing cost is increased;

disclosure of Invention

The invention aims to provide a semi-flexible three-finger manipulator based on a soft steel belt and a ring surface worm, which changes the spatial distribution of three fingers by changing the included angle between a side bracket and a main bracket, uses a soft steel sheet as a flexible acting piece to adapt to target objects in various shapes, realizes flexible clamping and stable transportation, and ensures safety by utilizing mechanical self-locking. And provides a working method for grabbing basic geometric objects by using the semi-flexible three-finger manipulator based on the soft steel belt and the enveloping worm.

The invention discloses a semi-flexible multi-finger manipulator based on a soft steel belt and a ring surface worm, which is characterized by comprising the following components:

the support unit comprises a main support and a side support, and the outer side of the main support is provided with an installation area for installing the grabbing unit; the side bracket is fixedly arranged on the inner side of the main bracket and is provided with a plurality of connecting ends which extend outwards and are used for installing the grabbing units;

the grabbing unit is arranged on the outer side of the support unit and comprises a plurality of sets of single-finger driving mechanisms and an angle rotating mechanism, wherein the upper end of one set of single-finger driving mechanism is hinged to the mounting area of the main support; the angle rotating mechanisms are arranged at the connecting ends of the side brackets, and the rotating ends of the angle rotating mechanisms are respectively hinged with a set of single-finger driving mechanism, so that the single-finger driving mechanisms are surrounded on the outer sides of the bracket units; the grabbing parts of the single-finger driving mechanism are mutually close or separated to grab or release an object;

the manipulator hoisting unit is arranged above the support unit, the upper end of the manipulator hoisting unit is connected with the manipulator, and the lower end of the manipulator hoisting unit is connected with the support unit;

the control unit comprises a controller and a control switch, wherein the signal output end of the controller is electrically or signal-connected with the control end of the single-finger driving mechanism and the control end of the angle rotating mechanism and is used for controlling the single-finger driving mechanism and the angle rotating mechanism to operate; and the signal output end of the control switch is electrically connected with the signal input end of the controller.

The main support comprises a main support top plate, main support side plates and a main support bottom plate, wherein the main support top plate and the main support bottom plate are arranged in parallel up and down and are fixedly connected with each other through the main support side plates on the two sides; the front ends of the main support top plate and the main support bottom plate are fixedly connected with the side support; and the outer sides of the two main support side plates are used as mounting areas to be provided with connecting shafts for hinging the single-finger driving mechanism.

The side support comprises an upper wing plate and a lower wing plate, the upper wing plate and the lower wing plate are respectively installed at the front ends of the main support top plate and the main support bottom plate, and the upper wing plate and the lower wing plate are kept parallel, so that two end parts of the upper wing plate and the lower wing plate are connecting ends of the support unit.

The angle rotating mechanism comprises a speed reducing motor, an output gear shaft and a U-shaped frame, the top of the speed reducing motor is installed on the manipulator hoisting unit, and the output end of the speed reducing motor is connected with one end of the output gear shaft and used for driving the output gear shaft to rotate around the central shaft of the output gear shaft in the circumferential direction; the output gear shaft is rotatably arranged at the connecting end formed by the upper wing plate and the lower wing plate, and the teeth of the output gear shaft are meshed with the teeth on the gear plate and are used for driving the gear plate to rotate; the head end of the U-shaped frame is hinged to the connecting end formed by the upper wing plate and the lower wing plate, the inner end of the U-shaped frame is provided with teeth capable of being meshed with the gear shaft, and the outer end of the U-shaped frame is provided with a hinged shaft capable of being hinged with the single-finger driving mechanism.

The U-shaped frame comprises a gear plate, side supporting plates and a bottom supporting plate, the gear plate and the bottom supporting plate are fixedly connected together through the side supporting plates on the two sides, the gear plate and the bottom supporting plate are respectively hinged with the end parts of the upper wing plate and the lower wing plate, and teeth capable of being meshed with the gear plate are arranged on one side of the gear plate facing the output gear shaft; and a hinged shaft is arranged between the two side supporting plates and used for realizing the hinging between the U-shaped frame and the single-finger driving mechanism.

A connecting shaft of the main bracket and a rotating shaft of the angle rotating mechanism are respectively articulated with a set of single-finger driving mechanism, wherein the single-finger driving mechanism comprises a finger arm, a finger end, a soft steel belt, a finger arm rotation driving mechanism and a soft steel belt stretching mechanism, the upper end of the finger arm is articulated on the connecting shaft or the rotating shaft, and the lower end of the finger arm is articulated with the finger end; the finger arm rotation driving mechanism is arranged at the main support and the U-shaped frame, and the power output end of the finger arm rotation driving mechanism is hinged with the upper end of the finger arm and is used for driving the finger arm to rotate around a connecting shaft or a rotating shaft so as to adjust the distance between finger ends; the soft steel belt stretching mechanism is arranged at the main support and the U-shaped frame, and the stretching tail end of the soft steel belt stretching mechanism is connected with the upper end of the finger end and used for pulling the finger end to turn inwards around the lower end of the finger arm.

The finger arm rotation driving mechanism comprises a first stepping motor, a ring surface worm and a worm wheel, the first stepping motor is arranged on the main support or the U-shaped frame, and the output end of the first stepping motor is connected with the ring surface worm; the ring surface worm is arranged on the main support bottom plate or the bottom support plate, the upper end of the ring surface worm is connected with the output end of the first stepping motor, and the external thread of the ring surface worm is meshed with the worm wheel and is used for driving the worm wheel to rotate; the worm wheel is fixedly arranged on the connecting shaft or the rotating shaft and is used for being driven by the worm to drive the finger arm to rotate around the shaft.

The soft steel belt stretching mechanism comprises a second stepping motor, a screw rod, a linear output block and a soft steel belt, the second stepping motor is mounted on the main support or the U-shaped frame, and an output shaft of the second stepping motor is connected with the upper end of the screw rod and used for driving the screw rod to rotate around a self central shaft; the screw rod is arranged on the main support bottom plate or the bottom support plate; the linear output block is sleeved outside the screw rod and is in threaded connection with the screw rod, and the screw rod module is formed by the linear output block and the screw rod and is used for converting the circumferential rotation of the screw rod into the vertical lifting of the linear output block; the lower end of the linear output block penetrates out of the main support bottom plate or the bottom support plate and is provided with a soft steel strip mounting pin for fixing a soft steel strip; the upper end of the soft steel belt is connected to a soft steel belt mounting pin below the main support bottom plate or the bottom support plate, and the lower end of the soft steel belt is connected to the inner side of the upper end of the finger end and used for pulling the finger end to turn inwards under the driving of the second stepping motor.

Manipulator hoist and mount unit includes that manipulator hangs formula mount pad, gear motor mount pad, mobile jib and mounting nut, manipulator hangs the upper portion of formula mount pad and links to each other with the arm, and the gear motor mount pad is hung to the lower part, the below of gear motor mount pad sets firmly a mobile jib, the mobile jib inserts and runs through main support and collateral branch frame back bottom spiro union mounting nut simultaneously.

The grabbing unit comprises three sets of single-finger driving mechanisms and two sets of angle rotating mechanisms, wherein the first set of single-finger driving mechanism is installed on the main support, the second set of single-finger driving mechanism and the third set of single-finger driving mechanism are installed on two connecting ends of the side support, and the second set of single-finger driving mechanism and the third set of single-finger driving mechanism respectively correspond to one set of angle rotating mechanism.

The semi-flexible multi-finger manipulator further comprises a mechanical self-locking mechanism, wherein the mechanical self-locking mechanism is used for preventing safety accidents such as target object falling caused by power failure, insufficient driving and the like in work, when the lead angle of the ring surface worm is smaller than the equivalent friction angle between the teeth of the worm wheel, the reverse stroke self-locking characteristic is achieved, the finger arms can still be kept in a folded state by means of mechanical self-locking within the load allowable range of the worm wheel and the worm under the condition of losing driving, and the transportation safety and reliability are guaranteed.

The invention discloses a control method of a semi-flexible multi-finger manipulator based on a soft steel belt and a torus worm, which is characterized by comprising the following steps of:

1) according to different shapes of the object, the spatial arrangement of each single-finger driving mechanism is adjusted:

the speed reduction motor outputs torque, the torque is transmitted to a gear plate of the angle rotating mechanism through an output gear shaft, and the U-shaped frame is driven to adjust the angle, so that the U-shaped frame drives a single-finger driving mechanism on the U-shaped frame to rotate to a preset angle, and proper spatial arrangement is obtained;

2) the grabbing unit is opened and aligned with the target object:

the first stepping motor drives the enveloping worm to output torque, the torque is transmitted to the finger arms through the transmission of the worm gear and the worm, and the finger arms are driven to open;

3) the arm descends for hoist and mount fall to suitable height at the many fingers of semi-flexible manipulator, indicate the arm to draw in:

the first stepping motor drives the ring surface worm to output torque, drives the finger arms to fold, and folds the finger arms towards a target object;

4) the finger tip clamps the target object:

a second stepping motor drives a screw rod to output torque to drive the screw rod to rotate, the screw rod and a linear output block form a screw rod module to convert the rotation into linear motion, and a finger end is driven to turn inwards through a soft steel belt connected to the lower end of the linear output block, so that a target object is clamped;

5) adjusting the clamping degree of the grabbing unit:

after the finger end piece clamps a target object, the first stepping motor drives the ring surface worm to output torque, the finger arms are driven to be folded, the finger arms are continuously folded towards the target object, the second stepping motor drives the screw rod to drive the linear output block through the output torque, so that the soft steel belt is attached to the surface of the target object and is folded, and the surface contact pressure which is uniformly applied to the contact surface of the soft steel belt and the target object is obtained.

The invention relates to a driving mode of a semi-flexible multi-finger manipulator based on a soft steel belt and a ring surface worm, which comprises the following steps:

the worm gear and worm drive is basically as follows:

the worm wheel is fixedly connected with the finger arm through a set screw on the lateral end face;

the first stepping motor outputs torque, the worm wheel-finger arm fixing body is driven by the ring surface worm, and the finger arm can be unfolded and folded around the A shaft in the space by forward rotation and reverse rotation of the stepping motor.

The basic mode of the screw rod module transmission is as follows:

the linear output block is connected with the soft steel belt through a soft steel belt mounting pin, and the other end of the soft steel belt is also connected with the finger end through a mounting pin;

the second stepping motor outputs torque, the linear output block is driven by the lead screw, the second stepping motor rotates forwards and reversely, the lifting and descending of the height of one end of the soft steel strip can be realized, and the finger ends are folded inwards and unfolded outwards around the B axis in the space.

The gear transmission is basically as follows:

the gear plate of the U-shaped frame is meshed with the gear part of the output gear shaft, the speed reducing motor outputs torque, the U-shaped frame is driven by the output gear shaft, and the speed reducing motor rotates forwards and reversely to realize the rotation of the side support around the C shaft in the space and change the spatial distribution of three fingers of the manipulator.

The semi-flexible three-finger manipulator based on the soft steel belt and the ring surface worm provided by the invention,

the functional characteristics are as follows:

1. the soft steel belt is used as a flexible acting element, and the finger arms are driven to be folded when the soft steel belt is grabbed, so that the soft steel belt is enveloped on the surface of the target as much as possible, and further the soft steel belt is tightened to form good surface contact with the surface of the target, so that the pressing is uniform, and the grabbing is stable and reliable.

2. The U-shaped frames on the two sides of the main support are designed to be rotatable, the angle between the side support and the main support is adjusted through gear driving, the spatial arrangement of three fingers of the manipulator is changed, and the manipulator can flexibly deal with target objects in different shapes.

3. Adopts a driving mode with mechanical self-locking characteristic, when the lead angle of the worm is smaller than the equivalent friction angle between the teeth of the meshed worm wheel, the mechanism has reverse stroke self-locking characteristic,

the worm and gear is selected to drive the finger arm, and the mechanical self-locking is utilized to prevent safety accidents such as falling of the target object caused by power failure, insufficient driving and the like in the work process.

Meanwhile, the worm piece is a ring surface worm which has a larger meshing area than a common worm when meshed with a worm wheel, so that the two pieces are stressed uniformly during transmission, and the mechanical abrasion of the transmission part is reduced.

The semi-flexible three-finger manipulator based on the soft steel belt has the functional characteristics of flexible and stable grabbing, reliable carrying, falling prevention, small abrasion of a transmission part and the like.

The invention has the beneficial effects that: the space distribution of the grabbing units is changed by changing the included angle between the side bracket and the main bracket, and a soft steel sheet is used as a flexible acting piece to adapt to target objects in various shapes, so that flexible clamping and stable carrying are realized; the mechanism has the reverse stroke self-locking characteristic, can ensure that the finger arms can still keep a furled state by means of mechanical self-locking within the load allowable range of the worm wheel and the worm under the condition of losing driving, and ensures the safety and reliability of transportation.

Drawings

FIG. 1a is a schematic view of a robot according to the present invention;

FIGS. 1b, 1c, 1d are front, side and top views, respectively, of the present invention;

FIG. 2 is a component number diagram of a main support of a manipulator according to the present invention;

FIG. 3 is a part numbering diagram of a single finger assembly of the manipulator provided by the present invention;

FIG. 4 is a part numbering view of the hanger mounting assembly provided by the present invention;

FIG. 5 is a schematic view of a side stand driving method of a manipulator according to the present invention;

FIG. 6 is a schematic view of a single-finger internal driving scheme of a robot according to the present invention;

FIG. 7 is a schematic view of a side stand driving method of a manipulator according to the present invention;

FIG. 8 is a schematic view of a mounting hole in the main support portion of the robot provided by the present invention;

FIG. 9 is a schematic view of a mounting hole for a robotic pendant mount provided by the present invention;

FIG. 10 is a characteristic schematic view of a toroidal worm;

11a, 11b, 11c and 11d are schematic views of the working modes of the manipulator provided by the invention for the pipeline pieces;

12a, 12b, 12c and 12d are schematic diagrams illustrating the working mode of the manipulator provided by the invention for a rectangular piece;

fig. 13a, 13b, 13c and 13d are schematic views of the working modes of the manipulator provided by the invention for the ball element.

Detailed Description

The invention is further described below with reference to the accompanying drawings.

With reference to the accompanying drawings:

embodiment 1 the invention provides a semi-flexible multi-finger manipulator based on a soft steel belt and a toroidal worm, comprising:

the support unit 1 comprises a main support 11 and a side support 12, wherein the outer side of the main support 11 is provided with a mounting area for mounting a grabbing unit; the side bracket 12 is fixedly arranged at the inner side of the main bracket, and is provided with a plurality of connecting ends which extend outwards and are used for installing the grabbing units;

the grabbing unit 2 is arranged on the outer side of the support unit and comprises a plurality of sets of single-finger driving mechanisms 21 and an angle rotating mechanism 22, wherein the upper end of one set of single-finger driving mechanism is hinged to the mounting area of the main support; the angle rotating mechanisms are arranged at the connecting ends of the side brackets, and the rotating ends of the angle rotating mechanisms are respectively hinged with a set of single-finger driving mechanism, so that the single-finger driving mechanisms are surrounded on the outer sides of the bracket units; the grabbing parts of the single-finger driving mechanism are mutually close or separated to grab or release an object;

the manipulator hoisting unit 3 is arranged above the support unit, the upper end of the manipulator hoisting unit is connected with the manipulator, and the lower end of the manipulator hoisting unit is connected with the support unit;

The main support 11 comprises a main support top plate 111, a main support side plate 112 and a main support bottom plate 113, wherein the main support top plate 111 and the main support bottom plate 113 are arranged in parallel up and down and are fixedly connected with each other through the main support side plates 112 on two sides; the front ends of the main support top plate 111 and the main support bottom plate 113 are fixedly connected with the side support 12; and the outer sides of the two main bracket side plates are used as mounting areas to be provided with a connecting shaft 114 for hinging a single-finger driving mechanism.

The side bracket 12 includes an upper wing plate 121 and a lower wing plate 122, which are respectively installed at the front ends of the main bracket top plate and the main bracket bottom plate and keep the upper wing plate and the lower wing plate parallel, so that both ends of the upper wing plate and the lower wing plate are connection ends of the bracket unit.

The angle rotating mechanism 22 comprises a speed reducing motor 221, an output gear shaft 222 and a U-shaped frame 223, the top of the speed reducing motor 221 is mounted on the manipulator hoisting unit 3, and the output end of the speed reducing motor is connected with one end of the output gear shaft 222 and used for driving the output gear shaft to rotate circumferentially around the central shaft of the output gear shaft; the output gear shaft 222 is rotatably mounted at the connecting end formed by the upper wing plate 121 and the lower wing plate 122, and the teeth of the output gear shaft 222 are meshed with the U-shaped frame 223 for driving the U-shaped frame 223 to rotate; the head end of the U-shaped frame 223 is hinged to the connecting end formed by the upper wing plate 121 and the lower wing plate 122, the inner end of the U-shaped frame is provided with teeth which can be meshed with the gear shaft, and the outer end of the U-shaped frame is provided with a hinged shaft which can be hinged with the single-finger driving mechanism.

The U-shaped frame 223 comprises a gear plate 2231, a side support plate 2232 and a bottom support plate 2233, the gear plate and the bottom support plate are fixedly connected together by the side support plates at two sides, wherein the gear plate and the bottom support plate are respectively hinged with the end parts of the upper wing plate and the lower wing plate, and one side of the gear plate facing the output gear shaft is provided with teeth capable of meshing with the gear plate; and a rotating shaft 2234 is arranged between the two side supporting plates and used for realizing the hinging between the U-shaped frame and the single-finger driving mechanism.

A set of single-finger driving mechanism 21 is hinged to each of the connecting shaft 114 of the main support 11 and the rotating shaft 2234 of the angle rotating mechanism 22, wherein the single-finger driving mechanism 21 includes a finger arm 211, a finger end 212, a soft steel belt 213, a finger arm rotation driving mechanism 214 and a soft steel belt stretching mechanism 215, the upper end of the finger arm 211 is hinged to the connecting shaft or the rotating shaft, and the lower end of the finger arm is hinged to the finger end 212; the finger arm rotation driving mechanism 214 is arranged at the main bracket and the U-shaped frame, and the power output end of the finger arm rotation driving mechanism 214 is hinged with the upper end of the finger arm 211 and is used for driving the finger arm to rotate around a connecting shaft or a rotating shaft so as to adjust the distance between finger ends; the soft steel belt stretching mechanism 215 is disposed at the main support 11 and the U-shaped frame 223, and a stretching end of the soft steel belt stretching mechanism 215 is connected to an upper end of the finger end for pulling the finger end to turn inwards around a lower end of the finger arm.

The finger arm rotation driving mechanism 214 comprises a first stepping motor 2141, a toroidal worm 2142 and a worm wheel 2143, the first stepping motor 2141 is mounted on the main support 11 or the U-shaped frame 223, and an output end of the first stepping motor 2141 is connected to the toroidal worm 2142; the ring surface worm 2142 is mounted on the main support bottom plate or the bottom support plate, the upper end of the ring surface worm 2142 is connected with the output end of the first stepping motor, and the external thread of the ring surface worm 214is meshed with the worm wheel and is used for driving the worm wheel to rotate; the worm wheel is fixedly arranged on the connecting shaft or the rotating shaft and is used for being driven by the worm to drive the finger arm to rotate around the shaft.

The soft steel belt stretching mechanism 215 comprises a second stepping motor 2151, a screw rod 2152, a linear output block 2153 and a soft steel belt 213, the second stepping motor is mounted on the main bracket or the U-shaped frame 223, and an output shaft of the second stepping motor 2151 is connected with the upper end of the screw rod 2152 and used for driving the screw rod to rotate around the central shaft of the screw rod; the screw rod 2152 is arranged on the main bracket bottom plate or the bottom supporting plate; the linear output block 2153 is sleeved outside the screw rod and is in threaded connection with the screw rod, and the screw rod and the linear output block form a screw rod module which is used for converting circumferential rotation of the screw rod into vertical lifting of the linear output block; the lower end of the linear output block 2153 penetrates out of the main support bottom plate or the bottom support plate and is provided with a soft steel strip mounting pin for fixing a soft steel strip; the upper end of the soft steel belt 213 is connected to a soft steel belt mounting pin 2155 below the main support bottom plate or the bottom support plate, and the lower end of the soft steel belt 213 is connected to the inner side of the upper end of the finger end through a soft steel belt finger end mounting pin 2156, and is used for pulling the finger end to turn inwards under the driving of the second stepping motor.

Manipulator hoist and mount unit 3 includes manipulator formula of hanging mounting base 31, gear motor mount pad 32, mobile jib 33 and mounting nut 34, manipulator formula of hanging mounting base 31's upper portion links to each other with the arm, and gear motor mount pad 32 is hung to the lower part, gear motor mount pad 32's below sets firmly a mobile jib 33, mobile jib 33 inserts and runs through main support and collateral branch frame rear bottom spiro union mounting nut 34 simultaneously.

Embodiment 3 the semi-flexible multi-finger manipulator based on the soft steel belt and the enveloping worm described in this embodiment is different from embodiment 1 in that the rest parts are consistent in structure: the grabbing unit comprises three sets of single-finger driving mechanisms and two sets of angle rotating mechanisms, wherein the first set of single-finger driving mechanism is installed on the main support, the second set of single-finger driving mechanism and the third set of single-finger driving mechanism are installed on two connecting ends of the side support, and the second set of single-finger driving mechanism and the third set of single-finger driving mechanism respectively correspond to one set of angle rotating mechanism.

Embodiment 4 the semi-flexible multi-finger manipulator based on the soft steel belt and the enveloping worm described in this embodiment is different from embodiment 1 in that the rest parts are consistent in structure: the semi-flexible multi-finger manipulator further comprises a mechanical self-locking mechanism, wherein the mechanical self-locking mechanism is used for preventing safety accidents such as target object falling caused by power failure, insufficient driving and the like in work, when the lead angle of the ring surface worm is smaller than the equivalent friction angle between the teeth of the worm wheel, the reverse stroke self-locking characteristic is achieved, the finger arms can still be kept in a folded state by means of mechanical self-locking within the load allowable range of the worm wheel and the worm under the condition of losing driving, and the transportation safety and reliability are guaranteed.

Embodiment 5 this embodiment takes a three-finger manipulator as an example, and a semi-flexible three-finger manipulator based on a soft steel belt and a toroidal worm comprises a support unit 1, a grabbing unit 2, a manipulator hoisting unit 3 and a control unit; the driving mode of the grabbing unit 1 comprises worm and gear transmission, screw rod module transmission and gear transmission;

the specific structure is as follows:

the bracket unit 1: a main frame 11 and two identical side frames 12 are divided.

The main stand 11 includes a main stand top plate 111, a main stand side plate 112 and a main stand bottom plate 113; the side bracket 12 comprises an upper wing plate 121 and a lower wing plate 122; wherein, the two ends of the side bracket 12 are connecting ends, and are respectively provided with a set of angle rotating mechanism.

The angle rotating mechanism 22 comprises a speed reducing motor 221, an output gear shaft 222 and a U-shaped frame 223, the top of the speed reducing motor 221 is mounted on the manipulator hoisting unit 3, and the output end of the speed reducing motor is connected with one end of the output gear shaft and used for driving the output gear shaft to rotate circumferentially around a central shaft of the output gear shaft; the output gear shaft is rotatably arranged at the connecting end formed by the upper wing plate and the lower wing plate, and the teeth of the output gear shaft are meshed with the teeth on the gear plate and are used for driving the gear plate to rotate; the head end of the U-shaped frame is hinged to the connecting end formed by the upper wing plate and the lower wing plate, the inner end of the U-shaped frame is provided with teeth capable of being meshed with the gear shaft, and the outer end of the U-shaped frame is provided with a hinged shaft capable of being hinged with the single-finger driving mechanism;

the U-shaped frame 223 comprises a gear plate 2231, a side support plate 2232 and a bottom support plate 2233, the gear plate 2231 and the bottom support plate are fixedly connected together by the side support plates at two sides, wherein the gear plate 2231 and the bottom support plate 2233 are respectively hinged with the ends of the upper wing plate 121 and the lower wing plate 122, and one side of the gear plate 2231 facing the output gear shaft is provided with teeth capable of meshing with the gear plate 2231; and a hinged shaft is arranged between the two side supporting plates and used for realizing the hinging between the U-shaped frame and the single-finger driving mechanism.

The single-finger driving mechanisms are three sets, the first set is arranged in the mounting area of the main support, the second set and the third set are arranged at two connecting ends of the side support and comprise finger arms 211, finger ends 212, soft steel belts 213, finger arm rotation driving mechanisms 214 and soft steel belt stretching mechanisms 215, the upper ends of the finger arms 211 are hinged on the connecting shafts or the rotating shafts, and the lower ends of the finger arms are hinged with the finger ends; the finger arm rotation driving mechanism is arranged at the main support and the U-shaped frame, and the power output end of the finger arm rotation driving mechanism is hinged with the upper end of the finger arm and is used for driving the finger arm to rotate around a connecting shaft or a rotating shaft so as to adjust the distance between finger ends; the soft steel belt stretching mechanism is arranged at the main support and the U-shaped frame 223, and the stretching tail end of the soft steel belt stretching mechanism is connected with the upper end of the finger end and used for pulling the finger end to turn inwards around the lower end of the finger arm; the finger arm rotation driving mechanism 214 comprises a first stepping motor 2141, a toroidal worm 2142 and a worm wheel 2143, the first stepping motor is mounted on the main bracket or the U-shaped bracket 223, and the output end of the first stepping motor is connected with the toroidal worm; the ring surface worm is arranged on the main support bottom plate or the bottom support plate, the upper end of the ring surface worm is connected with the output end of the first stepping motor, and the external thread of the ring surface worm is meshed with the worm wheel and is used for driving the worm wheel to rotate; the worm wheel is fixedly arranged on the connecting shaft or the rotating shaft and is used for being driven by the worm to drive the finger arm to rotate around the shaft; the soft steel strip stretching mechanism 215 comprises a second stepping motor 2151, a screw rod, a linear output block and a soft steel strip, wherein the second stepping motor is mounted on the main bracket or the U-shaped bracket, and an output shaft of the second stepping motor is connected with the upper end of the screw rod and is used for driving the screw rod to rotate around the central shaft of the screw rod; the screw rod is arranged on the main support bottom plate or the bottom support plate; the linear output block is sleeved outside the screw rod and is in threaded connection with the screw rod, and the linear output block and the screw rod form a screw rod module which is used for converting the circumferential rotation of the screw rod into the vertical lifting of the linear output block; the lower end of the linear output block penetrates out of the main support bottom plate or the bottom support plate and is provided with a soft steel strip mounting pin for fixing a soft steel strip; the upper end of the soft steel belt is connected to a soft steel belt mounting pin below the main support bottom plate or the bottom support plate, and the lower end of the soft steel belt is connected to the inner side of the upper end of the finger end and used for pulling the finger end to turn inwards under the driving of the second stepping motor.

Manipulator hangs formula unit 3 includes manipulator and hangs formula mount pad, gear motor mount pad, mobile jib and mounting nut, manipulator hangs the upper portion of formula mount pad and links to each other with the arm, and the gear motor mount pad is adorned to the lower part suspension, the below of gear motor mount pad sets firmly a mobile jib, the mobile jib inserts and runs through main support and collateral branch frame rear bottom spiro union mounting nut simultaneously.

Embodiment 6 the installation and connection of the multi-scenario adaptive three-finger manipulator described above includes the following steps:

(1) installation between main support and the manipulator formula unit that hangs:

all be equipped with the last mobile jib through-hole B that supplies the mobile jib of manipulator formula unit to run through on main support roof, the last pterygoid lamina, main support bottom plate and lower pterygoid lamina all are equipped with the lower mobile jib through-hole K that supplies the mobile jib of manipulator formula unit to run through, go up mobile jib through-hole B and mobile jib through-hole K down on same axis, the aperture is the same, corresponds with the mobile jib of manipulator formula mounting base that hangs, and the processing of mobile jib lower extreme has the screw thread, with mounting nut screw-thread fit.

Installing a main support:

the upper wing plate is fixedly connected with the top plate of the main bracket in a welding way; the main bracket bottom plate is fixedly connected with the lower wing plate in a welding way; the main support roof and main support bottom plate all are equipped with first installation through-hole 2XF, the upper and lower part of two main support curb plates all is equipped with the installation limit, install the limit down, and keep installing the limit and be located the inboard, and upward install and be equipped with first fixing bolt hole 2XF on the limit, install and be equipped with second fixing bolt hole 2XH on the limit down, first fixing bolt hole 2XF and second fixing bolt hole 2XH correspond respectively at same axis, the aperture is the same, by the fixing bolt who corresponds the model, the nut is connected.

The main support curb plate has two, one is the right side board, one is the left side board, main support curb plate from the top down has two main support curb plate mounting holes, wherein the main support curb plate mounting hole 2XG of top is in on the same axis with the main support curb plate mounting hole 2XG of another main support curb plate (being the left side board) top, about install the hexagonal copper post that the main support curb plate supported the usefulness in the middle of the curb plate, the hexagonal copper post is the connecting axle, the axial processing has the internal thread, by two bolts, curb plate screw in about following respectively, accomplish about the installation between the two main support curb plates.

Installation of mechanical finger driving pieces at the main bracket (installation of the mechanical finger driving pieces at the two side brackets is basically consistent):

four third through holes 4XC and a fourth through hole D are arranged on the main bracket top plate, wherein the four third through holes 4XC correspond to four mounting holes on the shell of the second stepping motor, the second stepping motor is mounted from the upper side of the main bracket top plate by using corresponding bolts, so that the output shaft of the second stepping motor downwards passes through the fourth through hole D, the output shaft of the second stepping motor is fixedly connected with the screw rod by a coupler, and the screw rod is radially limited by using a shaft sleeve in the corresponding hole of the main bracket bottom plate, thereby ensuring the stable movement of the screw rod; the linear output block and the screw rod form screw rod module transmission, the linear output block is L-shaped, the lower end of the linear output block is fixedly connected with the upper end of the soft steel strip through a mounting pin on the soft steel strip, the lower end of the soft steel strip is connected with the finger end through a mounting pin under the soft steel strip, and the lower end of the soft steel strip is wound on the mounting pin under the soft steel strip and can rotate relatively;

4 fifth through holes 4XE are arranged on the main support top plate, the second stepping motor corresponds to four mounting holes on the shell of the first stepping motor, and the first stepping motor is mounted from the lower side of the main support top plate by using corresponding bolts, so that the output shaft of the first stepping motor faces downwards; an output shaft of the first stepping motor is fixedly connected with the ring surface worm through a coupler, and the worm is radially limited by using a shaft sleeve in a corresponding hole of a main support base plate, so that the stable movement of the worm is ensured; the worm wheel and the ring surface worm form worm wheel and worm transmission; the upper end hole of the finger arm is coaxial with the central hole of the worm wheel, and the finger arm is fixedly connected with the lateral end face of the worm wheel through a set screw; a central hole of the worm wheel penetrates through the shaft sleeve, and is arranged at a hexagonal step hole I of a main bracket side plate (namely a left side plate) on the left side through a bolt, and a nut is arranged between the two main bracket side plates, so that the finger arm 211 can rotate around an A axis; the holes at the lower end of finger arm 211 correspond to the holes at finger tip 212, and are mounted using pins; and allows the finger tip to rotate about the B axis.

Installation between side bearer and main bearer:

two ends of the upper wing plate are provided with first end holes 2XA, two ends of the lower wing plate are provided with second end holes 2XL respectively corresponding to the gear plates and the bottom supporting plate of the two U-shaped frames 223;

installation of an angle rotating mechanism: the speed reducing motor mounting base is provided with a fixing hole 2XN, and the speed reducing motor with high torque is mounted on the manipulator hanging type mounting base; the output shaft of the speed reducing motor downwards passes through a corresponding fixing hole 2XN on the speed reducing motor mounting seat; an output gear shaft is adopted as an output shaft of the speed reducing motor; a gear plate of the U-shaped frame is used as a top plate, a gear structure is processed on the gear plate and is meshed with teeth of an output gear shaft to carry out transmission, so that the U-shaped frame 223 can rotate around a shaft C, and the specific meshing is shown in a position III;

embodiment 7 utilizes a control method performed by a semi-flexible multi-finger manipulator based on a soft steel belt and a toroidal worm according to the present invention, and includes the following steps:

1) according to different shapes of objects, the spatial arrangement of 3 sets of single-finger driving mechanisms is adjusted:

the speed reduction motor outputs torque, the torque is transmitted to a gear plate of the angle rotating mechanism through an output gear shaft, and the U-shaped frame is driven to adjust the angle, so that the U-shaped frame drives a single-finger driving mechanism on the U-shaped frame to rotate to a preset angle, and proper spatial arrangement is obtained; when the manipulator is in normal standby state, the three fingers are arranged at an angle of 120 degrees;

2) the grabbing unit is opened and aligned with the target object:

4) the finger tip clamps the target object:

5) adjusting the clamping degree of the grabbing unit:

6) In the operation process of the whole manipulator, the mechanical self-locking prevents safety accidents such as falling of a target object caused by reasons such as power failure, insufficient driving and the like in the work:

when the lead angle of the ring surface worm is smaller than the equivalent friction angle between the teeth of the worm wheel, the self-locking characteristic of reverse stroke is realized, the finger arms can still keep the furled state by means of mechanical self-locking within the load allowable range of the worm wheel and the worm under the condition of losing driving, and the safety and the reliability of transportation are ensured.

The embodiments described in this specification are merely illustrative of implementations of the inventive concept and the scope of the present invention should not be considered limited to the specific forms set forth in the embodiments but includes equivalent technical means as would be recognized by those skilled in the art based on the inventive concept.

Claims

1. A semi-flexible multi-finger manipulator based on a soft steel belt and a ring surface worm is characterized by comprising:

2. The semi-flexible multi-finger manipulator based on the soft steel belt and the enveloping worm as claimed in claim 1, wherein: the main support comprises a main support top plate, main support side plates and a main support bottom plate, wherein the main support top plate and the main support bottom plate are arranged in parallel up and down and are fixedly connected with each other through the main support side plates on the two sides; the front ends of the main support top plate and the main support bottom plate are fixedly connected with the side support; and the outer sides of the two main support side plates are used as mounting areas to be provided with connecting shafts for hinging the single-finger driving mechanism.

3. The semi-flexible multi-finger manipulator based on the soft steel belt and the enveloping worm as claimed in claim 2, wherein: the side support comprises an upper wing plate and a lower wing plate, the upper wing plate and the lower wing plate are respectively installed at the front ends of the main support top plate and the main support bottom plate, and the upper wing plate and the lower wing plate are kept parallel, so that two end parts of the upper wing plate and the lower wing plate are connecting ends of the support unit.

4. The semi-flexible multi-finger manipulator based on the soft steel belt and the enveloping worm as claimed in claim 1, wherein: the angle rotating mechanism comprises a speed reducing motor, an output gear shaft and a U-shaped frame, the top of the speed reducing motor is installed on the manipulator hoisting unit, and the output end of the speed reducing motor is connected with one end of the output gear shaft and used for driving the output gear shaft to rotate around the central shaft of the output gear shaft in the circumferential direction; the output gear shaft is rotatably arranged at the connecting end formed by the upper wing plate and the lower wing plate, and the teeth of the output gear shaft are meshed with the teeth on the gear plate and are used for driving the gear plate to rotate; the head end of the U-shaped frame is hinged to the connecting end formed by the upper wing plate and the lower wing plate, the inner end of the U-shaped frame is provided with teeth capable of being meshed with the gear shaft, and the outer end of the U-shaped frame is provided with a hinged shaft capable of being hinged with the single-finger driving mechanism.

5. The semi-flexible multi-finger manipulator based on the soft steel belt and the enveloping worm as claimed in claim 4, wherein: the U-shaped frame comprises a gear plate, side supporting plates and a bottom supporting plate, the gear plate and the bottom supporting plate are fixedly connected together through the side supporting plates on the two sides, the gear plate and the bottom supporting plate are respectively hinged with the end parts of the upper wing plate and the lower wing plate, and teeth capable of being meshed with the gear plate are arranged on one side of the gear plate facing the output gear shaft; and a hinged shaft is arranged between the two side supporting plates and used for realizing the hinging between the U-shaped frame and the single-finger driving mechanism.

6. The semi-flexible multi-finger manipulator based on the soft steel belt and the enveloping worm as claimed in claim 4, wherein: a connecting shaft of the main bracket and a rotating shaft of the angle rotating mechanism are respectively articulated with a set of single-finger driving mechanism, wherein the single-finger driving mechanism comprises a finger arm, a finger end, a soft steel belt, a finger arm rotation driving mechanism and a soft steel belt stretching mechanism, the upper end of the finger arm is articulated on the connecting shaft or the rotating shaft, and the lower end of the finger arm is articulated with the finger end; the finger arm rotation driving mechanism is arranged at the main support and the U-shaped frame, and the power output end of the finger arm rotation driving mechanism is hinged with the upper end of the finger arm and is used for driving the finger arm to rotate around a connecting shaft or a rotating shaft so as to adjust the distance between finger ends; the soft steel belt stretching mechanism is arranged at the main support and the U-shaped frame, and the stretching tail end of the soft steel belt stretching mechanism is connected with the upper end of the finger end and used for pulling the finger end to turn inwards around the lower end of the finger arm.

7. The semi-flexible multi-finger manipulator based on the soft steel belt and the enveloping worm as claimed in claim 6, wherein: the finger arm rotation driving mechanism comprises a first stepping motor, a ring surface worm and a worm wheel, the first stepping motor is arranged on the main support or the U-shaped frame, and the output end of the first stepping motor is connected with the ring surface worm; the ring surface worm is arranged on the main support bottom plate or the bottom support plate, the upper end of the ring surface worm is connected with the output end of the first stepping motor, and the external thread of the ring surface worm is meshed with the worm wheel and is used for driving the worm wheel to rotate; the worm wheel is fixedly arranged on the connecting shaft or the rotating shaft and is used for being driven by the worm to drive the finger arm to rotate around the shaft.

8. The semi-flexible multi-finger manipulator based on the soft steel belt and the enveloping worm as claimed in claim 7, wherein: the soft steel belt stretching mechanism comprises a second stepping motor, a screw rod, a linear output block and a soft steel belt, the second stepping motor is mounted on the main support or the U-shaped frame, and an output shaft of the second stepping motor is connected with the upper end of the screw rod and used for driving the screw rod to rotate around a self central shaft; the screw rod is arranged on the main support bottom plate or the bottom support plate; the linear output block is sleeved outside the screw rod and is in threaded connection with the screw rod, and the linear output block and the screw rod form a screw rod module which is used for converting the circumferential rotation of the screw rod into the vertical lifting of the linear output block; the lower end of the linear output block penetrates out of the main support bottom plate or the bottom support plate and is provided with a soft steel strip mounting pin for fixing a soft steel strip; the upper end of the soft steel belt is connected to a soft steel belt mounting pin below the main support bottom plate or the bottom support plate, and the lower end of the soft steel belt is connected to the inner side of the upper end of the finger end and used for pulling the finger end to turn inwards under the driving of the second stepping motor.

9. The semi-flexible multi-finger manipulator based on the soft steel belt and the enveloping worm as claimed in claim 8, wherein: manipulator hoist and mount unit includes that manipulator hangs formula mount pad, gear motor mount pad, mobile jib and mounting nut, manipulator hangs the upper portion of formula mount pad and links to each other with the arm, and the gear motor mount pad is hung to the lower part, the below of gear motor mount pad sets firmly a mobile jib, the mobile jib inserts and runs through main support and collateral branch frame back bottom spiro union mounting nut simultaneously.

10. The control method based on the semi-flexible multi-finger manipulator of the soft steel belt and the enveloping worm of claim 9 is characterized by comprising the following steps:

2) the grabbing unit is opened and aligned with the target object:

4) the finger tip clamps the target object:

5) adjusting the clamping degree of the grabbing unit: