CN112720541A - Bionic five-finger manipulator with adaptability - Google Patents
Bionic five-finger manipulator with adaptability Download PDFInfo
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- CN112720541A CN112720541A CN202011460986.2A CN202011460986A CN112720541A CN 112720541 A CN112720541 A CN 112720541A CN 202011460986 A CN202011460986 A CN 202011460986A CN 112720541 A CN112720541 A CN 112720541A
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- 241000203475 Neopanax arboreus Species 0.000 title claims abstract description 17
- 210000003811 finger Anatomy 0.000 claims abstract description 220
- 210000003813 thumb Anatomy 0.000 claims abstract description 62
- 244000060701 Kaempferia pandurata Species 0.000 claims description 41
- 235000016390 Uvaria chamae Nutrition 0.000 claims description 41
- 239000003638 chemical reducing agent Substances 0.000 claims description 21
- 229910000831 Steel Inorganic materials 0.000 claims description 20
- 239000010959 steel Substances 0.000 claims description 20
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 5
- 239000000741 silica gel Substances 0.000 description 5
- 229910002027 silica gel Inorganic materials 0.000 description 5
- 241000190070 Sarracenia purpurea Species 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 210000004247 hand Anatomy 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
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- 230000001960 triggered effect Effects 0.000 description 1
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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
- B25J15/0233—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by chains, cables or ribbons
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Abstract
The invention discloses a bionic five-finger manipulator with adaptability, which comprises fingers, a four-finger connecting piece, a thumb connecting piece, a palm, a finger driving device, a finger clutch device and a palm driving device. The invention provides two modes through the matching of the clutch device and the driving device: when the clutch device is closed, the finger tip and the joints in the fingers are mechanically coupled to form linkage, so that the clutch device is suitable for grabbing, holding and the like, and under the condition, the fingers are under-actuated and are convenient to control. When a heavy object is grabbed, the spring damper is compressed, so that the manipulator can be more attached to the shape of the object, and the damage of an internal structure due to over-torque is prevented; when clutch breaks, the joint's linkage cancellation in fingertip and the finger, the fingertip is fixed by the pulling force that wire rope provided this moment, is applicable to touch, plays musical instrument etc. and the fingertip is a passive joint under this circumstances, can make the fingertip have certain adaptability through the spring on the wire rope, provides moment protection when contacting fragile article promptly, also can protect self structure simultaneously.
Description
Technical Field
The invention relates to a bionic five-finger manipulator with adaptability, and belongs to the technical field of manipulators.
Background
With the rapid development of the robot technology, the robot is widely applied to various fields, and the robot can participate in human life more and more in the future. The manipulator is the main means for the robot to interact and operate with the outside. In particular, the use of dexterous hands, which have versatility and flexibility as well as the human hands, is at issue. Currently, many documents have focused on the research on the mechanical arm, but most of the mechanical arms are aimed at specific gripping objects, and cannot be used after being separated from the specific objects. Some documents are focused on the research of the bionic manipulator, but the mechanical structure is extremely complex, the part processing requirement is high, the manufacturing cost is high, and the bionic manipulator is not suitable for daily life.
In summary, the manipulator in the prior art has many disadvantages of low flexibility, poor adaptability, heavy mass, high overall manufacturing cost and difficulty in popularization.
Disclosure of Invention
The invention provides a bionic five-finger manipulator with adaptability, which is used for realizing bionic motion of the manipulator through the cooperation of a finger driving device, a clutch device and a palm driving device.
The technical scheme of the invention is as follows: a bionic five-finger manipulator with adaptability comprises fingers 1, a four-finger connecting piece 2, a thumb connecting piece 3, a palm 4, a finger driving device, a finger clutch device and a palm driving device; the fingers 1 are thumb and four fingers, five fingers 1 are provided with matched finger driving devices and finger clutch devices, the thumb is connected with the palm 4 through a thumb connecting piece 3, the four fingers are connected with the palm 4 through a four-finger connecting piece 2, and the palm driving device is used for driving the four-finger connecting piece 2 and the thumb connecting piece 3 to move; the finger clutch device is closed, and is used for the finger driving device to drive the finger 1-2 and the fingertip 1-1 of the finger 1 to be linked; the finger clutch device is disconnected, the finger driving device drives 1-2 of the finger, and the fingertip 1-1 provides pulling force through the finger clutch device.
The fingers comprise fingertips 1-1, finger middle 1-2 and finger roots 1-3; the fingertip 1-1 is wrapped and fixed by a fingertip upper shell 1-1-1 and a fingertip lower shell 1-1-2 through a fingertip sleeve 1-1-3; the finger middle 1-2 is formed by connecting and fixing a finger middle upper shell 1-2-1 and a finger middle lower shell 1-2-2 through a finger middle connecting plate 1-2-3, and the finger root 1-3 is formed by connecting and fixing a finger root upper shell 1-3-1 and a finger root lower shell 1-3-2 through a finger root connecting plate 1-3-3; the middle end of the finger root 1-3 near the finger is provided with two finger root cylindrical grooves 1-3-5 for installing a finger middle cylindrical boss 1-2-5 at one end of the finger 1-2, and the middle end of the fingertip 1-1 near the finger is provided with a fingertip cylindrical boss 1-1-4 for installing a finger middle cylindrical groove 1-2-6 at the other end of the finger 1-2.
The four-finger connecting piece 2 is fixedly connected by a four-finger connecting piece upper shell 2-1 and a four-finger connecting piece lower shell 2-2 through a four-finger connecting piece connecting plate 2-3; the four-finger connecting piece upper shell 2-1 and the four-finger connecting piece lower shell 2-2 are connected to form a whole, four rectangular through holes 2-4 are used for mounting four fingers 1, and prismatic holes I2-6 are formed in the two sides of the whole body connected by the four-finger connecting piece upper shell 2-1 and the four-finger connecting piece lower shell 2-2 and are connected with a palm 4 through shafts I43.
The thumb connecting piece 3 is fixedly connected with the thumb connecting piece lower shell 3-2 through the connecting plate 3-3 by the thumb connecting piece upper shell 3-1; the whole body of the upper shell 3-1 of the thumb connecting piece and the lower shell 3-2 of the thumb connecting piece is provided with a rectangular hole 3-4 for mounting a thumb finger 1, and the whole body of the upper shell 3-1 of the thumb connecting piece and the lower shell 3-2 of the thumb connecting piece is provided with a prismatic hole II 3-6 which is connected with a palm 4 through a shaft II 36.
The finger driving device is driven by a finger end servo motor 5, and controls the linkage of 1-2 in the finger and 1-1 in the fingertip through the matching of a gear and a spring damper 24;
the finger clutch device drives the belt pulley 31 to rotate through the stepping motor 29, so that the steel wire rope 33 is controlled to be guided by the pulley 35 to pull the cylindrical gear V21 to move on the guide shaft 36, and the cylindrical gear V21 and the cylindrical gear IV 19 in the finger driving device are disconnected/meshed;
the palm driving device is driven by a servo motor I39 in the palm and drives the four-finger connecting piece 2 to rotate through the matching of a bevel gear and a shaft; driven by a servo motor II 32 in the palm, the thumb connecting piece 3 is driven to rotate through the matching of a conical gear and a shaft.
The finger driving device comprises a finger end servo motor 5, a finger end motor seat 6, a harmonic speed reducer I7, a cylindrical gear I8, a cylindrical gear II 9, a shaft III 10, a shaft IV 11, a bearing II 12, a bearing end cover I13, a bearing seat I14, a bearing I15, an end face gear 16, a cylindrical gear III 17, a shaft V18, a cylindrical gear IV 19, a shaft VI 20, a cylindrical gear V21, an incomplete cylindrical gear I22, a shaft VII 23, a spring damper 24, an incomplete gear II 25, a shaft VIII 26, an incomplete gear III 27 and a shaft IX 28; the finger end servo motor 5 is arranged on the back of a finger root 1-3 of the finger 1 through a finger end motor seat 6; the finger end servo motor 5 drives a cylindrical gear I8 to drive a shaft III 10 to rotate through a cylindrical gear II 9 by a harmonic reducer I7, the shaft III 10 is a hollow shaft and is fixedly installed with a deep groove ball bearing I15 by a bearing seat I14 installed inside a finger root 1-3, the shaft IV 11 is installed inside the hollow shaft III 10 by a bearing II 12 and is fixedly connected with a bearing end cover I13, the tail end of the shaft IV 11 is provided with threads and is connected with a palm driving device, the upper end of the shaft III 10 is connected with an end face gear 16, the end face gear 16 transmits power to the cylindrical gear III 17, the cylindrical gear III 17 is fixedly connected with a shaft V18 and is installed in a finger root shaft hole 1-3-4 inside the finger root 1-3, the cylindrical gear III 17 transmits power to a cylindrical gear IV 19 fixed on a shaft VI 20, and the two ends of the shaft VI 20 are inserted into finger center shaft holes 1-2-4 formed in finger center cylindrical bosses 1-2-5 of the finger center 1-2 finger center Rotation of (2);
when the finger clutch device is closed, the cylindrical gear IV 19 transmits power to the cylindrical gear V21, and then the incomplete gear I22 which is connected to the shaft VII 23 through a key is transmitted to the spring damper 24; the spring damper 24 is respectively hinged with the edges of the cylindrical gear V22 and the incomplete gear II 25 to drive the cylindrical gear V25 to rotate, and the cylindrical gear V25 which is in key connection with the shaft VIII 26 transmits power to the incomplete gear III 27 to drive the shaft IX 28 to rotate; the middle part of the shaft IX 28 is a cylinder and is fixedly connected with a gear VI 27, and the two ends of the shaft IX 28 are inserted into shaft holes arranged on fingertip cylindrical bosses 1-1-4 of the fingertips 1-1 to drive the fingertips 1-1 to rotate;
when the finger clutch device is disconnected, the gear IV 19 and the cylindrical gear V21 are not meshed any more, and the fingertip 1-1 continues to work by the pulling force provided by the steel wire rope 33.
The finger clutch device comprises a stepping motor 29, a coupler 30, a belt wheel 31, a belt 32, a steel wire rope 33, a spring 34, a pulley 35, a guide shaft 36, a guide sleeve 37 and a bearing V38; the stepping motor 29 drives a belt 32 arranged on a belt wheel 31 to rotate through a coupling 30, the belt 32 pulls a steel wire rope 33 to pull the cylindrical gear V21 to slide left and right on a guide shaft 36 through a pulley 35, and then meshing and disconnecting with the cylindrical gear IV 19 are completed; the steel wire rope 33 is connected with the spring 34; an inner ring of the cylindrical gear V21 is in interference fit with an outer ring of a bearing V38, an inner ring of the bearing V38 is in interference fit with a guide sleeve 37, and an inner ring of the guide sleeve 37 is in clearance fit with a guide shaft 36.
The ratio of the rotating speed of the fingertip 1-1 to the rotating speed of the fingertip 1-2 is regulated to be between 0.3 and 0.8.
The palm driving device comprises a palm inner servo motor I39, a harmonic reducer II 40, a conical gear I41, a conical gear II 42, a shaft I43, a bearing seat II 49, a bearing end cover II 50, a bearing III 51, a palm inner servo motor II 44, a harmonic reducer III 45, a conical gear III 46, a conical gear IV 47), a shaft II 48, a bearing IV 52, a bearing seat III 53 and a bearing end cover 54; the palm servo motor I39 drives a conical gear I41 to rotate through a harmonic reducer II 40, and power is transmitted to a shaft I43 through a conical gear II 42; the shaft I43 is provided with four through holes for mounting the shaft IV 11, and the four through holes are connected through nuts 55 to fix the four fingers 1; the shaft I43 is inserted into a through hole I2-6 of the four-finger connecting piece 2 to drive the four-finger connecting piece 2 to rotate, and two ends of the shaft are cylindrical and are connected with the palm 4 through the matching of a bearing III 51, a bearing seat II 49 and a bearing end cover II 50, so that the operation of a palm joint close to the four-finger end is completed; the servo motor II 44 in the palm drives a bevel gear III 46 to rotate through a harmonic reducer III 45, power is transmitted to a shaft II 48 through a bevel gear IV 47, the shaft II 48 is inserted into a through hole II 3-6 of the thumb connecting piece 3 to drive the thumb connecting piece 3 to rotate, the tail end of the shaft II is connected with the palm 4 through the matching of a bearing IV 52, a bearing seat III 53 and a bearing end cover 54, and then the operation of a palm joint at the near thumb end is completed.
A pressure sensor 59 is arranged on the surface of the fingertip 1-1; a TOF depth sensor 60 is mounted at the palm 4.
The invention has the beneficial effects that: the invention provides two using modes for the bionic manipulator through the matching of the clutch device and the driving device. The first method comprises the following steps: when the clutch device is closed, the finger tip and the joints in the fingers are mechanically coupled to form linkage, so that the clutch device is suitable for occasions such as grabbing and holding, and under the condition, the fingers are under-actuated and are convenient to control. When snatching the heavy object, the spring damper compression can make the manipulator also laminate the object shape more, prevents simultaneously that inner structure from crossing moment and damaging. And the second method comprises the following steps: when clutch breaks, the joint's in fingertip and the finger linkage cancellation, the fingertip is fixed by the pulling force that wire rope provided this moment, is applicable to occasions such as touch, playing musical instrument, and the fingertip is a passive joint under this kind of circumstances, can make the fingertip have certain adaptability through the spring on the wire rope, provides moment protection when contacting fragile article promptly, also can protect self structure simultaneously. This bionic mechanical hand passes through clutch's setting to the application of multiple occasion has been realized to comparatively compact, simple structure, very big saving space and cost.
Drawings
FIG. 1 is an external structural view of the present invention;
FIG. 2 is a schematic view of the internal structure of the present invention;
FIG. 3 is a schematic view of the finger structure, the finger driving device and the finger engaging and disengaging device of the present invention;
FIG. 4 is an exploded view of the finger structure of the present invention;
FIG. 5 is a schematic illustration of the finger-neutral structure of the present invention;
FIG. 6 is a schematic view of a four-finger connector of the present invention;
FIG. 7 is a schematic view of the upper shell structure of the four-finger connector of the present invention;
FIG. 8 is a first schematic view of the thumb connector configuration of the present invention;
FIG. 9 is a second schematic view of the thumb connector configuration of the present invention;
FIG. 10 is a schematic view of a palm structure of the present invention;
FIG. 11 is a cross-sectional view of the finger actuation device and finger clutch device configuration of the present invention;
FIG. 12 is a schematic view of the finger drive device and finger clutch device of the present invention;
FIG. 13 is a perspective view of the finger drive device and finger clutch device of the present invention;
FIG. 14 is a partial view of the finger clutch device of the present invention;
FIG. 15 is a cross-sectional view of the finger clutch device of the present invention;
FIG. 16 is a view of the finger and finger actuation device connection of the present invention;
FIG. 17 is a schematic view of the construction of shaft I of the present invention;
FIG. 18 is a schematic view of the construction of shaft II of the present invention;
FIG. 19 is a schematic view of an arc plate configuration of the present invention;
the reference numbers in the figures are: 1. 1-1 part of finger, 1-1 part of finger tip, 1-1-1 part of finger tip upper shell, 1-1-2 parts of finger tip lower shell, 1-1-3 parts of finger tip sleeve, 1-1-4 parts of finger tip cylindrical boss, 1-2 parts of finger middle, 1-2-1 parts of finger middle upper shell, 1-2-2 parts of finger middle lower shell, 1-2-3 parts of finger middle connecting plate, 1-2-4 parts of finger middle shaft hole, 1-2-5 parts of finger middle cylindrical boss, 1-2-6 parts of finger middle cylindrical groove, 1-3 parts of finger root, 1-3-1 parts of finger root upper shell, 1-3-2 parts of finger root lower shell, 1-3-3 parts of finger root connecting plate, 1-3-4 parts of finger root shaft hole, 1-3-5 parts of finger root shaft hole, A finger root cylindrical groove, 2, a four-finger connecting piece, 2-1, a four-finger connecting piece upper shell, 2-2, a four-finger connecting piece lower shell, 2-3, a four-finger connecting piece connecting plate, 2-4, a rectangular through hole, 2-5, a threaded hole I, 2-6, a through hole I, 3, a thumb connecting piece, 3-1, a thumb connecting piece upper shell, 3-2, a thumb connecting piece lower shell, 3-3, a thumb connecting piece connecting plate, 3-4, a rectangular hole, 3-5, a threaded hole II, 3-6, a through hole II, 4, a palm, 5, a finger end servo motor, 6, a finger end motor base, 7, a harmonic reducer I, 8, a cylindrical gear I, 9, a cylindrical gear II, 10, a shaft III, 11, a shaft IV, 12, a bearing II, 13, a bearing end cover I, 14, a bearing base I, 15 and a bearing I, 16. face gear 17, cylindrical gear III, 18, shaft V, 19, cylindrical gear IV, 20, shaft VI, 21, cylindrical gear V, 22, incomplete gear I, 23, shaft VII, 24, spring damper 25, incomplete gear II, 26, shaft VIII, 27, incomplete gear III, 28, shaft IX, 29, stepping motor 30, coupling 31, belt wheel 32, belt 33, wire rope 34, spring 35, pulley 36, guide shaft 37, guide sleeve 38, bearing V, 39, palm servo motor I, 40, harmonic reducer II, 41, conical gear I, 42, conical gear II, 43, shaft I, 44, palm servo motor II, 45, harmonic reducer III, 46, conical gear III, 47, conical gear IV, 48, shaft II, 49, bearing seat II, 50, bearing end cover II, 51, bearing 52, bearing IV, 53. bearing frame III, 54, bearing end cover III, 55, nut, 56, motor cabinet, 57, arc board I, 58, arc board II, 59, pressure sensor, 60, TOF depth sensor, 61, connection flange dish, 62, silica gel pad.
Detailed Description
Example 1: as shown in fig. 1-19, a bionic five-finger manipulator with adaptability comprises a finger 1, a four-finger connector 2, a thumb connector 3, a palm 4, a finger driving device, a finger clutch device and a palm driving device; the fingers 1 are thumb and four fingers, five fingers 1 are provided with matched finger driving devices and finger clutch devices, the thumb is connected with the palm 4 through a thumb connecting piece 3, the four fingers are connected with the palm 4 through a four-finger connecting piece 2, and the palm driving device is used for driving the four-finger connecting piece 2 and the thumb connecting piece 3 to move; the finger clutch device is closed, and is used for the finger driving device to drive the finger 1-2 and the fingertip 1-1 of the finger 1 to be linked; the finger clutch device is disconnected, the finger driving device drives 1-2 of the finger, and the fingertip 1-1 provides pulling force through the finger clutch device.
Further, the fingers can be set to include fingertips 1-1, middle fingers 1-2 and finger roots 1-3; the fingertip 1-1 is wrapped and fixed by a fingertip upper shell 1-1-1 and a fingertip lower shell 1-1-2 through a fingertip sleeve 1-1-3; the middle finger 1-2 is formed by fixedly connecting an upper middle finger shell 1-2-1 and a lower middle finger shell 1-2-2 through a middle finger connecting plate 1-2-3 by screws, and the finger root 1-3 is formed by fixedly connecting a upper finger root shell 1-3-1 and a lower finger root shell 1-3-2 through a finger root connecting plate 1-3-3 by screws; the middle end of the finger root 1-3 near the finger is provided with two finger root cylindrical grooves 1-3-5 for installing a finger middle cylindrical boss 1-2-5 at one end of the finger 1-2, the middle end of the finger tip 1-1 near the finger is provided with a finger tip cylindrical boss 1-1-4 for installing a finger middle cylindrical groove 1-2-6 at the other end of the finger 1-2, so that the finger root 1-3 and the finger middle 1-2, and the finger middle 1-2 and the finger tip 1-1 can rotate relatively.
Furthermore, the four-finger connecting piece 2 can be fixedly connected by a four-finger connecting piece upper shell 2-1 and a four-finger connecting piece lower shell 2-2 through a four-finger connecting piece connecting plate 2-3 through screws; the four-finger connecting piece upper shell 2-1 and the four-finger connecting piece lower shell 2-2 are integrally formed into four rectangular through holes 2-4 for mounting four fingers 1 and fixing the four fingers 1 through screws penetrating through threaded holes I2-5, and prismatic holes I2-6 are formed in two sides of the whole body formed by connecting the four-finger connecting piece upper shell 2-1 and the four-finger connecting piece lower shell 2-2 and are connected with a palm 4 through shafts I43.
Furthermore, the thumb connecting piece 3 can be arranged to be fixedly connected by the upper thumb connecting piece shell 3-1 and the lower thumb connecting piece shell 3-2 through the connecting plate 3-3 by screws; the whole body of the upper shell 3-1 of the thumb connecting piece and the lower shell 3-2 of the thumb connecting piece is provided with a rectangular hole 3-4 for installing a thumb finger 1 and fixing the thumb finger 1 by passing a screw through a threaded hole II 3-5, and the whole body of the upper shell 3-1 of the thumb connecting piece and the lower shell 3-2 of the thumb connecting piece is provided with a prismatic hole II 3-6 connected with a palm 4 by a shaft II 36.
Furthermore, the finger driving device can be driven by a finger end servo motor 5, and controls the linkage of 1-2 in the finger and 1-1 in the finger through the matching of a gear and a spring damper 24; the finger clutch device drives the belt pulley 31 to rotate through the stepping motor 29, so that the steel wire rope 33 is controlled to be guided by the pulley 35 to pull the cylindrical gear V21 to move on the guide shaft 36, and the cylindrical gear V21 and the cylindrical gear IV 19 in the finger driving device are disconnected/meshed; the palm driving device is driven by a servo motor I39 in the palm and drives the four-finger connecting piece 2 to rotate through the matching of a bevel gear and a shaft; driven by a servo motor II 32 in the palm, the thumb connecting piece 3 is driven to rotate through the matching of a conical gear and a shaft.
Further, the finger driving device can be arranged to comprise a finger end servo motor 5, a finger end motor base 6, a harmonic reducer I7, a cylindrical gear I8, a cylindrical gear II 9, a shaft III 10, a shaft IV 11, a bearing II 12, a bearing end cover I13, a bearing seat I14, a bearing I15, an end face gear 16, a cylindrical gear III 17, a shaft V18, a cylindrical gear IV 19, a shaft VI 20, a cylindrical gear V21, an incomplete cylindrical gear I22, a shaft VII 23, a spring damper 24, an incomplete gear II 25, a shaft VIII 26, an incomplete gear III 27 and a shaft IX 28; the finger end servo motor 5 is arranged on the back of a finger root 1-3 of the finger 1 through a finger end motor seat 6; the finger end servo motor 5 drives a cylindrical gear I8 to drive a shaft III 10 to rotate through a cylindrical gear II 9 by a harmonic reducer I7, the shaft III 10 is a hollow shaft and is fixedly installed with a deep groove ball bearing I15 by a bearing seat I14 installed inside a finger root 1-3 through a screw, the shaft IV 11 is installed inside the hollow shaft III 10 through a bearing II 12 and is fixedly connected with a bearing end cover I13, the tail end of the shaft IV 11 is provided with a thread and is connected with a palm driving device, the upper end of the shaft III 10 is connected with an end face gear 16, the end face gear 16 transmits power to the cylindrical gear III 17, the cylindrical gear III 17 is fixedly connected with a shaft V18 and is installed in finger root shaft holes 1-3-4 inside the finger root 1-3, the cylindrical gear III 17 transmits power to a cylindrical gear IV 19 fixed on a shaft VI 20, and the two ends of the shaft VI 20 are inserted into finger middle shaft holes 1-2-4 formed in finger middle cylindrical bosses 1-2-5 of the finger middle finger 12 (in particular, the two ends of the shaft VI 20 are in drum/prism shapes and other non-cylindrical shapes and are inserted into drum/prism holes in the fingers matched with the drum/prism holes); the design of the incomplete gear can not only effectively drive, but also save space;
when the finger clutch device is closed, the cylindrical gear IV 19 transmits power to the cylindrical gear V21, and then the incomplete gear I22 which is connected to the shaft VII 23 through a key is transmitted to the spring damper 24; the spring damper 24 is respectively hinged with the edges of the cylindrical gear V22 and the incomplete gear II 25 to drive the cylindrical gear V25 to rotate, and the cylindrical gear V25 which is in key connection with the shaft VIII 26 transmits power to the incomplete gear III 27 to drive the shaft IX 28 to rotate; the middle part of the shaft IX 28 is a cylinder and is fixedly connected with a gear VI 27, and the two ends of the shaft IX 28 are inserted into shaft holes arranged on fingertip cylindrical bosses 1-1-4 of the fingertip 1-1 to drive the fingertip 1-1 to rotate (specifically, the two ends of the shaft IX are in non-cylindrical shapes such as a drum shape/prism shape and the like and are inserted into drum shape/prism shape holes matched with the drum shape/prism shape holes);
when the finger clutch device is disconnected, the gear IV 19 and the cylindrical gear V21 are not meshed any more, and the fingertip 1-1 continues to work by the pulling force provided by the steel wire rope 33.
Further, the finger clutch device can be arranged to include a stepping motor 29, a coupler 30, a belt wheel 31, a belt 32, a steel wire rope 33, a spring 34, a pulley 35, a guide shaft 36, a guide sleeve 37 and a bearing v 38; the stepping motor 29 drives a belt 32 arranged on a belt wheel 31 to rotate through a coupling 30, the belt 32 pulls a steel wire rope 33 to pull the cylindrical gear V21 to slide left and right on a guide shaft 36 through a pulley 35, and then meshing and disconnecting with the cylindrical gear IV 19 are completed; the steel wire rope 33 is connected with a spring 34 to increase the adaptability of the steel wire rope 33; an inner ring of the cylindrical gear V21 is in interference fit with an outer ring of a bearing V38, an inner ring of the bearing V38 is in interference fit with a guide sleeve 37, and an inner ring of the guide sleeve 37 is in clearance fit with a guide shaft 36. So that the cylindrical gear V21 can move on the guide shaft 36 under the condition of ensuring normal rotation, and the cylindrical gear V21 and the cylindrical gear IV 19 are disconnected/meshed; when the cylindrical gear V21 is disconnected with the cylindrical gear IV 19, the relative positions of the finger center 1-2 and the finger tips 1-1 are fixed, and when the cylindrical gear V21 and the cylindrical gear IV 19 are closed, the finger center 1-2 is linked with the finger tips 1-1.
Further, the ratio of the rotating speed of the fingertip 1-1 to the finger 1-2 can be set to be between 0.3 and 0.8. (the rotating speed ratio of fingertips to fingers is regulated and controlled between 0.3 and 0.8 by adjusting the gear ratio of the spring damper 24 to the center distance of the incomplete gear II 25 to the incomplete gear II 25 and/or the incomplete gear III 27, so that the bionic finger is more suitable for the structural design of human hands to meet the requirements of different occasions.
Further, the palm driving device can be arranged to comprise a palm inner servo motor I39, a harmonic reducer II 40, a conical gear I41, a conical gear II 42, a shaft I43, a bearing seat II 49, a bearing end cover II 50, a bearing III 51, a palm inner servo motor II 44, a harmonic reducer III 45, a conical gear III 46 and a conical gear IV 47), a shaft II 48, a bearing IV 52, a bearing seat III 53 and a bearing end cover 54; the palm servo motor I39 drives a conical gear I41 to rotate through a harmonic reducer II 40, and power is transmitted to a shaft I43 through a conical gear II 42; the shaft I43 is provided with four through holes for mounting the shaft IV 11, and the four through holes are connected through nuts 55 to fix the four fingers 1; the middle part of the shaft I43 is inserted into a through hole I2-6 of the four-finger connecting piece 2 to drive the four-finger connecting piece 2 to rotate (the through hole I is designed to be in a drum/prism shape and other non-cylindrical shapes, and the middle part of the shaft I43 is in a shape matched with a hole), and the two ends of the shaft I43 are cylindrical and are connected with the palm 4 through the matching of a bearing III 51, a bearing seat II 49 and a bearing end cover II 50, so that the operation of a palm joint close to the four-finger end is; the palm inner servo motor II 44 drives the bevel gear III 46 to rotate through the harmonic reducer III 45, power is transmitted to the shaft II 48 through the bevel gear IV 47, the near end of the shaft II 48 is inserted into the through hole II 3-6 of the thumb connecting piece 3 to drive the thumb connecting piece 3 to rotate (the through hole II is designed to be in a drum shape/prism shape and other non-cylindrical shapes, the near end of the shaft II is designed to be in a shape matched with the hole), and the tail end of the shaft II is connected with the palm 4 through the matching of the bearing IV 52, the bearing seat III 53 and the bearing end cover 54, so that the operation of the palm joint.
Further, the fingertip 1-1 can be provided with a pressure sensor 59 on the surface; the pressure sensor feeds back the pressure to the control system, the finger end servo motor 5 makes a response, and the adaptability of the five-finger manipulator is improved by matching the finger driving device with the spring damper 24; a TOF depth sensor 60 is mounted at the palm 4. The distance of the target object is obtained by detecting the flight (round trip) time of the light pulse by continuously sending light pulse to the target and then receiving the light returned from the object by a sensor, and the finger driving device, the finger clutch device and the palm driving device are matched to realize the grabbing.
Furthermore, silica gel pads 62 are adhered to the inner side surfaces of the fingers and the palm; the silica gel pad is in fingertip and finger, indicates in the middle of with indicate that the root of the equal space department is the wave to silica gel diastole when the joint opens, silica gel shrink when the joint is closed.
Further, the inner side surface of the four-finger connecting piece close to the palm can be provided with an arc plate I57, the inner side surface of the palm close to the four-finger connecting piece is provided with an arc plate II 58, the two arc plates are arranged in a vertically staggered mode to prevent interference during rotation, and the mechanical structure of the four-finger connecting piece is protected.
The mechanical hand further comprises a connecting flange plate 61 used for being connected with an external mechanical arm, and the connecting flange plate 61 is installed at the bottom of the palm 4.
The working process of the invention is as follows: taking a cylindrical glass as an example, the finger-engaging means is in a closed state in this manner of use: when the clutch is used, the TOF depth sensor 60 identifies object depth information, the stepping motor 29 drives the belt pulley 31, and the steel wire rope 33 pulls the cylindrical gear V21 to be meshed with the cylindrical gear IV 19, so that the clutch is closed and is adjusted to be in a grabbing mode. Then the manipulator is driven by the mechanical arm connected with the flange plate 61 to move to the vicinity of the glass cup and adjust the posture. Then driven by a servo motor II 44 in the palm, driven by a bevel gear III 46 and a bevel gear IV 47 to enable a palm joint at the near thumb end to run to be vertical to the palm 4 (namely, a panel of a thumb connecting piece 3 connected with the palm 4 runs to be vertical to the palm 4), then five finger end servo motors 5 respectively control middle joints and fingertip joints of five fingers to be unfolded to be vertical, at the moment, the four fingers and the thumb are in an L shape to wrap the water cup when viewed from the side, then a servo motor I39 in the palm mounted on a motor base 59 drives the palm joint at the near four fingers to bend through a bevel gear I41 and a bevel gear II 42 (namely, controls a four-finger connecting piece 2 to bend), and then the five finger end servo motors 5 control the palm joint at the near four fingers to bend through a cylindrical gear I8, a cylindrical gear II 9, an end face gear 16, a cylindrical gear III 17, a cylindrical gear IV 19, a cylindrical gear V21, an incomplete gear, The incomplete gear II 25 and the incomplete gear III 27 respectively control joints in five fingers and fingertip joints to synchronously move to be in a bending state, pressure is detected by a pressure sensor 47 on the surfaces of the fingertips, and when the pressure reaches a certain value, a spring damper 24 is triggered, so that the holding posture of a mechanical hand is more consistent with the shape of a water cup, the structure of the water cup is not damaged, and the result of holding the water cup is finally achieved.
When taking a piano as an example, the finger-engaging device is in an off state in this usage: when the finger tip is used, the stepping motor 29 drives the belt wheel 31, the steel wire rope 33 pulls the gear V21 to be disengaged from the gear IV 19, the finger tip and the finger are disconnected and linked, and the pull force provided by the steel wire rope 33 is used for the finger tip 1-1 to form a passive joint. The fingertip joints are opened vertically under the action of the tensile force of the steel wire rope, and then the five finger end servo motors 5 respectively control the joints in the five finger fingers to move in a bending state through the cylindrical gear I8, the cylindrical gear II 9, the end face gear 16, the cylindrical gear III 17 and the cylindrical gear IV 19 to press the keys.
While the present invention has been described in detail with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.
Claims (10)
1. The utility model provides a bionical five fingers manipulator with adaptability which characterized in that: comprises fingers (1), a four-finger connecting piece (2), a thumb connecting piece (3), a palm (4), a finger driving device, a finger clutch device and a palm driving device; the finger (1) is a thumb and four fingers, the five fingers (1) are provided with a finger driving device and a finger clutch device which are matched, the thumb is connected with a palm (4) through a thumb connecting piece (3), the four fingers are connected with the palm (4) through the four-finger connecting piece (2), and the palm driving device is used for driving the four-finger connecting piece (2) and the thumb connecting piece (3) to move; the finger clutch device is closed, and is used for the finger driving device to drive the middle finger (1-2) and the fingertip (1-1) of the finger (1) to be linked; the finger clutch device is disconnected, the finger driving device drives the finger middle part (1-2), and the fingertip (1-1) provides pulling force through the finger clutch device.
2. The bionic five-finger manipulator with adaptability according to claim 1, characterized in that: the fingers comprise fingertips (1-1), middle fingers (1-2) and finger roots (1-3); the fingertip (1-1) is wrapped and fixed by a fingertip upper shell (1-1-1) and a fingertip lower shell (1-1-2) through a fingertip sleeve (1-1-3); the finger middle (1-2) is fixedly connected by a finger middle upper shell (1-2-1) and a finger middle lower shell (1-2-2) through a finger middle connecting plate (1-2-3), and the finger root (1-3) is fixedly connected by a finger root upper shell (1-3-1) and a finger root lower shell (1-3-2) through a finger root connecting plate (1-3-3); the middle end of the finger root (1-3) near the finger is provided with two finger root cylindrical grooves (1-3-5) for installing a finger middle cylindrical boss (1-2-5) at one end of the finger middle (1-2), and the middle end of the finger tip (1-1) near the finger is provided with a finger tip cylindrical boss (1-1-4) for installing a finger middle cylindrical groove (1-2-6) at the other end of the finger middle (1-2).
3. The bionic five-finger manipulator with adaptability according to claim 1, characterized in that: the four-finger connecting piece (2) is fixedly connected by a four-finger connecting piece upper shell (2-1) and a four-finger connecting piece lower shell (2-2) through a four-finger connecting piece connecting plate (2-3); the four-finger connecting piece upper shell (2-1) and the four-finger connecting piece lower shell (2-2) are connected to form a whole, four rectangular through holes (2-4) are used for mounting four fingers (1), and prismatic holes I (2-6) are formed in two sides of the whole body formed by connecting the four-finger connecting piece upper shell (2-1) and the four-finger connecting piece lower shell (2-2) and are connected with a palm (4) through shafts I (43).
4. The bionic five-finger manipulator with adaptability according to claim 1, characterized in that: the thumb connecting piece (3) is fixedly connected by an upper thumb connecting piece shell (3-1) and a lower thumb connecting piece shell (3-2) through a connecting plate (3-3); the whole body of the upper shell (3-1) of the thumb connecting piece and the lower shell (3-2) of the thumb connecting piece is provided with a rectangular hole (3-4) for mounting a thumb finger (1), and the whole body of the upper shell (3-1) of the thumb connecting piece and the lower shell (3-2) of the thumb connecting piece is provided with a prismatic hole II (3-6) which is connected with a palm (4) through a shaft II (36).
5. The bionic five-finger manipulator with adaptability according to claim 1, characterized in that: the finger driving device is driven by a finger end servo motor (5), and controls the linkage of the middle finger (1-2) and the fingertip (1-1) through the matching of a gear and a spring damper (24);
the finger clutch device drives a belt pulley (31) to rotate through a stepping motor (29), so that a steel wire rope (33) is controlled to be guided by a pulley (35) to pull a cylindrical gear V (21) to move on a guide shaft (36), and disconnection/engagement between the cylindrical gear V (21) and a cylindrical gear IV (19) in the finger driving device is realized;
the palm driving device is driven by a servo motor I (39) in the palm and drives the four-finger connecting piece (2) to rotate through the matching of a conical gear and a shaft; driven by a servo motor II (32) in the palm, the thumb connecting piece (3) is driven to rotate through the matching of a conical gear and a shaft.
6. The bionic five-finger manipulator with adaptability according to claim 1 or 5, characterized in that: the finger driving device comprises a finger end servo motor (5), a finger end motor base (6), a harmonic reducer I (7), a cylindrical gear I (8), a cylindrical gear II (9), a shaft III (10), a shaft IV (11), a bearing II (12), a bearing end cover I (13), a bearing seat I (14), a bearing I (15), an end face gear (16), a cylindrical gear III (17), a shaft V (18), a cylindrical gear IV (19), a shaft VI (20), a cylindrical gear V (21), an incomplete cylindrical gear I (22), a shaft VII (23), a spring damper (24), an incomplete gear II (25), a shaft VIII (26), an incomplete gear III (27) and a shaft IX (28); the finger end servo motor (5) is arranged on the back of a finger root (1-3) of the finger (1) through a finger end motor base (6); a finger end servo motor (5) drives a cylindrical gear I (8) through a harmonic reducer I (7) to drive a shaft III (10) to rotate through a cylindrical gear II (9), the shaft III (10) is a hollow shaft and is fixedly installed with a deep groove ball bearing I (15) through a bearing seat I (14) installed inside a finger root (1-3), a shaft IV (11) is installed inside the hollow shaft III (10) through a bearing II (12) and is fixedly connected with a bearing end cover I (13), the tail end of the shaft IV (11) is provided with threads and is connected with a palm driving device, the upper end of the shaft III (10) is connected with an end face gear (16), the end face gear (16) transmits power to the cylindrical gear III (17), the cylindrical gear III (17) is fixedly connected with a shaft V (18) and installed in finger root shaft holes (1-3-4) inside the finger root (1-3), the cylindrical gear III (17) transmits the power to a cylindrical gear IV (19) fixed on a shaft VI (20), two ends of a shaft VI (20) are inserted into finger center shaft holes (1-2-4) formed in finger center cylindrical bosses (1-2-5) of the finger center (1-2) to drive the finger center (1-2) to rotate;
when the finger clutch device is closed, the cylindrical gear IV (19) transmits power to the cylindrical gear V (21), and then the power is transmitted to the spring damper (24) through the incomplete gear I (22) which is connected to the shaft VII (23) through a key; the spring damper (24) is respectively hinged with the edges of the cylindrical gear V (22) and the incomplete gear II (25) to drive the cylindrical gear V (25) to rotate, and the cylindrical gear V (25) which is in key connection with the shaft VIII (26) transmits power to the incomplete gear III (27) to drive the shaft IX (28) to rotate; the middle part of the shaft IX (28) is a cylinder and is fixedly connected with a gear VI (27), and the two ends of the shaft IX (28) are inserted into shaft holes arranged on fingertip cylindrical bosses (1-1-4) of the fingertips (1-1) to drive the fingertips (1-1) to rotate;
when the finger clutch device is disconnected, the gear IV (19) and the cylindrical gear V (21) are not meshed any more, and the finger tips (1-1) continue to work by providing pulling force through the steel wire rope (33).
7. The bionic five-finger manipulator with adaptability according to claim 1 or 5, characterized in that: the finger clutch device comprises a stepping motor (29), a coupler (30), a belt wheel (31), a belt (32), a steel wire rope (33), a spring (34), a pulley (35), a guide shaft (36), a guide sleeve (37) and a bearing V (38); the stepping motor (29) drives a belt (32) arranged on a belt wheel (31) to rotate through a coupler (30), the belt (32) pulls a steel wire rope (33) to pull a cylindrical gear V (21) to slide left and right on a guide shaft (36) through a pulley (35), and then meshing and disconnecting with the cylindrical gear IV (19) are completed; the steel wire rope (33) is connected with the spring (34); an inner ring of the cylindrical gear V (21) is in interference fit with an outer ring of a bearing V (38), an inner ring of the bearing V (38) is in interference fit with a guide sleeve (37), and an inner ring of the guide sleeve (37) is in clearance fit with a guide shaft (36).
8. The bionic five-finger manipulator with adaptability according to claim 1, characterized in that: the ratio of the rotating speed of the fingertip (1-1) to the rotating speed of the middle finger (1-2) is regulated to be between 0.3 and 0.8.
9. The bionic five-finger manipulator with adaptability according to claim 1 or 5, characterized in that: the palm driving device comprises a palm inner servo motor I (39), a harmonic reducer II (40), a conical gear I (41), a conical gear II (42), a shaft I (43), a bearing seat II (49), a bearing end cover II (50), a bearing III (51), a palm inner servo motor II (44), a harmonic reducer III (45), a conical gear III (46), a conical gear IV (47), a shaft II (48), a bearing IV (52), a bearing seat III (53) and a bearing end cover (54); the palm inner servo motor I (39) drives a conical gear I (41) to rotate through a harmonic reducer II (40), and power is transmitted to a shaft I (43) through the conical gear II (42); the shaft I (43) is provided with four through holes for mounting a shaft IV (11), and the shaft I is connected with the shaft IV through nuts (55) to further fix four fingers (1); the shaft I (43) is inserted into a through hole I (2-6) of the four-finger connecting piece (2) to drive the four-finger connecting piece (2) to rotate, and two ends of the shaft I are cylindrical and are connected with the palm (4) through the matching of a bearing III (51), a bearing seat II (49) and a bearing end cover II (50), so that the operation of a palm joint close to the four-finger end is completed; servo motor II (44) drives bevel gear III (46) rotation through harmonic reducer III (45) in the palm, gives axle II (48) with power transmission through bevel gear IV (47), axle II (48) inject thumb connecting piece (3) in through-hole II (3-6) of thumb connecting piece (3) and drive thumb connecting piece (3) and rotate, and the end is connected with palm (4) through the cooperation of bearing IV (52), bearing frame III (53), bearing cap (54), and then accomplishes the operation of nearly thumb end palm joint.
10. The bionic five-finger manipulator with adaptability according to claim 1, characterized in that: a pressure sensor (59) is arranged on the surface of the fingertip (1-1); and a TOF depth sensor (60) is installed at the palm (4).
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| CN202011460986.2A CN112720541B (en) | 2020-12-11 | 2020-12-11 | Bionic five-finger manipulator with adaptability |
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| CN202011460986.2A CN112720541B (en) | 2020-12-11 | 2020-12-11 | Bionic five-finger manipulator with adaptability |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115781686A (en) * | 2022-12-26 | 2023-03-14 | 北京悬丝医疗科技有限公司 | Mechanical arm for remotely diagnosing pulse and control method |
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| JP2003211383A (en) * | 2002-01-15 | 2003-07-29 | Mitsubishi Heavy Ind Ltd | Robot hand |
| CN1365877A (en) * | 2002-03-15 | 2002-08-28 | 清华大学 | Multi-finger hand simulating human hand for robot |
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| CN115781686A (en) * | 2022-12-26 | 2023-03-14 | 北京悬丝医疗科技有限公司 | Mechanical arm for remotely diagnosing pulse and control method |
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