CN113183122A - Rigidity-variable single-finger framework of rigid-flexible coupling dexterous hand - Google Patents
Rigidity-variable single-finger framework of rigid-flexible coupling dexterous hand Download PDFInfo
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- CN113183122A CN113183122A CN202110406490.5A CN202110406490A CN113183122A CN 113183122 A CN113183122 A CN 113183122A CN 202110406490 A CN202110406490 A CN 202110406490A CN 113183122 A CN113183122 A CN 113183122A
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- knuckle
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- finger
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- 230000008878 coupling Effects 0.000 title claims abstract description 9
- 238000010168 coupling process Methods 0.000 title claims abstract description 9
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 9
- 239000000463 material Substances 0.000 claims description 7
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 3
- 239000011347 resin Substances 0.000 claims description 3
- 229920005989 resin Polymers 0.000 claims description 3
- 239000000741 silica gel Substances 0.000 claims description 3
- 229910002027 silica gel Inorganic materials 0.000 claims description 3
- 238000010146 3D printing Methods 0.000 claims description 2
- 210000001145 finger joint Anatomy 0.000 abstract description 7
- 210000003811 finger Anatomy 0.000 description 17
- 238000005452 bending Methods 0.000 description 5
- 210000000236 metacarpal bone Anatomy 0.000 description 5
- 210000005069 ears Anatomy 0.000 description 4
- 210000003205 muscle Anatomy 0.000 description 4
- 210000003813 thumb Anatomy 0.000 description 4
- 210000003010 carpal bone Anatomy 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 210000004712 air sac Anatomy 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 229910001285 shape-memory alloy Inorganic materials 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 210000004932 little finger Anatomy 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rheumatology (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a variable-rigidity single-finger framework of a rigid-flexible coupling dexterous hand, which comprises fingertips, middle knuckles and end knuckles, wherein the middle knuckles and the fingertips as well as the middle knuckles and the end knuckles are movably connected through joints; the joint comprises a shell formed by mutually buckling a first part and a second part, an air bag arranged in the shell and a group of rotary bosses which are arranged on the outer wall of the shell and are arranged coaxially; one of the middle knuckle and the fingertip which are connected with each other is rotationally connected with the rotating boss, and one of the middle knuckle and the last knuckle which are connected with each other is rotationally connected with the rotating boss; the shell is provided with a pipe orifice; when the air bag is expanded, the outer wall of the air bag abuts against the inner wall of the shell to drive the first portion, the second portion and the rotating boss to move towards two sides along the axis, so that the outer wall of the shell and the rotating boss abut against fingertips, middle knuckles or end knuckles. The invention can realize the purpose of quickly and efficiently changing the rigidity of the finger joint of the soft robot, so that the fingers can better fit with an object and can better grab a damageable object.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a variable-rigidity single-finger framework of a rigid-flexible coupling dexterous hand.
Background
The first industrial robot has been known as early as half a century ago, and research systems for rigid body robots have also become well established. The application of the robot is comprehensively developed and popularized in the industrial aspect. With the development of science and technology and the improvement of living standard, people hope that the application and popularization of the robot can not only enter the life in the industrial field, but also be applied more practically. However, there are some problems, such as that the existing rigid body robot has weak interactivity and a single driving mode, and most of the rigid body robots are driven by motors, and such a driving mode causes large inertia in the process of movement. To solve this problem, it is desirable that the robot can directly interact with the human and the environment. The popularization of such robots can be applied in many aspects, such as: rehabilitation, assistance for the elderly, human-machine cooperation, and the like.
Thus, scientists have been looking to improve on such problems by designing soft-touch or continuous-touch robots. The soft tentacle robot is made of soft materials, and has the advantage that the soft tentacle robot can realize the movement and action which can not be completed by a plurality of rigid robots. For example: twisting, stretching, flexible contact, etc. However, the soft robot sacrifices rigidity to obtain the characteristics of high flexibility and infinite degree of freedom, and the reason is that the soft robot lacks rigidity, so that the robot is difficult to use in life. How to enable a soft robot to rapidly improve the rigidity of the robot without changing the characteristics of high flexibility and infinite degree of freedom is a popular topic all the time.
The finger joint of the robot is the most frequently interacted part with the human, so the problem of rigidity of the single finger joint of the robot is the problem to be solved at present.
Patent specification No. CN111185927A discloses a flexible dexterous hand comprising a flexible palm and flexible fingers mounted on the flexible palm. The rigidity of the flexible finger is poor, and the flexible finger is difficult to apply in life.
Patent specification No. CN111993449A discloses a multi-degree-of-freedom flexible dexterous hand based on shape memory alloy, which comprises: carpal bones, thumb, index finger, middle finger, ring finger, little finger and joint mechanisms thereof; each finger comprises a metacarpal bone and a bendable section coated with flexible materials, the bendable section of the thumb is fixed on the connecting piece and is directly connected with the metacarpal bone, the metacarpal bone of the thumb and the carpal bone are connected by using a cross-axis joint, two rotational degrees of freedom of forward and lateral swinging of the thumb are realized, the bendable sections of the rest four fingers are fixed on the connecting piece and are connected with the metacarpal bone through rotating shaft joints, the rotational degrees of freedom of lateral swinging are realized, and the metacarpal bones of the four fingers are directly and fixedly connected with the carpal bone; the bendable section is driven to bend and deform and the joint swings by heating the shape memory alloy arranged in the bendable section and on the side surface of the finger; the flexible sensor array attached to the surface of the finger can detect the bending and swinging angles of the finger. In the scheme, each finger joint has flexible bending capacity, but the rigidity of the finger joint cannot be changed quickly.
Disclosure of Invention
The invention aims to provide a rigidity-variable single-finger framework of a rigid-flexible coupling dexterous hand, which can quickly and efficiently change the rigidity of finger joints of a soft robot, so that fingers can better fit an object and can better grab a damageable object.
A variable-rigidity single-finger framework of a rigid-flexible coupling dexterous hand comprises fingertips, middle knuckles and end knuckles, wherein the middle knuckles and the fingertips as well as the middle knuckles and the end knuckles are movably connected through joints;
the joint comprises a shell formed by mutually buckling a first part and a second part, an inflatable air bag arranged in the shell and a group of rotating bosses which are arranged on the outer wall of the shell and are coaxially arranged, wherein the rotating bosses are vertical to buckling surfaces of the first part and the second part;
one of the middle knuckle and the fingertip which are connected with each other is rotationally connected with the rotating boss, and one of the middle knuckle and the last knuckle which are connected with each other is rotationally connected with the rotating boss; the rotation directions of the fingertips and the middle knuckle are consistent; the shell is provided with a pipe orifice for inserting an air pipe for inflating the air bag;
when the air bag is expanded, the outer wall of the air bag abuts against the inner wall of the shell to drive the first portion, the second portion and the rotating boss to move towards two sides along the axis, so that the outer wall of the shell and the rotating boss abut against fingertips, middle knuckles or end knuckles.
In the scheme, the rigidity of the single-finger framework is changed by driving the joint shell and the rotary boss to generate extrusion friction with the corresponding finger tip, middle knuckle or end knuckle through the inflation and expansion of the air bag; the single-finger framework has almost no influence on the movement of external pneumatic muscles when the rigidity of the single-finger framework is not changed, so that the single-finger framework can realize the common movement along with the pneumatic muscles. The single-finger framework does not influence the actual motion state of the robot hand when changing rigidity, and the process of changing rigidity is effective and efficient.
Preferably, a spherical cavity for placing the air bag is arranged in the shell, and the rotary boss is arranged on the outer wall of the spherical cavity.
Preferably, the pipe orifice is of an arc structure, so that the inflatable air pipe is not pulled when the single-finger framework is bent.
Preferably, the housing includes a fixed connection portion;
one of the middle knuckle and the fingertip which are connected with each other is provided with a first rotating groove for the rotating boss to extend into, and the other is provided with a first sliding groove for the fixed connecting part to extend into;
one of the middle knuckle and the last knuckle which are connected with each other is provided with a second rotating groove for the rotating boss to extend into, and the other one is provided with a second sliding groove for the fixed connecting part to extend into.
Preferably, the fixed connection part is a T-shaped boss, and the first sliding groove and the second sliding groove are T-shaped sliding grooves matched with the T-shaped boss.
Preferably, the end part of the middle knuckle connected with the fingertips is provided with first connecting lugs distributed oppositely, the first rotating grooves are respectively arranged on the corresponding first connecting lugs, and the first sliding grooves are arranged on the end part of the fingertips connected with the middle knuckle.
Preferably, the end part of the middle knuckle connected with the end knuckle is provided with second engaging lugs distributed oppositely, the second rotating grooves are respectively arranged on the corresponding second engaging lugs, and the second sliding grooves are arranged on the end part of the end knuckle connected with the middle knuckle.
Preferably, the finger tip, the middle knuckle, the end knuckle and the shell of the joint are all formed by 3D printing of resin materials; the material of gasbag is silica gel.
The invention has the beneficial effects that:
(1) the invention realizes that the rigidity of the finger joint of the soft robot is changed rapidly and efficiently by driving the joint shell and the rotary lug boss to generate extrusion friction with the corresponding fingertip, middle knuckle or end knuckle through the inflation and expansion of the air bag, so that the finger can be better attached to an object and can better grab a damageable object.
(2) The single-finger framework has almost no influence on the movement of external pneumatic muscles when the rigidity of the single-finger framework is not changed, so that the single-finger framework can realize the common movement along with the pneumatic muscles. The single-finger framework does not influence the actual motion state of the robot hand when changing rigidity, and the process of changing rigidity is effective and efficient.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an exploded view of the joint;
FIG. 3 is a schematic diagram of a fingertip configuration;
FIG. 4 is a side cross-sectional schematic view of a fingertip;
FIG. 5 is a schematic structural view of a middle knuckle;
FIG. 6 is a schematic structural view of the distal knuckle;
FIG. 7 is a side cross-sectional view of the distal knuckle;
FIG. 8 is a schematic view of the assembly of a fingertip and a knuckle;
fig. 9 is a schematic view of the assembly of the middle knuckle and the joint.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in figures 1-9, the variable-rigidity single-finger skeleton of the rigid-flexible coupling dexterous hand comprises a fingertip 1, a middle knuckle 2 and a tail knuckle 3, wherein the middle knuckle 2 is movably connected with the fingertip 1, and the middle knuckle 2 is movably connected with the tail knuckle 3 through a joint 4.
The joint 4 comprises a shell 41 formed by mutually buckling a first part and a second part, an air bag 42 arranged in the shell 41 and a group of rotating bosses 43 which are arranged on the outer wall of the shell 41 and are coaxially arranged; wherein the rotary boss 43 is movable along the axis; the housing 41 is provided with a nozzle 411 into which an air tube for inflating the air bladder 42 is inserted, so that the air bladder 42 has an inflated state in an inflated state.
In this embodiment, a spherical cavity for placing the airbag 42 is disposed in the housing 41, the rotary boss 43 is disposed on an outer wall of the spherical cavity, and the rotary boss 43 is perpendicular to the fastening surfaces of the first and second portions, that is, the outer walls of the first and second portions are correspondingly disposed with one rotary boss 43. Moreover, the spout 411 is particularly provided on the first portion or the second portion; when the air bag 42 is inflated, the outer wall of the air bag 42 abuts against the inner wall of the housing 41 to drive the first portion, the second portion and the rotating boss 43 to move to both sides along the above-mentioned axis.
In some alternative embodiments, the nozzle 411 is configured in an arc-shaped configuration so that the inflation tube does not pull when the single finger framework is bent.
One of the middle knuckle 2 and the fingertip 1 connected with each other is rotatably connected with the rotating boss 43, and one of the middle knuckle 2 and the end knuckle 3 connected with each other is rotatably connected with the rotating boss 43.
Specifically, the housing 41 further includes a fixed connection portion 412; one of the middle knuckle 2 and the fingertip 1 which are connected with each other is provided with a first rotating groove 211 for the rotating boss 43 to extend into, and the other is provided with a first sliding groove 11 for the fixed connecting part 412 to extend into; one of the middle knuckle 2 and the last knuckle 3 connected with each other is provided with a second rotating groove 221 for the rotating boss 43 to extend into, and the other is provided with a second sliding groove 31 for the fixed connecting part 412 to extend into. The fixing connection part 412 is disposed at a joint of the first part and the second part, and when the first part and the second part are buckled, the complete fixing connection part 412 is formed.
In this embodiment, the end of the middle knuckle 2 connected to the fingertip 1 is provided with the first connecting ears 21 distributed oppositely, the first rotating grooves 211 are respectively disposed on the corresponding first connecting ears 21, and the first sliding groove 11 is disposed on the end of the fingertip 1 connected to the middle knuckle 2.
In the same structure, the end of the middle knuckle 2 connected with the end knuckle 3 is provided with the second engaging lugs 22 distributed oppositely, the second rotating grooves 221 are respectively arranged on the corresponding second engaging lugs 22, and the second sliding grooves 31 are arranged on the end of the end knuckle 3 connected with the middle knuckle 2.
The joint 4 is fixed by the cooperation of the fixed connection part 412 and the first and second sliding grooves 11 and 31, in this embodiment, the fixed connection part 412 is a T-shaped boss, the first and second sliding grooves 11 and 31 are T-shaped sliding grooves cooperating with the T-shaped boss, and when the first and second parts of the housing 41 are separated, the T-shaped boss is separated and slides in the corresponding T-shaped sliding groove.
Through the cooperation of rotatory boss 43 and first rotatory recess 211, the rotatory recess 221 of second, realize fingertip 1, well knuckle 2's bending capacity, in this embodiment, first rotatory recess 211 and the rotatory recess 221 of second adopt the round hole structure, and rotatory boss 43 specifically is the round platform structure, and the top diameter of round platform is less than the round hole diameter, and the root diameter is greater than the round hole diameter, can push up tightly when making things convenient for the round platform to stretch into the round hole.
It should be noted that: in this embodiment, the connecting lines between the first connecting ears 21 and the second connecting ears 22 are parallel to each other, so as to ensure the bending directions of the fingertips 1 and the middle knuckles 2 to be consistent.
In this embodiment, the first part and the second part of the shell 41 and the rotating boss 43 are all integrally formed, and the shell 41 of the fingertip 1, the middle knuckle 2, the end knuckle 3 and the joint 4 is all 3D printed and formed by resin material; the material of the air bag 42 is silica gel.
The rigidity changing principle of the single-finger framework of the invention is as follows:
when the air bag 42 is not inflated, the shell 41 and the rotating boss 43 of the joint 4 are not pressed against the first engaging lug 21 and the second engaging lug 22 of the middle knuckle 2, and the fingertips 1 and the middle knuckle 2 have good bending capability.
When the air bag 42 is inflated, the air bag 42 is continuously inflated to press the inner wall of the housing 41 to drive the first part, the second part and the rotating boss 43 to move towards two sides along the axis, the outer wall of the housing 41 and the rotating boss 43 continuously press the first connecting lug 21 and the second connecting lug 22 of the middle knuckle 2 to generate friction, and the outer wall of the housing 41 and the rotating boss 43 are simultaneously clamped to achieve a good stiffening effect.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.
Claims (8)
1. The utility model provides a flexible dexterous hand's of rigid-flexible coupling variable rigidity single finger skeleton, includes fingertip, middle finger knuckle and last finger knuckle, its characterized in that: the middle knuckle and the finger tip as well as the middle knuckle and the end knuckle are movably connected through joints;
the joint comprises a shell formed by mutually buckling a first part and a second part, an inflatable air bag arranged in the shell and a group of rotating bosses which are arranged on the outer wall of the shell and are coaxially arranged, wherein the rotating bosses are vertical to buckling surfaces of the first part and the second part;
one of the middle knuckle and the fingertip which are connected with each other is rotationally connected with the rotating boss, and one of the middle knuckle and the last knuckle which are connected with each other is rotationally connected with the rotating boss; the rotation directions of the fingertips and the middle knuckle are consistent; the shell is provided with a pipe orifice for inserting an air pipe for inflating the air bag;
when the air bag is expanded, the outer wall of the air bag abuts against the inner wall of the shell to drive the first portion, the second portion and the rotating boss to move towards two sides along the axis, so that the outer wall of the shell and the rotating boss abut against fingertips, middle knuckles or end knuckles.
2. The variable stiffness single finger armature of a rigid-flexible coupled dexterous hand of claim 1, wherein: be provided with the spherical chamber that is used for placing the gasbag in the casing, rotatory boss sets up on the outer wall in spherical chamber.
3. The variable stiffness single finger armature of a rigid-flexible coupled dexterous hand of claim 1, wherein: the pipe orifice is of an arc-shaped structure.
4. The variable stiffness single finger skeleton of a rigid-flexible coupled dexterous hand of any one of claims 1-3, wherein: the housing includes a fixed connection;
one of the middle knuckle and the fingertip which are connected with each other is provided with a first rotating groove for the rotating boss to extend into, and the other is provided with a first sliding groove for the fixed connecting part to extend into;
one of the middle knuckle and the last knuckle which are connected with each other is provided with a second rotating groove for the rotating boss to extend into, and the other one is provided with a second sliding groove for the fixed connecting part to extend into.
5. The variable stiffness single finger armature of a rigid-flexible coupled dexterous hand of claim 4, wherein: the fixed connection part is a T-shaped boss, and the first sliding groove and the second sliding groove are T-shaped sliding grooves matched with the T-shaped boss.
6. The variable stiffness single finger skeleton of a rigid-flexible coupling dexterous hand of claim 4, wherein: the end part of the middle knuckle connected with the finger tip is provided with first connecting lugs which are distributed oppositely, the first rotating grooves are respectively arranged on the corresponding first connecting lugs, and the first sliding groove is arranged on the end part of the finger tip connected with the middle knuckle.
7. The variable stiffness single finger armature of a rigid-flexible coupled dexterous hand of claim 4, wherein: the end part of the middle knuckle connected with the last knuckle is provided with second connection lugs distributed relatively, the second rotary grooves are respectively arranged on the corresponding second connection lugs, and the second sliding grooves are arranged on the end part of the middle knuckle connected with the last knuckle.
8. The variable stiffness single finger armature of a rigid-flexible coupled dexterous hand of claim 1, wherein: the finger tip, the middle knuckle, the end knuckle and the shell of the joint are all formed by 3D printing of resin materials; the material of gasbag is silica gel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110406490.5A CN113183122A (en) | 2021-04-15 | 2021-04-15 | Rigidity-variable single-finger framework of rigid-flexible coupling dexterous hand |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110406490.5A CN113183122A (en) | 2021-04-15 | 2021-04-15 | Rigidity-variable single-finger framework of rigid-flexible coupling dexterous hand |
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| CN113183122A true CN113183122A (en) | 2021-07-30 |
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| CN202110406490.5A Pending CN113183122A (en) | 2021-04-15 | 2021-04-15 | Rigidity-variable single-finger framework of rigid-flexible coupling dexterous hand |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113858254A (en) * | 2021-11-08 | 2021-12-31 | 哈尔滨工业大学（深圳） | Rigidity-variable soft manipulator |
| CN115610761A (en) * | 2022-11-10 | 2023-01-17 | 秦皇岛力拓科技有限公司 | Full-automatic equipment for packing with cooperation arm |
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2021
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| CN113858254A (en) * | 2021-11-08 | 2021-12-31 | 哈尔滨工业大学（深圳） | Rigidity-variable soft manipulator |
| CN115610761A (en) * | 2022-11-10 | 2023-01-17 | 秦皇岛力拓科技有限公司 | Full-automatic equipment for packing with cooperation arm |
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