CN113752245A - Self-adaptive device of rope-driven under-actuated bionic five-finger manipulator - Google Patents
Self-adaptive device of rope-driven under-actuated bionic five-finger manipulator Download PDFInfo
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- CN113752245A CN113752245A CN202111113726.2A CN202111113726A CN113752245A CN 113752245 A CN113752245 A CN 113752245A CN 202111113726 A CN202111113726 A CN 202111113726A CN 113752245 A CN113752245 A CN 113752245A
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- finger
- rope
- guide rail
- pulley
- sliding block
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- 241000203475 Neopanax arboreus Species 0.000 title claims abstract description 28
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 23
- 210000003811 finger Anatomy 0.000 claims description 92
- 210000003813 thumb Anatomy 0.000 claims description 32
- 238000005452 bending Methods 0.000 claims description 13
- 210000003205 muscle Anatomy 0.000 claims description 6
- 230000003044 adaptive effect Effects 0.000 claims description 5
- 210000001145 finger joint Anatomy 0.000 claims description 3
- 238000000034 method Methods 0.000 description 7
- 230000007246 mechanism Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 229920000742 Cotton Polymers 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000007547 defect 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
- 238000009776 industrial production Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
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Classifications
-
- 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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a self-adaptive device of a rope line driving type under-actuated bionic five-finger manipulator, which comprises a hollow palm and also comprises: the finger traction rope, the pulleys, the sliders, the linear guide rails and the slider driving wires are arranged on the upper bottom surface and the lower bottom surface inside the hollowed palm, parallel guide rail fixing grooves are formed in the upper bottom surface and the lower bottom surface and used for placing and fixing the linear guide rails, the linear guide rails are divided into an upper guide rail and a lower guide rail, the pulleys are slidably arranged between the upper guide rail and the lower guide rail, grooves used for installing the sliders are further formed in the upper guide rail and the lower guide rail respectively, the pulleys are arranged between the two sliders, two finger traction ropes are arranged on each pulley and used for controlling the two fingers to bend, and the slider driving wires are connected with the sliders and used for driving the sliders to move on the linear guide rails. The invention adopts a simple and low-cost movable pulley system, and can effectively ensure the self-adaptability of the under-actuated manipulator.
Description
Technical Field
The invention belongs to the technical field of five-finger manipulators, and particularly relates to a rope line driving type underactuated five-finger manipulator.
Background
The common driving forms of the five-finger bionic manipulator commonly used at present are as follows: a cord-driven type, a link-driven type, a knuckle motor-driven type, and an air pressure-driven type. Among them, the cord driving type is widely used because of its simple structure, low cost, light weight and good driving effect. In the rope line driving type five-finger manipulator, compared with the full-driving five-finger manipulator, the underactuated five-finger manipulator can realize most functions of the full-driving manipulator and greatly reduce the cost, the weight and the complexity of the structure. When the use requirement of the five-finger manipulator is not very high, the underactuated five-finger manipulator is a very suitable choice. However, due to the limitation of the manipulator, two or more fingers of the manipulator often move simultaneously, and after one finger grasps an object and is clamped, other fingers are also clamped simultaneously, so that the object is difficult to grasp by all fingers when the object is grasped, and the under-actuated five-finger manipulator cannot be widely popularized.
After retrieval, the closest technology is as follows: reference 1, CN201720588620.0 the utility model relates to a three finger manipulators of formula underactuated are driven to self-adaptation rope, including palm, finger subassembly, robotic wrist, the finger subassembly is rotated the finger by 1 first fixed finger that the structure is the same and 2 seconds and is constituteed, the bottom of first fixed finger is fixed palm is last, the second rotates the finger with fix palm center and enable the second rotates the finger and links to each other along palm axis horizontal pivoted gear revolve mechanism. The utility model discloses stable performance is reliable, compact structure, practical, nimble, can carry out high-efficient cooperation with industrial robot, improves industrial production's degree of automation.
Disclosure of Invention
The present invention is directed to solving the above problems of the prior art. A self-adaptive device of a rope-driven under-actuated bionic five-finger manipulator is provided. The technical scheme of the invention is as follows:
the utility model provides a rope line driving type's bionic five fingers manipulator's self-adaptability device of owe, includes a fretwork palm, and it still includes: the upper bottom surface and the lower bottom surface inside the hollowed palm are respectively provided with a parallel guide rail fixing groove for placing and fixing the linear guide rail, the linear guide rail is divided into an upper guide rail and a lower guide rail, the pulley is slidably arranged between the upper guide rail and the lower guide rail, the upper guide rail and the lower guide rail are respectively provided with a groove for mounting the slider, the pulley is arranged between the two sliders, each pulley is provided with two finger traction ropes for controlling the two fingers to bend, and the slider driving wire is connected with the slider and used for driving the slider to move on the linear guide rail; after the elastic reset rope of the palm is fixed at the hollow part inside the fingertip, the elastic reset rope of the palm shuttles back parts of all the finger joints and is fixed at the fixed end at the joint of the palm and the root parts of the fingers; the thumb rotating shaft groove is arranged at the position of the thumb of the palm and used for placing and fixing the rotating shaft of the thumb, and the thenar muscle imitating part of the thumb can rotate around the rotating shaft of the thumb. Each finger traction cord controls the movement and bending of two fingers through a movable pulley system consisting of a pulley and a sliding block, when one finger is bent, the finger traction cord controls the other finger to be bent in a self-adaptive mode through the movable pulley system, and when the bent finger needs to be straightened, the finger is reset through an elastic reset rope.
Furthermore, the thumb rotating shaft groove is a cylindrical groove.
Furthermore, a power source for providing power for the slider driving wire is further arranged, the power source passes through a steering engine or a motor, and the power source is fixed with the manipulator arm part together through a fixing frame.
Furthermore, the pulley is a movable pulley, and when a finger traction cord passes through the waist of the movable pulley from two ends in a tangent manner and the slider drives the traction pulley or the slider to move, the movable pulley and the linear guide rail slider system form a movable pulley system.
Furthermore, the upper surface and the lower surface of the sliding block are oppositely arranged in parallel, the sliding blocks are connected through the double-end stud, the upper sliding block and the lower sliding block can synchronously move linearly along the guide rail, a funnel-shaped pulley which is symmetrical up and down is arranged between the two sliding blocks, and the pulley, the object fixing hole of the upper sliding block and the object fixing hole of the lower sliding block and the double-end stud are all arranged on the same axis.
Furthermore, two sections of the traction rope of the same finger control the bending of two adjacent fingers, one end of the traction rope penetrates out to control the bending of one finger; the other end of the rope passes through the outer edge of the waist of the pulley but is not fixed on the pulley and then is connected with another finger and controls the bending of the other finger, so that the traction rope passes through the first finger, the pulley and the second finger and then is in a V shape; one end of the sliding block driving wire is fixed on the sliding block or the pulley, the other end of the sliding block driving wire is connected with the motor or the steering engine, and the sliding block can be dragged to move linearly by the rotation of the motor or the steering engine.
Furthermore, the elastic reset rope enables the finger to reset to an extension state, one end of the elastic reset rope is fixed in the finger tip, and the other end of the elastic reset rope is fixed at the palm joint position of the palm after penetrating through the back of each joint of the finger.
Furthermore, the cylindrical groove is a cylindrical hollowed groove and is flatly arranged at the thenar muscle of the palm, the thumb rotating shaft is fixed between the cylindrical hollowed groove and the thumb rotating shaft, and the whole thumb can rotate around the thumb rotating shaft.
The invention has the following advantages and beneficial effects:
the invention mainly aims to improve the palm and add a structure, adopts a simple movable pulley system and a linear guide rail sliding block system, has low improvement difficulty and low cost, ensures the advantages of an underactuated manipulator and can greatly improve the defect of the self-adaptive structure.
1. The self-adaptability of the under-actuated manipulator can be effectively ensured by adopting a simple and low-cost movable pulley system
2. Is simple and easy to install. The invention only needs to install the linear guide rail and the pulley to form a movable pulley system. Then the fingers are threaded according to a reasonable threading mode. The self-adaptive performance is better through the simple structural improvement. The device is firm and reliable, the rope is convenient and quick to assemble and disassemble, the sliding block is durable, the simulated grabbing precision is high, and the working efficiency is greatly improved;
3. the rope line driving type under-actuated bionic five-finger manipulator is matched with the rope line driving type under-actuated bionic five-finger manipulator, so that the advantages of low cost and simple structure of the rope line driving type under-actuated bionic five-finger manipulator can be guaranteed, and the rope line driving type under-actuated bionic five-finger manipulator can be used for grabbing the rope line driving type under-actuated bionic five-finger manipulator, and has good self-adaptability. The under-actuated mechanical arm can be greatly improved, and the under-actuated five-finger mechanical arm can be widely popularized and widely applied to the fields of industry, agriculture, aerospace and the like. The cost is greatly reduced.
4. Every finger pulls cotton rope (1) through pulley (2), the motion and the bending of two fingers of movable pulley system control that slider (3) are constituteed, when one of them finger is crooked, finger pulls cotton rope (1) through another finger self-adaptation bending of movable pulley system control, when crooked finger needs straighten, reset through elastic restoring rope (8), the flexible self-adaptation type of finger has been improved greatly, human hand nimble motion has been duplicated through movable pulley system and elastic restoring rope (8), flexibility and practicality have been improved.
Drawings
FIG. 1 is a schematic diagram of the adaptive device structure of an under-actuated bionic five-finger manipulator of a rope line driving type provided by the preferred embodiment of the invention;
FIG. 2 is a finger model for demonstrating the working principle of elastic restoring rope and finger driving line, not as patent content
Fig. 3 is a partial view of a traveling block-rail block.
Description of reference numerals: the finger drive line 1, the pulley 2, the slide block 3, the hollow palm 4, the linear guide rail 5, the slide block drive line 6, the thumb rotation axis groove 7 and the finger elastic reset rope 8
Detailed Description
The technical solutions in the embodiments of the present invention will be described in detail and clearly with reference to the accompanying drawings. The described embodiments are only some of the embodiments of the present invention.
The technical scheme for solving the technical problems is as follows:
as shown in fig. 1 to 3, an adaptive device of a rope-driven under-actuated bionic five-finger manipulator includes a hollow palm 4, and further includes: the finger traction rope comprises finger traction ropes 1, pulleys 2, sliders 3, linear guide rails 5, a slider driving wire 6, a thumb rotating shaft groove 7 and an elastic reset rope 8, wherein parallel guide rail fixing grooves are formed in the upper bottom surface and the lower bottom surface inside the hollowed palm 4 and used for placing and fixing the linear guide rails 5, the linear guide rails 5 are divided into an upper guide rail and a lower guide rail, the pulleys 2 are slidably arranged between the upper guide rail and the lower guide rail, grooves used for installing the sliders 3 are further formed in the upper guide rail and the lower guide rail respectively, the pulleys 2 are arranged between the two sliders 3, each pulley 2 is provided with two finger traction ropes 1 used for controlling the two fingers to bend, and the slider driving wire 6 is connected with the sliders 3 and used for driving the sliders 3 to move on the linear guide rails 5; as shown in fig. 2, after the elastic restoring rope 8 of the palm is fixed at the hollow-out position inside the fingertip, the elastic restoring rope shuttles back of each finger joint and is fixed at the fixed end at the joint of the palm and the root of the finger; the thumb rotating shaft groove 7 is arranged at the position of the thumb of the palm and used for placing and fixing the rotating shaft of the thumb, and the thenar muscle imitating part of the thumb can rotate around the rotating shaft of the thumb.
Preferably, the thumb rotation shaft groove 7 is a cylindrical groove.
Preferably, the power source for providing power for the driving wire 6 of the sliding block is arranged in the manipulator, the power source passes through a steering engine or a motor, and the power source is fixed with the manipulator arm part through a fixing frame.
Preferably, the pulley 2 is a movable pulley, and when the finger traction rope 1 tangentially passes through the waist of the movable pulley from two ends, the slider driving wire 6 pulls the pulley or the slider to move, the pulley and the linear guide rail slider system form a movable pulley system.
As a preferable scheme, the upper surface and the lower surface of the sliding block 3 are oppositely arranged in parallel, the upper sliding block and the lower sliding block can synchronously move linearly along the guide rail through the connection of the double-end stud, and the funnel-shaped pulley 2 which is symmetrical up and down is arranged between the two sliding blocks, so that the pulley, the object fixing hole of the upper sliding block and the object fixing hole of the lower sliding block and the double-end stud are all arranged on the same axis.
As a preferred scheme, two sections of the same finger traction rope 1 control the bending of two adjacent fingers, one end of the traction rope penetrates out to control the bending of one finger; the other end of the rope passes through the outer edge of the waist of the pulley but is not fixed on the pulley 2 and then is connected with another finger and controls the bending of the other finger, so that the traction rope 1 passes through the first finger, the pulley and the second finger and then is in a V shape; one end of the sliding block driving wire 6 is fixed on the sliding block 2 or the pulley 3, the other end of the sliding block driving wire is connected with the motor or the steering engine, and the sliding block 2 can be dragged to move linearly by the rotation of the motor or the steering engine.
Preferably, as shown in fig. 2, the elastic return string 8 of the present invention returns the finger to the extended state, and one end of the elastic return string 8 is fixed inside the tip of the finger, and after passing through the back of each joint of the finger, the other end is fixed at the position of the metacarpal joint of the palm.
Preferably, the cylindrical groove is a cylindrical hollowed groove and is flatly arranged at the thenar muscle of the palm, the thumb rotating shaft is fixed between the cylindrical hollowed groove and the thumb rotating shaft, and the whole thumb can rotate around the thumb rotating shaft.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above examples are to be construed as merely illustrative and not limitative of the remainder of the disclosure. After reading the description of the invention, the skilled person can make various changes or modifications to the invention, and these equivalent changes and modifications also fall into the scope of the invention defined by the claims.
Claims (8)
1. The utility model provides a rope line driving type's bionic five fingers manipulator's self-adaptability device of underactuated, includes a fretwork palm (4), its characterized in that still includes: the finger traction rope (1), a pulley (2), a slider (3), a linear guide rail (5), a slider driving wire (6), a thumb rotation shaft groove (7) and an elastic reset rope (8), wherein the upper bottom surface and the lower bottom surface inside the hollowed palm (4) are respectively provided with a parallel guide rail fixing groove for placing and fixing the linear guide rail (5), the linear guide rail (5) is divided into an upper guide rail and a lower guide rail, the slider (3) is divided into an upper slider and a lower slider, the upper slider is arranged on the upper guide rail, the lower slider is arranged on the lower guide rail, the pulley (2) is slidably arranged between the upper guide rail and the lower guide rail, the upper guide rail and the lower guide rail are respectively provided with a groove for installing the slider (3), the pulley (2) is arranged between the upper slider and the lower slider, and each pulley (2) is provided with two finger traction ropes (1) for controlling two fingers to bend, the sliding block driving wire (6) is connected with the sliding block (3) and used for drawing the sliding block (3) to move on the linear guide rail (5); after the elastic reset rope (8) of the palm is fixed at the hollow-out position inside the fingertip, the elastic reset rope shuttles back parts of all finger joints and is fixed at the fixed end at the joint of the palm and the root of the finger; a thumb rotating shaft groove (7) is formed in the position of the thumb of the palm and used for placing and fixing a thumb rotating shaft, and the thenar flesh imitating part of the thumb can rotate around the thumb rotating shaft; each finger traction rope (1) controls the movement and bending of two fingers through a movable pulley system consisting of a pulley (2) and a sliding block (3), when one finger is bent, the finger traction rope (1) controls the other finger to be self-adaptively bent through the movable pulley system, and when the bent finger needs to be straightened, the finger is reset through an elastic resetting rope (8).
2. The adaptive device of rope-driven under-actuated bionic five-finger manipulator according to claim 1, characterized in that the thumb rotation axis groove (7) is a cylindrical groove.
3. The self-adaptive device of the rope line driving type under-actuated bionic five-finger manipulator is characterized in that a power source for providing power for the slider driving line (6) is further arranged, the power source passes through a steering engine or a motor, and the power source is fixed with the manipulator arm part through a fixing frame.
4. The self-adaptive device of the rope line driving type under-actuated bionic five-finger manipulator is characterized in that the pulley (2) is a movable pulley, and when the finger traction rope (1) passes through the waist part of the movable pulley tangentially from two ends, the sliding block driving wire (6) pulls the pulley or the sliding block to move, the movable pulley system is formed by the pulley and the linear guide rail sliding block system.
5. The self-adaptive device of the rope line driving type under-actuated bionic five-finger manipulator is characterized in that the sliding blocks (3) are oppositely arranged in parallel on the upper surface and the lower surface, the upper sliding block and the lower sliding block can synchronously move linearly along the guide rail through the connection of the double-headed studs, a funnel-shaped pulley (2) which is symmetrical up and down is arranged between the two sliding blocks, and the pulley, the object fixing holes of the upper sliding block and the lower sliding block and the double-headed studs are all arranged on the same axis.
6. The self-adaptive device of the rope line driving type under-actuated bionic five-finger manipulator is characterized in that two sections of the same finger traction rope (1) control the bending of two adjacent fingers, one end of the traction rope penetrates out to control the bending of one finger; the other end of the rope passes through the outer edge of the waist of the pulley but is not fixed on the pulley (2), and then is connected with another finger and controls the bending of the other finger, so that the traction rope (1) passes through the first finger, the pulley and the second finger and then is in a V shape; one end of the sliding block driving wire (6) is fixed on the sliding block (2) or the pulley (3), the other end of the sliding block driving wire is connected with the motor or the steering engine, and the sliding block (2) can be dragged to move linearly by the rotation of the motor or the steering engine.
7. The adaptive device of the rope-line-driven under-actuated bionic five-finger manipulator according to claim 1, characterized in that the elastic reset rope (8) resets the finger to an extended state, one end of the elastic reset rope (8) is fixed inside the fingertip, and after passing through the back of each joint of the finger, the other end is fixed at the palm joint position of the palm.
8. The adaptive device of the rope-line-driven under-actuated bionic five-finger manipulator according to claim 2, wherein the cylindrical groove is a cylindrical hollowed groove which is flatly arranged at the thenar muscle of the palm, the thumb rotating shaft is fixed between the cylindrical hollowed groove and the palm thenar muscle, and the whole thumb can rotate around the thumb rotating shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111113726.2A CN113752245A (en) | 2021-09-23 | 2021-09-23 | Self-adaptive device of rope-driven under-actuated bionic five-finger manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111113726.2A CN113752245A (en) | 2021-09-23 | 2021-09-23 | Self-adaptive device of rope-driven under-actuated bionic five-finger manipulator |
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| Publication Number | Publication Date |
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| CN113752245A true CN113752245A (en) | 2021-12-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111113726.2A Pending CN113752245A (en) | 2021-09-23 | 2021-09-23 | Self-adaptive device of rope-driven under-actuated bionic five-finger manipulator |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003145474A (en) * | 2001-08-31 | 2003-05-20 | Hiroshima Pref Gov | Multi-finger-movable robot hand, and hold control method thereof |
| JP2006224229A (en) * | 2005-02-16 | 2006-08-31 | National Univ Corp Shizuoka Univ | Robot hand |
| CN102363302A (en) * | 2011-10-25 | 2012-02-29 | 杭州电子科技大学 | Anthropomorphic dexterous hand device driven by single motor |
| CN212193200U (en) * | 2020-05-22 | 2020-12-22 | 西安建筑科技大学 | Pulley type under-actuated three-joint manipulator |
| CN112809721A (en) * | 2020-08-31 | 2021-05-18 | 合肥工业大学 | Flexible cable traction under-actuated humanoid hand based on non-uniform elastomer configuration |
-
2021
- 2021-09-23 CN CN202111113726.2A patent/CN113752245A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003145474A (en) * | 2001-08-31 | 2003-05-20 | Hiroshima Pref Gov | Multi-finger-movable robot hand, and hold control method thereof |
| JP2006224229A (en) * | 2005-02-16 | 2006-08-31 | National Univ Corp Shizuoka Univ | Robot hand |
| CN102363302A (en) * | 2011-10-25 | 2012-02-29 | 杭州电子科技大学 | Anthropomorphic dexterous hand device driven by single motor |
| CN212193200U (en) * | 2020-05-22 | 2020-12-22 | 西安建筑科技大学 | Pulley type under-actuated three-joint manipulator |
| CN112809721A (en) * | 2020-08-31 | 2021-05-18 | 合肥工业大学 | Flexible cable traction under-actuated humanoid hand based on non-uniform elastomer configuration |
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Application publication date: 20211207 |
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