CN113771016B - Single-degree-of-freedom bionic multifunctional manipulator with adaptability - Google Patents
Single-degree-of-freedom bionic multifunctional manipulator with adaptability Download PDFInfo
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- CN113771016B CN113771016B CN202110999665.8A CN202110999665A CN113771016B CN 113771016 B CN113771016 B CN 113771016B CN 202110999665 A CN202110999665 A CN 202110999665A CN 113771016 B CN113771016 B CN 113771016B
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- connecting rod
- manipulator
- fingertip
- shaft
- worm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a single-degree-of-freedom bionic multifunctional manipulator with adaptability, which aims at the problem of the increase of the task types of the manipulator and the difference of the volume, the shape and the space position of the gripped object, and designs a manipulator which simulates the object gripping by a person. The invention is a single degree of freedom manipulator, and the control is simple and convenient. The spring connecting rod and the flexible element at the tail end are added, so that the buffer force can be effectively reduced. The pressure sensor is added to the manipulator, so that the gripping force condition can be detected from time to time, and the damage to articles caused by overlarge manipulator force can be effectively avoided.
Description
Technical Field
The invention belongs to the field of robots, and relates to an adaptive single-degree-of-freedom bionic multifunctional gripper, in particular to a multifunctional manipulator which simulates a human hand to grip cylinders with different diameters, fingertips to grip larger cuboids, small space objects and grip smaller objects and move (a rack is not retracted).
Background
The space robot can replace astronauts to complete various complex tasks, and a manipulator is a core functional component of the space robot as an operation execution device. As the types of tasks increase, the differences in volume, shape and spatial position of the gripped object place great demands on the gripper. Therefore, a manipulator with multiple functions, light weight, low control difficulty and high reliability is needed.
For the design of the existing manipulator, the invention patent of the publication number CN110142791A, namely a high-integration bionic manipulator, is more similar to a human hand and more flexible, but adopts a multi-degree-of-freedom mechanism, so that the control difficulty is increased. In addition, the invention patent of publication number CN107414880A, under-actuated mechanical finger based on metamorphic principle, adopts metamorphic principle to realize the motion of mechanical finger with single degree of freedom, but has smaller grabbing range.
Aiming at the problems in the design, we design a single degree-of-freedom bionic multifunctional manipulator with adaptability, which simulates the gesture and path of a person when grabbing objects, realizes multifunctional grabbing under the conditions of light weight, high reliability, high accuracy and simple control, and can grab cylinders with different diameters, grab large cuboids with fingertips, grab small objects and move (the rack is not retracted).
Disclosure of Invention
The invention aims to provide a single-degree-of-freedom bionic multifunctional manipulator with adaptability, which comprises a transmission mechanism (1) and an execution mechanism (2).
The transmission mechanism (1) comprises a manipulator base (1-1), a manipulator support (1-2), a worm and gear protective cover (1-3), a transmission shaft (1-4), a worm gear (1-5), a worm (1-6), a motor (1-7), a base pressure sensor (1-8), a first shaft sleeve (1-9), a second shaft sleeve (1-10) and a driven shaft (1-11); the connection relation between each component and the equipment is as follows: the manipulator base (1-1) is connected to the manipulator support (1-2) through bolts; the worm and gear protection cover (1-3) is connected to the manipulator bracket (1-2) through bolts; the motor (1-7) is connected to the manipulator bracket (1-2) through a bolt; the worm (1-6) is connected to the rotating shaft of the motor (1-7) through a key; the transmission shaft (1-4) is connected to the manipulator bracket (1-2) through a bearing; the worm wheel (1-5) is connected to the transmission shaft (1-4) through a key and is matched with the worm (1-6); the base pressure sensor (1-8) is tightly attached to the upper surface of the worm gear protective cover (1-3); the first shaft sleeve (1-9) plays an axial positioning role on the transmission shaft (1-4); the driven shaft (1-11) is connected to the manipulator bracket (1-2) through a bearing; the second shaft sleeve (1-10) plays an axial positioning role on the driven shaft (1-11);
the actuating mechanism (2) comprises a driving gear (2-1), a lower connecting rod (2-2), an intermediate connecting rod (2-3), a spring connecting rod (2-4), a fingertip connecting rod rigid part (2-5), a fingertip pressure sensor (2-6), a fingertip connecting rod flexible part (2-7) and a driven gear (2-8); the connection relation of each component is as follows: the driving gear (2-1) is connected to the transmission shaft (1-4) through a key to obtain torque transmitted from the motor; the driven gear (2-8) is connected to the driven shaft (1-11) through a key, and obtains torque through meshing with the driving gear (2-1); the lower parts of the left middle connecting rod (2-3) and the right middle connecting rod (2-3) are connected with a driving gear (2-1) and a driven gear (2-8) through shafts to form a rotary pair, the middle parts are connected with the lower connecting rod (2-2) through shafts to form a rotary pair, and the upper parts are connected with the fingertip connecting rod rigid parts (2-5) through shafts to form a rotary pair; the left lower connecting rod (2-2) and the right lower connecting rod (2-2) are respectively connected with the manipulator bracket (1-2), the middle connecting rod (2-3) and the spring connecting rod (2-4) through shafts to form a rotary pair; two ends of the two spring connecting rods (2-4) are respectively connected with the lower connecting rod (2-2) and the fingertip connecting rod rigid part (2-5) through shafts to form a rotary pair; the fingertip connecting rod flexible part (2-7) is fixedly connected with the fingertip pressure sensor (2-6) and mainly plays a role in reducing buffering during gripping; the fingertip pressure sensor (2-6) is attached to the fingertip connecting rod rigid part (2-5) and the fingertip connecting rod flexible part (2-7) and can collect pressure information when the object is held;
the spring connecting rod (2-4) comprises a spring connecting rod jacket (2-4-1), a tension and compression spring (2-4-2) and a spring connecting rod inner shaft (2-4-3); the connection relation of each component is as follows: one end of a tension and compression spring (2-4-2) is fixedly connected to an inner shaft (2-4-3) of a spring connecting rod, and one section of the tension and compression spring is fixedly connected to the inside of a sleeve (2-4-1) of the spring connecting rod;
according to the single-degree-of-freedom bionic multifunctional manipulator with adaptability, the tail end movement track of the manipulator is shown as a figure 14, and the small near objects (3-2) can be grabbed, moved (the rack is not retracted) and held and grabbed by the small cylinders (3-3) in the first section of tail end track (4-1); the second section of the tail end track (4-2) can be used for grabbing a large cylinder (3-4); the third section of tail end track (4-3) can realize that the grabbing fingertips grab a larger cuboid (3-5) and clamp and grab a small cylinder (3-3); the fourth section of tail end track (4-4) can be used for grabbing articles (3-7) in a narrow space;
the invention has the advantages that:
the invention provides a single-degree-of-freedom bionic multifunctional manipulator with adaptability, which can grasp a plurality of objects with different environments and different sizes, can grasp cylinders with different diameters, grasp large cuboids and small space objects by fingertips and grasp small objects and move (a rack is not retracted), and is divided into two modes of holding and grabbing and clamping and grabbing when grasping the cylinders.
The single-degree-of-freedom bionic multifunctional manipulator with adaptability is a single-degree-of-freedom manipulator and is simple to control.
The adaptive single-degree-of-freedom bionic multifunctional manipulator provided by the invention adopts the spring connecting rod and the flexible element added at the tail end, so that the buffer force can be effectively reduced.
The single-degree-of-freedom bionic multifunctional manipulator with adaptability provided by the invention imitates the gesture and path of a human hand when grabbing an object, and realizes the optimal gesture and path during grabbing.
The adaptive single-degree-of-freedom bionic multifunctional manipulator provided by the invention has the advantages that the pressure sensor is added, the gripping force condition can be detected at all times, and the damage to articles caused by excessive manipulator force can be effectively avoided.
The adaptive single-degree-of-freedom bionic multifunctional manipulator is simple in structure, multiple in function, high in reliability, convenient to control and low in cost.
Drawings
FIG. 1 is a schematic view of a robot in general;
FIGS. 2 and 3 are schematic views of a manipulator transmission in accordance with the present invention;
FIG. 4 is a schematic diagram of a manipulator actuator according to the present invention;
FIG. 5 is a schematic view of a spring link of a manipulator in the present invention;
FIG. 6 is a schematic view of a robot finger tip link according to the present invention;
FIGS. 7 and 8 illustrate the present invention with a robot gripping a smaller item and moving the schematic;
FIG. 9 is a schematic view of a manipulator gripping a larger cylinder in the present invention;
FIG. 10 is a schematic view of a smaller cylinder grasped by a manipulator in the present invention;
FIG. 11 is a schematic view of a smaller cylinder of a manipulator finger grip of the present invention;
FIG. 12 is a schematic view of a robotic fingertip gripping a larger cuboid in the present invention;
FIG. 13 is a schematic view of a robot gripping a small space object in the present invention;
FIG. 14 is a schematic view of a motion trace of a finger tip of the manipulator of the present invention;
in the figure:
1-a transmission mechanism; 2-actuator
1-1 of a manipulator base; 1-2-manipulator support; 1-3-worm gear protection cover; 1-4-transmission shafts; 1-5-worm gear; 1-6-worm; 1-7-motors; 1-8-base pressure sensor; 1-9 shaft sleeve I; 1-10 shaft sleeves II; 1-11 driven shafts;
2-1-a driving gear; 2-2-lower connecting rod; 2-3-intermediate links; 2-4-spring links; 2-5-fingertip link rigid portion; 2-6-fingertip pressure sensor; 2-7-fingertip link flexible part; 2-8 driven gears;
2-4-1-spring connecting rod jacket; 2-4-2-pulling and pressing springs; 2-4-3-spring link inner shaft;
3-1-near smaller item holders; 3-2-near smaller items; 3-3-smaller cylinders; 3-4-larger cylinders; 3-5-larger cuboid; 3-6 narrow spaces; 3-7-articles in a narrow space;
4-1-first segment end trajectory; 4-2 second segment end trajectory; 4-3 third segment of terminal track; 4-4 fourth segment of terminal track;
description of the embodiments
The present invention will be described below with reference to the drawings and examples, but the present invention is not limited to the following examples.
Examples
Referring to fig. 1, 2, 3 and 4, the invention relates to a single-degree-of-freedom bionic multifunctional manipulator with adaptability, a transmission mechanism (1) and an execution mechanism (2).
Referring to fig. 5 and 6, when the manipulator works, the impact force can be relieved when the manipulator grabs an object due to the addition of the spring connecting rod (2-4) and the fingertip connecting rod flexible part (2-7), and the influence of the grabbing hand on the object is reduced.
Referring to fig. 7 and 8, the robot can grasp and move smaller articles, and can remove articles on the shaft when the rack cannot be retracted.
Referring to fig. 9, the robot may effect gripping of a larger cylinder.
Referring to fig. 10, the manipulator may achieve a larger force holding the smaller cylinder.
Referring to fig. 11, the manipulator may implement concentric clamps to grasp smaller cylinders.
Referring to fig. 12, a robotic fingertip may grasp a larger cuboid.
Referring to fig. 13, the robot may grasp the articles in the narrow space and take out the articles in the narrow space.
Claims (1)
1. The single-degree-of-freedom bionic multifunctional manipulator with adaptability is characterized by comprising a transmission mechanism (1) and an actuating mechanism (2);
the transmission mechanism (1) comprises a manipulator base (1-1), a manipulator support (1-2), a worm and gear protective cover (1-3), a transmission shaft (1-4), a worm gear (1-5), a worm (1-6), a motor (1-7), a base pressure sensor (1-8), a first shaft sleeve (1-9), a second shaft sleeve (1-10) and a driven shaft (1-11); the connection relation between each component and the equipment is as follows: the manipulator base (1-1) is connected to the manipulator support (1-2) through bolts; the worm and gear protection cover (1-3) is connected to the manipulator bracket (1-2) through bolts; the motor (1-7) is connected to the manipulator bracket (1-2) through a bolt; the worm (1-6) is connected to the rotating shaft of the motor (1-7) through a key; the transmission shaft (1-4) is connected to the manipulator bracket (1-2) through a bearing; the worm wheel (1-5) is connected to the transmission shaft (1-4) through a key and is matched with the worm (1-6); the base pressure sensor (1-8) is tightly attached to the upper surface of the worm gear protective cover (1-3); the first shaft sleeve (1-9) plays an axial positioning role on the transmission shaft (1-4); the driven shaft (1-11) is connected to the manipulator bracket (1-2) through a bearing; the second shaft sleeve (1-10) plays an axial positioning role on the driven shaft (1-11);
the actuating mechanism (2) comprises a driving gear (2-1), a lower connecting rod (2-2), an intermediate connecting rod (2-3), a spring connecting rod (2-4), a fingertip connecting rod rigid part (2-5), a fingertip pressure sensor (2-6), a fingertip connecting rod flexible part (2-7) and a driven gear (2-8); the connection relation of each component is as follows: the driving gear (2-1) is connected to the transmission shaft (1-4) through a key to obtain torque transmitted from the motor; the driven gear (2-8) is connected to the driven shaft (1-11) through a key, and obtains torque through meshing with the driving gear (2-1); the lower parts of the left middle connecting rod (2-3) and the right middle connecting rod (2-3) are connected with a driving gear (2-1) and a driven gear (2-8) through shafts to form a revolute pair, the middle parts are connected with the lower connecting rod (2-2) through shafts to form a revolute pair, and the upper parts are connected with the fingertip connecting rod rigid parts (2-5) through shafts to form a revolute pair; the left lower connecting rod (2-2) and the right lower connecting rod (2-2) are respectively connected with the manipulator bracket (1-2), the middle connecting rod (2-3) and the spring connecting rod (2-4) through shafts to form a rotary pair; two ends of the two spring connecting rods (2-4) are respectively connected with the lower connecting rod (2-2) and the fingertip connecting rod rigid part (2-5) through shafts to form a rotary pair; the fingertip connecting rod flexible part (2-7) is fixedly connected with the fingertip pressure sensor (2-6), so that buffering during gripping is reduced; the fingertip pressure sensor (2-6) is attached to the fingertip connecting rod rigid part (2-5) and the fingertip connecting rod flexible part (2-7) and collects pressure information when the object is held;
the spring connecting rod (2-4) comprises a spring connecting rod jacket (2-4-1), a tension and compression spring (2-4-2) and a spring connecting rod inner shaft (2-4-3); one end of the tension and compression spring (2-4-2) is fixedly connected to the inner shaft (2-4-3) of the spring connecting rod, and the other end is fixedly connected to the inside of the outer sleeve (2-4-1) of the spring connecting rod;
the first section of the tail end track (4-1) is used for grabbing a small near object (3-2) and moving and packing the small cylinder (3-3); the grabbing of the large cylinder (3-4) is realized on the tail end track (4-2) of the second section; the third section of tail end track (4-3) is used for realizing that the grabbing fingertips grab a larger cuboid (3-5) and clamp a small cylinder (3-3); and grabbing the object (3-7) in the narrow space is realized on the tail end track (4-4) of the fourth section.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110999665.8A CN113771016B (en) | 2021-08-29 | 2021-08-29 | Single-degree-of-freedom bionic multifunctional manipulator with adaptability |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110999665.8A CN113771016B (en) | 2021-08-29 | 2021-08-29 | Single-degree-of-freedom bionic multifunctional manipulator with adaptability |
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| CN113771016A CN113771016A (en) | 2021-12-10 |
| CN113771016B true CN113771016B (en) | 2023-07-21 |
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| CN115157311B (en) * | 2022-06-19 | 2024-06-04 | 北京工业大学 | Multi-operation-mode bionic mechanical gripping hand based on single-degree-of-freedom eight-rod mechanism |
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| CN101134316A (en) * | 2007-09-18 | 2008-03-05 | 浙江理工大学 | Activation lacking mechanical finger device capable of preventing form and position degradation |
| CN101239466A (en) * | 2007-12-28 | 2008-08-13 | 北京工业大学 | Minisize maze robot |
| CN108145729A (en) * | 2017-11-22 | 2018-06-12 | 清华大学 | Five connecting rods put down folder adaptive robot finger apparatus |
| KR101989949B1 (en) * | 2017-12-26 | 2019-06-14 | 주식회사 로봇앤모어 | Adaptive type finger robot |
| CN111844095A (en) * | 2020-07-24 | 2020-10-30 | 江南大学 | Method and structure for judging holding state of flexible manipulator by obtaining angular displacement through distance measurement |
| CN211916875U (en) * | 2020-02-25 | 2020-11-13 | 常州市贝叶斯智能科技有限公司 | Single-drive self-adaptive clamping jaw |
-
2021
- 2021-08-29 CN CN202110999665.8A patent/CN113771016B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101134316A (en) * | 2007-09-18 | 2008-03-05 | 浙江理工大学 | Activation lacking mechanical finger device capable of preventing form and position degradation |
| CN101239466A (en) * | 2007-12-28 | 2008-08-13 | 北京工业大学 | Minisize maze robot |
| CN108145729A (en) * | 2017-11-22 | 2018-06-12 | 清华大学 | Five connecting rods put down folder adaptive robot finger apparatus |
| KR101989949B1 (en) * | 2017-12-26 | 2019-06-14 | 주식회사 로봇앤모어 | Adaptive type finger robot |
| CN211916875U (en) * | 2020-02-25 | 2020-11-13 | 常州市贝叶斯智能科技有限公司 | Single-drive self-adaptive clamping jaw |
| CN111844095A (en) * | 2020-07-24 | 2020-10-30 | 江南大学 | Method and structure for judging holding state of flexible manipulator by obtaining angular displacement through distance measurement |
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