CN114559464A - Manipulator finger and manipulator - Google Patents
Manipulator finger and manipulator Download PDFInfo
- Publication number
- CN114559464A CN114559464A CN202210289063.8A CN202210289063A CN114559464A CN 114559464 A CN114559464 A CN 114559464A CN 202210289063 A CN202210289063 A CN 202210289063A CN 114559464 A CN114559464 A CN 114559464A
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- Prior art keywords
- manipulator
- fixed
- gear
- shell
- rotating shaft
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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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- 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
Abstract
The invention belongs to the technical field of industrial manipulators, and relates to a manipulator finger and a manipulator, which comprise a first mechanism, a second mechanism and a third mechanism which are sequentially arranged, wherein a first connecting mechanism which is used for connecting the first mechanism and the second mechanism and changing the relative included angle of the first mechanism and the second mechanism is arranged between the first mechanism and the second mechanism, and a second connecting mechanism which is used for connecting the second mechanism and the third mechanism and changing the relative included angle of the second mechanism and the third mechanism is arranged between the second mechanism and the third mechanism; and the passive spring mechanism is arranged at one end of the third mechanism, which is far away from the second mechanism, and is used for controlling the contact force of the fingers of the manipulator to the object. The invention effectively enhances the motion capability of the manipulator in the three-dimensional space, can flexibly change the grabbing mode like hands, has strong adaptability to objects with irregular shapes, and in addition, because the passive spring mechanism is arranged at the tail end of the finger, the requirement of the manipulator on a high-performance control algorithm is reduced through passive control, the practicability is strong, and the invention is worthy of popularization.
Description
Technical Field
The invention belongs to the technical field of industrial manipulators, and particularly relates to a manipulator finger and a manipulator.
Background
With the development of artificial intelligence technology, robots are gradually replacing human beings to complete complex and dangerous work tasks, and the completion of the tasks requires that the robots have good interaction capability with objects and environments in the work process. The interaction between the robot and a target object and the environment is mainly realized through the end effector, the multi-finger manipulator has high degree of freedom and strong flexibility, can be used as one of the robot end effectors, can be competent for various operation tasks, and has been applied to certain fields such as industry, medical treatment and the like.
The existing multi-finger manipulator, such as a three-finger manipulator developed by Tokyo university and an eagleShoal manipulator of Intel Chinese laboratory, realizes grabbing gesture transformation and stable grabbing by fully driving fingers and a movable palm, but the movement and control of a palm motor of the manipulator are severely limited, the grabbing gesture transformation is usually fixed, the grabbing mode is difficult to flexibly transform like a human hand, the grabbing of an object still takes a regular object as a main part, and the generalization capability of the manipulator to an irregularly-shaped object is limited.
Disclosure of Invention
In view of the above, the present invention provides a robot finger and a robot to solve the above-mentioned technical problems.
The technical scheme of the invention is as follows:
a robot finger comprising:
the device comprises a first mechanism, a second mechanism and a third mechanism which are sequentially arranged, wherein a first connecting mechanism which is used for connecting the first mechanism and the second mechanism and changing the relative included angle of the first mechanism and the second mechanism is arranged between the first mechanism and the second mechanism;
and the passive spring mechanism is arranged at one end of the third mechanism, which is far away from the second mechanism, and is used for controlling the contact force of the fingers of the manipulator to the object.
Preferably, the first mechanism comprises a first shell, and two first end lugs are uniformly distributed at one end of the first shell.
Preferably, the first connecting mechanism includes a first driving motor, the first driving motor is disposed in the first housing, an output shaft of the first driving motor extends out of the first housing and is located between the two first end lugs, a first gear is fixed to the tail end of the output shaft of the first driving motor in a sleeved manner, a first rotating shaft is erected between the two first end lugs, a second gear is fixed to the first rotating shaft in a sleeved manner, the second gear is engaged with the first gear, and the first rotating shaft is connected with the second mechanism and used for driving the second mechanism to move synchronously.
Preferably, the second mechanism comprises a second shell, wherein two second end lugs are uniformly distributed at one end of the second shell, a first connecting piece is fixed at the other end of the second shell, and the first connecting piece is fixed with the first rotating shaft in a sleeved mode.
Preferably, the second connecting mechanism includes a second driving motor, the second driving motor is disposed in the second casing, an output shaft of the second driving motor extends out of the second casing and is located between two second end lugs, a third gear is fixed to the tail end of the output shaft of the second driving motor in a sleeved mode, a second rotating shaft is erected between the two second end lugs, a fourth gear is fixed to the second rotating shaft in a sleeved mode, the fourth gear is meshed with the third gear, and the second rotating shaft is connected with the third mechanism and used for driving the third mechanism to move synchronously.
Preferably, the third mechanism comprises a finger tip part, wherein a second connecting piece is fixed at one end of the finger tip part, and the second connecting piece is sleeved and fixed with the second rotating shaft.
Preferably, the passive spring mechanism comprises a mounting seat fixed on the finger tip portion, an elastic piece is arranged in the mounting seat, one end of the elastic piece is fixed with the mounting seat, and the other end of the elastic piece is fixedly connected with the end cover.
A manipulator comprises the manipulator finger.
Preferably, the manipulator comprises a plurality of manipulator fingers which are uniformly distributed on a palm part.
Preferably, the palm portion includes:
a third housing;
the output shafts of the actuators extend to the outside of one end of the third shell respectively, are fixedly sleeved with the connecting ends of the fingers of each manipulator and are used for driving each finger to move;
the tool flange is arranged at one end of the third shell, which is far away from the fingers of the manipulator, one end of the tool flange is fixed with the third shell, and the other end of the tool flange is connected with one end of the torque sensor;
and the flat motor is used for driving the whole manipulator to move around the normal vector of the palm part, is arranged at one end of the tool flange, which deviates from the third shell, and has an output shaft connected with the other end of the torque sensor.
Compared with the prior art, the manipulator finger and the manipulator provided by the invention effectively enhance the motion capability of the manipulator in a three-dimensional space, can flexibly change a grabbing mode like a human hand, and have strong adaptability to an object with an irregular shape.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of a finger structure of a robot of the present invention;
FIG. 3 is a schematic view of a passive spring mechanism of the present invention;
FIG. 4 is a first diagram illustrating a partial structure according to the present invention;
FIG. 5 is a second schematic diagram of a partial structure according to the present invention;
FIG. 6 is a third schematic view of a partial structure of the present invention;
FIG. 7 is a fourth schematic diagram of a partial structure of the present invention;
fig. 8 is a fifth schematic diagram of a partial structure of the present invention.
Detailed Description
The present invention provides a robot finger and a robot, and the present invention will be described with reference to the schematic diagrams of fig. 1 to 8.
Example 1
A manipulator, as shown in figure 1, comprises three manipulator fingers with multiple degrees of freedom, and the manipulator fingers are uniformly distributed on a palm part with single degree of freedom.
Further, as shown in fig. 8, the structure of the palm portion specifically includes: the robot comprises a third shell 01, actuators 03, a flat motor 04, a tool flange 06 and a torque sensor 05, wherein the third shell 01 is internally provided with a plurality of actuators 03, output shafts of the actuators 03 respectively extend to the outside of one end of the third shell 01 and are fixedly sleeved with connecting ends of fingers of each manipulator for driving the fingers to move. Specifically, the output shaft of the actuator 03 is fixedly sleeved with the first mechanism 11 of the manipulator finger, and drives the first mechanism 11 to rotate around the palm plane.
As shown in fig. 8, an end cover 02 may be optionally disposed above the actuator 03, the end cover 02 is fixed to the middle of the third housing 01, a gap is formed between the end cover 02 and the third housing 01, a link may be disposed on the first mechanism 11 of the manipulator finger, one end of the link is fixed to the first housing 111 on the first mechanism 11, and the other end is clamped in the gap and is fixedly connected to the output shaft of the actuator 03.
And a tool flange 06 is arranged at one end of the third shell 01, which is far away from the fingers of the manipulator, one end of the tool flange 06 is fixed with the third shell 01, and the other end of the tool flange is connected with one end of the torque sensor 05.
A flat motor 04 is arranged at one end of the tool flange 06, which is far away from the third housing 01, and an output shaft of the flat motor 04 is connected with the other end of the torque sensor 05. The flat motor 04 is used for driving the whole manipulator to move around a normal vector of a palm part so as to further enhance the flexibility of the multi-finger manipulator in performing continuous rotation operations such as bolt screwing and the like, and the torque sensor 05 is used for measuring the output torque of the flat motor 04 so as to determine the torque when the manipulator rotates integrally.
Each manipulator finger mainly comprises four mechanisms and two connecting mechanisms. The manipulator finger is fixedly connected with an output shaft of the actuator 03, and corresponding action is executed under the driving of the actuator 03.
The four mechanisms are respectively a first mechanism 11, a second mechanism 13, a third mechanism 15 and a passive spring mechanism 16, the first mechanism 11 and the second mechanism 13 are connected by a first connecting mechanism 12, and the second mechanism 13 and the third mechanism 15 are connected by a second connecting mechanism 14.
A manipulator finger comprises a first mechanism 11, a second mechanism 13 and a third mechanism 15 which are sequentially arranged, wherein a first connecting mechanism 12 which is used for connecting the first mechanism 11 and the second mechanism 13 and changing the relative included angle of the first mechanism 11 and the second mechanism 13 is arranged between the first mechanism 11 and the second mechanism 13, and a second connecting mechanism 14 which is used for connecting the second mechanism 13 and the third mechanism 15 and changing the relative included angle of the second mechanism 13 and the third mechanism 15 is arranged between the second mechanism 13 and the third mechanism 15; and a passive spring mechanism 16 which is arranged at one end of the third mechanism 15, which is far away from the second mechanism 13, is used for buffering and controlling the contact force of the manipulator finger on the object.
Further, as shown in fig. 1 and 5, the first mechanism 11 specifically includes a first housing 111 and first end lugs 113, two first end lugs 113 are uniformly distributed at one end of the first housing 111, and one end of each of the two first end lugs 113 is fixedly connected to the first housing 111 to form a structure with two sides facing each other.
Further, as shown in fig. 1, 5 and 4, the structure of the first connecting mechanism 12 specifically includes: a first driving motor 112, a first gear 121, a first rotation shaft 123, and a second gear 122. The first driving motor 112 is disposed in the first housing 111, an output shaft of the first driving motor 112 extends out of the first housing 111 and is located between the two first end lugs 113, a first gear 121 is sleeved and fixed at a tail end of the output shaft of the first driving motor 112, a first rotating shaft 123 horizontally disposed is erected between the two first end lugs 113 through a bearing, a second gear 122 is sleeved and fixed on the first rotating shaft 123, the second gear 122 is engaged with the first gear 121, the first rotating shaft 123 is connected with the second mechanism 13, after the first driving motor 112 is started, the first gear 121 can be driven to rotate, so that the second gear 122 and the first rotating shaft 123 are synchronously driven to rotate, synchronous motion of the second mechanism 13 is realized, and the first connecting mechanism 12 uses a gear set formed by the second gear 122 and the first gear 121 as a core to drive the second mechanism 13 to rotate around the first rotating shaft 123.
Further, as shown in fig. 1 and 6, the second mechanism 13 specifically includes: the second casing 131, the second end ears 133 and the first connecting piece 134, wherein two second end ears 133 are uniformly arranged at one end of the second casing 131, the two second end ears 133 form a structure with two sides being opposite, the first connecting piece 134 is fixed at the other end, and the first connecting piece 134 is fixed with the first rotating shaft 123 in a sleeved mode.
Further, as shown in fig. 1 and 6, the structure of the second connecting mechanism 14 specifically includes: the second driving motor 132 is disposed in the second housing 131, an output shaft of the second driving motor 132 extends out of the second housing 131 and is located between the two second end lugs 133, the third gear 141 is fixed to the end of the output shaft of the second driving motor 132 in a sleeved manner, the second rotating shaft 143 is erected between the two second end lugs 133, the fourth gear 142 is fixed to the second rotating shaft 143 in a sleeved manner, the fourth gear 142 is meshed with the third gear 141, the second rotating shaft 143 is connected with the third mechanism 15, and after the second driving motor 132 is started, the third gear 141 can be driven to rotate, so that the fourth gear 142 and the second rotating shaft 143 are synchronously driven to rotate, and synchronous motion of the third mechanism 15 is realized. The second connecting mechanism 14 drives the third mechanism 15 to rotate around the second rotating shaft 143 around a gear set formed by the fourth gear 142 and the third gear 141.
Further, as shown in fig. 1 and 7, the third mechanism 15 specifically includes: a finger tip portion 151 and a second connecting member 152, wherein the second connecting member 152 is fixed to one end of the finger tip portion 151, and the second connecting member 152 is fixed to the second rotating shaft 143 in a sleeved manner.
Further, as shown in fig. 3, the structure of the passive spring mechanism 16 specifically includes: the finger tip part 151 comprises an installation seat 162, elastic pieces 161 and an end cover 163, wherein the installation seat 162 is adhered and fixed on the end face of the finger tip part 151, a plurality of elastic pieces 161 are arranged in the installation seat 162, one end of each elastic piece 161 is fixed with the installation seat 162, the other end of each elastic piece 161 is fixedly connected with the end cover 163, and the elastic pieces 161 are deformed and simultaneously drive the end cover 163 to move synchronously.
The elastic member 161 may be a plate spring or a spring.
The passive spring mechanism 16 is mainly used for controlling the contact force of the manipulator to an object, reducing the requirement on precision during the operation of the manipulator, converting an active force control algorithm into passive force control based on the spring mechanism, and further simplifying the complexity of the control algorithm.
The manipulator finger and the manipulator effectively enhance the motion capability of the manipulator in a three-dimensional space, can flexibly change the grabbing mode like hands, have strong adaptability to objects with irregular shapes, and reduce the requirement of the manipulator on a high-performance control algorithm through passive control because the passive spring mechanism is arranged at the tail end of the finger, thereby having strong practicability and being worthy of popularization.
The above disclosure is only for the preferred embodiments of the present invention, but the embodiments of the present invention are not limited thereto, and any variations that can be made by those skilled in the art are intended to fall within the scope of the present invention.
Claims (10)
1. A robot finger, comprising:
the device comprises a first mechanism (11), a second mechanism (13) and a third mechanism (15) which are sequentially arranged, wherein a first connecting mechanism (12) which is used for connecting the first mechanism (11) with the second mechanism (13) and changing the relative included angle of the first mechanism (11) and the second mechanism (13) is arranged between the first mechanism (11) and the second mechanism (13), and a second connecting mechanism (14) which is used for connecting the second mechanism (13) with the third mechanism (15) and changing the relative included angle of the second mechanism (13) and the third mechanism (15) is arranged between the second mechanism (13) and the third mechanism (15);
and the passive spring mechanism (16) is arranged at one end of the third mechanism (15) departing from the second mechanism (13) and is used for controlling the contact force of the fingers of the manipulator to the object.
2. A robot finger according to claim 1, characterised in that the first mechanism (11) comprises a first housing (111), wherein two first end lugs (113) are arranged at one end of the first housing (111).
3. Manipulator finger according to claim 2, characterised in that the first connection (12) comprises a first drive motor (112), the first driving motor (112) is arranged in the first shell (111), an output shaft of the first driving motor (112) extends out of the first shell (111) and is positioned between two first end lugs (113), a first gear (121) is sleeved and fixed at the tail end of an output shaft of the first driving motor (112), a first rotating shaft (123) is erected between the two first end lugs (113), a second gear (122) is sleeved and fixed on the first rotating shaft (123), the second gear (122) is meshed with the first gear (121), the first rotating shaft (123) is connected with the second mechanism (13) and is used for driving the second mechanism (13) to move synchronously.
4. A robot finger according to claim 3, characterised in that the second mechanism (13) comprises a second housing (131), two second end lugs (133) are arranged at one end of the second housing (131), a first connecting piece (134) is fixed at the other end, and the first connecting piece (134) is fixed with the first rotating shaft (123) in a sleeved mode.
5. Robot finger according to claim 4, characterised in that the second connection (14) comprises a second drive motor (132), the second driving motor (132) is arranged in the second shell (131), the output shaft of the second driving motor (132) extends out of the second shell (131) and is positioned between two second end lugs (133), the end of the output shaft of the second driving motor (132) is sleeved and fixed with a third gear (141), a second rotating shaft (143) is erected between the two second end lugs (133), a fourth gear (142) is sleeved and fixed on the second rotating shaft (143), the fourth gear (142) is meshed with the third gear (141), the second rotating shaft (143) is connected with the third mechanism (15) and is used for driving the third mechanism (15) to move synchronously.
6. A manipulator finger according to claim 5, characterised in that the third mechanism (15) comprises a pointed portion (151), one end of the pointed portion (151) being fixed to a second connector (152), the second connector (152) being fixed to the second axis of rotation (143) in a nested manner.
7. A robot finger according to claim 6, characterized in that the passive spring mechanism (16) comprises a mounting seat (162) fixed on the finger tip part (151), an elastic member (161) is arranged in the mounting seat (162), one end of the elastic member (161) is fixed with the mounting seat (162), and the other end is fixedly connected with an end cover (163).
8. A manipulator, characterized by comprising a manipulator finger according to any of claims 1-7.
9. A manipulator according to claim 8, comprising a plurality of said manipulator fingers, said plurality of said manipulator fingers being disposed evenly on the palm portion.
10. A manipulator according to claim 9, wherein the palm portion comprises:
a third housing (01);
the actuators (03) are arranged in the third shell (01), output shafts of the actuators respectively extend to the outside of one end of the third shell (01) and are fixedly sleeved with connecting ends of fingers of each manipulator, and the actuators are used for driving the fingers to move;
the tool flange (06) is arranged at one end, away from the manipulator fingers, of the third shell (01), one end of the tool flange is fixed with the third shell (01), and the other end of the tool flange is connected with one end of the torque sensor (05);
and the flat motor (04) is used for driving the whole manipulator to move around the normal vector of the palm part, is arranged at one end of the tool flange (06) deviating from the third shell (01), and has an output shaft connected with the other end of the torque sensor (05).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210289063.8A CN114559464A (en) | 2022-03-23 | 2022-03-23 | Manipulator finger and manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210289063.8A CN114559464A (en) | 2022-03-23 | 2022-03-23 | Manipulator finger and manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN114559464A true CN114559464A (en) | 2022-05-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210289063.8A Pending CN114559464A (en) | 2022-03-23 | 2022-03-23 | Manipulator finger and manipulator |
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| Country | Link |
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| CN (1) | CN114559464A (en) |
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| US20050040663A1 (en) * | 2002-10-07 | 2005-02-24 | Harmonic Drive Systems Inc. | Palm mechanism for robot hand |
| JP2008087105A (en) * | 2006-10-02 | 2008-04-17 | Toyota Motor Corp | Robot hand |
| CN104908056A (en) * | 2015-06-29 | 2015-09-16 | 哈尔滨工业大学 | Three-finger mechanical gripper with variable structure |
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| CN213081489U (en) * | 2020-07-27 | 2021-04-30 | 上海英曼尼安全装备有限公司 | Adjustable explosion-proof mechanical arm |
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| US20210387331A1 (en) * | 2020-06-10 | 2021-12-16 | Tamkang University | Three-finger mechanical gripper system and training method thereof |
| CN216067510U (en) * | 2021-10-22 | 2022-03-18 | 苏州世点领自动化科技有限公司 | One-to-two manipulator |
-
2022
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