CN203495949U - Anthropopathic robot hand device with capsule sand bag attached to surface - Google Patents
Anthropopathic robot hand device with capsule sand bag attached to surface Download PDFInfo
- Publication number
- CN203495949U CN203495949U CN201320560994.3U CN201320560994U CN203495949U CN 203495949 U CN203495949 U CN 203495949U CN 201320560994 U CN201320560994 U CN 201320560994U CN 203495949 U CN203495949 U CN 203495949U
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- 239000002775 capsule Substances 0.000 title claims abstract description 90
- 239000004576 sand Substances 0.000 title abstract 12
- 239000002245 particle Substances 0.000 claims abstract description 15
- 239000000463 material Substances 0.000 claims description 4
- 229920001971 elastomer Polymers 0.000 claims description 3
- 239000004816 latex Substances 0.000 claims description 3
- 229920000126 latex Polymers 0.000 claims description 3
- 239000011343 solid material Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 abstract description 3
- 238000012423 maintenance Methods 0.000 abstract description 3
- 238000005086 pumping Methods 0.000 abstract description 3
- 238000013461 design Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000008187 granular material Substances 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 244000060701 Kaempferia pandurata Species 0.000 description 1
- 235000016390 Uvaria chamae Nutrition 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000013536 elastomeric material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000002269 spontaneous effect Effects 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
- 229920001169 thermoplastic Polymers 0.000 description 1
- 239000004416 thermosoftening plastic Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The utility model relates to an anthropopathic robot hand device with a capsule sand bag attached to the surface, and belongs to the technical field of an anthropopathic robot. The anthropopathic robot hand device comprises two parts including an anthropopathic robot hand main body rigid mechanical part and a grabbing-assisting capsule sand bag system, wherein the finger structure and the finger distribution of the device are similar to those of a human hand. The capsule sand bag system comprises the capsule sand bag, a vacuum air pumping device and a pipeline, the surface of the capsule sand bag is a high-elasticity film, light-weight and hard particles are filled inside the capsule sand bag, and the capsule sand bag is attached to the surface of the palm center and the hand palm center side of each finger section of the robot. When air at a certain pressure is filled inside the capsule sand bag, the surface of the capsule sand bag is soft and can deform; when the air in the capsule sand bag is pumped out, and a certain vacuum degree is maintained, the surface of the capsule sand bag becomes hard, and in addition, the shape before the air pumping can be maintained. The anthropopathic robot hand device can assist the robot hand to automatically adapt to the grabbing of objects in different shapes and sizes, particularly to the picking and taking of small and fine objects and special-shaped objects, and has the characteristics that the structure is simple, the cost is low, the installation and the maintenance are convenient, the reliability is high, and the like.
Description
Technical field
The utility model belongs to anthropomorphic robot's technical field, particularly the structural design of the auxiliary robot hand device capturing of a kind of capsule sandbag.
Background technology
Seemingly, most functions will realize by operation by human hand for anthropomorphic robot and the mankind, thereby hand structure is anthropomorphic robot's important component part, and its design is one of key technology of anthropomorphic robot.What capture function and be robot is substantially the most also most important function, and improving the ability that robot captures object is the important topic of robot research and design.
According to the relation of the free degree and driver number, humanoid robot hand can be divided into Dextrous Hand and the large class of under-actuated robot hand two.In order to increase the degree of personalizing and to improve Grasping skill, humanoid robot hand need to design more joint freedom degrees, meanwhile, in order to alleviate the volume and weight of controlling difficulty, reducing hand, need to reduce driver number.In addition,, in order to complete better the task of capturing object, need finger when capturing object, to there is certain adaptivity.Anthropomorphic for realizing in form, anthropomorphic robot's watch face generally also will cover the suitably material of flexibility of one deck, and this layer of flexible material also has the effect that increases the frictional force while grasping conventionally.
At present, be that Dextrous Hand or under-actuated robot hand are all difficult to capture small objects.How to capture out-of-shape and at least in two dimensions size approach or be less than the object of finger size, as wire, small size nut etc., be a difficult problem of robot design and control aspect.
Utility model content
The purpose of this utility model is to provide a kind of anthropomorphic robot's arm device of surface attachment capsule sandbag, make it have the adjustable surface of shape and pliability, thereby can capture better the object of difformity, size, meanwhile, can make robot possess and pick up the function of getting small objects or special shape object.
The technical solution of the utility model is as follows:
Anthropomorphic robot's arm device of surface attachment capsule sandbag, comprises finger, joint shaft, palm and drive unit; Finger comprises root segment, middle part segment and end segment, finger structure and finger are arranged similar to staff, it is characterized in that: this robot hand device also comprises an auxiliary capsule sandbag system that captures, and this capsule sandbag system comprises capsule sandbag, vacuum suction device and pipeline; Capsule sandbag surface is high resiliency film, inner light filling hard particles; The centre of the palm one side surface in the end segment of each finger is attached with respectively capsule sandbag, and described capsule sandbag is connected with vacuum suction device 1 by pipeline.
Another technical characterictic of the present utility model is: in the centre of the palm of the middle part of each finger segment and root segment, one side surface is attached with respectively capsule sandbag, and this capsule sandbag is connected with vacuum suction device by pipeline.
Another technical characterictic of the present utility model is: in the centre of the palm of palm, one side surface is attached with one or more capsule sandbags, and this capsule sandbag is connected with vacuum suction device by pipeline.
In technique scheme, described high resiliency film adopts latex, high elastic rubber or high-elasticity thermoplastic elastomeric material; The described lightweight hard particles of filling adopts shaggy natural or artificial solid material, and its particle diameter is between 2～0.1mm.The thickness of described capsule sandbag is at least 5 millimeters.
The utility model compared with prior art, have the following advantages and high-lighting effect: the capsule sandbag system that the utilization of the utility model device is adhered on finger and palm has realized the case hardness of humanoid robot hand and the controllable variations of shape, utilize this character of capsule sandbag, can auxiliary machinery staff complete and pick up actions such as getting small objects, complete the crawl function that existing robot has been difficult to.This robot hand device is simple in structure, reliable, cost is low, is convenient to installation and maintenance, similar to finger, and volume is little, lightweight, can automatically adapt to and capture difformity and big or small object, particularly possesses and picks up the function of getting small objects or special shape object.
Accompanying drawing explanation
Fig. 1 is anthropomorphic robot's arm device front view of surface attachment capsule sandbag.
Fig. 2 is the side plane view of the local finger part of Fig. 1.
Fig. 3 is that finger tip is picked up the stereoprojection view of getting object.
Fig. 4 is the side plane view of Fig. 3.
Fig. 5 picks up for many fingers coordinate the stereoprojection view of getting slender body.
Fig. 6 is the side view of Fig. 5.
Fig. 7 picks up for many fingers coordinate the stereoprojection view of getting Special-shaped object.
Fig. 8 points schematic diagram while grasping object.
In Fig. 1 to Fig. 8: 1-vacuum suction device; 2-pipeline; 3-palm; 4-joint shaft; 5-root segment; 6-middle part segment; 7-end segment; 8-capsule sandbag; 9-high resiliency film 10-lightweight hard particles; 11-is picked up gets object; The crawled object of 12-.
The specific embodiment
Below in conjunction with drawings and Examples, be described in further detail concrete structure of the present utility model, operation principle and the specific embodiment.
The embodiment of the robot hand device of a kind of surface attachment capsule sandbag of the utility model design, as shown in Figure 1 and Figure 2, this device comprises humanoid robot hand main body rigid mechanical part and the auxiliary capsule sandbag system two parts that capture, humanoid robot hand mechanical part comprises palm 3, joint shaft 4 and finger, finger comprises root segment 5, middle part segment 6 and end segment 7; Mechanical part can adopt the frame for movement of Dextrous Hand, also can adopt the frame for movement of owing to drive hand, but its main body rigid mechanical segment thickness should not surpass 1/2 of device general thickness, for capsule sandbag system reserves sufficient space; Capsule sandbag system comprises capsule sandbag 8, vacuum suction device 1 and pipeline 2; Capsule sandbag surface is high resiliency film 9, inner light filling hard particles 10; Described high resiliency film can adopt latex or high elastic rubber material; Described lightweight hard particles can adopt shaggy natural or artificial solid material, and its particle diameter is between 2～0.1mm.
The utility model can be only attached with respectively capsule sandbag 8 at the centre of the palm one side surface of the end segment 7 of each finger, also can at the centre of the palm of root segment 5, middle part segment 6 and end segment 7 and palm 3 side surface, be attached with respectively capsule sandbag 8 simultaneously.Capsule sandbag is attached to fixed on the centre of the palm one side surface of humanoid robot hand finger root segment 5, middle part segment 6, end segment 7 and palm 3; The capsule sandbag of palm part can be one, can be also several, and the integral thickness of capsule sandbag should be not less than 5 millimeters; Adhere to after capsule sandbag, overall appearance and the staff of robot are similar, and capsule sandbag, by being with valvular pipeline 2 to be connected with vacuum suction device 1, can change the air pressure of the air of filling in capsule sandbag fast, and can maintain the low pressure of capsule sandbag inside; When capsule sandbag inner sustain low pressure state, there is Particle Blocking effect in the light granules 10 of capsule sandbag inside, and it is non-deformable that capsule sandbag integral body presents certain hardness in the case; When capsule sandbag inside is atmospheric pressure state, inner light granules is removable, and capsule sandbag integral body presents soft deformable state.
The operation principle of the present embodiment, as shown in Figures 3 to 8.
Fig. 3, 4 have shown that the capsule sandbag operation principle of the present embodiment and end segment are picked up gets function, when being filled with the air of certain pressure, capsule sandbag 8 inside (are generally an atmospheric pressure), the whole soft deformable of capsule sandbag, when being positioned at the capsule sandbag 8 of robot finger's end segment, contact and press small objects, for example, during shaft 11, the object that is pressed can be absorbed in capsule sandbag, the parcel of the spontaneous formation of capsule sandbag to the object that is pressed, now, by vacuum line system 2, take the gas in capsule sandbag away, capsule sandbag air pressure inside reduces, atmospheric pressure is exerted pressure to inner particle by the film on capsule sandbag surface, can produce Particle Blocking effect, particle in capsule sandbag is stressed to affect and no longer can freely changes position, in the case, capsule sandbag integral body presents certain degree of hardness and not yielding, small objects partly can be wrapped in wherein, the effect of getting is picked up in realization, to shaft-like, granular, or small objects in irregular shape all produces effect.
The capsule sandbag that is attached to end segment can be thicker than the capsule sandbag of other positions, to facilitate to pick up, gets object.
Each is attached to finger or the capsule sandbag of palm surface and can independently realizes picking up of small objects got to function, and a plurality of capsule sandbags coordinate to realize to be got picking up of larger or complex-shaped object.
Fig. 5,6,7 has shown that many fingers of the present embodiment coordinate to pick up and has got function, for long rod-like articles or rod-like articles in irregular shape, single capsule sandbag picks up that to get reliability poor, in the case, can utilize a plurality of capsule sandbags that are distributed on robot diverse location to coordinate to realize picking up gets, to better adapt to and picked up the shape of getting object, make to pick up get more reliable, effectively.
Fig. 8 has shown the grip function of the present embodiment.Capsule sandbag does not affect the achieved grip function of robot machinery part, when being soft condition, capsule sandbag catches object, and by vacuum-pumping system, bleed and make the hardening of capsule sandbag after adapting at capsule sandbag the shape that is grasped object, can make the robot difformity object of fitting better, make to grasp more effective.
Performance synthesis that the utility model utilization is attached to shape that the capsule sandbag system of anthropomorphic robot watch face has, hardness controllable variations realized finger tip pick up get, palm is picked up and is got, point to coordinate to pick up more and the special-effect that captures object such as get.This robot hand device is simple in structure, reliable, cost is low, is convenient to installation and maintenance, similar to finger, and volume is little, lightweight, can automatically adapt to and capture the large wisp of difformity.
Claims (6)
1. anthropomorphic robot's arm device of surface attachment capsule sandbag, comprises finger, joint shaft (4), palm (3) and drive unit; Finger comprises root segment (5), middle part segment (6) and end segment (7, finger structure and finger are arranged similar to staff, it is characterized in that: this robot hand device also comprises an auxiliary capsule sandbag system that captures, and this capsule sandbag system comprises capsule sandbag, vacuum suction device (1) and pipeline (2); Capsule sandbag surface is high resiliency film (9), inner light filling hard particles (10); The centre of the palm one side surface in the end segment (7) of each finger is attached with respectively capsule sandbag (8), and described capsule sandbag is connected with vacuum suction device (1) by pipeline (2).
2. anthropomorphic robot's arm device of a kind of surface attachment capsule sandbag as claimed in claim 1, it is characterized in that: the middle part segment (6) of each finger and the centre of the palm one side surface of root segment (5) are attached with respectively capsule sandbag (8), and described capsule sandbag is connected with vacuum suction device by pipeline respectively.
3. anthropomorphic robot's arm device of a kind of surface attachment capsule sandbag as claimed in claim 1 or 2, it is characterized in that: the centre of the palm one side surface of palm (3) is attached with one or more capsule sandbags, and described capsule sandbag is connected with vacuum suction device by pipeline.
4. anthropomorphic robot's arm device of a kind of surface attachment capsule sandbag as claimed in claim 1, is characterized in that: described high resiliency film adopts latex or high elastic rubber material.
5. anthropomorphic robot's arm device of a kind of surface attachment capsule sandbag as claimed in claim 1, is characterized in that: described lightweight hard particles adopts shaggy natural or artificial solid material, and its particle diameter is between 2～0.1mm.
6. anthropomorphic robot's arm device of a kind of surface attachment capsule sandbag as claimed in claim 1, is characterized in that: the thickness of described capsule sandbag is at least 5 millimeters.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320560994.3U CN203495949U (en) | 2013-09-10 | 2013-09-10 | Anthropopathic robot hand device with capsule sand bag attached to surface |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320560994.3U CN203495949U (en) | 2013-09-10 | 2013-09-10 | Anthropopathic robot hand device with capsule sand bag attached to surface |
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| CN203495949U true CN203495949U (en) | 2014-03-26 |
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| CN201320560994.3U Expired - Fee Related CN203495949U (en) | 2013-09-10 | 2013-09-10 | Anthropopathic robot hand device with capsule sand bag attached to surface |
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| CN104890004A (en) * | 2015-06-09 | 2015-09-09 | 杭州南江机器人股份有限公司 | Robot bionic finger |
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| CN105773607A (en) * | 2016-03-17 | 2016-07-20 | 清华大学 | Surface two-dimensional movable robot finger unit device |
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