CN210998791U - Fluid force balance elastic piece array self-adaptive robot hand device - Google Patents
Fluid force balance elastic piece array self-adaptive robot hand device Download PDFInfo
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- CN210998791U CN210998791U CN201921268712.6U CN201921268712U CN210998791U CN 210998791 U CN210998791 U CN 210998791U CN 201921268712 U CN201921268712 U CN 201921268712U CN 210998791 U CN210998791 U CN 210998791U
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Abstract
A fluid force balance elastic piece array self-adaptive robot hand device belongs to the technical field of robot hands and comprises a base, a motor, a transmission mechanism, fluid, a sliding cylinder, a cover plate, N sleeves, N pistons, N tendon ropes, N springs and N elastic films. The device realizes the function of universal grabbing. The device has the self-adaptation characteristic to different shapes, size object through the array spring, obtain more contact points when snatching the object, tendon rope through the biasing connection pulls the spring bending and can make the multiple spot produce and grab power of holding, realize the underactuated effect of a plurality of tendon ropes of single motor drive through fluid, a slide cartridge, the sleeve, piston etc. control is easy, make each spring grabbing power automatic coordination through fluid communicating vessel principle, the grabbing power distribution of applying the object is even, it is stable to snatch, be applicable to the various occasions that need general snatch different grade type object.
Description
Technical Field
The utility model belongs to the technical field of the robot hand, in particular to structural design of balanced elastic component array self-adaptation robot hand device of fluid force.
Background
The robot hand is a part for the robot to perform grasping. Because the human hand has a plurality of fingers, and each finger has a plurality of joints, therefore the human hand can easily grasp objects of different sizes and shapes, has very high adaptability, and imitates a trend that the human hand becomes a robot hand. However, in the research of the robot hand leaning to the human hand for decades, a researcher has a plurality of analysis results, which show that the core of the human hand is the self-adaptability of the grabbing, so that the self-adaptive grabbing is not necessarily achieved only by using a multi-finger multi-joint humanoid hand structure, and other types of structures may also obtain a high-efficiency self-adaptive grabbing effect. Therefore, more appearance special hands which do not imitate the appearance and the structure of the hands and have self-adaptive grabbing effect are born.
In the aspect of special hands, Peter of the 1985 empire national studios developed a relatively early double-set slide bar array adaptive hand, two sets of slide bar arrays firstly slide up and down to adapt to the appearance of an object under the extrusion of the object, and then the object is grabbed by folding the two sets of slide bars left and right. The disadvantages are that: the hand cannot grab the elongated objects which exceed the two groups of closing directions, and the grabbing force of small objects which are smaller than one group of boundaries and cannot contact the two groups of rods at the same time is small, so that the grabbing is unstable.
Pay macro to design root rotation slide bar array self-adaptation hand that has the qxcomm technology to gather together, can snatch the object of different directions, its weak point lies in: this hand can't let the bull grab power that is close occasionally when snatching the object, thereby see the bull in the outward appearance and participated in the snatching, it is because root joint dwang in fact, the place of contact object is mostly the point contact, and non-line contact or face contact, and outlying slide bar is tied up by the tendon rope, outlying slide bar can produce the snatching power, but inside slide bar does not have direct contact tendon rope, inside slide bar does not have the strength and applys on the object, lead to the snatching power uneven, snatch the unstability, influence its application in the reality.
SUMMERY OF THE UTILITY MODEL
The utility model aims at overcoming the shortcomings of the prior art and providing a fluid force balance elastic piece array self-adaptive robot hand device. The device has the self-adaptation characteristic to different shapes, size object, can obtain more contact points when snatching the object, and the power of grabbing that a plurality of contact points were applyed is more even, snatchs stably, adopts single motor drive, and control is easy.
The technical scheme of the utility model as follows:
the utility model discloses a balanced elastic component array self-adaptation robot hand device of fluid force, its characterized in that: the device comprises a base, a motor, a transmission mechanism, fluid, a sliding cylinder, a cover plate, N sleeves, N pistons, N tendon ropes, N springs and N elastic films; the motor is fixedly connected to the base; the output shaft of the motor is connected with the input end of the transmission mechanism, and the output end of the transmission mechanism is connected with the sliding cylinder; the sliding cylinder is embedded in the base in a sliding mode, and the sliding direction of the sliding cylinder is parallel to the central line of the sleeve; the sliding cylinder is fixedly connected with the cover plate; the cover plate is provided with N through holes; each sleeve penetrates through a corresponding through hole in the cover plate, each sleeve is fixedly connected with the cover plate, the center lines of all the sleeves are parallel to each other, and the center line of each sleeve is parallel to the center line of the sliding cylinder; each piston is slidably embedded in a corresponding sleeve; a closed cavity is defined by the interior of the sliding cylinder, the cover plate, the N sleeves and the tops of the N pistons, and the fluid is in the closed cavity; the base is provided with N rope penetrating holes, each tendon rope penetrates through the corresponding rope penetrating hole in the base, and the upper end of each tendon rope is connected to the corresponding piston; one end of each spring is fixedly connected with the lower surface of the base; one end of each elastic film is connected with the base; each of said springs being disposed in a respective elastic membrane; each of the tendon ropes passing through a respective spring; the lower end of each tendon rope is fixedly connected with the bottom edge of the corresponding spring, and the connection point is positioned on one side of the bottom edge of the spring; the spring is a pressure spring; when in the initial position, the central lines of all the springs are parallel to each other, and the central lines of the springs and the central line of the sliding barrel are parallel to each other; in the initial position, a section of each tendon rope in the spring is parallel to the central line of the slide drum; and N is a natural number greater than 2.
Balanced elastic component array self-adaptation robot hand device of fluid force, its characterized in that: the transmission mechanism comprises a speed reducer, a screw rod and a nut; the output shaft of the motor is connected with the input shaft of the speed reducer, the output shaft of the speed reducer is fixedly connected with the screw, the central line of the screw is superposed with the central line of the output shaft of the speed reducer, the screw is connected with the nut, the screw and the nut form a thread transmission relationship, the nut is fixedly connected with the sliding barrel, and the central line of the screw is parallel to the sliding direction of the sliding barrel in the base.
Balanced elastic component array self-adaptation robot hand device of fluid force, its characterized in that: the piston type hydraulic cylinder is characterized by also comprising a sealed cavity part, wherein the cavity part is arranged in the sliding cylinder, the cavity part is fixedly connected with the sliding cylinder, and the fluid is sealed in a sealed cavity between the cavity part and the sleeve and between the cavity part and the piston.
Balanced elastic component array self-adaptation robot hand device of fluid force, its characterized in that: the cavity part adopts a flexible film.
Compared with the prior art, the utility model, have following advantage and outstanding effect:
the utility model discloses the device utilizes base, motor, drive mechanism, fluid, slide cartridge, apron, a N sleeve, a N piston, a N tendon rope, a N spring and a N elastic film etc. to synthesize and has realized the function that generally snatchs. The device has the self-adaptation characteristic to different shapes, size object through the array spring, obtain more contact points when snatching the object, tendon rope through the biasing connection pulls the spring bending and can make the multiple spot produce and grab power of holding, realize the underactuated effect of a plurality of tendon ropes of single motor drive through fluid, a slide cartridge, the sleeve, piston etc. control is easy, make each spring grabbing power automatic coordination through fluid communicating vessel principle, the grabbing power distribution of applying the object is even, it is stable to snatch, be applicable to the various occasions that need general snatch different grade type object.
Drawings
Fig. 1 is a perspective view of an embodiment of a fluid force balancing elastomeric array adaptive robotic hand device designed in accordance with the present invention.
Fig. 2 is a perspective view from another angle of the embodiment of fig. 1.
Fig. 3 is a side elevational view of the embodiment of fig. 1.
Fig. 4 is a sectional view a-a of fig. 3.
Fig. 5 is a bottom view of fig. 3.
Fig. 6 is a sectional view taken along line B-B of fig. 5.
Fig. 7 to 11 are schematic views of the process of grasping an object according to the embodiment shown in fig. 1.
In fig. 1 to 11:
1-base, 11-rope-threading hole, 2-motor, 21-speed reducer, 22-screw rod,
23-nut, 3-fluid, 4-slide cylinder, 41-cavity piece, 5-cover plate,
51-through hole, 61-sleeve, 62-piston, 7-tendon rope, 8-spring,
9-elastic film, 99-object, 100-table top.
Detailed Description
The details of the structure and the operation principle of the present invention will be described in detail with reference to the accompanying drawings and embodiments.
The utility model discloses a balanced elastic component array self-adaptation robot hand device of fluid force, its characterized in that: the device comprises a base, a motor, a transmission mechanism, fluid, a sliding cylinder, a cover plate, N sleeves, N pistons, N tendon ropes, N springs and N elastic films; the motor is fixedly connected to the base; the output shaft of the motor is connected with the input end of the transmission mechanism, and the output end of the transmission mechanism is connected with the sliding cylinder; the sliding cylinder is embedded in the base in a sliding mode, and the sliding direction of the sliding cylinder is parallel to the central line of the sleeve; the sliding cylinder is fixedly connected with the cover plate; the cover plate is provided with N through holes; each sleeve penetrates through a corresponding through hole in the cover plate, each sleeve is fixedly connected with the cover plate, the center lines of all the sleeves are parallel to each other, and the center line of each sleeve is parallel to the center line of the sliding cylinder; each piston is slidably embedded in a corresponding sleeve; a closed cavity is defined by the interior of the sliding cylinder, the cover plate, the N sleeves and the tops of the N pistons, and the fluid is in the closed cavity; the base is provided with N rope penetrating holes, each tendon rope penetrates through the corresponding rope penetrating hole in the base, and the upper end of each tendon rope is connected to the corresponding piston; one end of each spring is fixedly connected with the lower surface of the base; one end of each elastic film is connected with the base; each of said springs being disposed in a respective elastic membrane; each of the tendon ropes passing through a respective spring; the lower end of each tendon rope is fixedly connected with the bottom edge of the corresponding spring, and the connection point is positioned on one side of the bottom edge of the spring; the spring is a pressure spring; when in the initial position, the central lines of all the springs are parallel to each other, and the central lines of the springs and the central line of the sliding barrel are parallel to each other; in the initial position, a section of each tendon rope in the spring is parallel to the central line of the slide drum; and N is a natural number greater than 2.
In the specific embodiment, if N is 24, an embodiment of the fluid force balance elastic member array adaptive robot hand device according to the present invention, as shown in fig. 1, includes a base 1, a motor 2, a transmission mechanism, a fluid 3, a sliding cylinder 4, a cover plate 5, 24 sleeves 61, 24 pistons 62, 24 tendon ropes 7, 24 springs 8, and 24 elastic films 9; the motor 2 is fixedly connected to the base 1; the output end of the motor 2 is connected with the input end of the transmission mechanism, and the output end of the transmission mechanism is connected with the sliding cylinder 4; the sliding cylinder 4 is embedded in the base 1 in a sliding manner, and the sliding direction of the sliding cylinder 4 is parallel to the central line of the sleeve 61; the sliding cylinder 4 is fixedly connected with the cover plate 5; the cover plate 5 is provided with 24 through holes 51; each sleeve 61 penetrates through a corresponding through hole 51 on the cover plate 5, each sleeve 61 is fixedly connected with the cover plate 5, and the central lines of all the sleeves 61 are parallel to each other; each of said pistons 62 is slidably embedded in a respective sleeve 61; a closed cavity is enclosed by the interior of the slide cylinder 4, the cover plate 5, the tops of the 24 sleeves 61 and the tops of the 24 pistons 62, and the fluid 3 is in the closed cavity; the base 1 is provided with 24 rope threading holes 11, each tendon rope 7 passes through the corresponding rope threading hole 11 on the base 1, and the upper end of each tendon rope 7 is connected to the corresponding piston 62; one end of each spring 8 is fixedly connected with the lower surface of the base 1; one end of each elastic film 9 is connected with the base 1; each of said springs 8 is placed in a respective elastic membrane 9; each of said tendon ropes 7 passes through a respective spring 8; the lower end of each tendon rope 7 is connected with the bottom edge of the corresponding spring 8, and the connection point is positioned on one side of the bottom edge of the spring 8; the spring 8 is a pressure spring; in the initial position, the center lines of all the springs 8 are parallel to each other, and the center line of the spring 8 is parallel to the center line of the spool 4.
In the present embodiment, the transmission mechanism includes a speed reducer 21, a screw 22, and a nut 23; the output shaft of the motor 2 is connected with the input shaft of the speed reducer 21, the output shaft of the speed reducer 21 is fixedly connected with the screw 22, the center line of the screw 22 is overlapped with the center line of the output shaft of the speed reducer 21, the screw 22 is connected with the nut 23, the screw 22 and the nut 23 form a thread transmission relationship, the nut 23 is fixedly connected with the sliding cylinder 4, and the center line of the screw 22 is parallel to the sliding direction of the sliding cylinder 4 in the base 1.
The embodiment further comprises a sealed cavity member 41, the cavity member 41 is arranged in the sliding cylinder 4, the cavity member 41 is fixedly connected with the sliding cylinder 4, and the fluid 3 is sealed in a sealed cavity between the cavity member 41 and the sleeve 4 and between the cavity member 41 and the piston 62.
In this embodiment, the cavity 41 is made of a flexible film.
The operation principle of the present embodiment is described below with reference to the accompanying drawings.
In the initial position, the elastic membrane 9 restrains the spring 8 to be mounted on the lower surface of the base 1 in a shortened state, and the spring 8 is compressed and deformed by a small deformation amount; because of the communicating principle of the fluid 3, the fluid 3 in the closed cavity makes the pressure of the fluid 3 to which each piston 62 is subjected uniform, and if not uniform, each piston 62 moves until uniform.
The embodiment is installed at the tail end of the mechanical arm, when the mechanical arm controls the device to move downwards to contact the object 99, the object 99 is placed on the working table 100, the object 99 extrudes part of the spring 8 to be deformed, the height of the spring 8 automatically adapts to the shape of the object 99, and some springs 8 move upwards more, at the moment, the tendon rope 7 is loosened, and because of the principle of the communicating device of the fluid 3, the fluid 3 can automatically move the position of the piston 62 at each position in the sleeve 61 to achieve force balance.
At this time, the motor 2 rotates, and after the speed is reduced by the speed reducer 21, the screw rod 22 is driven to rotate, the nut 23 moves, and the slide cylinder 4 is slidably embedded in the base 1, so that the slide cylinder 4 can only slide up and down along a straight line, and therefore, the screw rod 22 rotates, and the slide cylinder 4 fixedly connected with the nut 23 slides upwards. Due to the action of atmospheric pressure, the slide cylinder 4 slides upwards and can be driven by the fluid 3, the tendon rope 7 is pulled by each piston 62, the tendon rope 7 pulls the spring 8, the connection point of the lower part of the tendon rope 7 and the spring 8 is not positioned in the middle of the spring 8, but is biased to the edge and close to the central side of the base 1, and the upper end of the spring 8 is fixedly connected with the base 1 and can not move, so that the spring 8 is biased to bend by pulling the tendon rope 7, the bent spring 8 exerts a grabbing force on the object 99, the spring 8 is more, the object 99 is bent from different directions to the center of the base 1 to contact and grab the object 99, the object 99 can be stably grabbed, the grabbing is insensitive to the orientation of the object 99, the long object 99 in all directions can be grabbed, and spherical, square, rectangular and various odd objects 99 in different sizes can be stably grabbed, thereby achieving the purpose of self-adaptive grabbing (or called general grabbing).
Process of releasing the object 99: the motor 2 rotates reversely, and the subsequent process is just opposite to the process of grabbing the object 99, which is not described in detail.
The utility model discloses the device utilizes base, motor, drive mechanism, fluid, slide cartridge, apron, a N sleeve, a N piston, a N tendon rope, a N spring and a N elastic film etc. to synthesize and has realized the function that generally snatchs. The device has the self-adaptation characteristic to different shapes, size object through the array spring, obtain more contact points when snatching the object, tendon rope through the biasing connection pulls the spring bending and can make the multiple spot produce and grab power of holding, realize the underactuated effect of a plurality of tendon ropes of single motor drive through fluid, a slide cartridge, the sleeve, piston etc. control is easy, make each spring grabbing power automatic coordination through fluid communicating vessel principle, the grabbing power distribution of applying the object is even, it is stable to snatch, be applicable to the various occasions that need general snatch different grade type object.
Claims (4)
1. A fluid force balancing elastic member array self-adaptive robot hand device is characterized in that: the device comprises a base, a motor, a transmission mechanism, fluid, a sliding cylinder, a cover plate, N sleeves, N pistons, N tendon ropes, N springs and N elastic films; the motor is fixedly connected to the base; the output shaft of the motor is connected with the input end of the transmission mechanism, and the output end of the transmission mechanism is connected with the sliding cylinder; the sliding cylinder is embedded in the base in a sliding mode, and the sliding direction of the sliding cylinder is parallel to the central line of the sleeve; the sliding cylinder is fixedly connected with the cover plate; the cover plate is provided with N through holes; each sleeve penetrates through a corresponding through hole in the cover plate, each sleeve is fixedly connected with the cover plate, the center lines of all the sleeves are parallel to each other, and the center line of each sleeve is parallel to the center line of the sliding cylinder; each piston is slidably embedded in a corresponding sleeve; a closed cavity is defined by the interior of the sliding cylinder, the cover plate, the N sleeves and the tops of the N pistons, and the fluid is in the closed cavity; the base is provided with N rope penetrating holes, each tendon rope penetrates through the corresponding rope penetrating hole in the base, and the upper end of each tendon rope is connected to the corresponding piston; one end of each spring is fixedly connected with the lower surface of the base; one end of each elastic film is connected with the base; each of said springs being disposed in a respective elastic membrane; each of the tendon ropes passing through a respective spring; the lower end of each tendon rope is fixedly connected with the bottom edge of the corresponding spring, and the connection point is positioned on one side of the bottom edge of the spring; the spring is a pressure spring; when in the initial position, the central lines of all the springs are parallel to each other, and the central lines of the springs and the central line of the sliding barrel are parallel to each other; in the initial position, a section of each tendon rope in the spring is parallel to the central line of the slide drum; and N is a natural number greater than 2.
2. The fluid force balanced spring array adaptive robotic hand device of claim 1, wherein: the transmission mechanism comprises a speed reducer, a screw rod and a nut; the output shaft of the motor is connected with the input shaft of the speed reducer, the output shaft of the speed reducer is fixedly connected with the screw, the central line of the screw is superposed with the central line of the output shaft of the speed reducer, the screw is connected with the nut, the screw and the nut form a thread transmission relationship, the nut is fixedly connected with the sliding barrel, and the central line of the screw is parallel to the sliding direction of the sliding barrel in the base.
3. The fluid force balanced spring array adaptive robotic hand device of claim 1, wherein: the piston type hydraulic cylinder is characterized by also comprising a sealed cavity part, wherein the cavity part is arranged in the sliding cylinder, the cavity part is fixedly connected with the sliding cylinder, and the fluid is sealed in a sealed cavity between the cavity part and the sleeve and between the cavity part and the piston.
4. The fluid force balanced spring array adaptive robotic hand device of claim 3, wherein: the cavity part adopts a flexible film.
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| CN201921268712.6U CN210998791U (en) | 2019-08-06 | 2019-08-06 | Fluid force balance elastic piece array self-adaptive robot hand device |
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| CN201921268712.6U CN210998791U (en) | 2019-08-06 | 2019-08-06 | Fluid force balance elastic piece array self-adaptive robot hand device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110465965A (en) * | 2019-08-06 | 2019-11-19 | 李泽铭 | Fluid force balances elastic component array adaptive robot arm device |
| CN112757330A (en) * | 2021-01-15 | 2021-05-07 | 哈尔滨工业大学 | Holder with self-adaptive capacity |
-
2019
- 2019-08-06 CN CN201921268712.6U patent/CN210998791U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110465965A (en) * | 2019-08-06 | 2019-11-19 | 李泽铭 | Fluid force balances elastic component array adaptive robot arm device |
| CN112757330A (en) * | 2021-01-15 | 2021-05-07 | 哈尔滨工业大学 | Holder with self-adaptive capacity |
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