CN211682199U - Dandelion-like universal grabbing robot hand device - Google Patents
Dandelion-like universal grabbing robot hand device Download PDFInfo
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- CN211682199U CN211682199U CN202020167311.8U CN202020167311U CN211682199U CN 211682199 U CN211682199 U CN 211682199U CN 202020167311 U CN202020167311 U CN 202020167311U CN 211682199 U CN211682199 U CN 211682199U
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Abstract
The dandelion-imitating universal grabbing robot hand device comprises a base, a guide pillar, a support piece, N sliding pipe assemblies, a motor, a transmission mechanism and a sliding outer barrel. The device is used for the robot hand to snatch the object, the automatic adaptation object shape that has a plurality of directions in three-dimensional space, the characteristics of size, it is convenient when snatching, control is simple, only use a motor can accomplish snatching the object, utilize the flexible adaptability to different object shapes that reaches of slide bar, the relative motion that combines guide pillar and slip urceolus to extrude a plurality of slide pipe subassemblies draws in from the dispersion form and snatchs the object, therefore it is more stable to snatch owing to be multidirectional snatching, adaptability is good, the power of grabbing is great, be fit for being applied to and need the robot to snatch in a flexible way and snatch the object shape, the uncertain occasion of size.
Description
Technical Field
The utility model belongs to the technical field of the robot hand, in particular to general grabbing robot hand device's of imitative dandelion structural design.
Background
The robot hand has wide application in the robot field, and the grabbing and releasing of objects can be realized through the application of the robot hand. At present, most of robot hands are designed into two parts which move relatively, and the robot hands also have a structure simulating human hands, and although the number of the robot hands is increased on knuckles, the cost is also increased due to the addition of a mechanical device, a transmission device, a sensing device and a control system. Robot hands can be currently divided into coupling hands, standard adaptive hands, indirect adaptive hands, coupling adaptive hands, flat clamp adaptive hands, spherical hands, and rod array hands.
Eric Brown et al, in the literature (Eric Brown, Nicholas Rodenberga, John Amendb, AnnanMozeikac, Erik Steltzc, Mitchell R.Zakend, Hod Lipson, Heinrichm.Jaegera.Universal cosmetic gridding on the jamming of granular materials of the National Academy of Sciences of the United states of America (PNAS), vol.107, No.44:18809 and 18814, doi:10.1073/pnas.1003250107, Sept.17,2010) describe a general-purpose robotic hand based on the principle of particle-blocking curing. The robotic hand includes a deformable membrane, a port, a screen, a fluid (e.g., gas) and a quantity of particulate material (e.g., coffee particles) disposed within the membrane, and a fluid source (e.g., a pump or evacuable container).
The working principle of the device is as follows: the particles in the membrane can move freely in the membrane, when the tail end of the robot leans against an object placed on a certain supporting surface, the object can extrude the membrane, so that the particles in the membrane move under the extrusion, the moving degrees of different particles in the membrane are different, and the moving degrees are related to the shape of the object, so that the effect of self-adapting to the shape of the object is achieved. Then, the fluid in the membrane is sucked away, the particles are remained in the membrane due to the existence of the filter screen, the particles generate blocking solidification effect due to mutual extrusion and friction, contact points are generated on an object through the solidified particle groups through the membrane, multi-finger multi-point contact grabbing effect is caused, and in addition, a sealed low-pressure area can be generated locally to obtain atmospheric pressure auxiliary grabbing effect.
The device has the following disadvantages:
(1) the device uses a large amount of granular material, and the abrasion of the granular material can greatly reduce the service life of the device;
(2) when the device is used for grabbing different objects, the number of particles in the device needs to be adjusted so as to better grab the different objects, and the universality of the device is greatly reduced;
(3) the device needs to almost completely suck away the fluid in the membrane, has large energy consumption, long grabbing time consumption, high cost of a fluid source (such as a pump), large volume of an evacuable container or large pressure of the evacuable container.
There is a fluid driven flexible rod cluster adaptive robot hand device (patent CN105583831B) which comprises a base, a plurality of sliding push rods, an elastic membrane, a fluid, a plurality of pistons and a plurality of springs. The device is used for the robot to snatch the object, has realized discrete space self-adaptation and has snatched the function: obtaining the self-adaptive effect on the size and the shape of an object by utilizing a plurality of sliding push rods; the bending deformation that a plurality of push rods gather to the center is realized by utilizing the fluid discharge, the elastic film and the bending elasticity of the push rods, and the multi-directional gripping effect on the object is achieved. The disadvantages are that: the sliding push rod of the device can only shrink one-dimensionally along the movement direction, so that the device has insufficient self-adaptation; the problem that the far and near rods are stressed by different tightening forces results in unreliable grabbing.
Disclosure of Invention
In order to overcome the defects existing in the prior art in the field of the device with the sliding rod array, the utility model aims to provide a general grabbing robot hand device imitating dandelion. The device is used for clamping an object and has adaptability to the size and the shape of the object. The device not only can grab when reaching a plurality of little objects, also can realize that the self-adaptation of single object is grabbed. The sliding rod can be used for obtaining the self-adaptive effect on the size and the shape of an object; the driver is used for driving the guide post to move, so that the sliding outer barrel extrudes the sliding pipe assembly to extrude an object, and the multi-directional gripping effect on the object is achieved. The device has the advantages of simple structure, low energy consumption, flexible grabbing, high stability and long service life.
The utility model aims at adopting the following technical scheme to realize. According to the utility model, the dandelion-imitating universal grabbing robot hand device comprises a base and N sliding pipe assemblies, wherein each sliding pipe assembly comprises a sliding pipe and a spring; the device also comprises a supporting piece, a guide pillar, a sliding outer cylinder, a motor and a transmission mechanism; one end of the guide post is fixedly connected with the base, the other end of the guide post is fixedly connected with the supporting piece, the supporting piece is a hemispherical shell, N holes are formed in the surface of the supporting piece, and the normal of each hole passes through the center of the sphere and is perpendicular to the spherical surface; the sliding pipe assembly further comprises an elastic connecting piece and a guide rod, one end of the elastic connecting piece is fixedly embedded in a corresponding hole on the surface of the supporting piece, the other end of the elastic connecting piece is fixedly connected with one end of the guide rod, the sliding pipe is sleeved on the guide rod in a sliding mode, and two ends of the spring are respectively connected with the guide rod and the sliding pipe; the motor is fixedly connected with the base; the transmission mechanism is arranged in 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 outer cylinder; the sliding outer cylinder is embedded outside the guide post in a sliding mode and is in contact with the guide rod on the outermost side of the surface of the support piece in the movement stroke range; the inner diameter of the sliding outer cylinder is larger than the outer diameter of the guide pillar; in the sliding pipe assembly, the guide rod is superposed with the central line of the sliding pipe, and in an initial state, the central line of the guide rod is superposed with the normal line of the corresponding hole on the surface of the support; the center line of the sliding outer cylinder is superposed with the center line of the guide pillar, and the spherical center of the support piece is positioned on the center line of the guide pillar;
the intersection points of the normal lines of the N holes and the spherical surface are distributed according to the following rule: assuming that the radius of the spherical surface is r, K points are taken in total, and then the coordinate (x) of the kth point is takenk，yk，zk) Given by the following equation:
zk＝(2k-r)/K-r
wherein constant is
K is 1,2,3, …, K; n is K/2 and is an integer greater than 8, with no hole-to-hole coincidence.
Furthermore, the elastic connecting piece adopts an elastic spherical hinge.
Furthermore, the dandelion-like universal grabbing robot hand device further comprises N elastic surface covers, and each elastic surface cover covers the outer side of the lower part of the corresponding sliding pipe respectively.
Furthermore, the dandelion-imitating universal grabbing robot finger device further comprises a linear bearing, and the linear bearing is arranged between the guide pillar and the sliding outer barrel.
Further, the transmission mechanism comprises a transmission shaft, a gear and a rack; the transmission shaft is sleeved in the base; the gear is fixedly sleeved on the transmission shaft; the rack is meshed with the gear; the rack is fixedly connected with the sliding outer cylinder; and an output shaft of the motor is connected with the transmission shaft.
Further, the guide post is one of a cylinder and a polygonal prism, and the sliding outer cylinder is one of a cylinder shell and a prism shell which are matched with the guide post.
Compared with the prior art, the utility model, have following outstanding characteristics:
the utility model discloses the device is used for the robot hand to snatch the object, the automatic adaptation object shape that has a plurality of directions in three-dimensional space, the characteristics of size, it is convenient when snatching, control is simple, only use a motor can accomplish snatching the object, utilize the flexible ability of reaching to different object shapes adaptability of slide bar, the relative motion who combines guide pillar and slip urceolus comes a plurality of slide pipe subassemblies to draw in from the form of dispersion and snatchs the object, therefore snatch more stably because it is multidirectional to snatch, adaptability is good, the snatching power is great, be fit for being applied to and need the robot to snatch in a flexible way and snatch the object shape, the uncertain occasion of size.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented according to the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more obvious and understandable, the following preferred embodiments are described in detail with reference to the accompanying drawings.
Drawings
Fig. 1 is an appearance diagram of an embodiment of the dandelion-like universal grabbing robot hand device provided by the utility model.
FIG. 2 is a schematic view of the slide tube assembly of the embodiment shown in FIG. 1.
Fig. 3 is a front view of the embodiment shown in fig. 1.
Fig. 4 is a cross-sectional view of the embodiment shown in fig. 1.
Fig. 5 and 6 are schematic views of the embodiment of fig. 1 for gripping an object.
[ reference numerals ]
1-base, 2-guide column, 3-sliding outer cylinder, 4-support piece, 5-sliding tube component, 51-guide rod, 52-sliding tube, 53-spring, 54-elastic connecting piece, 55-elastic surface cover, 6-motor, 7-transmission mechanism, 71-transmission shaft, 72-gear, 73-rack, 8-linear bearing and 9-object.
Detailed Description
The specific structure, operation principle and operation process of the present invention will be further described in detail with reference to the accompanying drawings and embodiments. The present embodiment defines the position of the slide pipe assembly as "down" and the position of the base as "up".
The utility model discloses an embodiment of the general robot hand device that snatchs of imitative dandelion, as shown in fig. 1, including base 1, guide pillar 2, support piece 4, 10 slide subassembly 5, motor 6, drive mechanism 7 and slip urceolus 3. The surface of the support part 4 is provided with 10 holes, and the normal line of each hole passes through the center of the sphere and is perpendicular to the spherical surface; the intersection points of the normal line of the hole and the spherical surface are distributed according to the following rule: assuming that the radius of the spherical surface is r, K points are taken in total, and then the coordinate (x) of the kth point is takenk，yk，zk) Given by the following equation:
zk＝(2k-r)/K-r
wherein constant is
K is 1,2,3, …, K, and since the structure of the support is a hemisphere, the number of holes N is K/2 and there is no overlap between holes, N is 10 in this embodiment. The guide post 2 is a cylinder, and the upper end of the guide post is fixedly connected with the base 1; the support piece 4 is fixedly connected to the lower end of the guide pillar 2; the sliding outer cylinder 3 is a cylindrical shell and is embedded outside the guide post 2 in a sliding mode. The slide tube assembly 5 comprises an elastic connecting piece 54, a guide rod 51, a slide tube 52 and a spring 53, wherein the elastic connecting piece 54 has elasticity; one end of the elastic connecting piece 54 is fixedly embedded in a corresponding hole on the surface of the support piece 4, and the other end of the elastic connecting piece 54 is fixedly connected with one end of the guide rod 51; the sliding tube 52 is sleeved on the guide rod 31 in a sliding manner; the two ends of the spring 53 are respectively connected with the guide rod 51 and the slide tube 52. The motor 6 is fixedly connected with the base 1; the transmission mechanism 7 is arranged in the base 1; the output shaft of the motor 6 is connected with the input end of the transmission mechanism 7; the output end of the transmission mechanism 7 is connected with the sliding outer cylinder 3; the branchThe support part 4 is hemispherical; the sliding outer cylinder 3 is contacted with a guide rod 51 of a slide pipe assembly on the outermost side of the support in the motion stroke range; the inner diameter of the sliding outer cylinder 3 is larger than the outer diameter of the guide post 2; in the slide tube assembly 5, the guide rod 51 is coincident with the central line of the slide tube 52; in the initial state, the centre line of the guide rod 51 coincides with the normal of the corresponding hole on the surface of the support 4; the central line of the sliding outer cylinder 3 is superposed with the central line of the guide post 2; the centre of sphere of the support 4 is located on the centre line of the guide post 2.
In this embodiment, the elastic connecting member 34 is an elastic ball hinge.
The present embodiment further includes 10 elastic surface covers 55, and each of the elastic surface covers 55 covers a lower outer side of the corresponding slide pipe 52.
The embodiment further comprises a linear bearing 8, and the linear bearing 8 is arranged between the guide post 2 and the sliding outer cylinder 3.
The transmission mechanism 7 in this embodiment includes a transmission shaft 71, a gear 72, and a rack 73; the transmission shaft 71 is sleeved in the base 1; the gear 72 is fixedly sleeved on the transmission shaft 71; the rack 73 is meshed with the gear 72; the rack 72 is fixedly connected with the sliding outer cylinder 3; the output shaft of the motor 6 is connected with a transmission shaft 71.
The working principle of this embodiment is described below with reference to fig. 1 to 6:
the initial state of this embodiment is shown in fig. 1, fig. 2, fig. 3, and fig. 4.
When the target object is grabbed in the embodiment, the sliding pipe of the sliding pipe assembly is contacted with the surface of the object, and the spring is extruded under the action of the interaction force, so that the shape and the size of the object are self-adapted; the motor rotates to drive the gear to rotate and drive the rack to move, and the sliding outer barrel is driven to move by the rack; the sliding outer cylinder extrudes the sliding pipe assembly, and the elastic connecting piece of the sliding pipe assembly has elasticity, so that the sliding pipe assembly can deform to integrally extrude inwards to complete the grabbing of an object, as shown in fig. 5 and 6.
When the object is released, the motor rotates reversely, and the subsequent process is just opposite to the process of grabbing the object, so that the repeated description is omitted.
The utility model discloses the device is used for the robot hand to snatch the object, has realized space self-adaptation and has snatched the function: the sliding rod can be used for obtaining the self-adaptive effect on the size and the shape of an object; the guide post is driven to move by the motor, so that the sliding outer barrel extrudes the sliding pipe assembly to extrude an object, and the multi-directional gripping effect on the object is achieved; the energy consumption is little, snatch the flexibility, stability is high, life is long-lived.
Finally, the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and other modifications or equivalent replacements made by those of ordinary skill in the art to the technical solutions of the present invention should be covered within the scope of the claims of the present invention as long as they do not depart from the design and scope of the technical solutions of the present invention.
Claims (6)
1. A dandelion-imitating universal grabbing robot hand device comprises a base and N sliding pipe assemblies, wherein each sliding pipe assembly comprises a sliding pipe and a spring; the method is characterized in that: the dandelion-imitating universal grabbing robot hand device further comprises a supporting piece, a guide pillar, a sliding outer cylinder, a motor and a transmission mechanism; one end of the guide post is fixedly connected with the base, the other end of the guide post is fixedly connected with the supporting piece, the supporting piece is a hemispherical shell, N holes are formed in the surface of the supporting piece, and the normal of each hole passes through the center of the sphere and is perpendicular to the spherical surface; the sliding pipe assembly further comprises an elastic connecting piece and a guide rod, one end of the elastic connecting piece is fixedly embedded in a corresponding hole on the surface of the supporting piece, the other end of the elastic connecting piece is fixedly connected with one end of the guide rod, the sliding pipe is sleeved on the guide rod in a sliding mode, and two ends of the spring are respectively connected with the guide rod and the sliding pipe; the motor is fixedly connected with the base; the transmission mechanism is arranged in 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 outer cylinder; the sliding outer cylinder is embedded outside the guide post in a sliding mode and is in contact with the guide rod on the outermost side of the surface of the support piece in the movement stroke range; the inner diameter of the sliding outer cylinder is larger than the outer diameter of the guide pillar; in the sliding pipe assembly, the guide rod is superposed with the central line of the sliding pipe, and in an initial state, the central line of the guide rod is superposed with the normal line of the corresponding hole on the surface of the support; the center line of the sliding outer cylinder is superposed with the center line of the guide pillar, and the spherical center of the support piece is positioned on the center line of the guide pillar;
the intersection points of the normal lines of the N holes and the spherical surface are distributed according to the following rule: assuming that the radius of the spherical surface is r, K points are taken in total, and then the coordinate (x) of the kth point is takenk，yk，zk) Given by the following equation:
zk＝(2k-r)/K-r
wherein constant is
N is K/2 and is an integer greater than 8, with no hole-to-hole coincidence.
2. The simulated dandelion universal grabbing robot hand device according to claim 1, characterized in that: the elastic connecting piece adopts an elastic spherical hinge.
3. The simulated dandelion universal grabbing robot hand device according to claim 1, characterized in that: the dandelion-imitating universal grabbing robot hand device further comprises N elastic surface covers, and each elastic surface cover covers the outer side of the lower part of the corresponding sliding pipe.
4. The simulated dandelion universal grabbing robot hand device according to claim 1, characterized in that: the dandelion-imitating universal grabbing robot finger device further comprises a linear bearing, and the linear bearing is arranged between the guide pillar and the sliding outer barrel.
5. The simulated dandelion universal grabbing robot hand device according to claim 1, characterized in that: the transmission mechanism comprises a transmission shaft, a gear and a rack; the transmission shaft is sleeved in the base; the gear is fixedly sleeved on the transmission shaft; the rack is meshed with the gear; the rack is fixedly connected with the sliding outer cylinder; and an output shaft of the motor is connected with the transmission shaft.
6. The simulated dandelion universal grabbing robot hand device according to claim 1, characterized in that: the guide post is one of a cylinder and a polygonal prism, and the sliding outer cylinder is one of a cylinder shell and a prism shell which are matched with the guide post.
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| CN202020167311.8U CN211682199U (en) | 2020-02-13 | 2020-02-13 | Dandelion-like universal grabbing robot hand device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111152257A (en) * | 2020-02-13 | 2020-05-15 | 清华大学天津高端装备研究院洛阳先进制造产业研发基地 | Dandelion-like universal grabbing robot hand device |
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- 2020-02-13 CN CN202020167311.8U patent/CN211682199U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111152257A (en) * | 2020-02-13 | 2020-05-15 | 清华大学天津高端装备研究院洛阳先进制造产业研发基地 | Dandelion-like universal grabbing robot hand device |
| CN111152257B (en) * | 2020-02-13 | 2024-08-27 | 清研(洛阳)先进制造产业研究院 | Dandelion-like general grabbing robot hand device |
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