CN214870643U

CN214870643U - Driving device for joint flexible fingers and robot

Info

Publication number: CN214870643U
Application number: CN202120770062.6U
Authority: CN
Inventors: 陈玮浩; 宦智杰; 马玮城
Original assignee: Xiamen University of Technology
Current assignee: Xiamen University of Technology
Priority date: 2021-04-15
Filing date: 2021-04-15
Publication date: 2021-11-26
Anticipated expiration: 2031-04-15

Abstract

The utility model provides a drive arrangement and robot of flexible finger in joint, the drive arrangement of the flexible finger in joint includes: the device comprises a base, a placing table, a pulling mechanism, a detection mechanism and a control mechanism; the placing table is supported and configured on the base, and at least comprises a clamping area used for clamping a flexible finger, so that the flexible finger can be detachably arranged in the clamping area in a mode that the lower end part is restrained, and the joint body above the lower end part is freely erected on the placing table; the pulling mechanism comprises a driving piece and a traction piece; the traction piece is used for connecting the driving piece and a joint body restrained on the placing table; the detection mechanism is provided with a sensing piece, and the sensing piece is arranged on the joint body and used for monitoring the bending degree of the joint body; the control mechanism is electrically connected with the pulling mechanism and the detection mechanism. The driving mode enables the controllability of the driving of the flexible finger to be strong and the reliability to be more remarkable.

Description

Driving device for joint flexible fingers and robot

Technical Field

The utility model relates to the technical field of robots, particularly, relate to a drive arrangement and robot of flexible finger in joint.

Background

At present, in the application field of robots, the grabbing force of a traditional rigid manipulator is difficult to control, grabbing objects are easily damaged, and the traditional rigid manipulator has the limitations of complex control, poor environmental adaptability and the like, so that the application range is greatly limited.

Along with this, replace to adopt the manipulator structure of flexible construction, not only can change the crooked shape of self in a flexible way, do benefit to moreover and snatch irregular object, adaptability is strong. However, the driving mode of this type of manipulator, its structure and function are all more single, also have very big restriction to snatching the object, and need comparatively complicated auxiliary device to cooperate. In addition, due to the limitation of self structural characteristics, the environmental sensitivity is high, and the application in actual production and life is difficult.

It should be noted that the information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information constitutes prior art already known to a person skilled in the art.

SUMMERY OF THE UTILITY MODEL

In view of the above, the present invention provides a driving device for a joint flexible finger, and a robot to solve the above problems.

The utility model adopts the following scheme:

the application provides a drive arrangement of flexible finger of joint, includes: the device comprises a base, a placing table, a pulling mechanism, a detection mechanism and a control mechanism; the placing table is supported and configured on the base, and at least comprises a clamping area used for clamping a flexible finger, so that the flexible finger can be detachably arranged in the clamping area in a mode that the lower end part is restrained, and the joint body above the lower end part is freely erected on the placing table; the pulling mechanism comprises a driving piece and a traction piece; the traction piece is used for connecting the driving piece and a joint body restrained on the placing table; the detection mechanism is provided with a sensing piece, and the sensing piece is arranged on the joint body and used for monitoring the bending degree of the joint body; the control mechanism is electrically connected with the pulling mechanism and the detection mechanism.

As a further improvement, the placing table comprises a vertical column which supports and is configured on the end surface of the base and a platform which is configured on the vertical column; the platform is in a locking matched two-plate structure, the clamping area is formed between the two plates, the plate body above the clamping area is provided with a through hole allowing the joint body to penetrate through, and the lower end part of the flexible finger can be embedded and fixed between the plates.

As a further improvement, the base and the plate body are both made of acrylic plates; the upright posts are aluminum rods and are respectively supported and configured at four corners of the plate body.

As a further improvement, the flexible finger is in a T shape, the lower end part of the flexible finger is a head part, the joint body is a rod part, and the rod part forming the joint body is made of flexible materials; wherein the joint body is controlled by the driving piece to switch between a bending state and a resetting state.

As a further improvement, the lower end part and the joint body are integrally formed by the flexible finger through 3D printing.

As a further improvement, the sensing element is a resistance strain gauge, and the resistance strain gauge is closely attached to the outer periphery of the joint body in the initial reset state and extends toward the length direction of the joint body.

As a further improvement, the driving part is a motor, the traction part comprises a belt wheel arranged on an output shaft of the motor and a steel wire rope which is accommodated and wound on the belt wheel, and one end of the steel wire rope is connected to the upper end part of the joint body.

As a further improvement, the joint finger is in a hollow column shape with a bottom opening, the steel wire rope penetrates through the bottom opening and is connected to the top of the bottom opening, and the flexible finger is triggered to bend from top to bottom along the upper end of the joint body after being pulled by the belt wheel.

As a further improvement, the control mechanism comprises a single chip microcomputer, the single chip microcomputer is connected with an external input device and an output device, and the single chip microcomputer controls the driving piece to operate.

The application further provides a robot, which comprises the joint flexible finger driving device and the flexible finger controlled by the driving device.

Further features of the invention will become apparent from the following description of exemplary embodiments (with reference to the attached drawings).

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic structural view of a driving device for a joint flexible finger according to an embodiment of the present invention;

FIG. 2 is a partially disassembled schematic view of FIG. 1;

fig. 3 is a schematic structural diagram of the driving device for the joint flexible finger according to the embodiment of the present invention at another viewing angle;

fig. 4 is a schematic structural diagram of the driving device for the joint flexible finger according to the embodiment of the present invention at other viewing angles;

fig. 5 is a schematic structural diagram of a single chip microcomputer in a control mechanism of a driving device for a joint flexible finger according to an embodiment of the present invention.

Icon: 1-a base; 2-placing the table; 3-a pulling mechanism; 4-a drive member; 5-a traction member; 6-a sensing member; 7-upright post; 8-a platform; 9-a plate body; 10-a through hole; 11-a locking member; 12-a resistive strain gauge; 13-a motor; 14-a pulley; 15-steel wire rope; 16-a single chip microcomputer; a-a flexible finger; a 1-lower end; a 2-joint body.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings of the embodiments of the present invention are combined to clearly and completely describe the technical solutions of the embodiments of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Examples

With reference to fig. 1 to 5, the present embodiment provides an articulated flexible finger driving device, including: the device comprises a base 1, a placing table 2, a pulling mechanism 3, a detection mechanism and a control mechanism. The placement table 2 is supported and arranged on the base 1, and the placement table 2 has at least a clamping area for clamping the flexible finger a so that the flexible finger a can be detachably set in the clamping area in a manner that the lower end portion a1 is restrained, and the joint body a2 located above the lower end portion a1 is freely erected on the placement table 2. The pulling mechanism 3 comprises a driving member 4 and a pulling member 5. The traction means 5 are intended to couple the driving means 4 and the joint body a2 constrained to the standing board 2. The detecting mechanism has a sensing element 6, and the sensing element 6 is disposed on the joint body a2 for monitoring the bending degree of the joint body a 2. The control mechanism is electrically connected with the pulling mechanism 3 and the detection mechanism.

In the above embodiment, the driving device is used to drive and control the joint flexible finger. Wherein, the base 1 and the placing platform 2 are combined to form an installation placing space, so that each functional mechanism can realize compact configuration. And the clamping area of the placing table 2 enables the flexible finger A to be restrained and to maintain a free standing posture, thereby further realizing subsequent pulling bending. In addition, the lower end part A1 of the flexible finger A is in a limit state, and the joint body A2 above the lower end part A1 is provided with the sensing piece 6, so that the bending degree of the flexible finger A is monitored in real time and fed back to the control mechanism. When the pulling mechanism 3 is not pulled, the flexible finger a is in an initial free and straight reset state, and the bending degree detected by the sensing piece 6 is zero at the moment. When the joint body A2 is pulled by the pulling mechanism 3 through the traction piece 5, the flexible finger A is gradually bent when the driving piece 4 continuously rotates and the pulling force is gradually increased, and the sensing piece 6 monitors the joint body A2 in a bent state in real time. By the driving mode, the controllability of the driving of the flexible finger A is strong, and the reliability is more remarkable.

It should be noted that the control mechanism, the pulling mechanism 3 and the detecting mechanism are all conventional and existing circuit connections, and are not described herein. In addition, the drive device of the present embodiment is described with respect to the lower end portion a1 of the flexible finger a and the joint body a2 thereof, which are external environmental features, and is not limited to the protection scope defined by the invention only for better highlighting the inventive concept of the drive mechanism.

In one embodiment, the standing platform 2 comprises a column 7 supported on an end surface of the base 1 and a platform 8 disposed on the column 7. The platform 8 is constructed into a two-plate structure which is locked and matched, the clamping area is formed between the two plates 9, the plate 9 positioned above the platform is provided with a through hole 10 which allows the joint body A2 to pass through, and the lower end part A1 of the flexible finger A can be embedded and fixed between the plates 9. Therefore, the two plate structures are stacked at intervals, a clamping area for stably clamping the lower end part A1 of the flexible finger A is defined by locking the locking pieces 11 such as screws, the joint body A2 of the flexible finger A penetrates through the through hole 10 and is arranged on the placing table 2 in a vertically protruding mode, the flexible finger A above the lower end part A1 is arranged freely relatively, and flexible grabbing on a target object is facilitated.

Preferably, the base 1 and the plate 9 are both acrylic plates. The columns 7 are aluminum rods and are supported and arranged at four corners of the plate 9.

The articulated flexible fingers are described further below. The flexible finger A is T-shaped, the lower end A1 of the flexible finger A is a head, the joint body A2 is a rod, and the rod forming the joint body A2 is made of flexible materials. It should be noted that the joint body a2 is controlled by the driver 4 to switch between the bending state and the return state. Preferably, the flexible finger a is integrally formed with the lower end portion a1 and the joint body a2 by 3D printing. In particular, in the present embodiment, the lower end portion a1 and the joint body a2 are made of different materials, the lower end portion a1 is made of a rigid material, and the joint body a2 is made of an elastic material.

The sensor element 6 of the detection mechanism is further explained. In one embodiment, the sensing element 6 is a resistance strain gauge 12, and the resistance strain gauge 12 is closely attached to the outer periphery of the joint body a2 in the initial reset state and is extended toward the length direction of the joint body a 2. The working principle of the metal resistance strain gage 12 is that the strain resistance adsorbed on the substrate material generates resistance value change along with mechanical deformation, which is commonly referred to as resistance strain effect. Therefore, after the joint body A2 is bent, the resistance value is triggered to change, and the degree of bending deformation is obtained in a data mode.

In one embodiment, the drive member 4 is preferably an electric motor 13. The traction element 5 includes a pulley 14 disposed on the output shaft of the motor 13 and a wire rope 15 wound around the pulley 14, and one end of the wire rope 15 is connected to the upper end of the joint body a 2. Specifically, the joint finger is in a hollow column shape with a bottom opening, and the steel wire rope 15 penetrates through the bottom opening and is connected to the top of the bottom opening, so that the flexible finger a is triggered to bend from top to bottom along the upper end of the joint body a2 after being pulled by the belt wheel 14. In particular, the end of the wire rope 15 is fixed to the top of the knuckle finger in a locked manner, and the wire rope 15 is disposed so as to be spaced from the hollow column, preferably such that the length direction of the wire rope 15 in traction coincides with the length direction of the knuckle finger. That is, the pulley 14 is disposed substantially vertically below the flexible finger a.

In one embodiment, the control mechanism includes a single-chip microcomputer 16. The single chip microcomputer 16 is connected to an external input device (e.g., a display) and an output device (e.g., a keyboard), and controls the operation of the driving member 4 through the single chip microcomputer 16. Specifically, the resistance strain gauge 12 is connected to the single chip microcomputer 16 through an AD converter, the single chip microcomputer 16 is connected with a power supply, and the motor 13 is connected to the single chip microcomputer 16 and the power supply through a motor 13 driver. The single chip microcomputer 16 is externally connected with an LCD and a numeric keyboard, and an angle value within a range is input through the numeric keyboard, so that the single chip microcomputer 16 controls the motor 13 to operate to drive the belt wheel 14 to rotate forwards or backwards, and the steel wire rope 15 is pulled to change the bending degree of the flexible finger A. When the wire rope 15 is pulled by the motor 13, the flexible finger a can be bent and deformed towards one side of the wire rope 15, so that the bending action of the finger can be flexibly simulated. Through the bending of flexible finger A, resistance strain gauge 12 takes place resistance change to influence its output voltage, and convert analog voltage signal into digital signal and send into singlechip 16 and handle through AD conversion module. The single chip microcomputer 16I/O is controlled to output high and low level signals through signal change, so that the rotation and stop of the motor 13 are controlled, and the flexible bending of the flexible finger A at a preset bending degree is realized.

It should be explained that a receiving space is formed between the plate body 9 and the base 1 for placing the pulling mechanism 3 and the control mechanism. The driving member 4 is correspondingly arranged on the end surface of the base 1, and the belt wheel 14 at the output shaft end of the driving member is opposite to the flexible finger A.

The present embodiment further provides a robot, which includes a driving device for joint flexible fingers and a flexible finger a controlled by the driving device, so as to flexibly grasp an object, and the robot has high controllability and high reliability.

Above only the utility model discloses an it is preferred embodiment, the utility model discloses a scope of protection not only limits in above-mentioned embodiment, and the all belongs to the utility model discloses a technical scheme under the thinking all belongs to the utility model discloses a scope of protection.

Claims

1. An articulating flexible finger drive device comprising:

a base;

a placement table supported and arranged on the base, the placement table having at least a clamping area for clamping a flexible finger so that the flexible finger can be detachably disposed in the clamping area in a manner that the lower end portion is restrained, the joint body located above the lower end portion being freely erected on the placement table;

the pulling mechanism comprises a driving piece and a traction piece; the traction piece is used for connecting the driving piece and a joint body restrained on the placing table;

the detection mechanism is provided with a sensing piece, and the sensing piece is arranged on the joint body and used for monitoring the bending degree of the joint body;

and the control mechanism is electrically connected with the pulling mechanism and the detection mechanism.

2. The device for driving articulated flexible fingers according to claim 1, characterized in that said standing platform comprises a vertical post supported and arranged on the end face of the base and a platform arranged on the vertical post; wherein,

the platform is constructed into a structure with two plate bodies which are in locking fit, the clamping area is formed between the two plate bodies, the plate body positioned above the clamping area is provided with a through hole which allows the joint body to pass through, and the lower end part of the flexible finger can be embedded and fixed between the plate bodies.

3. The articulating flexible finger drive device of claim 2 wherein said base and said plate are both acrylic plates; the upright posts are aluminum rods and are respectively supported and configured at four corners of the plate body.

4. The device for driving articulated flexible fingers according to claim 2, wherein the flexible finger is T-shaped, the lower end of the flexible finger is a head, the articulation body is a rod, and the rod forming the articulation body is made of flexible material; wherein,

the joint body is controlled by a driving piece to switch between a bending state and a resetting state.

5. The device for driving articulated flexible fingers according to claim 4, wherein the flexible finger is integrally formed with the lower end portion and the articulation body by 3D printing.

6. The device as claimed in claim 4, wherein the sensing member is a resistance strain gauge closely attached to the outer circumference of the joint body in the initial reposition state and extending toward the length direction of the joint body.

7. The device for driving articulated flexible fingers according to claim 1, wherein the driving member is a motor, the traction member comprises a pulley disposed on an output shaft of the motor and a wire rope received around the pulley, and one end of the wire rope is connected to the upper end of the joint body.

8. The device for driving the joint flexible finger according to claim 7, wherein the joint flexible finger is in a hollow column shape with a bottom opening, the steel wire rope is arranged in the bottom opening in a penetrating way and connected to the top of the bottom opening, and the steel wire rope triggers the flexible finger to bend in a top-down mode along the upper end part of the joint body after being pulled by the belt wheel.

9. The device as claimed in claim 1, wherein the control mechanism comprises a single-chip microcomputer, the single-chip microcomputer is connected to an external input device and an output device, and the single-chip microcomputer controls the operation of the driving member.

10. A robot comprising an articulated flexible finger drive as claimed in any one of claims 1 to 9 and a flexible finger controlled by the drive.