CN215618127U - Manipulator system with multi-rope driving unit - Google Patents
Manipulator system with multi-rope driving unit Download PDFInfo
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- CN215618127U CN215618127U CN202120784256.1U CN202120784256U CN215618127U CN 215618127 U CN215618127 U CN 215618127U CN 202120784256 U CN202120784256 U CN 202120784256U CN 215618127 U CN215618127 U CN 215618127U
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Abstract
The utility model discloses a manipulator system with a multi-rope driving unit, which comprises: the driving humanoid hand body comprises 4 three-joint humanoid fingers, 1 two-joint humanoid fingers and a humanoid finger base, and the three-joint humanoid fingers and the two-joint humanoid fingers adopt a driving rope driving mode; each three-joint humanoid finger and each two-joint humanoid finger are connected with the humanoid finger base through the connecting assembly; the servo motor assembly is used for controlling and driving the humanoid hand body; and the sensor assembly is used for measuring the angle and the contact force of the driving simulated hand body through the sending of control commands and the receiving of signals. According to the utility model, through the interaction among the driving humanoid hand body, the connecting assembly, the servo motor assembly, the sensor assembly and other structures, not only is position control realized, but also variable stiffness control of the manipulator can be realized.
Description
Technical Field
The utility model relates to the technical field of manipulator systems, in particular to a manipulator system with a multi-rope driving unit.
Background
In recent years, with the development of industrial robot technology, a manipulator with a gripping operation is more and more emphasized by people and is a hot spot of current research. However, the existing manipulator can only realize position operation, and a complex control loop is needed for force contact operation, so that the manipulator has the defect of poor flexibility in controlling complex operation. The utility model relates to a manipulator system with multiple rope drive units, which has the advantages of high response speed, simplicity in control, no need of complex motor control and the like, and can realize the advantages of variable-rigidity grabbing, transferring and other in-hand operations while reducing the cost of the manipulator, along with small volume and low energy consumption. Through the prior art document query:
1. the utility model discloses a multi-degree-of-freedom underactuated manipulator, which is designed according to Chinese patent invention patent 'a multi-degree-of-freedom underactuated manipulator', and comprises a palm and a thumb. Middle finger, guide wheel, reed and drive tendon, each joint is driven by only one motor, and driven by tendon and guide wheel to bend directly. But the manipulator cannot realize the decoupling movement of the joint and cannot control the acting force and the rigidity of the joint.
The utility model patent of Chinese patent is 'a rope-driving under-actuated five-finger manipulator', application number: 202010578745.1A rope-driven under-actuated five-finger manipulator comprises a thumb and a four-finger assembly, and the number of finger driving motors can be reduced by adopting a rope-pulley system structure driven by a rope, so that self-adaptive grabbing is realized.
Disclosure of Invention
The utility model aims to solve the defects in the prior art and provides a manipulator system with a multi-rope driving unit.
In order to achieve the purpose, the utility model adopts the following technical scheme:
a robot system having a multi-cord drive unit, the robot system having a multi-cord drive unit comprising: the driving humanoid hand body comprises 4 three-joint humanoid fingers, 1 two-joint humanoid fingers and a humanoid finger base, and the three-joint humanoid fingers and the two-joint humanoid fingers adopt a driving rope driving mode;
each three-joint humanoid finger and each two-joint humanoid finger are connected with the humanoid finger base through the connecting assembly;
the servo motor assembly is used for controlling and driving the humanoid hand body;
and the sensor assembly is used for measuring the angle and the contact force of the driving simulated hand body through the sending of control commands and the receiving of signals.
Preferably, coupling assembling is including seting up first mounting hole, the second mounting hole on imitative people's finger of three joints and the imitative people's finger of two joints respectively and installing the swivel pin in first mounting hole and second mounting hole, first mounting hole and second mounting hole all are through swivel pin and imitative people's finger pedestal connection.
Preferably, the three-joint human-simulated finger comprises a first sub-joint, a second sub-joint and a third sub-joint, wherein the first wire groove and the second wire groove are respectively formed in the first sub-joint and the second sub-joint, a first connecting rod, a second connecting rod and a third connecting rod are sequentially hinged among the first sub-joint, the second sub-joint and the third sub-joint, first fixing holes are formed in the first wire groove and the second wire groove, and a first transmission assembly connected with the servo motor assembly is installed on the first fixing holes.
Preferably, the first transmission assembly comprises a first non-deformable connecting tendon connecting the first wire groove and the second wire groove and a second non-deformable connecting tendon connected with the driving assembly through the first fixing hole, the second non-deformable connecting tendon is connected with a plurality of first elastic connecting tendons and a plurality of second elastic connecting tendons through the first connecting point, each of the first elastic connecting tendons and the plurality of second elastic connecting tendons is connected with an electric valve for controlling elastic deformation of the first elastic connecting tendons and the plurality of second elastic connecting tendons, and the first non-deformable connecting tendons are connected with the first capstan through the first spring.
Preferably, the second joint imitates a fourth sub-joint and a fifth sub-joint of a human finger, a fourth wire casing is arranged on the fourth sub-joint, the fourth sub-joint is hinged with a fifth connecting rod and a fourth connecting rod, the fourth wire casing is provided with a second fixing hole, and a second transmission assembly connected with the servo motor assembly is arranged on the second fixing hole.
Preferably, the second transmission assembly comprises a third non-deformable connecting tendon connected to a fourth wire slot and tensioned, the other end of the third non-deformable connecting tendon is connected with a control motor, the control motor is further connected with a fourth non-deformable connecting tendon, the third non-deformable connecting tendon is connected with a plurality of third elastic connecting tendons and a plurality of fourth elastic connecting tendons through second connection points, each of the third elastic connecting tendons and the fourth elastic connecting tendons is connected with an electric valve for controlling the elastic deformation of the third elastic connecting tendons and the fourth elastic connecting tendons, and the third non-deformable connecting tendons are connected with a second winch through a second spring.
Preferably, the human finger-like base comprises a first mounting panel and a second mounting panel, and the first mounting panel comprises a plurality of finger mounting interfaces.
Preferably, the servo motor assembly comprises a driving motor, a speed reducer is installed on a rotating shaft of the driving motor, and the driving motor is connected with the driving humanoid hand body through a guide wheel.
Preferably, the sensor assembly comprises an angle sensor and a contact sensor which are arranged on the three-joint humanoid finger and the two-joint humanoid finger, an upper computer interface and an upper computer which is structurally connected with the upper computer.
Compared with the prior art, the utility model has the beneficial effects that:
the interaction between the driving humanoid hand body, the connecting assembly, the servo motor assembly, the sensor assembly and the like not only realizes position control, but also can realize variable stiffness control of the manipulator.
Drawings
FIG. 1 is a diagram of the elastic cord and tendon manipulator system based on multiple driving mechanisms according to the present invention;
FIG. 2 is a schematic side view of a 3-joint finger in the robot of the present invention;
FIG. 3 is a schematic top view of a 3-joint finger in the robot of the present invention;
FIG. 4 is a schematic diagram of a side view of a 2-joint finger in the robot of the present invention;
FIG. 5 is a schematic top view of a 2-joint finger in the robot of the present invention;
FIG. 6 is a view showing a structure of driving joints 1,2 of 3-joint fingers in the robot arm of the present invention;
FIG. 7 is a view showing a driving structure of a joint 1 of a 2-joint finger in the robot arm of the present invention;
FIG. 8 is a schematic structural view of a robot hand palm and its appendages according to the present invention;
fig. 9 is a driving structure diagram of the joint of the end joint of the finger and the palm of the manipulator of the utility model.
In the figure: a driving human hand imitating body, a servo electric mechanism, a sensor assembly, a first sub-joint, a second sub-joint, a third sub-joint, a first wire groove, a second wire groove, a first mounting hole, a first connecting rod, a second connecting rod, a third connecting rod, a fourth sub-joint, a fifth sub-joint, a second capstan, a second mounting hole, a fifth connecting rod, a fourth connecting rod, a first mounting panel, a second mounting panel, a finger mounting interface, a rotating pin, a first non-deformable connecting tendon, a first fixing hole, a first spring, a first capstan, a first connecting point, a first elastic connecting tendon, a second non-deformable connecting tendon, a second connecting point, a second fixing hole, a third elastic connecting tendon, a third non-deformable connecting tendon, a fourth connecting rod, a fifth connecting rod, f5 fourth elastic connecting tendon, f6 driving motor, f7 control motor, f8 fourth non-deformable connecting tendon, f9 second spring.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1 to 9, a robot system having a multi-cord drive unit includes: the driving humanoid hand body a1, the driving humanoid hand body a1 include 4 three-joint humanoid fingers, 1 two-joint humanoid fingers and a humanoid finger base, the humanoid finger base includes a first mounting panel d1 and a second mounting panel d2, the first mounting panel d1 includes a plurality of finger mounting interfaces d3, and the three-joint humanoid fingers and the two-joint humanoid fingers adopt a driving rope driving mode.
The three-joint human-simulated finger comprises a first sub-joint b1, a second sub-joint b2 and a third sub-joint b3, wherein a first line groove b4 and a second line groove b5 are respectively formed in the first sub-joint b1 and the second sub-joint b2, a first connecting rod b7, a second connecting rod b8 and a third connecting rod b9 are sequentially hinged among the first sub-joint b1, the second sub-joint b2 and the third sub-joint b3, first fixing holes e2 are respectively formed in the first line groove b4 and the second line groove b5, a first transmission assembly connected with the servo motor assembly is installed on the first fixing hole e2, the first sub-joint b1 is connected with a first connecting rod b7 and a second connecting rod b8 in a hinged mode, and the second sub-joint b2 is connected with a second connecting rod b8 and a third connecting rod b9 in a hinged mode.
The first transmission assembly comprises a first non-deformable connecting tendon e1 connected with a first wire groove b4 and a second wire groove b5 and a second non-deformable connecting tendon e8 connected with the driving assembly through a first fixing hole e2, the second non-deformable connecting tendon e8 is connected with a plurality of first elastic connecting tendons e6 and a plurality of second elastic connecting tendons e7 through a first connecting point e5, each first elastic connecting tendon e6 and the plurality of second elastic connecting tendons e7 are connected with an electric valve for controlling the elastic deformation of the first elastic connecting tendon e6 and the second elastic connecting tendons e7 in a common mode, and the first non-deformable connecting tendon e1 is connected with a first capstan e4 through a first spring e 3.
The second joint simulates a fourth sub-joint c1 and a fifth sub-joint c2 of a human finger, a fourth wire groove is formed in the fourth sub-joint c1, a fifth connecting rod c5 and a fourth connecting rod c6 are hinged to the fourth sub-joint c1, a second fixing hole f2 is formed in the fourth wire groove, and a second transmission assembly connected with the servo motor assembly is installed on the second fixing hole f 2.
The second transmission assembly comprises a third non-deformable connecting tendon f4 connected to the fourth wire groove in a tensioned manner, the other end of the third non-deformable connecting tendon f4 is connected with a control motor f7, the control motor f7 is further connected with a fourth non-deformable connecting tendon f8, the third non-deformable connecting tendon f4 is connected with a plurality of third elastic connecting tendons f3 and a plurality of fourth elastic connecting tendons f5 through a second connection point f1, each third elastic connecting tendon f3 and each fourth elastic connecting tendon f5 are also connected with an electric valve for controlling the elastic deformation of the third elastic connecting tendon f3 and the fourth elastic connecting tendon f5 in a common manner, and the third non-deformable connecting tendon f4 is connected with a second capstan c3 through a second spring f 9.
The connecting assembly comprises a first mounting hole b6 and a second mounting hole c4 which are respectively arranged on the three-joint humanoid finger and the two-joint humanoid finger, and a rotating pin d4 which is arranged in the first mounting hole b6 and the second mounting hole c4, and the first mounting hole b6 and the second mounting hole c4 are connected with the humanoid finger base through the rotating pin d 4.
Servo motor subassembly a2, servo motor subassembly a2 are used for the control drive imitative people hand body, and servo motor subassembly a2 includes driving motor f6, installs the reduction gear on driving motor f 6's the pivot, and driving motor f6 passes through the leading wheel and drives imitative people hand body coupling.
The sensor component a3 and the sensor component a3 are used for measuring the angle and the contact force of the driving humanoid hand body through sending of control commands and receiving of signals, and the sensor component a3 comprises an angle sensor and a contact sensor which are arranged on a three-joint humanoid finger and a two-joint humanoid finger, an upper computer interface and an upper computer which is structurally connected with the upper computer. Aiming at the control requirement of variable rigidity, the non-deformable connecting tendon can be a steel wire rope or other high polymer material braided ropes, and the elastic connecting tendon can be an elastic rope, a spring and the like.
And is connected by a rotating pin d4, for three joint fingers, is connected with a first mounting hole b6 by a rotating pin d4, for two joint fingers, is connected with a second mounting hole c4 by a rotating pin d4, and finally, a motor is mounted at the second mounting panel d2, and the position and rigidity information of the fingers are adjusted by connecting tendons. The finger connecting simulated human finger base is connected with the joint first mounting hole b6 or the joint second mounting hole c4 through a third elastic connecting tendon f3, the form of the finger connecting simulated human finger base is as shown in figure 9, 4 holes are evenly distributed, a pulley parallel to the plane of the simulated human finger base first mounting panel d1 is connected with the control motor f7 through a fourth non-deformable connecting tendon f8, and therefore the movement parallel to the plane of the simulated human finger base first mounting panel d1 is achieved. The connecting hole vertical to the plane of the first mounting panel d1 of the simulated human finger base is connected with a pulley driven by a driving motor f6 through a fourth elastic connecting tendon f5 to realize the movement vertical to the plane of the first mounting panel d1 of the simulated human finger base.
During the driving process of the motor, the second non-deformable connecting tendon e8, the third non-deformable connecting tendon f4, the fourth non-deformable connecting tendon f8 and the like connected by the motor are used for position adjustment, and the rigidity adjustment is realized through the first elastic connecting tendon e6, the second elastic connecting tendon e7, the third elastic connecting tendon f3, the fourth elastic connecting tendon f5 and the like.
The sensor system a3 comprises angle sensors mounted at a first sub-joint b1, a second sub-joint b2 and a fourth sub-joint c1, and contact sensors mounted at a first connecting rod b7, a second connecting rod b8, a third connecting rod b9, a fifth connecting rod c5, a fourth connecting rod c6 and a first mounting panel d1, so that the measurement of the finger angle and the contact force is realized, and the angles at a first mounting hole b6 and a second mounting hole c4 of the joint are calculated through pulley parameters at a pulley and a driving motor and the motor rotation angle.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (9)
1. A robot system having a multi-cord drive unit, the robot system having a multi-cord drive unit comprising: the driving humanoid hand body (a1), the driving humanoid hand body (a1) comprises 4 three-joint humanoid fingers, 1 two-joint humanoid fingers and a humanoid finger base, and the three-joint humanoid fingers and the two-joint humanoid fingers adopt a driving rope driving mode;
each three-joint humanoid finger and each two-joint humanoid finger are connected with the humanoid finger base through the connecting assembly;
the servo motor assembly (a2), the servo motor assembly (a2) is used for controlling and driving the humanoid hand body;
a sensor assembly (a3), wherein the sensor assembly (a3) is used for measuring the angle and the contact force of the driving simulated human hand body through the sending of control commands and the receiving of signals.
2. The robot system with the multi-rope drive unit according to claim 1, wherein the connecting assembly comprises a first mounting hole (b6), a second mounting hole (c4) and a first rotating pin (d4) which are respectively arranged on the three-joint humanoid finger and the two-joint humanoid finger, wherein the first mounting hole (b6) and the second mounting hole (c4) are respectively arranged in the mounting hole (b6) and the second mounting hole (c4), and the first mounting hole (b6) and the second mounting hole (c4) are respectively connected with the humanoid finger base through the rotating pin (d 4).
3. The manipulator system with the multi-rope driving unit according to claim 1, wherein the three-joint human-simulated finger comprises a first sub-joint (b1), a second sub-joint (b2) and a third sub-joint (b3), the first sub-joint (b1) and the second sub-joint (b2) are respectively provided with a first wire groove (b4) and a second wire groove (b5), a first connecting rod (b7), a second connecting rod (b8) and a third connecting rod (b9) are sequentially hinged among the first sub-joint (b1), the second sub-joint (b2) and the third sub-joint (b3), the first wire groove (b4) and the second wire groove (b5) are respectively provided with a first fixing hole (e2), and the first fixing hole (e2) is provided with a first transmission component connected with a servo motor component.
4. A manipulator system with a multi-cord drive unit according to claim 3, wherein the first transmission assembly comprises a first non-deformable connecting tendon (e1) connecting the first and second wire slots (b4, b5) and a second non-deformable connecting tendon (e8) connected to the drive assembly via a first fastening hole (e2), the second non-deformable connecting tendon (e8) being connected via a first connection point (e5) to a plurality of first resilient connecting tendons (e6) and a plurality of second resilient connecting tendons (e7), each of the first and second resilient connecting tendons (e6, e7) being commonly connected to an electrically operated valve controlling their resilient deformation, the second non-deformable connecting tendon (e8) being connected via a first spring (e3) to a first capstan (e 4).
5. The manipulator system with the multi-rope driving unit according to claim 1, wherein the two joints imitate a fourth sub-joint (c1) and a fifth sub-joint (c2) of a human finger, a fourth wire slot is arranged on the fourth sub-joint (c1), a fifth connecting rod (c5) and a fourth connecting rod (c6) are hinged to the fourth sub-joint (c1), a second fixing hole (f2) is formed in the fourth wire slot, and a second transmission assembly connected with the servo motor assembly is mounted on the second fixing hole (f 2).
6. The manipulator system with multi-rope drive unit according to claim 5, wherein the second transmission assembly comprises a third non-deformable connecting tendon (f4) connected in tension on a fourth wire chase, the other end of the third non-deformable connecting tendon (f4) is connected with a control motor (f7), the control motor (f7) is further connected with a fourth non-deformable connecting tendon (f8), the third non-deformable connecting tendon (f4) is connected with a plurality of third elastic connecting tendons (f3) and a plurality of fourth elastic connecting tendons (f5) through a second connection point (f1), each of the third elastic connecting tendons (f3) and the fourth elastic connecting tendons (f5) is also connected with an electric valve controlling the elastic deformation thereof, and the third non-deformable connecting tendon (f4) is connected with a second capstan (c3) through a second spring (f 9).
7. The robot system with multiple cord drive unit of claim 1, wherein said humanoid finger base comprises a first mounting panel (d1) and a second mounting panel (d2), said first mounting panel (d1) containing a plurality of finger mounting interfaces (d 3).
8. The robot system with multiple rope driving units according to claim 1, wherein the servo motor assembly (a2) comprises a driving motor (f6), a speed reducer is mounted on a rotating shaft of the driving motor (f6), and the driving motor (f6) is connected with the driving anthropomorphic hand body through a guide wheel.
9. The manipulator system with multiple cable drive units as claimed in claim 1, wherein the sensor assembly (a3) comprises an angle sensor and a contact sensor mounted on a three-joint humanoid finger and a two-joint humanoid finger, and an upper computer interface, an upper computer connected with the upper computer structure.
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| CN202120784256.1U CN215618127U (en) | 2021-04-16 | 2021-04-16 | Manipulator system with multi-rope driving unit |
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| CN202120784256.1U CN215618127U (en) | 2021-04-16 | 2021-04-16 | Manipulator system with multi-rope driving unit |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113232013A (en) * | 2021-04-16 | 2021-08-10 | 佛山纽欣肯智能科技有限公司 | Manipulator system with multi-rope driving unit |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113232013A (en) * | 2021-04-16 | 2021-08-10 | 佛山纽欣肯智能科技有限公司 | Manipulator system with multi-rope driving unit |
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