CN215660318U

CN215660318U - Omnidirectional touch manipulator

Info

Publication number: CN215660318U
Application number: CN202122018316.1U
Authority: CN
Inventors: 谢雪梅; 饶承炜; 李旭阳; 张艺谱
Original assignee: Guangzhou Institute of Technology of Xidian University
Current assignee: Guangzhou Institute of Technology of Xidian University
Priority date: 2021-08-25
Filing date: 2021-08-25
Publication date: 2022-01-28
Anticipated expiration: 2031-08-25

Abstract

The utility model relates to the technical field of robots, and discloses an omnidirectional tactile manipulator which comprises a palm and three fingers arranged on the palm, wherein the fingers comprise finger roots, finger middle fingertips and a driving device, the finger roots are riveted with the palm through a first rotating shaft, the finger middle fingers are riveted with the finger roots through a second rotating shaft, the fingertips are riveted with the finger middle fingers through a third rotating shaft, the driving device comprises a driving motor, a worm wheel and a connecting rod assembly, the worm is arranged on an output shaft of the driving motor, the worm wheel is sleeved on the first rotating shaft and fixedly connected with the first rotating shaft, the connecting rod assembly is respectively connected with the worm wheel, the finger roots, the finger middle fingertips, and the surfaces of the finger roots, the finger middle fingertips and the fingertips are provided with tactile sensors. Compared with the prior art, the omnidirectional tactile manipulator is provided with the tactile sensors on the finger roots, the finger middle parts and the surfaces of the finger tips, so that the upper computer can judge the type, the size and the position of the force applied to the tactile sensors according to the received tactile information, and the perception sensitivity of the manipulator is improved.

Description

Omnidirectional touch manipulator

Technical Field

The utility model relates to the technical field of robots, in particular to an omnidirectional tactile manipulator.

Background

The manipulator is an actuating mechanism which is arranged at the tail end of a robot actuator and can work in a semi-self-service or fully-self-service mode, and is an important tool for interaction between the robot and an object. Along with the expansion of robot application field, constantly promote manipulator accuracy requirement, traditional simple manipulator can't satisfy new application requirement, if can give the manipulator with the sense of touch, then can help the manipulator to realize more accurate perception and operation.

The existing touch sensor on the manipulator can only sense the pressure applied by the outside and vertical or approximately vertical to the surface, cannot sense the force application directions such as friction force and the like which are not vertical to the surface of the touch sensor in an omnidirectional manner, and is low in sensing precision and not beneficial to ensuring the sensing and interaction capacity of the manipulator to the environment.

SUMMERY OF THE UTILITY MODEL

In order to solve the above technical problems, an object of the present invention is to provide an omnidirectional tactile manipulator having advantages of high sensitivity and high operation precision.

Based on the above, the utility model provides an omnidirectional tactile manipulator, which comprises a palm and three fingers arranged on the palm,

the finger comprises a finger root, a finger center and a fingertip and a driving device, the finger root is riveted with the palm through a first rotating shaft, the finger center is riveted with the finger root through a second rotating shaft, the fingertip is riveted with the finger center through a third rotating shaft,

the driving device comprises a driving motor, a worm wheel and a connecting rod assembly, the worm is arranged on an output shaft of the driving motor, the worm wheel is sleeved on the first rotating shaft and is fixedly connected with the first rotating shaft, the connecting rod assembly is respectively connected with the worm wheel, the finger root, the finger center and the finger tip,

the finger root, the finger and the surface of the fingertip are provided with tactile sensors.

In some embodiments of the present application, the palm is provided with a mount pad for setting driving motor, the mount pad is provided with three, three the mount pad sets up side by side.

In some embodiments of the present application, the tactile sensor is provided on a top of a top case for covering the mount.

In some embodiments of the present application, a first torsion spring is sleeved on the second rotating shaft and abuts against the root and the finger tip, and a second torsion spring is sleeved on the third rotating shaft and abuts against the finger tip and the fingertip.

In some embodiments of the present application, an electronic control assembly is disposed in the palm, and the electronic control assembly is electrically connected to the driving motor.

In some embodiments of the present application, the driving motor is a dc encoded speed reduction motor.

In some embodiments of the present application, the robot further comprises a threaded connector for connecting to an external robotic arm, the threaded connector being mounted to the bottom of the palm.

In some embodiments of the present application, the palm is a rectangular housing.

In some embodiments of the present application, two fingers located at the edge of the palm are located at one side of the palm, and one finger located at the middle of the palm is located at the other side of the palm.

The embodiment of the utility model provides an omnidirectional tactile manipulator, which has the beneficial effects that compared with the prior art:

the utility model provides an omnidirectional tactile manipulator which comprises a palm and three fingers arranged on the palm, wherein the fingers comprise finger roots, finger middle fingertips and a driving device, the finger roots are riveted with the palm through a first rotating shaft, the finger middle parts are riveted with the finger roots through a second rotating shaft, the fingertips are riveted with the finger middle parts through a third rotating shaft, the driving device comprises a driving motor, a worm wheel and a connecting rod assembly, the worm is arranged on an output shaft of the driving motor, the worm wheel is sleeved on the first rotating shaft and fixedly connected with the first rotating shaft, the connecting rod assembly is respectively connected with the worm wheel, the finger roots, the finger middle parts and the fingertips, and tactile sensors are arranged on the surfaces of the finger roots, the finger middle parts and the fingertips.

Based on the structure, when the article grabbing device is used, the driving motor is started, the driving motor drives the worm to rotate, the worm rotates to drive the worm wheel to rotate, the worm wheel rotates to drive the finger root to move back and forth, meanwhile, the finger neutralizing fingertips connected with the finger root through the connecting rod assembly realize back and forth movement under the driving of the connecting rod assembly, and the articles can be grabbed and placed by operating all the components simultaneously. Therefore, the manipulator of the application is provided with the touch sensors on the finger roots, the finger middle parts and the surfaces of the finger tips, the omnidirectional touch sensor can send out electric signals according to sensed touch information, so that the upper computer can judge the type, the size and the position of the force applied to the touch sensor according to the received touch information, and the sensing sensitivity of the manipulator is improved.

Drawings

FIG. 1 is a schematic structural diagram of an omnidirectional tactile manipulator according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of the internal structure of a palm according to an embodiment of the present invention;

fig. 3 is a schematic view of a finger structure according to an embodiment of the utility model.

In the figure, 1, palm; 11. a mounting seat; 12. a top shell; 2. a finger; 21. a finger root; 22. in the finger; 23. a fingertip; 24. a drive motor; 25. a worm; 26. a worm gear; 27. a connecting rod assembly; 28. a first torsion spring; 29. a second torsion spring; 3. a tactile sensor; 4. an electronic control assembly; 5. a threaded connector.

Detailed Description

The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the utility model but are not intended to limit the scope of the utility model.

It should be understood that the terms "front", "rear", and the like are used herein to describe various information, but the information should not be limited to these terms, which are used only to distinguish one type of information from another. For example, "front" information may also be referred to as "rear" information, and "rear" information may also be referred to as "front" information without departing from the scope of the present invention.

As shown in fig. 1 to 3, an embodiment of the present invention provides an omnidirectional tactile manipulator, which includes a palm 1 and three fingers 2 disposed on the palm 1, where the fingers 2 include a finger root 21, a finger middle 22, a finger tip 23, and a driving device, the finger root 21 is riveted with the palm 1 through a first rotating shaft (not shown), the finger middle 22 is riveted with the finger root 21 through a second rotating shaft (not shown), the finger tip 23 is riveted with the finger middle 22 through a third rotating shaft (not shown), the driving device includes a driving motor 24, a worm 25, a worm wheel 26, and a link assembly 27, the worm 25 is mounted on an output shaft of the driving motor 24, the worm wheel 26 is sleeved on the first rotating shaft and fixedly connected with the first rotating shaft, the link assembly 27 is respectively connected with the worm wheel 26, the finger root 21, the finger middle 22, and the finger tip 23, and the surfaces of the finger root 21, the finger middle 22, and the finger tip 23 are all provided with a tactile sensor 3.

Based on the structure, when the article grabbing and placing device is used, the driving motor 24 is started, the driving motor 24 drives the worm 25 to rotate, the worm 25 rotates to drive the worm wheel 26 to rotate, the worm wheel 26 rotates to drive the finger root 21 to move back and forth, meanwhile, the finger center 22 and the finger tips 23 which are connected with the finger root 21 through the connecting rod assembly 27 are driven by the connecting rod assembly 27 to move back and forth, and the articles can be grabbed and placed by operating all the components at the same time. In this way, in the manipulator of the present invention, the tactile sensors 3 are provided on the surfaces of the finger root 21, the finger center 22, and the fingertip 23, and the omnidirectional tactile sensor 3 can emit an electric signal based on the sensed tactile information, so that the host computer can determine the type, magnitude, and position of the force applied to the tactile sensor based on the received tactile information, and the sensitivity of the manipulator is improved.

Specifically, in the embodiment of the present invention, two fingers 2 located at the left and right edges of the palm 1 are disposed at the front side of the palm 1, one finger 2 located in the middle of the palm 1 is disposed at the rear side of the palm 1, and two fingers 2 of the three fingers 2 are disposed opposite to the other finger 2, so that the three fingers 2 of the manipulator can grab the object in the palm 1 when the manipulator moves.

Further, for the driving motor 24 of the present application, it is fixed in the palm 1 through the mount pad 11 on the palm 1, because every finger 2 needs a driving motor 24 to drive, the mount pad 11 is also provided with three, and based on the above-mentioned palm 1 structure, three mount pads 11 are also arranged side by side on the palm 1. Specifically, in the present embodiment, the driving motor 24 is preferably a dc code reduction motor.

Furthermore, the tactile sensor 3 on the finger 2 can not be used to sense all the objects in the whole manipulator, so in order to improve the sensing effect, the top of the top case 12 for covering the mounting seat 11 is also provided with the corresponding tactile sensor 3, and it should be noted that the tactile sensor 3 is not shown in the figure.

In addition, in order to maintain the structural torque between the finger base 21 and the finger middle 22, the second rotating shaft is sleeved with a first torsion spring 28 abutting against the finger base 21 and the finger middle 22, and similarly, in order to position the structural torque between the finger middle 22 and the finger tip 23, the third rotating shaft is sleeved with a second torsion spring 29 abutting against the finger middle 22 and the finger tip 23.

Further, in order to realize reasonable control of the driving motor 24 of each finger 2, in some embodiments of the present application, an electric control component 4 electrically connected to the touch sensor 3 and the driving motor 24 is further disposed in the palm 1 of the manipulator, the touch sensor 3 receives a touch signal and processes the signal and transmits the processed signal to the electric control component 4, and the electric control component 4 then controls the driving motor 24 to operate according to the received signal, so as to realize grabbing or placing of the fingers 2 of the manipulator.

Generally, the robot arm is used with an external robot arm, so in order to ensure the normal use of the robot arm, in some embodiments of the present application, the palm 1 is preferably a rectangular housing, and the bottom of the palm 1 is also mounted with a threaded connector 5 for connecting the external robot arm.

In summary, the utility model provides an omnidirectional tactile manipulator, which comprises a palm and three fingers arranged on the palm, wherein the fingers comprise finger roots, finger middle fingertips and a driving device, the finger roots are riveted with the palm through a first rotating shaft, the finger middle fingers are riveted with the finger roots through a second rotating shaft, the fingertips are riveted with the finger middle fingers through a third rotating shaft, the driving device comprises a driving motor, a worm wheel and a connecting rod assembly, the worm is arranged on an output shaft of the driving motor, the worm wheel is sleeved on the first rotating shaft and fixedly connected with the first rotating shaft, the connecting rod assembly is respectively connected with the worm wheel, the finger roots, the finger middle fingertips, and the surfaces of the finger roots, the finger middle fingers and the fingertips are all provided with tactile sensors. Compared with the prior art, the omnidirectional tactile manipulator is provided with the tactile sensors on the surfaces of the finger root, the finger middle and the finger tip, and the omnidirectional tactile sensors can send out electric signals according to sensed tactile information, so that the upper computer can judge the type, the size and the position of the force applied to the tactile sensors according to the received tactile information, and the sensing sensitivity of the manipulator is improved.

The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.

Claims

1. An omnidirectional tactile manipulator is characterized by comprising a palm and three fingers arranged on the palm,

2. An omnidirectional tactile manipulator according to claim 1, wherein a mount for mounting said driving motor is provided in said palm, said finger base is riveted to said mount, and said mounts for three said fingers are provided side by side.

3. An omnidirectional tactile manipulator according to claim 2, wherein said tactile sensor is provided on a top of a top case for covering said mount.

4. An omnidirectional tactile manipulator according to claim 1, wherein said second spindle is sleeved with a first torsion spring which abuts against said base and said tip, and said third spindle is sleeved with a second torsion spring which abuts against said tip and said tip.

5. An omnidirectional tactile manipulator according to claim 1, wherein an electrical control assembly is disposed within said palm, said electrical control assembly being electrically connected to said drive motor.

6. An omnidirectional tactile manipulator according to claim 1, wherein said drive motor is a dc encoded gear motor.

7. An omnidirectional tactile manipulator according to claim 1, further comprising a threaded connector for connecting an external mechanical arm, said threaded connector mounted to a bottom of said palm.

8. An omnidirectional tactile manipulator according to claim 1, wherein said palm is a rectangular housing.

9. An omnidirectional tactile manipulator according to claim 1, wherein two of said fingers located at an edge of said palm are located on one side of said palm and one of said fingers located at a middle of said palm is located on the other side of said palm.