WO2017096746A1 - 机械手指及机械手 - Google Patents

机械手指及机械手 Download PDF

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Publication number
WO2017096746A1
WO2017096746A1 PCT/CN2016/079205 CN2016079205W WO2017096746A1 WO 2017096746 A1 WO2017096746 A1 WO 2017096746A1 CN 2016079205 W CN2016079205 W CN 2016079205W WO 2017096746 A1 WO2017096746 A1 WO 2017096746A1
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WIPO (PCT)
Prior art keywords
finger segment
finger
segment
variable stiffness
link
Prior art date
Application number
PCT/CN2016/079205
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English (en)
French (fr)
Inventor
钱钟锋
万芳
Original Assignee
深圳市赛尔西生物科技有限公司
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Publication date
Priority claimed from CN201521030348.1U external-priority patent/CN205238069U/zh
Priority claimed from CN201510919740.XA external-priority patent/CN105345838A/zh
Application filed by 深圳市赛尔西生物科技有限公司 filed Critical 深圳市赛尔西生物科技有限公司
Publication of WO2017096746A1 publication Critical patent/WO2017096746A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members

Definitions

  • the invention relates to the field of robots, and in particular to a mechanical finger and a robot for a robot.
  • the present invention aims to solve at least one of the technical problems in the related art to some extent. To this end, the present invention proposes a mechanical finger and a robot.
  • variable stiffness link the two ends of the variable stiffness link are respectively rotatably connected to the base finger segment and the end finger segment, the middle finger segment, the base finger segment, the end finger segment and the variable stiffness
  • the connecting rod constitutes a four-bar linkage mechanism
  • a driving device for driving the middle finger segment to rotate relative to the base finger segment to drive the end finger segment to rotate relative to the middle finger segment by the four-bar linkage mechanism.
  • the mechanical finger of the embodiment of the invention realizes the flexible connection between the mechanical fingers through the variable stiffness link, and drives the end finger segment to be linked with the middle finger segment by the four-bar linkage mechanism, because the variable stiffness link can be in a certain range
  • the inner passive telescopic length makes the mechanical finger have a space for the force to rotate, and has the effect of a human finger tendon, so that the mechanical finger has a flexible adaptive feature.
  • the number of the variable stiffness links is two, and the variable stiffness links are rotatably coupled to the base finger segments and the end finger segments, respectively, and are located in the middle finger segment. side.
  • the number of variable stiffness links is one, the variable stiffness link is U-shaped, and the variable stiffness link is placed inside the middle finger segment.
  • variable stiffness links is one, and the variable stiffness link is of type I, A variable stiffness link is placed in the middle of the middle finger segment.
  • the outer side of the top end of the base finger segment is rotationally coupled with the outer side of the bottom end of the middle finger segment to form a first rotating shaft
  • the inner side of the top end of the middle finger segment is rotationally coupled with the bottom inner side of the end finger segment.
  • a second rotating shaft one end of the variable stiffness link is rotatably connected with the inner side of the top end of the base finger segment to form a third rotating shaft
  • the other end of the variable stiffness connecting rod is rotationally connected with the outer end of the bottom end of the end finger segment.
  • a fourth rotating shaft, the first rotating shaft, the second rotating shaft, the third rotating shaft and the fourth rotating shaft are parallel.
  • the drive device includes a wire drawing, the wire drawing being coupled to the middle finger segment, and the middle finger segment being rotated by the wire drawing.
  • the base finger segment is formed with a first rotating shaft rotatably coupled to the outer side of the bottom end of the middle finger segment at an outer side of the top end, and a return spring is disposed between the first rotating shaft.
  • the return spring can be a torsion spring or a wire spring.
  • the robot of the embodiment of the present invention includes the above-described mechanical finger.
  • the number of the mechanical fingers is at least two, and the inner sides of the mechanical fingers are oppositely disposed.
  • the robot includes a base, the base finger root of the mechanical finger is rotatably coupled to the base to form a fifth shaft, and the driving device includes a wire drawing through the wire drawing The drive base finger segment rotates about the fifth axis of rotation.
  • FIG. 1 is a schematic perspective view of a mechanical finger according to an embodiment of the present invention.
  • FIG. 2 is a perspective view of another perspective of the mechanical finger of FIG. 1.
  • FIG. 3 is a schematic diagram of force analysis of a variable stiffness link according to an embodiment of the present invention.
  • FIG. 4 is a schematic cross-sectional view of a mechanical finger.
  • Figure 5 is a schematic view of a four-bar linkage mechanism.
  • Figure 6 is a schematic view of the working principle of the four-bar linkage mechanism.
  • Figure 7 is a perspective view of the base finger segment of the mechanical finger.
  • Figure 8 is a perspective view of the middle finger section of the mechanical finger.
  • Figure 9 is a perspective view of the end finger section of the mechanical finger.
  • Figure 10 is a perspective view showing the connection of the middle finger segment of the mechanical finger with the variable stiffness compression link.
  • FIG. 11 is a schematic view showing the force analysis of a variable stiffness compression link according to an embodiment of the present invention.
  • Fig. 12 is a schematic view showing the force analysis of the variable stiffness tensile link according to the embodiment of the present invention.
  • Figure 13 is a perspective view of a variable stiffness compression link according to an embodiment of the present invention.
  • Figure 14 is a perspective view of the second connecting member of the variable stiffness compression link of Figure 13;
  • Figure 15 is a perspective view of a variable stiffness tensile link of an embodiment of the present invention.
  • Fig. 16 is a schematic view showing the drawing of a mechanical finger according to an embodiment of the present invention.
  • Figure 17 is a perspective view of a manipulator of an embodiment of the present invention.
  • the mechanical finger 100 of the embodiment of the present invention includes a middle finger segment 10 , a base finger segment 20 , an end finger segment 30 , a variable stiffness link 40 , and a driving device 50 .
  • the two ends of the middle finger segment 10 are rotatably connected to the base finger segment 20 and the end finger segment 30, respectively. Both ends of the variable stiffness link 40 are rotatably coupled to the base finger segment 20 and the end finger segment 30, respectively.
  • the middle finger segment 10, the base finger segment 20, the end finger segment 30, and the variable stiffness link 40 constitute a four-bar linkage mechanism 60.
  • the driving device 50 is configured to drive the middle finger segment 10 to rotate relative to the base finger segment 20 to drive the end finger segment 30 to rotate relative to the middle finger segment 10 by the four-bar linkage mechanism 60.
  • the mechanical finger 100 of the embodiment of the present invention realizes the flexible connection between the mechanical fingers 100 through the variable stiffness link 40, and utilizes the four-bar linkage mechanism 60 to drive the end finger segment 30 to be in linkage with the middle finger segment 10, since the variable stiffness link 40 can be
  • the length of the passive telescope is within a certain range, so that the mechanical finger 100 has a space for the force to rotate, and has the effect of a human finger tendon, so that the mechanical finger 100 has a flexible adaptive feature.
  • the middle finger segment 10, the base finger segment 20, and the end finger segment 30 are substantially elliptical.
  • the middle finger segment 10, the base finger segment 20, and the end finger segment 30 may have a circular shape.
  • the mechanical finger 100 mimics the shape of a human finger.
  • a curve L1 represents a relationship between X (force) and Y (amount of deformation) of the variable stiffness link 40, and a line L2 represents between X (force) and Y (deformation amount) of the rigid link. Relationship.
  • the Y (deformation amount) of the variable stiffness link 40 is 0, that is, the original length is maintained; when X (force) is greater than 0, that is, X (force)
  • the Y (deformation amount) of the variable stiffness link 40 rises in a curve as the X (force) increases, and when the X (force) increases to a certain value, the variable stiffness link 40 Y (deformation amount) no longer increases, showing a horizontal straight line; when X (force) is less than 0, that is, when X (force) is pressure, the value of Y (deformation amount) of the variable stiffness link 40 follows X.
  • variable stiffness link 40 has the ability to be subjected to force stretching.
  • variable stiffness link 40 is two.
  • the variable stiffness link 40 is rotatably coupled to the base finger segment 20 and the end finger segment 30, respectively, and is located on the left and right sides of the middle finger segment 10.
  • variable stiffness links 40 may be one, U-shaped or I-shaped, and may be disposed in the inner or middle portion of the middle finger segment 10, thereby saving space of the mechanical finger 100 itself and improving design.
  • the degree of freedom can increase the range of stiffness variation of the variable stiffness link 40. Therefore, it should be noted that the variable stiffness link 40 is not limited to the number of two in the present embodiment, the U shape, and the left and right sides in the middle finger segment 10.
  • the four-bar linkage mechanism 60a includes a connecting rod 61a, a connecting rod 62a, a connecting rod 63a, and a connecting rod 64a.
  • the connecting rod 61a is rotatably connected with the connecting rod 62a to form a first rotating shaft 612a
  • the connecting rod 62a is rotatably connected with the connecting rod 64a to form a second rotating shaft 624a.
  • the connecting rod 61a is rotatably connected with the connecting rod 63a to form a third rotating shaft 613a
  • the fourth rotating shaft 634a is formed in rotational connection with the connecting rod 64a.
  • the first rotating shaft 612a, the second rotating shaft 624a, the third rotating shaft 613a, and the fourth rotating shaft 634a are substantially parallel.
  • the four-bar linkage 60a has the characteristics of transmission.
  • the middle finger segment 10 , the base finger segment 20 , the end finger segment 30 , and the variable stiffness link 40 form a four-bar linkage mechanism 60 .
  • the outer side of the top end of the base finger segment 20 is rotationally coupled with the outer side of the bottom end of the middle finger segment 10 to form a first rotating shaft 61.
  • the top inner side of the middle finger segment 10 is rotationally coupled to the bottom inner side of the end finger segment 30 to form a second rotating shaft 62.
  • One end of the variable stiffness link 40 is rotationally coupled to the inner side of the top end of the base finger segment 20 to form a third rotating shaft 63.
  • variable stiffness link is rotationally coupled to the outer end of the bottom end of the end finger segment 30 to form a fourth pivot shaft 64.
  • the first rotating shaft 61, the second rotating shaft 62, the third rotating shaft 63, and the fourth rotating shaft 64 are parallel.
  • the continuous rotation of the middle finger segment 10 can drive the end finger segment 30 to rotate, thereby forming the middle finger segment 10 and the end finger segment 30 to be bent and interlocked.
  • the variable stiffness link 40 rotates in the direction of the rotation direction of the middle finger segment 10, and the variable stiffness link 40 has the force of telescopic expansion, so that the mechanical finger 100 has a space for the force to rotate, thereby improving the self of the mechanical finger 100. Adaptability.
  • the middle finger segment 10 , the base finger segment 20 and the end finger segment 30 include an inner side surface a and an inner side surface a opposite to the inner side surface a.
  • the base finger segment 20 is formed with a first pivoting groove 21 extending through the inner side a and the outer side b and located at the junction of the top surface e.
  • the two inner side walls of the first pivoting groove 21 are formed with a first pivot hole 22 .
  • the middle finger segment 10 includes a first pivoting block 11 extending downward from the bottom surface d near the outer side surface b and cooperating with the first pivoting groove 21.
  • the first pivoting block 11 includes a first pivoting shaft 12 that cooperates with the first pivoting hole 22.
  • the middle finger segment 10 is rotatably coupled to the base finger segment 20 by the cooperation of the first pivot shaft 12 and the first pivot hole 22.
  • the end finger segment 30 is formed with a second pivoting groove 31 at the junction of the inner side surface a and the bottom surface d.
  • the two inner side walls of the second pivoting groove 31 are formed with a second pivot hole 32.
  • the top surface e of the middle finger segment 10 is adjacent to the second pivoting block 13 extending upward from the inner side surface a and cooperating with the second pivoting groove 31.
  • the second pivoting block 13 includes a second pivoting shaft 14 that cooperates with the second pivoting hole 32.
  • the end finger segment 30 is rotatably coupled to the middle finger segment 10 by the engagement of the second pivot shaft 14 and the second pivot hole 32.
  • connection between the middle finger segment 10, the base finger segment 20 and the end finger segment 30 has the characteristics of a human finger joint connection, and the structure is simple and the manufacturing cost is low.
  • variable stiffness link 40 includes a variable stiffness compression link 40a and a variable stiffness tensile link 40b.
  • a curve L3 indicates a relationship between X (force) and Y (amount of deformation) of the variable stiffness compression link 40a.
  • the Y (deformation amount) of the variable stiffness compression link 40a is 0, that is, the original length is maintained, and does not change with the change of X (force), that is, The stiffness compression link 40a is not affected by the tensile force; when X (force) is less than 0, that is, X (force) is the pressure, the value of the Y (deformation amount) of the variable stiffness compression link 40a is X (accepted)
  • the increase in the value of the force increases in a curve, and when the value of X (force) increases to a certain value, the value of the Y (deformation amount) of the variable stiffness compression link 40a does not increase, and is a horizontal straight line. .
  • variable stiffness compression link 40a can be used to replace a rigid link that is only subjected to pressure.
  • a curve L4 indicates a relationship between X (force) and Y (amount of deformation) of the variable stiffness tensile link 40b.
  • the curve L4 when X (force) is less than or equal to 0, the Y (deformation amount) of the variable stiffness tensile link 40b is 0, that is, the original length is maintained, and does not change with the change of X (force), that is, The variable stiffness tensile link 40b is not affected by the pressure; when X (force) is greater than 0, that is, when X (force) is the tensile force, the Y (deformation amount) of the variable stiffness tensile link 40b follows X ( The increase of the force is a curve rise, and when X (force) increases to a certain value, the Y (deformation amount) of the variable stiffness tensile link 40b no longer increases, and is a horizontal straight line.
  • variable stiffness tensile link 40b can be used to replace a rigid link that is only subjected to tensile forces.
  • the variable stiffness compression link 40a includes a first connecting member 41a, a second connecting member 42a, an elastic mechanism 43a, two latches 44a, and a limiting mechanism 45a.
  • the first connecting member 41a is formed There is a third pivot hole 411a for connecting the outside; the second connecting member 42a is formed with a fourth pivot hole 421a for connecting the outside.
  • the second connecting member 42a is formed with a sliding groove 422a. Both ends of the elastic mechanism 43a are fixed to the first connecting member 41a and the second connecting member 42a, respectively.
  • the two latches 44a are fixedly coupled to the first connecting member 41a, cooperate with the sliding slot 422a of the second connecting member 42a, and are linearly movable along the sliding slot 422a.
  • variable stiffness compression link 40a When the variable stiffness compression link 40a is not subjected to an external force, the elastic mechanism 43a maintains the original length; when the external force received by the variable stiffness compression link 40a is a tensile force, the limiting mechanism 45a limits the elongation of the elastic mechanism 43a; When the external force received by the rod 40a is pressure, the deformation amount of the variable stiffness compression link 40a increases in curve with the increase of the pressure until the limit mechanism 45a restricts the deformation of the variable stiffness compression link 40a, and the deformation amount is no longer It changes with the increase of pressure.
  • variable stiffness compression link 40a has the effect of cushioning the force, thereby improving the adaptive performance of the mechanical finger 100.
  • variable stiffness tensile link 40b includes a third connecting member 41b, a fourth connecting member 42b, an elastic mechanism 43b, two latches 44b, a limiting mechanism 45b, a linear slider 46b, and a wire drawing. 47b.
  • the third link 41b and the fourth link 42b are fixed by two plugs 44b. Both ends of the elastic mechanism 43b are fixed to the fourth connecting member 42b and the linear slider 46b, respectively.
  • the linear slider 46b is bored on the two pins 44b and is movable in the axial direction of the two pins 44b.
  • the wire 47b includes a first wire 471b and a second wire 472b. The first wire 471b is directly fixed to the outside of the third connecting member 41b; the second wire 472b is fixed to the linear slider 46b through the fourth connecting member 42b.
  • variable stiffness tensile link 40b When the variable stiffness tensile link 40b is not subjected to an external force, the elastic mechanism 43b maintains the original length; when the external force received by the variable stiffness tensile link 40b is pressure, since the third connecting member 41b and the fourth connecting member 42b are fixed, Thereby, the compression of the elastic mechanism 43b is restricted; when the external force received by the rigid tensile link 40b is the tensile force, the linear slider 46b moves in the axial direction of the two pins 44b to compress the elastic mechanism 43b, so that the variable stiffness tensile link The deformation amount of 40b increases with the increase of the tensile force until the limit mechanism 45b restricts the deformation of the variable stiffness tensile link 40b, and the deformation amount no longer changes with the increase of the tensile force.
  • variable-stiffness tensile link 40b has a function similar to a human hand tendon, thereby increasing the flexibility of the mechanical finger 100.
  • variable stiffness compression links 40a is two.
  • the variable stiffness compression link 40a is rotatably coupled to the base finger segment 20 and the end finger segment 30, respectively, and is located on the left and right side faces c of the middle finger segment 10.
  • variable stiffness compression links 40 may be one, U-shaped or I-shaped, and may be disposed inside or in the middle of the middle finger segment 10, thereby saving space of the mechanical finger 100 itself and improving The degree of freedom of design is increased, and the range of the stiffness variation of the variable stiffness compression link 40a can be increased. Therefore, it should be noted that the variable stiffness compression link 40 is not limited to the number in the present embodiment and is located at the left and right of the middle finger segment 10. On both sides.
  • the third pivoting shaft 23 formed by the one end of the variable stiffness compression link 40a extending from the left and right side faces c and the top surface e through the third pivot hole 411a and the base finger segment 20
  • the fourth pivoting shaft 33 that cooperates with the fourth pivoting hole 421a extends outwardly from the left and right side surfaces c and the bottom surface d of the fourth pivot hole 421a and the end finger segment 30.
  • the locking of the variable stiffness compression link 40a through the third pivoting shaft 23 and the third pivoting hole 411a and the cooperation of the fourth pivoting shaft 33 and the fourth pivoting hole 421a respectively rotate with the base finger segment 20 and the end finger segment 30 Connected and located in both sides of the left and right side faces c in the middle finger segment 10.
  • the driving device 50 includes a wire drawing 51.
  • the wire 51 bypasses the first rotating shaft 61 of the middle finger segment 10 and is locked with the top end of the middle finger segment 10, and the middle finger segment 10 is driven to rotate about the first rotating shaft 61 by the wire 51.
  • the driving device 50 drives the mechanical finger 100 by the wire drawing 51, thereby mimicking the action of the curved middle finger segment 10, and the middle finger segment 10 is also rotated inwardly by the four-bar linkage mechanism 60, thereby mimicking the entire finger bending motion, using the wire drawing 51 implementation, simple structure, low cost.
  • a return spring 70 is disposed between the middle finger segment 10 and the first rotating shaft 61 of the base finger segment 20.
  • the return spring 70 keeps the middle finger segment 10 and the base finger 20 segment substantially parallel, at which time the variable stiffness link 40 is in a natural straightening state; when the wire drawing 51 applies a pulling force and When the object is contacted, the elastic force of the variable stiffness link 40 is not overcome, but the elastic force of the return spring 70 is mainly overcome, so that the mechanical finger 100 has a larger space for the rotation force, and the adaptability is improved.
  • the return spring 70 is a wire spring. It can be understood that in other embodiments, the return spring 70 can be a torsion spring. Therefore, it should be noted that the return spring 70 is not limited to the wire spring in the present embodiment.
  • a robot 200 of an embodiment of the present invention includes the mechanical finger 100 described above.
  • the robot 200 has the adaptive characteristics possessed by the human hand, effectively reducing the risk of stress concentration of the conventional robot.
  • the robot 200 includes three mechanical fingers 100.
  • the inner side of the mechanical finger 100 is oppositely disposed.
  • the robot 200 may include 200 mechanical fingers 100 of 2, 4, 5 or 6 robots to mimic the adaptive characteristics of the human hand. Therefore, it should be noted that the number of the mechanical hand 200 including the mechanical finger 100 is not limited to three in the present embodiment.
  • the robot 200 includes a base 210.
  • the root portion 20 of the mechanical finger 100 is rotatably coupled to the base 210 to form a fifth rotating shaft 211.
  • the rotational freedom of the fifth rotating shaft 211 of the base portion of the base finger 20 is matched, and when a larger object is grasped, the mechanical finger 100 is opened to form a large opening angle.
  • the wire 51 exerts a force on the middle finger segment 10
  • the middle finger segment 10 is rotated by a certain angle with respect to the base finger segment 20 against the elastic force of the return spring 70, and at the same time, the interlocking bending of the end finger segment 30 is caused.
  • the robot 200 forms a claw-like structure similar to a human hand, which facilitates enveloping and grasping an object.
  • the pulling force of the wire 51 continues to overcome the elastic force of the variable stiffness link 40, thereby adapting the end finger segment 30 to the shape of the object with certain adaptability.
  • the root portion of the base finger segment 20 is first rotated, so that a small opening angle is formed between the fingers, and the space for the return spring 70 to be stretched is small, and the mechanical finger 100 is in close contact with each other.
  • the pulling force of the wire 51 overcomes the elastic force of the variable stiffness link 40, and then the end finger segment 30 is rotated outward relative to the middle finger segment 10 to form a structure similar to the human finger end, so that the contact surface is enlarged, and the small object is conveniently grasped.
  • first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
  • features defining “first” or “second” may include one or more of the described features either explicitly or implicitly.
  • the meaning of "a plurality” is two or more unless specifically and specifically defined otherwise.
  • connection In the description of the present invention, it should be noted that the terms “installation”, “connected”, and “connected” are to be understood broadly, and may be fixed or detachable, for example, unless otherwise explicitly defined and defined. Connected, or integrally connected; may be mechanically connected, may be electrically connected or may communicate with each other; may be directly connected, or may be indirectly connected through an intermediate medium, may be internal communication of two elements or interaction of two elements relationship.
  • Connected, or integrally connected may be mechanically connected, may be electrically connected or may communicate with each other; may be directly connected, or may be indirectly connected through an intermediate medium, may be internal communication of two elements or interaction of two elements relationship.
  • the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.
  • the first feature "on” or “under” the second feature may include direct contact of the first and second features, and may also include first and second features, unless otherwise specifically defined and defined. It is not in direct contact but through additional features between them.
  • the first feature “above”, “above” and “above” the second feature includes the first feature directly above and above the second feature, or merely indicating that the first feature level is higher than the second feature.
  • the first feature “below”, “below” and “below” the second feature includes the first feature directly above and above the second feature, or merely the first feature level being less than the second feature.

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  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

一种机械手指（100），包括中指段（10）、基指段（20）、端指段（30）、变刚度连杆（40）以及驱动装置（50），中指段（10）两端分别与基指段（20）及端指段（30）转动连接，变刚度连杆（40）两端分别与基指段（20）及端指段（30）转动连接，中指段（10）、基指段（20）、端指段（30）及变刚度连杆（40）构成四连杆机构（60），驱动装置（50）用于驱动中指段（10）相对于基指段（20）转动以利用四连杆机构（60）带动端指段（30）相对于中指段（10）转动。一种机械手(200)，机械手包括上述的机械手指（100）。

Description

机械手指及机械手
优先权信息
本申请请求2015年12月10日向中国国家知识产权局提交的、专利申请号为201510919740.X和201521030348.1的专利申请的优先权和权益，并且通过参照将其全文并入此处。
技术领域
本发明涉及机器人领域，具体涉及一种用于机器人的机械手指及机械手。
背景技术
现有模仿三指段的机械手指的两个关节之间刚性连接，相比人手缺乏柔性自适应特征，抓取易碎物品时容易造成破损。
发明内容
本发明旨在至少在一定程度上解决相关技术中的技术问题之一。为此，本发明提出一种机械手指及机械手。
本发明实施方式的机械手指包括：
中指段；及
分别与所述中指段两端转动连接的基指段及端指段；及
变刚度连杆，所述变刚度连杆两端分别与所述基指段及所述端指段转动连接，所述中指段、所述基指段、所述端指段及所述变刚度连杆构成四连杆机构；及
驱动装置，所述驱动装置用于驱动所述中指段相对于所述基指段转动以利用所述四连杆机构带动所述端指段相对于所述中指段转动。
本发明实施方式的机械手指通过变刚度连杆实现机械手指之间的柔性连接，并且利用四连杆机构带动所述端指段与所述中指段弯曲联动，由于变刚度连杆可在一定范围内被动伸缩长度，使得机械手指具有受力回转的空间，具有类似人手指肌腱的作用，从而使得机械手指具有柔性自适应特征。
在某些实施方式中，所述变刚度连杆的数目为两个，所述变刚度连杆分别与所述基指段及所述端指段转动连接且位于所述中指段内的左右两侧。
在某些实施方式中，所述变刚度连杆的数目为一个，所述变刚度连杆呈U型，所述变刚度连杆置于所述中指段内部。
在某些实施方式中，所述变刚度连杆的数目为一个，所述变刚度连杆呈I型，所述 变刚度连杆置于所述中指段中部。
在某些实施方式中，所述基指段的顶端外侧与所述中指段的底端外侧转动连接形成第一转轴，所述中指段的顶端内侧与所述端指段的底部内侧转动连接形成第二转轴，所述变刚度连杆的一端与所述基指段的顶端内侧转动连接形成第三转轴，所述变刚度连杆的另一端与所述端指段的底端外侧转动连接形成第四转轴，所述第一转轴、所述第二转轴、所述第三转轴及所述第四转轴平行。
在某些实施方式中，所述驱动装置包括拉丝，所述拉丝与所述中指段连接，通过所述拉丝驱动中指段进行转动。
在某些实施方式中，所述基指段形成有位于顶端外侧与所述中指段底端外侧转动连接形成第一转轴，所述第一转轴之间设置有回位弹簧。在某些实施方式中，所述回位弹簧可以为扭簧或者线簧。
本发明实施方式的机械手包括上述所述的机械手指。
在某些实施方式中，所述机械手指的数目为至少两个，所述机械手指内侧相对设置。
在某些实施方式中，所述机械手包括有基座，所述机械手指的所述基指段根部与所述基座转动连接形成第五转轴，所述驱动装置包括有拉丝，通过所述拉丝驱动基指段绕着所述第五转轴转动。
本发明的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实践了解到。
附图说明
本发明的上述和/或附加的方面和优点从结合下面附图对实施方式的描述中将变得明显和容易理解，其中：
图1是本发明实施方式的机械手指的立体示意图。
图2是图1的机械手指另一个视角的立体示意图。
图3是本发明实施方式的变刚度连杆受力分析示意图。
图4是机械手指的剖面示意图。
图5是四连杆机构的示意图。
图6是四连杆机构的工作原理示意图。
图7是机械手指的基指段立体示意图。
图8是机械手指的中指段立体示意图。
图9是机械手指的端指段立体示意图。
图10是机械手指的中指段与变刚度压缩连杆连接立体示意图。
图11是本发明实施方式的变刚度压缩连杆受力分析示意图。
图12是本发明实施方式的变刚度拉伸连杆受力分析示意图。
图13是本发明实施方式的变刚度压缩连杆立体示意图。
图14是图13的变刚度压缩连杆的第二连接件立体示意图。
图15是本发明实施方式的变刚度拉伸连杆立体示意图。
图16是本发明实施方式的机械手指的拉丝连接示意图。
图17是本发明实施方式的机械手立体示意图。
具体实施方式
以下结合附图对本发明的实施方式作进一步说明。
本发明的实施方式的示例在附图中示出。其中，相同或类似的标号自始至终表示相同或类似的元件或具有相同或类似功能的元件。
另外，下面结合附图描述的本发明的实施方式是示例性的，仅用于解释本发明的实施方式，而不能理解为对本发明的限制。
请参阅图1及图2，本发明实施方式的机械手指100包括中指段10、基指段20、端指段30、变刚度连杆40以及驱动装置50。中指段10两端分别与基指段20及端指段30转动连接。变刚度连杆40两端分别与基指段20及端指段30转动连接。中指段10、基指段20、端指段30及变刚度连杆40构成四连杆机构60。驱动装置50用于驱动中指段10相对于基指段20转动以利用四连杆机构60带动端指段30相对于中指段10转动。
本发明实施方式的机械手指100通过变刚度连杆40实现机械手指100之间的柔性连接，并且利用四连杆机构60带动端指段30与中指段10弯曲联动，由于变刚度连杆40可在一定范围内被动伸缩长度，使得机械手指100具有受力回转的空间，具有类似人手指肌腱的作用，从而使得机械手指100具有柔性自适应特征。
本实施方式中，中指段10、基指段20以及端指段30基本呈椭圆形，当然，在其他实施方式中，中指段10、基指段20以及端指段30可以呈圆形。
如此，机械手指100模仿人手指的形状。
请参阅图3，曲线L1表示变刚度连杆40的X(受力)与Y(变形量)之间的关系，直线L2表示刚性连杆的X(受力)与Y(变形量)之间的关系。
如曲线L1所示，当X(受力)为0时，变刚度连杆40的Y(变形量)为0，即保持原长；当X(受力)大于0时，即X(受力)为拉力时，变刚度连杆40的Y(变形量)随着X(受力)的增大呈曲线上升，而当X(受力)增大到一定值时，变刚度连杆40的Y(变形量)不再增大，呈水平直线；当X(受力)小于0时，即X(受力)为压力时，变刚度连杆40的Y(变形量)的值随着X(受力)的值的增大呈曲线增大，而当X (受力)的值增大到一定值时，变刚度连杆40的Y(变形量)的值不再增大，呈水平直线。
如直线L2所示，当X(受力)变化时，刚性连杆的Y(变形量)保持不变。
如此，变刚度连杆40具有受力伸缩的性能。
请参阅图1及图4，本实施方式中，变刚度连杆40的数目为两个。变刚度连杆40分别与基指段20及端指段30转动连接且位于中指段10内的左右两侧。
如此，提高了机械手指100的自适应性。
可以理解，在其他实施方式中，变刚度连杆40的数目可以为一个，呈U型或者I型，可以设置于中指段10的内部或者中部，如此可节约机械手指100本身的空间，提高设计自由度，并可以增大变刚度连杆40的刚度变化范围。因此，需要说明的是，变刚度连杆40并不仅限于本实施方式中的数目为两个、呈U型以及位于中指段10内的左右两侧。
请参阅图5，四连杆机构60a包括连接杆61a、连接杆62a、连接杆63a及连接杆64a。其中，连接杆61a与连接杆62a转动连接形成第一转轴612a，连接杆62a与连接杆64a转动连接形成第二转轴624a，连接杆61a与连接杆63a转动连接形成第三转轴613a，连接杆63a与连接杆64a转动连接形成第四转轴634a。第一转轴612a、第二转轴624a、第三转轴613a以及第四转轴634a基本平行。
请参阅图6，当固定连接杆61a，并驱动连接杆62a按如图6所示转动方向进行转动时，连接杆62a连续转动可以带动连接杆64a进行转动，同时连接杆63a沿连接杆62a转动方向进行转动。
如此，四连杆机构60a具有传动的特性。
请参阅图1，本实施方式中，中指段10、基指段20、端指段30及变刚度连杆40构成四连杆机构60。其中，基指段20的顶端外侧与中指段10底的端外侧转动连接形成第一转轴61。中指段10的顶端内侧与端指段30的底部内侧转动连接形成第二转轴62。变刚度连杆40的一端与基指段20的顶端内侧转动连接形成第三转轴63。变刚度连杆的另一端与端指段30的底端外侧转动连接形成第四转轴64。第一转轴61、第二转轴62、第三转轴63及第四转轴64平行。
如此，当驱动中指段10转动时，中指段10连续转动可以带动端指段30进行转动，从而形成中指段10与端指段30弯曲联动。同时，变刚度连杆40沿中指段10转动方向的方向进行转动，由于变刚度连杆40具有受力伸缩的性能，从而使得机械手指100具有受力回转的空间，从而提高机械手指100的自适应性能力。
请参阅图1、图2、图7、图8、图9和图10，本实施方式中，中指段10、基指段20以及端指段30包括内侧面a、与内侧面a相背的外侧面b、与内侧面a及外侧面b连接的左、右侧面c及与内侧面a、外侧面b及左、右侧面c连接的底面d、顶面e。
基指段20形成有贯穿内侧面a和外侧面b并位于顶面e连接处的第一枢接槽21。第一枢接槽21的两内侧壁形成有第一枢接孔22。中指段10包括自底面d靠近外侧面b处向下延伸且与第一枢接槽21配合的第一枢接块11。第一枢接块11包括有与第一枢接孔22配合的第一枢接轴12。中指段10通过第一枢接轴12与第一枢接孔22的配合与基指段20转动连接。端指段30形成有位于内侧面a及底面d连接处的第二枢接槽31。第二枢接槽31的两内侧壁形成有第二枢接孔32。中指段10顶面e靠近内侧面a处向上延伸且与第二枢接槽31配合的第二枢接块13。第二枢接块13包括有与第二枢接孔32配合的第二枢接轴14。端指段30通过第二枢接轴14与第二枢接孔32的配合与中指段10转动连接。
如此，中指段10、基指段20和端指段30之间的连接具有类似人手指关节连接的特性，并且结构简单，制造成本低。
本实施方式中，变刚度连杆40包括变刚度压缩连杆40a和变刚度拉伸连杆40b。
请参阅图11，曲线L3表示变刚度压缩连杆40a的X(受力)与Y(变形量)之间的关系。如曲线L3所示，当X(受力)大于等于0时，变刚度压缩连杆40a的Y(变形量)为0，即保持原长，不随X(受力)的变化而变化，即变刚度压缩连杆40a不受拉力的影响；当X(受力)小于0时，即X(受力)为压力时，变刚度压缩连杆40a的Y(变形量)的值随着X(受力)的值的增大呈曲线增大，而当X(受力)的值增大到一定值时，变刚度压缩连杆40a的Y(变形量)的值不再增大，呈水平直线。
如此，变刚度压缩连杆40a可用于替换只承受压力的刚性连杆。
请参阅图12，曲线L4表示变刚度拉伸连杆40b的X(受力)与Y(变形量)之间的关系。如曲线L4所示，当X(受力)小于等于0时，变刚度拉伸连杆40b的Y(变形量)为0，即保持原长，不随X(受力)的变化而变化，即变刚度拉伸连杆40b不受压力的影响；当X(受力)大于0时，即X(受力)为拉力时，变刚度拉伸连杆40b的Y(变形量)随着X(受力)的增大呈曲线上升，而当X(受力)增大到一定值时，变刚度拉伸连杆40b的Y(变形量)不再增大，呈水平直线。
如此，变刚度拉伸连杆40b可用于替换只承受拉力的刚性连杆。
请参阅图13及图14，本实施方式中，变刚度压缩连杆40a包括第一连接件41a、第二连接件42a、弹性机构43a、两个插销44a以及限位机构45a。第一连接件41a形成 有用于连接外部的第三枢接孔411a；第二连接件42a形成有用于连接外部的第四枢接孔421a。第二连接件42a形成有滑槽422a。弹性机构43a两端分别与第一连接件41a、第二连接件42a固接。两个插销44a与第一连接件41a固定连接，与第二连接件42a的滑槽422a配合，并可沿滑槽422a进行直线运动。
当变刚度压缩连杆40a不受外力时，弹性机构43a保持原长；当变刚度压缩连杆40a受的外力为拉力时，限位机构45a限制弹性机构43a的伸长；当变刚度压缩连杆40a受的外力为压力时，变刚度压缩连杆40a的变形量随着压力的增大呈曲线增大，直至限位机构45a限制变刚度压缩连杆40a的变形，此时变形量不再随压力的增加而变化。
如此，变刚度压缩连杆40a具有缓冲受力的作用，从而提高机械手指100的自适应性能。
请参阅图15，本实施方式中，变刚度拉伸连杆40b包括第三连接件41b、第四连接件42b、弹性机构43b、两个插销44b、限位机构45b、线性滑块46b以及拉丝47b。第三连接件41b和第四连接件42b通过两根插销44b固接。弹性机构43b两端分别与第四连接件42b、线性滑块46b固接。线性滑块46b穿设于两个插销44b上，并可沿两个插销44b的轴向方向运动。拉丝47b包括第一拉丝471b和第二拉丝472b。第一拉丝471b直接与第三连接件41b外侧固接；第二拉丝472b穿过第四连接件42b与线性滑块46b固接。
当变刚度拉伸连杆40b不受外力时，弹性机构43b保持原长；当变刚度拉伸连杆40b受的外力为压力时，由于第三连接件41b和第四连接件42b固接，从而限制了弹性机构43b的压缩；当刚度拉伸连杆40b受的外力为拉力时，线性滑块46b沿两个插销44b的轴向方向运动而压缩弹性机构43b，使得变刚度拉伸连杆40b的变形量随着拉力的增大呈曲线增大，直至限位机构45b限制变刚度拉伸连杆40b的变形，此时变形量不再随拉力的增加而变化。
如此，结构简单，且变刚度拉伸连杆40b具有类似人手肌腱的作用，从而增加机械手指100的柔性。
本实施方式中，变刚度压缩连杆40a的数目为两个。变刚度压缩连杆40a分别与基指段20及端指段30转动连接且位于中指段10的左右侧面c上。
可以理解，在其他实施方式中，变刚度压缩连杆40的数目可以为一个，呈U型或者I型，可以设置于中指段10的内部或者中部，如此可节约机械手指100本身的空间，提高设计自由度，并可以增大变刚度压缩连杆40a的刚度变化范围。因此，需要说明的是，变刚度压缩连杆40并不仅限于本实施方式中的数目为两个及位于中指段10的左右 两侧。
本实施方式中，变刚度压缩连杆40a一端通过形成的第三枢接孔411a与基指段20自左右侧面c靠近内侧面a及顶面e处向外延伸形成的第三枢接轴23配合；另一端通过形成的第四枢接孔421a与端指段30自左右侧面c靠近外侧面b及底面d出向外延伸有与第四枢接孔421a配合的第四枢接轴33。变刚度压缩连杆40a通过第三枢接轴23与第三枢接孔411a的配合及第四枢接轴33与第四枢接孔421a的配合分别与基指段20及端指段30转动连接且位于中指段10内的左右侧面c两侧内。
请参阅图16，本实施方式中，驱动装置50包括拉丝51。拉丝51绕过中指段10的第一转轴61并与中指段10顶端锁紧，通过拉丝51驱动中指段10绕着第一转轴61转动。
如此，驱动装置50通过拉丝51驱动机械手指100，从而模仿弯曲中指段10的动作，而中指段10在四连杆机构60的带动下也向内转动，从而模仿整个手指弯曲的动作，利用拉丝51实现，结构简单，成本较低。
本实施方式中，中指段10与基指段20的第一转轴61之间设置有回位弹簧70。
如此，当拉丝51未施力于中指段10时，回位弹簧70使中指段10与基指20段保持基本平行，此时变刚度连杆40处于自然伸直状态；当拉丝51施加拉力并接触物体时，不是克服变刚度连杆40的弹力，而是主要克服回位弹簧70的弹力，从而使得机械手指100具有更大的回转受力空间，提高了自适应性。
本实施方式中，回位弹簧70为线簧。可以理解，在其他实施方式中，回位弹簧70可以为扭簧。因此，需要说明的是，回位弹簧70并不仅限于本实施方式中的线簧。
如此，可根据具体情况进行设置。
请参阅图17，本发明实施方式的机械手200包括上述所述的机械手指100。
如此，机械手200具备了人手所拥有的自适应特性，有效的降低了传统机械手应力集中的风险。
本实施方式中，机械手200包括三个机械手指100。机械手指100内侧相对设置。可以理解，在其他实施方式中，机械手200可以包括2个、4个、5个或者6机械手200个机械手指100，从而模仿人手的自适应特性。因此，需要说明的是，机械手200包括机械手指100的数目并不仅限于本实施方式中的3个。
如此，可根据具体情况进行设置。
本实施方式中，机械手200包括有基座210。机械手指100的基指段20根部与基座210转动连接形成第五转轴211。
如此，配合基指段20根部的第五转轴211的转动自由度，当抓取较大的物体时，机械手指100张开形成一个较大的张角。拉丝51施加作用力于所述中指段10时，首先克服回位弹簧70的弹力使中指段10相对基指段20转动一定角度，同时带动端指段30的联动弯曲。此时机械手200形成类似人手的爪型结构，方便包络并抓取物体。在接触物体之后，拉丝51作用力继续克服变刚度连杆40的弹力，进而让端指段30适应物体的形状，具备一定自适应性。
而当抓取较小的物体时，首先转动基指段20根部，使各手指间形成较小的张角，此时可供回位弹簧70拉伸的空间较小，当机械手指100并拢接触物体时，拉丝51作用力克服变刚度连杆40的弹力，进而让端指段30相对中指段10向外转动，形成类似人手指端并拢的结构，这样接触面增大，方便夹取小型物体。
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个所述特征。在本发明的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接或可以相互通讯；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
在本发明中，除非另有明确的规定和限定，第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度小于第二特征。
下文的公开提供了许多不同的实施方式或例子用来实现本发明的不同结构。为了简化本发明的公开，下文中对特定例子的部件和设置进行描述。当然，它们仅仅为示例， 并且目的不在于限制本发明。此外，本发明可以在不同例子中重复参考数字和/或参考字母，这种重复是为了简化和清楚的目的，其本身不指示所讨论各种实施方式和/或设置之间的关系。此外，本发明提供了的各种特定的工艺和材料的例子，但是本领域普通技术人员可以意识到其他工艺的应用和/或其他材料的使用。
尽管上面已经示出和描述了本发明的实施方式，可以理解的是，上述实施方式是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施方式进行变化、修改、替换和变型。

Claims (11)

  1. 一种机械手指，其特征在于，所述机械手指包括：
    中指段；及
    分别与所述中指段两端转动连接的基指段及端指段；及
    变刚度连杆，所述变刚度连杆两端分别与所述基指段及所述端指段转动连接，所述中指段、所述基指段、所述端指段及所述变刚度连杆构成四连杆机构；及
    驱动装置，所述驱动装置用于驱动所述中指段相对于所述基指段转动以利用所述四连杆机构带动所述端指段相对于所述中指段转动。
  2. 如权利要求1所述的机械手指，其特征在于，所述变刚度连杆的数目为两个，所述变刚度连杆分别与所述基指段及所述端指段转动连接且位于所述中指段内的左右两侧。
  3. 如权利要求1所述的机械手指，其特征在于，所述变刚度连杆的数目为一个，所述变刚度连杆呈U型，所述变刚度连杆置于所述中指段内部。
  4. 如权利要求1所述的机械手指，其特征在于，所述变刚度连杆的数目为一个，所述变刚度连杆呈I型，所述变刚度连杆置于所述中指段中部。
  5. 如权利要求1所述的机械手指，其特征在于，所述基指段的顶端外侧与所述中指段的底端外侧转动连接形成第一转轴；及
    所述中指段的顶端内侧与所述端指段的底部内侧转动连接形成第二转轴；及
    所述变刚度连杆的一端与所述基指段的顶端内侧转动连接形成第三转轴；及
    所述变刚度连杆的另一端与所述端指段的底端外侧转动连接形成第四转轴；及
    所述第一转轴、所述第二转轴、所述第三转轴及所述第四转轴平行。
  6. 如权利要求1所述的机械手指，其特征在于，所述驱动装置包括拉丝，所述拉丝与所述中指段连接，通过所述拉丝驱动中指段进行转动。
  7. 如权利要求1所述的机械手指，其特征在于，所述基指段形成有位于顶端外侧与所述中指段底端外侧转动连接形成第一转轴，所述第一转轴之间设置有回位弹簧。
  8. 如权利要求7所述的机械手指，其特征在于，所述回位弹簧可以为扭簧或者线簧。
  9. 一种机械手，其特征在于包括如权利要求1-8任意一项所述的机械手指。
  10. 如权利要求9所述的机械手，其特征在于，所述机械手指的数目为至少两个，所述机械手指内侧相对设置。
  11. 如权利要求9所述的机械手，其特征在于，所述机械手包括有基座，所述机械手指的所述基指段根部与所述基座转动连接形成第五转轴，所述驱动装置包括有拉丝，通过所述拉丝驱动基指段绕着所述第五转轴转动。
PCT/CN2016/079205 2015-12-10 2016-04-13 机械手指及机械手 WO2017096746A1 (zh)

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