WO2019140929A1 - 一种仿人机械手 - Google Patents
一种仿人机械手 Download PDFInfo
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- WO2019140929A1 WO2019140929A1 PCT/CN2018/104732 CN2018104732W WO2019140929A1 WO 2019140929 A1 WO2019140929 A1 WO 2019140929A1 CN 2018104732 W CN2018104732 W CN 2018104732W WO 2019140929 A1 WO2019140929 A1 WO 2019140929A1
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- palm
- knuckle
- finger portion
- finger
- humanoid
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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
Definitions
- the utility model relates to the field of robot technology, in particular to a humanoid manipulator.
- the manipulator that imitates the human hand is an important direction of mechanical research in recent years. Because of the complex structure of the palm of the hand and the complex muscle structure, the four fingers and the thumb can make various bending and swinging movements in the space, and the palm of the person is more flexible. It can adapt to the needs of different grasping or other movements, and has high requirements for the bionic design of human body structure in terms of prosthetic limbs and functional recovery. In terms of comprehensive fields, the design research of humanoid manipulators has always been the study of bionic machinery manufacturing and rehabilitation medical research. the key of.
- the driving part and the control part of the existing humanoid manipulator are generally installed outside the humanoid manipulator, for example, placed on the arm portion, which not only increases the complexity of the connection between the human manipulator and the arm, but also has complicated wiring and is inconvenient. Installation and maintenance issues.
- the purpose of the utility model is to provide a humanoid manipulator, which is placed inside the humanoid manipulator and realizes the modular design of the manipulator, thereby simplifying the wiring and facilitating installation and maintenance.
- a humanoid manipulator comprising a palm and a finger component disposed on the palm of the hand, and the robot is used, further comprising:
- An adapter for mounting the humanoid robot on the arm of the robot ;
- control circuit board mounted in the palm of the hand and communicably connected to the control system of the robot via the adapter;
- a transmission module mechanically coupled to the finger assembly for adjusting bending and extension of the finger assembly
- a driving module disposed in the palm of the hand, in communication connection with the control circuit board, and mechanically connected to the transmission module;
- a tactile sensor is mounted on the palm and/or the finger assembly and is in communication with the control circuit board.
- the driving module and the control module are all placed inside the humanoid manipulator, and the modular design of the manipulator is realized, the complexity of the connection between the human manipulator and the arm is reduced, the wiring is simplified, and the installation and maintenance are facilitated.
- the finger component is a silicone molding structure.
- the technical solution relies on the elasticity of the silicone and the finger structure to restore the finger to the straight state under the curved state, the torsion spring is omitted, the assembly process is simplified, and the bending fatigue life of the finger is also long.
- the hardness of the silica gel molding structure is 60-80 HA.
- the palm of the hand comprises a silicone pad
- the tactile sensor is disposed between the palm and the silicone pad.
- the palm is in contact with the outside through the silicone pad, and has a certain buffer when contacting the object, thereby improving the ability of the human-like robot to sense the external environment.
- the palm includes a silicone pad having a hardness of 8-12HA.
- the finger assembly includes a thumb portion, an index finger portion, a middle finger portion, a ring finger portion and a small finger portion
- the driving module includes a plurality of driving motors matched with each finger of the finger assembly, and the number of the driving motors Same as the number of fingers mentioned;
- the index finger portion, the middle finger portion, the ring finger portion and the little finger portion respectively comprise three knuckles, respectively a proximal knuckle, a middle knuckle and a distal knuckle;
- the thumb portion includes two knuckles, respectively a proximal knuckle and a distal
- the knuckle is located on a side away from the palm; adjacent to the knuckle is provided with a notch, and an output end of the driving motor is connected to the distal knuckle by a rope.
- the angle sensor disposed on the output shaft of the drive motor, the angle sensor being in communication with the control circuit board.
- the degree of bending of the finger can be monitored in real time to better control the working state of the humanoid manipulator.
- the angle sensor is a Spanish potentiometer.
- a pressure sensor at the distal knuckle, the pressure sensor being in communication with the control circuit board.
- the pressure sensor can feedback the real-time grasping force and then adjust, so that the humanoid manipulator has better ability to grasp the object and control the grasping force, and increases the intelligence degree of the humanoid manipulator.
- the inside of the distal knuckle is provided with a knuckle bracket, and the pressure sensor is located between the inner surface of the distal knuckle and the knuckle bracket.
- the index finger portion, the middle finger portion, the ring finger portion and the little finger portion are integrally formed pieces.
- the utility model provides a humanoid manipulator, which can bring at least one of the following beneficial effects:
- the drive module and the control circuit board are placed inside the palm of the hand. After the robot is mounted to the robot arm, the communication connection with the robot control system is completed, and the modular design is realized, which facilitates assembly, maintenance, and mass production. It has also been greatly simplified.
- the finger assembly uses silicone material, the elasticity is good, the bending and straightening action can be realized by a simple rope pulling mechanism, the torsion spring structure is omitted, and the assembly process is simplified.
- Spanish potentiometer as an angle sensor, low cost, small size, reliable work, can make humanoid robots make a variety of gestures such as stone scissors.
- the tactile sensor and the pressure sensor are in contact with the outside through the flexible silica gel, and have a certain buffer when contacting the object, thereby improving the ability of the humanoid robot to sense the external environment.
- Fig. 1 is a schematic view showing the external structure of a humanoid manipulator.
- FIG. 2 is a partial structural view of a finger assembly.
- FIG. 3 is a schematic perspective view of a control circuit board.
- Figure 4 is a schematic view of the internal structure of the palm.
- FIG. 5 is a schematic structural view of the index finger portion, the middle finger portion, the ring finger portion and the little finger portion of the humanoid manipulator of the present invention
- the present embodiment discloses a humanoid robot including a palm 10, a finger assembly, an adapter 20, a control circuit board 80, a transmission module 100, and a drive module 90.
- the finger assembly is disposed on the palm 10, and includes five fingers of the thumb portion 30, the index finger portion 40, the middle finger portion 50, the ring finger portion 60, and the little finger portion 70.
- the adapter 20 is used to mount the humanoid robot on the arm of the robot, which is disposed at the end of the palm.
- the control circuit board 80 is mounted inside the palm 10 and is communicatively coupled to the control system of the robot via the adapter 20; the transmission module 100 is mechanically coupled to the finger assembly for adjusting the bending and stretching of the finger assembly to match five fingers.
- the driving module 90 should include Five sets of drive motors 91, each of which is adapted to the drive mechanism, are exemplarily provided with a drive motor 91 mounted on the motor bracket 92 and fastened by a motor clamp 93.
- the tactile sensor 110 is mounted on the palm 10 and/or the finger assembly and is in communication with the control circuit board 80. Its function is to sense whether the palm 10 and/or the finger assembly are in contact with an object in real time.
- the control circuit board 80 is a main control module of the human manipulator, and is connected to the robot main control system for control.
- the structure of the control circuit board 80 is as shown in FIG. 3, and the outer shape is designed according to the internal structure of the palm 10, and the internal space of the palm 10 is fully utilized to arrange the required circuits and electronic devices, and the driving module 90 includes The motor bracket 92 and the motor pressure plate 93 are designed in accordance with the outer dimensions of the control circuit board 80 and the internal space of the palm 10 to arrange five drive motors 91.
- the robot control system is coupled to the control circuit board 80 via a power line and a serial communication line. Exemplaryly, there are two types of connection mechanisms.
- the first type is that the adapter 20 is provided with a communication connection port, and the power cable and the serial communication line of the robot control system are transited through the connection port on the adapter 20, and finally connected to the control circuit board 80.
- the second type is that only the mechanical hole for the line to pass through is formed on the adapter 20, and the power line and the serial communication line pass through the adapter and are in communication with the control circuit board 80. Therefore, after the humanoid manipulator is mounted on the robot arm, the humanoid manipulator can be controlled to realize the modular design of the humanoid manipulator.
- the finger assembly is a silicone molded structure. Under the action of silicone elasticity and finger structure, the finger can be restored to the straight state under the curved state, the conventional torsion spring structure is omitted, the assembly process is simplified, and the bending fatigue life of the finger is also long.
- the silicone formed structure has a hardness of 60-80 HA.
- the palm 10 includes a silicone pad 130, and the tactile sensor 110 is disposed between the palm 10 and the silicone pad 130.
- the palm 10 is in contact with the outside through the silicone pad 130, and has a certain cushion when contacting the object, thereby improving the ability of the humanoid robot to sense the external environment.
- the silicone pad 130 has a hardness of 8-12 HA.
- the index finger portion 40, the middle finger portion 50, the ring finger portion 60, and the little finger portion 70 each include three knuckles, which are a proximal knuckle, a middle phalanx, and a distal knuckle.
- the thumb portion 30 includes two knuckles, a proximal phalanx and a distal knuckle, respectively; the distal knuckle is located on a side away from the palm 10.
- Abutment 201 is provided adjacent to the adjacent knuckles, the output end of the drive motor 91 is connected to the distal knuckles by the cord 101, and the cord 101 is wrapped around the pulley 102.
- each finger can perform a bending or straightening action.
- the index finger portion 40, the middle finger portion 50, the ring finger portion 60, and the little finger portion 70 are similar in structure, the index finger portion 40, the middle finger portion 50, the ring finger portion 60, and the little finger portion 70 can be integrally opened and formed into an integrally molded piece, with reference to the figure.
- the finger assembly can also be prepared by a 3D printing process.
- the humanoid robot further includes an angle sensor disposed on the output shaft of the drive motor 91, and the angle sensor is communicatively coupled to the control circuit board 80.
- the degree of bending of the finger can be monitored in real time, and the working state of the humanoid manipulator can be better controlled.
- the angle sensor is a Spanish potentiometer 81.
- the Spanish potentiometer 81 converts the angular change of the drive motor 91 into a change in resistance, and by AD conversion, transmits data to the control circuit board for detecting the bending state of the finger in real time.
- the Spanish potentiometer has the advantages of low cost, small size and reliable operation.
- the humanoid robot further includes a pressure sensor 120 located at the distal knuckle, and the pressure sensor 120 is communicatively coupled to the control circuit board 80.
- the pressure sensor 120 can feedback the real-time grasping force to adjust and adjust the grasping force according to actual needs, so that the humanoid robot has better ability to grasp the object and control the grasping force, and the humanoid manipulator is added.
- the degree of intelligence Illustratively, the distal knuckle is internally provided with a knuckle bracket 140, and the pressure sensor 120 is located between the inner surface of the distal knuckle and the knuckle bracket 140.
Abstract
一种仿人机械手，包括手掌（10）及设置在手掌（10）上的手指组件，配合机器人使用，进一步包括：转接件（20），用于将仿人机械手装设在机器人的手臂上；控制电路板（80），装设在手掌（10）内，且经由转接件（20）与机器人的控制系统通讯连接；传动模块（100），与手指组件机械连接，用于调整手指组件的弯曲和伸展；驱动模块（90），装设在手掌（10）内，与控制电路板（80）通讯连接，与传动模块（100）机械连接；以及触觉传感器（110），装设在手掌（10）和/或手指组件上，且与控制电路板（80）通讯连接。
Description
本申请要求2018年01月18日提交的申请号为：201820084522.8、发明名称为“一种仿人机械手”的中国专利申请的优先权，其全部内容合并在此。
本实用新型涉及机器人技术领域，尤其指一种仿人机械手。
模仿人手的机械手是近年来机械研究的重要方向，由于人的手掌关节构造及肌肉组织复杂，因此人的四指及大拇指能够在空间内做多种弯曲、摆动动作，人的手掌较为灵活，能够适应不同抓取或者其他动作的需要，并且在假肢、功能性恢复等方面对于人体结构仿生的设计要求高，综合各个领域来看，仿人机械手的设计研究一直是仿生机械制造和康复医疗研究的重点。现有的仿人机械手的驱动部分和控制部分一般安装在仿人机械手的外部，例如放置在小臂部位，不仅会增加仿人机械手与小臂连接的复杂程度，而且还存在布线复杂，不便于安装和维修的问题。
发明内容
本实用新型的目的是提供一种仿人机械手，将驱动模块和控制模块均置于仿人机械手的内部，实现了机械手的模块化设计，从而简化布线，便于安装和维修。
本实用新型提供的技术方案如下：一种仿人机械手，包括手掌及设置在所述手掌上的手指组件，配合机器人使用，进一步包括：
转接件，用于将所述仿人机械手装设在机械人的手臂上；
控制电路板，装设在所述手掌内，且经由所述转接件与机器人的控制系统 通讯连接；
传动模块，与所述手指组件机械连接，用于调整所述手指组件的弯曲和伸展；
驱动模块，装设在所述手掌内，与所述控制电路板通讯连接，与所述传动模块机械连接；以及，
触觉传感器，装设在手掌和/或所述手指组件上，且与所述控制电路板通讯连接。
本技术方案，将驱动模块和控制模块均置于仿人机械手的内部，实现了机械手的模块化设计，减少了仿人机械手与小臂连接的复杂程度，简化布线，便于安装和维修。
优选的，所述手指组件为硅胶成型结构。
本技术方案，依靠硅胶弹性和手指结构将手指在弯曲状态下恢复到伸直状态，省去了扭簧，简化了装配环节，手指的弯曲疲劳寿命也较长。
具体的，所述硅胶成型结构的硬度为60-80HA。
优选的，所述手掌上包括有硅胶垫，所述触觉传感器设置在所述手掌与所述硅胶垫之间。
本技术方案，手掌通过硅胶垫与外界接触，在接触物体时有一定的缓冲，提高了仿人机械手感知外界环境的能力。
具体的，所述手掌上包括有硬度为8-12HA的硅胶垫。
具体的，所述手指组件包括拇指部、食指部、中指部、无名指部以及小指部，所述驱动模块包括与手指组件中每个手指相匹配的若干个驱动电机，所述驱动电机的个数同所述手指的个数相同；
所述食指部、中指部、无名指部以及小指部均包括三个指节，分别为近指节、中指节以及远指节；所述拇指部包括两个指节，分别为近指节以及远指节；所述远指节位于远离所述手掌的一侧；相邻所述指节的邻接处设置有切槽口， 所述驱动电机的输出端通过绳索与所述远指节相连。
优选的，进一步包括设置在所述驱动电机输出轴的角度传感器，所述角度传感器与所述控制电路板通讯连接。可实时监测手指的弯曲程度，更好的控制仿人机械手的工作状态。
具体的，所述角度传感器为西班牙电位器。
优选的，进一步包括位于所述远指节的压力传感器，所述压力传感器与所述控制电路板通讯连接。
本技术方案，压力传感器可以反馈实时的抓取力大小进而进行调控，使得仿人机械手具有更好的抓取物体以及控制抓取力大小的能力，增加了仿人机械手的智能化程度。
优选的，所述远指节的内部设置有指节支架，所述压力传感器位于所述远指节的内表面与所述指节支架之间。
优选的，所述食指部、所述中指部、所述无名指部以及所述小指部为一体成型件。
本实用新型提供的一种仿人机械手，能够带来以下至少一种有益效果：
1、将驱动模块和控制电路板放置于手掌内部，将机械手安装至机械人手臂后即完成了其与机器人控制系统的通讯连接，实现了模块化设计，方便装配、维修以及大规模生产，布线也大大的得到了简化。
2、手指组件使用硅胶材料，弹性好，可以通过简单的绳索牵拉机构实现弯曲和伸直动作，省去了扭簧结构，简化了装配环节。
3、使用西班牙电位器作为角度传感器，成本低、体积小、工作可靠，可以使仿人机械手做出石头剪刀布等多种手势动作。
4、触觉传感器以及压力传感器通过柔性硅胶与外界接触，在接触物体时有一定的缓冲，提高了仿人机械手感知外界环境的能力。
5、具有更好的抓取物体以及控制抓取力大小的能力，增加了仿人机械手 的智能化程度。
下面将以明确易懂的方式，结合附图说明优选实施方式，对仿人机械手的上述特性、技术特征、优点及其实现方式予以进一步说明。
图1是仿人机械手的外部结构示意图。
图2是手指组件的部分结构示意图。
图3是控制电路板的立体结构示意图。
图4是手掌的内部结构示意图。
图5是本实用新型仿人机械手的食指部、中指部、无名指部以及小指部的结构示意图；
附图标号说明：10、手掌，20、转接件，30、拇指部，40、食指部，50、中指部，60、无名指部，70、小指部，201、切槽口，80、控制电路板，81、西班牙电位器，90、驱动模块，91、驱动电机，92、电机支架，93、电机压板，100、传动模块，101、绳索，102、滑轮，110、触觉传感器，120、压力传感器，130、硅胶垫，140、指节支架。
为了更清楚地说明本实用新型实施例或现有技术中的技术方案，下面将对照附图说明本实用新型的具体实施方式。显而易见地，下面描述中的附图仅仅是本实用新型的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图，并获得其他的实施方式。
为使图面简洁，各图中的只示意性地表示出了与本实用新型相关的部分，它们并不代表其作为产品的实际结构。
实施例一
参照图1和图4所示，本实施例公开一种仿人机械手，其包括手掌10、手 指组件、转接件20、控制电路板80、传动模块100以及驱动模块90。
其中，手指组件设置在手掌10上，包括拇指部30、食指部40、中指部50、无名指部60以及小指部70共五个手指。转接件20用于将所述仿人机械手装设在机器人的手臂上，其设置在手掌的端部。控制电路板80装设在手掌10的内部，且经由转接件20与机器人的控制系统通讯连接；传动模块100与手指组件机械连接，用于调整手指组件的弯曲和伸展，匹配五个手指应有五组传动结构，使得每个手指均可以独立动作；驱动模块90装设在手掌10内，与控制电路板80通讯连接，并且与传动模块100机械连接，相应的，驱动模块90应包括与每组传动机构相适配的五组驱动电机91，示例性的，驱动电机91装设在电机支架92上，并且通过电机压板93进行紧固。触觉传感器110装设在手掌10和/或手指组件上，且与控制电路板80通讯连接，其功能在于实时感测手掌10和/或手指组件是否同物体接触。控制电路板80为仿人机械手的主控模块，其与机器人主控系统通讯连接实现控制。
示例性的，控制电路板80的结构如图3所示，外形根据所述手掌10的内部结构进行设计，充分利用所述手掌10的内部空间以布置所需电路和电子器件，驱动模块90包含的电机支架92和电机压板93根据控制电路板80的外形尺寸和手掌10的内部空间进行设计，以布置5个驱动电机91。机器人控制系统经由电源线和串口通信线与控制电路板80连接，示例性的，可有两种连接机构。第一种是转接件20上设置有通讯连接端口，机器人控制系统的电源线和串口通信线通过转接件20上的该连接端口中转，最终与控制电路板80连接。第二种是转接件20上只开设供线路穿过的机械孔，电源线和串口通信线穿过转接件后与控制电路板80通讯连接。因而将仿人机械手安装在机器人手臂上后，即可以对仿人机械手进行控制，实现仿人机械手的模块化设计。
手指组件为硅胶成型结构。在硅胶弹性和手指结构作用下，手指可以在弯曲状态下恢复到伸直状态，省去了惯用的扭簧结构，简化了装配环节，手指的 弯曲疲劳寿命也较长。示例性的，硅胶成型结构的硬度为60-80HA。
手掌10上包括有硅胶垫130，触觉传感器110设置在手掌10与硅胶垫130之间。手掌10通过硅胶垫130与外界接触，在接触物体时有一定的缓冲，提高了仿人机械手感知外界环境的能力。示例性的，硅胶垫130的硬度为8-12HA。
实施例二
在实施例一的基础上，食指部40、中指部50、无名指部60以及小指部70均包括三个指节，分别为近指节、中指节以及远指节。拇指部30包括两个指节，分别为近指节以及远指节；远指节位于远离手掌10的一侧。相邻指节的邻接处设置有切槽口201，驱动电机91的输出端通过绳索101与远指节相连，并且绳索101环绕在滑轮102上。随着所述电机91的正反转，各个手指可以实现弯曲或者伸直动作。此外，由于食指部40、中指部50、无名指部60以及小指部70结构相近，食指部40、中指部50、无名指部60以及小指部70可整体开模制备，形成为一体成型件，参照图4所示，手指组件亦可以通过3D打印工艺制备。
优选的，仿人机械手进一步包括设置在驱动电机91输出轴的角度传感器，角度传感器与控制电路板80通讯连接。可实时监测手指的弯曲程度，借助其可更好的控制仿人机械手的工作状态。示例性的，角度传感器为西班牙电位器81。西班牙电位器81将所述驱动电机91的角度变化转变为电阻的变化，通过AD转换，将数据传输到控制电路板，用于实时检测所述手指的弯曲状态。选用西班牙电位器具有成本低、体积小、工作可靠等优点。
优选的，仿人机械手进一步包括位于远指节的压力传感器120，压力传感器120与控制电路板80通讯连接。压力传感器120可以反馈实时的抓取力大小进而进行调控，根据实际需要调整抓取力的大小，使得仿人机械手具有更好的抓取物体以及控制抓取力大小的能力，增加了仿人机械手的智能化程度。示 例性的，远指节的内部设置有指节支架140，压力传感器120位于远指节的内表面与指节支架140之间。
应当说明的是，上述实施例均可根据需要自由组合。以上所述仅是本实用新型的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本实用新型原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本实用新型的保护范围。
Claims (11)
- 一种仿人机械手，包括手掌及设置在所述手掌上的手指组件，配合机器人使用，其特征在于，进一步包括：转接件，用于将所述仿人机械手装设在机器人的手臂上；控制电路板，装设在所述手掌内，且经由所述转接件与机器人的控制系统通讯连接；传动模块，与所述手指组件机械连接，用于调整所述手指组件的弯曲和伸展；驱动模块，装设在所述手掌内，与所述控制电路板通讯连接，与所述传动模块机械连接；以及，触觉传感器，装设在手掌和/或所述手指组件上，且与所述控制电路板通讯连接。
- 根据权利要求1所述的仿人机械手，其特征在于：所述手指组件为硅胶成型结构。
- 根据权利要求2所述的仿人机械手，其特征在于：所述硅胶成型结构的硬度为60-80HA。
- 根据权利要求1-3任一所述的仿人机械手，其特征在于：所述手掌上包括有硅胶垫，所述触觉传感器设置在所述手掌与所述硅胶垫之间。
- 根据权利要求4所述的仿人机械手，其特征在于：所述手掌上包括硬度为8-12HA的硅胶垫。
- 根据权利要求1-3任一所述的仿人机械手，其特征在于：所述手指组件包 括拇指部、食指部、中指部、无名指部以及小指部，所述驱动模块包括与手指组件中每个手指相匹配的若干个驱动电机，所述驱动电机的个数同所述手指的个数相同；所述食指部、中指部、无名指部以及小指部均包括三个指节，分别为近指节、中指节以及远指节；所述拇指部包括两个指节，分别为近指节以及远指节；所述远指节位于远离所述手掌的一侧；相邻所述指节的邻接处设置有切槽口，所述驱动电机的输出端通过绳索与所述远指节相连。
- 根据权利要求6所述的仿人机械手，其特征在于：进一步包括设置在所述驱动电机输出轴的角度传感器，所述角度传感器与所述控制电路板通讯连接。
- 根据权利要求7所述的仿人机械手，其特征在于：所述角度传感器为西班牙电位器。
- 根据权利要求6所述的仿人机械手，其特征在于：进一步包括位于所述远指节的压力传感器，所述压力传感器与所述控制电路板通讯连接。
- 根据权利要求9所述的仿人机械手，其特征在于：所述远指节的内部设置有指节支架，所述压力传感器位于所述远指节的内表面与所述指节支架之间。
- 根据权利要求6所述的仿人机械手，其特征在于：所述食指部、所述中指部、所述无名指部以及所述小指部为一体成型件。
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