WO2019210761A1 - 一种电气复合驱动厚度异形板弹簧骨架柔性机械手 - Google Patents

一种电气复合驱动厚度异形板弹簧骨架柔性机械手 Download PDF

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Publication number
WO2019210761A1
WO2019210761A1 PCT/CN2019/081254 CN2019081254W WO2019210761A1 WO 2019210761 A1 WO2019210761 A1 WO 2019210761A1 CN 2019081254 W CN2019081254 W CN 2019081254W WO 2019210761 A1 WO2019210761 A1 WO 2019210761A1
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WO
WIPO (PCT)
Prior art keywords
plate
finger
seat
fixed
hinge
Prior art date
Application number
PCT/CN2019/081254
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English (en)
French (fr)
Inventor
章军
王强
王城坡
唐正宁
吕兵
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江南大学
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Application filed by 江南大学 filed Critical 江南大学
Publication of WO2019210761A1 publication Critical patent/WO2019210761A1/zh
Priority to US17/087,692 priority Critical patent/US11485027B2/en

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Classifications

    • 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
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • 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
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
    • 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
    • B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/108—Bearings specially adapted therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/123—Linear actuators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies

Definitions

  • the invention belongs to the technical field of robots and electromechanical integration, and particularly relates to an electric composite driving thickness profiled leaf spring skeleton flexible manipulator.
  • the finger portion of the underactuated robot is a rigid variable constraining structure, and each finger has three degrees of freedom.
  • the trajectory of any point of the finger is fixed when the object is not touched, and it will interfere with the support surface of the small object to be grasped (such as the conveyor belt).
  • the action point and the magnitude of the force cannot be changed.
  • the underactuated robot of the rigid structure is not adaptable and cannot effectively grasp the aforementioned complex object.
  • the invention provides an electric composite driving thickness profiled leaf spring skeleton flexible manipulator, which has the characteristics of wide grasping effect and flexible adaptive effect.
  • an electric composite driving thickness profiled leaf spring skeleton flexible manipulator including a screw shaft motor, an upper seat plate, a guide coupling rod, a linear bearing, a driving plate, a push plate, a short push rod a connecting rod, a base plate, a flexible finger, a rotating finger base push rod, a small support, a tension spring, a single-head bellows muscle, and a ridge push plate, the screw shaft motor being mounted at an upper end of the upper seat plate,
  • the upper seat plate and the base plate are fixed integrally by two guiding connecting rods, and the two ends of the two guiding connecting rods have cylindrical sections respectively matched with the holes of the upper seat plate and the base plate, and the middle position of the base plate is set
  • There is a seat bearing the lead screw nut seat driven by the screw shaft motor is fixed on the driving plate, and the driving plate is mounted with two linear bearings, and the two linear bearings are guided by the corresponding guiding connecting rods
  • the fixed finger base is mounted on the base plate by screws, and the upper end of the finger root node of the left flexible finger is connected to the lower end of the fixed finger seat by a hinge
  • the plate is fixedly mounted on the driving plate, and the upper end of the finger base of the rotating finger seat in the middle of the right side is mounted on the lower end of the fixed finger seat by a hinge
  • the long push rod is fixed on the driving plate, and the outer side of the long push rod and the push plate are installed
  • the short push rod is hingedly connected to one end of the connecting rod, and the other end of the flexible finger connecting link is connected with the hinge fixing seat on the flexible finger by a hinge, and the connecting rod connecting the finger joint is connected The other end is connected to the hinge fixing seat on the rotating finger base by a hinge.
  • the driving plate drives the long push rod to move up and down linearly.
  • the middle position of the single-head bellows muscle is provided with a ridge push plate, and the ridge push a
  • the upper ends of the finger root segments of the two outer flexible fingers on the right side are hingedly connected with the rotating finger holder, and the two flexible fingers on the outer side of the right side are coaxially and integrally rotated with the rotating finger holder and the rotating driving plate.
  • the shaft section of the upper part of the rotating finger seat is sleeved into the sleeve, the sleeve is placed against the rotating inner ring of the small-seat bearing of the base plate, and the shaft section of the upper part of the finger holder is rotated
  • the threaded portion is screwed with a nut, and the axial direction of the rotating finger base is fixed on the small seat bearing on the base plate, and the small seat bearing on the base plate is fixed to the base plate by screws, the single-head corrugated muscle
  • the clamp is fixed on the corrugated bayonet of the sealing head, and the sealing head with the air pipe joint is fixed on the small support, the small support is fixed on the driving plate, and one end of the two pulling springs is hooked into the belt ridge In the hole in the back ridge of the board, the other end of the tension spring is hooked into the hole in the small seat, and the other end of the connecting rod of the short push rod of the outer side of the driving board and
  • the flexible finger comprises a thickness profiled leaf spring, a hinge seat, a hinge support, a bracket, a thick sealing head, a gas pipe joint, a fixed clamp, a double-headed bellows muscle and a thin sealing head, and the hinge seat is fixedly mounted on the thickness-shaped plate
  • the upper end of the double-headed bellows muscle is fixed to the corrugated bayonet of the thick sealing head by a clamp, and the air pipe joint is screwed onto the thick sealing head, and the lower end of the double-headed bellows muscle is supported by
  • the clamp is fixed on the corrugated bayonet of the thin sealing head, and the thick sealing head and the thin sealing head are all fixed on the bracket, the hinge support is fixed on the thickness special-shaped leaf spring, and the hinge mandrel is covered with a thick twist Spring.
  • the push plate drives the short push rod and the connecting rod for adjusting the angle between the flexible finger base and the base plate
  • the ridge push plate drives the short push rod and the connecting rod to adjust the flexible finger base and the The angle between the base plates.
  • the thickness of the rotating push plate is matched with the width of the guide groove on the outer side of the driving plate, and is rotated by the cylindrical pin hinge connection.
  • the flat end of the single-headed bellows muscle is clamped and fixed on the ridge of the ridged push plate.
  • the single-headed bellows muscle is inflated to drive the small support, and the flexible finger on the outer side of the right rotates.
  • the driving plate drives the long push rod to move up and down linearly
  • the long push rod drives the short push rod and the connecting rod to adjust the angle between the finger root and the base plate.
  • the invention can adjust the angle of the root knuckle and the object to be grasped by the control of the motor, realize the adjustment of the position of the contact point, adjust the position of the contact point of the object to be grasped, and select the action point of the contact force according to the situation, and The direction of the force makes the gripping process not cause deformation and damage to the object, and the grasping is more accurate and reliable.
  • adjusting the angle of the root knuckle and the object to be grasped can adapt to the large change of the size of the grasping object.
  • the invention controls the pressure of the pneumatic single-head corrugated muscle by precise control of the high-speed on-off valve, and precisely controls the indexing angle of the finger root, thereby realizing precise control of the finger indexing angle, and satisfying the vertical grasping of the cylindrical, square and spherical shape.
  • the invention controls the pneumatic driving pressure of the pneumatic double-head corrugated pipe through the high-speed on-off valve control, realizes the precise control of the gripping force, and the flexible adaptability of the point and size of the gripping force.
  • the pneumatic system of the invention has large gain, and the pneumatic bellows muscle is light, so that the reaction is quick and the cushioning property is good.
  • Figure 1 is a schematic view of the structure of the present invention
  • FIG. 2 is a schematic view showing the structure of the D-D of the present invention.
  • Figure 3 is a schematic view showing the structure of the C-C of the present invention.
  • Figure 4 is a schematic view showing the structure of the B-B of the present invention.
  • FIG. 5 is a schematic view showing the structure of the E-E of the present invention.
  • Figure 6 is a structural schematic view showing the structure of a flexible finger member of the present invention.
  • Figure 7 is a schematic structural view of a thickness profiled leaf spring of the present invention.
  • Figure 8 is a schematic left side view of a thickness profiled leaf spring of the present invention.
  • Figure 9 is a front view showing the structure of the rotating finger holder of the present invention.
  • Figure 10 is a side view showing the structure of the rotating finger base of the present invention.
  • Figure 11 is a schematic front view of the small support of the present invention.
  • Figure 12 is a side view showing the structure of the small support of the present invention.
  • Figure 13 is a front view of the ridged push plate of the present invention.
  • Figure 14 is a top plan view of the ridged push plate of the present invention.
  • Figure 15 is a schematic view showing the muscle structure of a single-headed bellows of the present invention.
  • an electric composite driving thickness profiled leaf spring skeleton flexible manipulator including a screw shaft motor 1, an upper seat plate 2, a guide coupling rod 3, a linear bearing 5, and a driving plate 6 , push plate 7, short push rod 8, connecting rod 10, base plate 12, flexible finger 13, rotating finger seat 14 long push rod 16, small support 19, tension spring 20, single head bellows muscle 21 and belt push
  • the plate 22 the screw shaft motor 1 is mounted on the upper end of the upper seat plate 2, and the upper seat plate 2 and the base plate 12 are fixed integrally by the two guiding connecting rods 3, and the two guiding connecting rods 3 have cylindrical sections and upper seats respectively
  • the hole between the plate 2 and the base plate 12 is matched with a gap.
  • the intermediate position of the base plate 12 is provided with a seat bearing 11 .
  • the screw nut holder 4 driven by the screw shaft motor 1 is fixed on the driving plate 6 , and the driving plate 6 is mounted thereon.
  • Two linear bearings 5, two linear bearings 5 are guided by the corresponding guiding coupling rods 3, and the driving plate 6 is linearly moved up and down; the thickness of the rotating pushing plate 17 is matched with the width of the guiding groove outside the driving plate 6, and the cylindrical pin hinge
  • the fixed finger holder 9 is mounted on the base plate by screws 12, the upper end of the finger root section of the left flexible finger 13 is connected to the lower end of the fixed finger holder 9 by a hinge, and the push plate 7 is fixedly mounted on the driving board 6, and the upper end of the finger base of the rotating finger holder 14 in the middle of the right side is hingedly mounted.
  • the lower end of the finger holder 9 is fixed, and the long push rod 16 is fixed on the driving board 6.
  • the short push rod 8 is mounted on the outer side of the long push rod 16 and the push plate 7.
  • the driving board 6 drives the long push rod 16 to move up and down linearly, and the long push rod 16 drives the short push rod 8 and the connecting rod 10 to adjust the angle between the finger root and the base plate 12.
  • the short push rod 8 is hingedly connected with one end of the connecting rod 10, and the push plate 7 drives the short push rod 8 and the connecting rod 10 for Adjusting the angle between the finger base of the flexible finger 13 and the base plate 12, the ridge push plate 22 drives the short push rod 8, and the connecting rod 10 is used to adjust the angle between the finger base of the flexible finger 13 and the base plate 12, and the flexible finger 13 is connected.
  • the other end of the connecting rod 10 is connected to the hinge fixing seat on the flexible finger 13 by a hinge.
  • the other end of the connecting rod 10 connected to the rotating finger holder 14 is hingedly connected with the hinge fixing seat on the rotating finger holder 14, and the driving plate 6 is driven.
  • the long push rod 16 moves up and down linearly, and the middle position of the single-head bellows muscle 21 is set.
  • a ridge push plate 22 With a ridge push plate 22, the flat end of the single-head bellows muscle 21 is clamped and fixed on the ridge of the ridge push plate 22, and the single-head bellows muscle 21 is inflated to drive the small support 19, and the flexible finger 13 on the outer side of the right side is rotated.
  • the two sides of the ridge push plate 22 are provided with a circular pressure plate 23;
  • the upper ends of the finger root segments of the two outer flexible fingers 13 are hingedly connected to the rotating finger holder 14, and the two outer flexible fingers 13 are coaxial with the rotating driver plate 6 with the rotating finger holder 14 Rotating integrally, driving the two single-head bellows muscles 21, the shaft section rotating the upper part of the finger holder 14 is sleeved into the sleeve 15, and the sleeve 15 is pressed against the rotating inner ring of the small-seat bearing of the base plate 12, and the finger seat is rotated.
  • the threaded portion of the upper shaft section is screwed with a nut, and the axial direction of the rotating finger holder 14 is fixed to the small seat bearing on the base plate 12.
  • the small seat bearing on the base plate 12 is fixed to the base plate 12 by screws.
  • the single-head bellows muscle 21 is fixed to the corrugated bayonet of the sealing head 18 by a clamp, and the sealing head 18 with the air pipe joint is fixed on the small support 19, and the small support 19 is fixed on the driving plate 6,
  • two One end of the tension spring 20 is hooked into a hole in the ridge of the ridge push plate 22, and the other end of the tension spring 20 is hooked into the hole in the small support 19, and the link of the short push rod 8 mounted on the outer side of the drive plate 6
  • the other end of 10 is connected to the hinge fixing seat on the flexible finger 13 by a hinge;
  • the flexible finger 13 includes a thickness profiled leaf spring 13a hinge seat 13b, a hinge support 13c, a bracket 13d, a thick seal head 13e, a gas pipe joint 13f, a fixed clamp 13g, a double-headed bellows muscle 13h, and a thin seal head 13i, and a hinge seat 13b Fixedly mounted on the thickness-shaped leaf spring 13a, the upper end of the double-headed bellows muscle 13h is fixed to the corrugated bayonet of the thick sealing head 13e by a clamp, and the air pipe joint 13f is screwed onto the thick sealing head 13e, and the double-headed corrugation The lower end of the tube muscle 13h is fixed to the corrugated bayonet of the thin sealing head 13i by a clamp, and the thick sealing head 13e and the thin sealing head 13i are both fixed to the bracket 13d, and the hinge support 13c is fixed on the thickness-shaped leaf spring 13a, the hinge core A thick torsion spring is placed on the shaft.
  • the gripping force acting on the cantilever end (at the fingertip) is at the upper end of the variable thickness portion.
  • the stress is generated at the maximum, the stress at the lower end is the smallest, and the stress is generated by the driving force and the gripping force in the gripping state. Therefore, according to the driving force and the gripping force, it is obtained from the equal-strength design angle, as shown in Fig. 7-8.
  • the thickness of the middle portion of the thickness-shaped leaf spring 13a is variable thickness, that is, the upper end wall thickness of the variable thickness portion is large, the lower end wall thickness is small, and the intermediate portion is lower (fingertip direction) with the smallest wall thickness; the thickness profiled leaf spring 13a is The spring steel material has a thick wall thickness, a small elastic deformation, and a countersunk hole in the thickness direction.
  • the working principle and the use flow of the invention when the invention is used, after the optimization calculation is performed on the specific captured object, the grasping posture and the contact point position corresponding to the required grasping force can be calculated, and the grasping posture and the contact point are calculated.
  • the position is precisely controlled by the angle of rotation of the motor and the internal pressure of each bellows muscle.
  • 1 When grasping the same kind of (such as apple) and complex objects with inconsistent shape and shape, it can achieve the flexibility of adaptability, non-destruction and reliable grasp by selecting appropriate torsion spring parameters and finger structure size.
  • Holding complex objects of this kind 2 grasping the same shape (such as apples, oranges, oranges, etc., or squares such as square boxes), and complex objects of the same shape with large changes in shape and size, by selecting appropriate torsion springs Parameters and finger structure size, to achieve the flexibility of adaptability, and can not damage and reliably grasp the same shape of complex objects; 3 simultaneously grab different shapes (such as apples, oranges, oranges and other squares and small boxes)
  • the torque can be adjusted by appropriately selecting the torsion spring parameter and the finger structure size, and the internal pressure of the accurate single-head corrugated muscle 21, and the tension of the tension spring 20 to adjust the finger position. It is freely adaptable, and it can reliably grasp complex objects of different shapes without destroying and reliably.
  • the imitation eagle claw logistics packaging manipulator can accurately grasp cylindrical, square, spherical, ellipsoidal objects or horizontally grasp spherical, cylindrical and square objects by precise control of the finger indexing angle, thereby adapting Grab the shape of the object and meet the changing requirements of vertical and horizontal placement.
  • the various configuration states of the robot finger are simulated by ADAMS software to determine the adaptive shape and size range of each configuration and to be undamaged and reliably grasped ( The adaptation conditions of the non-shedding) are determined, and the final gripping configuration, the position of the contact point and the contact force are determined.
  • the state of the robot has: 1 no-load movement of the finger in the case of no contact; 2 the contact force is zero after the contact; 3 the object does not move after the contact, but the contact force increases, the contact point of the contact force, contact The force direction changes; 4 the object does not move after contact, the maximum contact force state; 5 the grasping movement of the acceleration displacement of the object and the robot at the same time, the position, size and direction of the contact point of the contact force; 6 the simultaneous displacement of the object and the robot at the same time Movement, position, size, and direction of the contact force; 7 grasping movement of the object and the manipulator at the same time, the position, size, and direction of the contact force; 8 the hovering state of the object and the robot.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Rheumatology (AREA)
  • Manipulator (AREA)

Abstract

一种电气复合驱动厚度异形板弹簧骨架柔性机械手，包括丝杠轴电机（1）、上座板（2）、导向联结杆（3）、直线轴承（5）、驱动板（6）、推板（7）、短推杆（8）、连杆（10）、底座板（12）、柔性手指（13）、转动手指座（14）、长推杆（16）、小支座（19）、拉弹簧（20）、单头波纹管肌肉（21）和带脊推板（22），所述柔性手指（13）的骨架是根据等强度原理设计的厚度异形板弹簧（13a）。所述机械手通过电机的控制，可以调整根指节与被抓物体的角度，实现了接触点位置的调整，可以选择接触力的作用点以及作用力的方向；该机械手气动系统增益大，气动波纹管肌肉轻巧，反应敏捷、缓冲性好。

Description

一种电气复合驱动厚度异形板弹簧骨架柔性机械手 技术领域
本发明属于机器人、机电一体化技术领域，具体涉及一种电气复合驱动厚度异形板弹簧骨架柔性机械手。
 背景技术
针对轻工和食品行业的大规模生产状况，为满足形状复杂、物性多样的原材料、半成品、成品的物流和包装的需要，为解决简单劳动的用工成本高、劳动条件差等问题，需要物流抓取的末端抓持器。就抓取的复杂对象的种类：①形状不规则的、大小差别大的物体（瓜果、蔬菜）；②易碎的脆性物体（禽蛋、玻璃陶瓷制品）；③易变形的软性物体（面包、软包装物品）；④异形的、位置状态混乱且难理顺的物体（酒瓶、化妆品瓶）；从上可见，复杂对象的材料性质、形状尺寸及位置状态的差别较大。传统工业机械手（末端抓持器）为夹钳式或平行移动式结构，只能抓取形状大小相同、位置状态一致、不会破损的刚性工件。仿人灵巧手需要感知复杂对象的空间位置和形状，需要精确控制运动和抓取力，否则会损坏复杂对象或不能可靠抓取，但目前仿人灵巧手尚处在实验室研究阶段。
 技术问题
现有技术存在以下问题：目前，欠驱动机械手的手指部分为刚性变约束结构，每根手指共三个自由度。在单电机驱动下，未接触被抓取物体时手指任意点的运动轨迹是固定不变的、会对小的被抓取物体的支撑面（如输送带）产生干涉。接触被抓取物体时需要克服两个扭弹簧作用，其作用点、作用力的大小方向不可改变。既不能适应前述被抓持复杂对象的形状、尺寸不一致，又不能满足接触力不损坏且可靠抓持复杂对象的特殊性要求，同时还会对被抓持复杂对象产生较大冲击。因此，刚性结构的欠驱动机械手适应性不好，不能有效地抓持前述的复杂对象。
 技术解决方案
为解决上述背景技术中提出的问题。本发明提供了一种电气复合驱动厚度异形板弹簧骨架柔性机械手，具有抓取效果广，柔性自适应效果的特点。
为实现上述目的，本发明提供如下技术方案：一种电气复合驱动厚度异形板弹簧骨架柔性机械手，包括丝杠轴电机、上座板、导向联结杆、直线轴承、驱动板、推板、短推杆、连杆、底座板、柔性手指、转动手指座长推杆、小支座、拉弹簧、单头波纹管肌肉和带脊推板，所述丝杠轴电机安装在上座板的上端，所述上座板和底座板靠两根导向联结杆固定成整体，两根所述导向联结杆的两端均有圆柱段分别与上座板和底座板上的孔间隙配合，所述底座板的中间位置设置有带座轴承，所述丝杠轴电机带动的丝杠螺母座固定在驱动板上，所述驱动板上安装有两个直线轴承，两个所述直线轴承靠对应的导向联结杆导向，所述驱动板上下直线运动；所述固定手指座通过螺钉安装在底座板上，左边的柔性手指的指根节的上端通过铰链连接在固定手指座下端，所述推板固定安装在驱动板上，右边中间的转动手指座的指根上端通过铰链安装在固定手指座下端，所述长推杆固定在驱动板上，所述长推杆和推板的外侧均安装有短推杆，所述短推杆与连杆的一端铰链连接，所述柔性手指连接的连杆的另一端与柔性手指上的铰链固定座通过铰链连接，所述转动手指座连接的连杆的另一端与转动手指座上的铰链固定座通过铰链连接，所述驱动板带动长推杆上下直线运动，所述单头波纹管肌肉的中间位置设置有带脊推板，所述带脊推板的两端设置有圆压板；
右边的外侧的两个所述柔性手指的指根节的上端均与转动手指座铰链连接，右边的外侧的两个柔性手指随转动手指座与转动驱动板是同轴心线地、整体地转动，驱动来自两个单头波纹管肌肉，所述转动手指座上部的轴段套进轴套，所述轴套顶住底座板的小带座轴承的转动内圈，转动手指座上部的轴段的螺纹部分用螺母旋紧，将转动手指座的轴向固定在底座板上的小带座轴承上，底座板上的小带座轴承通过螺钉固定在底座板上，所述单头波纹管肌肉靠卡箍固定在密封头的波状卡口上，带气管接头的密封头固定在小支座上，所述小支座固定在驱动板上，两根所述拉弹簧的一端钩进带脊推板的背脊上的孔中，所述拉弹簧的另一端钩进小支座上的孔中，所述驱动板的外侧安装的短推杆的连杆的另一端与柔性手指上的铰链固定座通过铰链连接；
所述柔性手指包括厚度异形板弹簧、铰链座、铰链支座、支架、厚密封头、气管接头、固定卡箍、双头波纹管肌肉和薄密封头，所述铰链座固定安装在厚度异形板弹簧上，所述双头波纹管肌肉的上端靠卡箍固定在厚密封头的波状卡口上，所述气管接头通过螺纹旋装在厚密封头上，所述双头波纹管肌肉的下端靠卡箍固定在薄密封头的波状卡口上，所述厚密封头、薄密封头均固定在支架，所述铰链支座固定在厚度异形板弹簧上，所述铰链芯轴上套有粗扭簧。
优选的，所述推板驱动短推杆、连杆用来调节柔性手指指根与底座板间的夹角，所述带脊推板驱动短推杆、连杆用来调节柔性手指指根与底座板间的夹角。
优选的，所述转动推板的厚度与驱动板外侧的导槽的宽度间隙配合，靠圆柱销铰链连接而转动。
优选的，所述单头波纹管肌肉的平面端夹紧固定在带脊推板的背脊上。
优选的，所述单头波纹管肌肉充气膨胀驱动小支座、右边的外侧的柔性手指转动。
优选的，所述驱动板带动长推杆上下直线运动，所述长推杆驱动短推杆、连杆从而调节指根与底座板间的夹角。
 有益效果
与现有技术相比，本发明的有益效果是：
1、本发明通过电机的控制，可以调整根指节与被抓物体的角度，实现了接触点位置的调整，对被抓物体接触点位置的调整，可以根据情况选择接触力的作用点，以及作用力的方向，使抓取过程不对物体造成形变以及损伤，抓取更精确可靠；同时，调整根指节与被抓物体的角度，可以适应抓取物体尺寸的较大变化。
2、本发明通过高速开关阀控制，精确控制气动单头波纹管肌肉驱动压强，精确控制指根转位角度，从而实现了手指转位角度的精确控制，满足垂直抓取圆柱形、方形、球形、椭球形物体，或水平抓取球形、圆柱形、方形物体，适应抓取物体形状、竖横放置的变化。
3、本发明通过高速开关阀控制，精确控制气动双头波纹管肌肉驱动压强，实现抓取力的精确控制，以及抓取力作用点和大小的柔性自适应性。
4、本发明气动系统增益大，气动波纹管肌肉轻巧，从而反应敏捷、缓冲性好。
 附图说明
图1为本发明的结构示意图；
图2为本发明的D-D结构示意图；
图3为本发明的C-C结构示意图；
图4为本发明的B-B结构示意图；
图5为本发明的E-E结构示意图；
图6为本发明的柔性手指部件结构图结构示意图；
图7为本发明的厚度异形板弹簧结构示意图；
图8为本发明的厚度异形板弹簧左视结构示意图；
图9为本发明的转动手指座主视结构示意图；
图10为本发明的转动手指座侧视结构示意图；
图11为本发明的小支座主视结构示意图；
图12为本发明的小支座侧视结构示意图；
图13为本发明的带脊推板主视结构示意图；
图14为本发明的带脊推板俯视结构示意图；
图15为本发明的单头波纹管肌肉结构示意图；
图中：1、丝杠轴电机；2、上座板；3、导向联结杆；4、丝杠螺母座；5、直线轴承；6、驱动板；7、推板；8、短推杆；9、固定手指座；10、连杆；11、带座轴承；12、底座板；13、柔性手指；13a、厚度异形板弹簧；13b、铰链座；13c、铰链支座；13d、支架；13e、厚密封头；13f、气管接头；13g、固定卡箍；13h、双头波纹管肌肉；13i、薄密封头；14、转动手指座；15、轴套；16、长推杆；17、转动推板；18、密封头；19、小支座；20、拉弹簧；21、单头波纹管肌肉；22、带脊推板；23、圆压板。
 本发明的实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
请参阅图1-15，本发明提供以下技术方案：一种电气复合驱动厚度异形板弹簧骨架柔性机械手，包括丝杠轴电机1、上座板2、导向联结杆3、直线轴承5、驱动板6、推板7、短推杆8、连杆10、底座板12、柔性手指13、转动手指座14长推杆16、小支座19、拉弹簧20、单头波纹管肌肉21和带脊推板22，丝杠轴电机1安装在上座板2的上端，上座板2和底座板12靠两根导向联结杆3固定成整体，两根导向联结杆3的两端均有圆柱段分别与上座板2和底座板12上的孔间隙配合，底座板12的中间位置设置有带座轴承11，丝杠轴电机1带动的丝杠螺母座4固定在驱动板6上，驱动板6上安装有两个直线轴承5，两个直线轴承5靠对应的导向联结杆3导向，驱动板6上下直线运动；转动推板17的厚度与驱动板6外侧的导槽的宽度间隙配合，靠圆柱销铰链连接而转动，固定手指座9通过螺钉安装在底座板12上，左边的柔性手指13的指根节的上端通过铰链连接在固定手指座9下端，推板7固定安装在驱动板6上，右边中间的转动手指座14的指根上端通过铰链安装在固定手指座9下端，长推杆16固定在驱动板6上，长推杆16和推板7的外侧均安装有短推杆8，驱动板6带动长推杆16上下直线运动，长推杆16驱动短推杆8、连杆10从而调节指根与底座板12间的夹角，短推杆8与连杆10的一端铰链连接，推板7驱动短推杆8、连杆10用来调节柔性手指13指根与底座板12间的夹角，带脊推板22驱动短推杆8、连杆10用来调节柔性手指13指根与底座板12间的夹角，柔性手指13连接的连杆10的另一端与柔性手指13上的铰链固定座通过铰链连接，转动手指座14连接的连杆10的另一端与转动手指座14上的铰链固定座通过铰链连接，驱动板6带动长推杆16上下直线运动，单头波纹管肌肉21的中间位置设置有带脊推板22，单头波纹管肌肉21的平面端夹紧固定在带脊推板22的背脊上，单头波纹管肌肉21充气膨胀驱动小支座19、右边的外侧的柔性手指13转动，带脊推板22的两端设置有圆压板23；
右边的外侧的两个柔性手指13的指根节的上端均与转动手指座14铰链连接，右边的外侧的两个柔性手指13随转动手指座14与转动驱动板6是同轴心线地、整体地转动，驱动来自两个单头波纹管肌肉21，转动手指座14上部的轴段套进轴套15，轴套15顶住底座板12的小带座轴承的转动内圈，转动手指座14上部的轴段的螺纹部分用螺母旋紧，将转动手指座14的轴向固定在底座板12上的小带座轴承上，底座板12上的小带座轴承通过螺钉固定在底座板12上，单头波纹管肌肉21靠卡箍固定在密封头18的波状卡口上，带气管接头的密封头18固定在小支座19上，小支座19固定在驱动板6上，两根拉弹簧20的一端钩进带脊推板22的背脊上的孔中，拉弹簧20的另一端钩进小支座19上的孔中，驱动板6的外侧安装的短推杆8的连杆10的另一端与柔性手指13上的铰链固定座通过铰链连接；
柔性手指13包括厚度异形板弹簧13a铰链座13b、铰链支座13c、支架13d、厚密封头13e、气管接头13f、固定卡箍13g、双头波纹管肌肉13h和薄密封头13i，铰链座13b固定安装在厚度异形板弹簧13a上，双头波纹管肌肉13h的上端靠卡箍固定在厚密封头13e的波状卡口上，气管接头13f通过螺纹旋装在厚密封头13e上，双头波纹管肌肉13h的下端靠卡箍固定在薄密封头13i的波状卡口上，厚密封头13e、薄密封头13i均固定在支架13d，铰链支座13c固定在厚度异形板弹簧13a上，铰链芯轴上套有粗扭簧。
因为双头波纹管肌肉13h驱动力在变厚度部分的上端、下端横截面上产生应力最大、中间横截面产生应力最小，作用在悬臂端（指尖处）的抓持力在变厚度部分的上端产生应力最大、下端产生应力最小，抓持状态下是驱动力和抓持力产生的应力叠加，所以根据驱动力和抓持力，从等强度设计角度得出，如附图7-8所示，厚度异形板弹簧13a的中间部分壁厚是变厚度的，即变厚度部分的上端壁厚大、下端壁厚小，中间段偏下方（指尖方向）壁厚最小；厚度异形板弹簧13a为弹簧钢材料，其等厚度段壁厚大、弹性变形小，且厚度方向加工了沉头孔。
本发明的工作原理及使用流程：本发明使用时，针对具体被抓取对象进行优化计算后，可以计算出所需抓取力所对应的抓取姿态和接触点位置，抓取姿态和接触点位置由电机转动角度和各波纹管肌肉内部压力的精确协同控制。具体是：①抓取同种类的（如苹果）、形状尺寸不一致的复杂对象时，能够通过选择适当的扭弹簧参数和手指结构尺寸，实现既能自由度适应性、又能不破坏且可靠抓持此种类的复杂对象；②抓取同形状的（如苹果、橙子、橘子等球形，或大小方盒等四方体）、形状尺寸变化大的同形状复杂对象时，能够通过选择适当的扭弹簧参数和手指结构尺寸，实现既能自由度适应性、又能不破坏且可靠抓持同形状的复杂对象；③同时抓取不同形状的（如苹果、橙子、橘子等球形和小方盒等四方体）、形状尺寸不相同的复杂对象时，能够通过适当选择扭弹簧参数和手指结构尺寸，和精确单头波纹管肌肉21的内部压力、克服拉弹簧20的拉力调节手指转位后，实现既能自由度适应性、又能不破坏且可靠抓持不同形状的复杂对象。
本发明仿鹰爪物流包装机械手，通过手指转位角度的精确控制，可垂直地抓取圆柱形、方形、球形、椭球形物体，或水平地抓取球形、圆柱形、方形物体，从而既适应抓取物体形状、又满足竖横放置变化的需求。
根据对象形状（如圆柱形、长方形等）尺寸和材料物理特性，通过ADAMS软件对机械手手指的各种构形状态进行了仿真，确定各构形的适应形状尺寸范围和不损坏且可靠抓持（不脱落）的适应条件，确定仿鹰爪物流包装机械手最终抓持构型、接触点位置和接触力的大小、方向。
由于柔性手指结构，机械手状态有：①未接触情况下手指的空载运动；②接触后接触力为零状态；③接触后物体未运动，但接触力增大，接触力的作用点位置、接触力方向变化；④接触后物体未运动，接触力最大状态；⑤物体与机械手同时加速度位移的抓持运动，接触力的作用点位置、大小、方向变化；⑥物体与机械手同时匀速位移的抓持运动，接触力的作用点位置、大小、方向变化；⑦物体与机械手同时减速度位移的抓持运动，接触力的作用点位置、大小、方向变化；⑧物体与机械手静止的悬停状态。
动态控制时，①在未接触情况下手指的空载运动时，确定避免与输送带或操作台桌面干涉的手指尖的路径规划，形成电机转动和波纹管肌肉压力驱动的动态控制策略；②接触后物体未运动、接触力最大状态时，物体被提起瞬间，接触力发生突变，可以通过压力变送器和高速开关阀控制，调整各个波纹管肌肉内部压力；③在物体与机械手同时加速度位移或减速度位移时，可以适应性调节各个波纹管肌肉内部压力。尽管已经示出和描述了本发明的实施例，对于本领域的普通技术人员而言，可以理解在不脱离本发明的原理和精神的情况下可以对这些实施例进行多种变化、修改、替换和变型，本发明的范围由所附权利要求及其等同物限定。

Claims (6)

  1. 一种电气复合驱动厚度异形板弹簧骨架柔性机械手，包括丝杠轴电机（1）、上座板（2）、导向联结杆（3）、直线轴承（5）、驱动板（6）、推板（7）、短推杆（8）、连杆（10）、底座板（12）、柔性手指（13）、转动手指座（14）长推杆（16）、小支座（19）、拉弹簧（20）、单头波纹管肌肉（21）和带脊推板（22），其特征在于：所述丝杠轴电机（1）安装在上座板（2）的上端，所述上座板（2）和底座板（12）靠两根导向联结杆（3）固定成整体，两根所述导向联结杆（3）的两端均有圆柱段分别与上座板（2）和底座板（12）上的孔间隙配合，所述底座板（12）的中间位置设置有带座轴承（11），所述丝杠轴电机（1）带动的丝杠螺母座（4）固定在驱动板（6）上，所述驱动板（6）上安装有两个直线轴承（5），两个所述直线轴承（5）靠对应的导向联结杆（3）导向，所述驱动板（6）上下直线运动；所述固定手指座（9）通过螺钉安装在底座板（12）上，左边的柔性手指（13）的指根节的上端通过铰链连接在固定手指座（9）下端，所述推板（7）固定安装在驱动板（6）上，右边中间的转动手指座（14）的指根上端通过铰链安装在固定手指座（9）下端，所述长推杆（16）固定在驱动板（6）上，所述长推杆（16）和推板（7）的外侧均安装有短推杆（8），所述短推杆（8）与连杆（10）的一端铰链连接，所述柔性手指（13）连接的连杆（10）的另一端与柔性手指（13）上的铰链固定座通过铰链连接，所述转动手指座（14）连接的连杆（10）的另一端与转动手指座（14）上的铰链固定座通过铰链连接，所述驱动板（6）带动长推杆（16）上下直线运动，所述单头波纹管肌肉（21）的中间位置设置有带脊推板（22），所述带脊推板（22）的两端设置有圆压板（23）；
    右边的外侧的两个所述柔性手指（13）的指根节的上端均与转动手指座（14）铰链连接，右边的外侧的两个柔性手指（13）随转动手指座（14）与转动驱动板（6）是同轴心线地、整体地转动，驱动来自两个单头波纹管肌肉（21），所述转动手指座（14）上部的轴段套进轴套（15），所述轴套（15）顶住底座板（12）的小带座轴承的转动内圈，转动手指座（14）上部的轴段的螺纹部分用螺母旋紧，将转动手指座（14）的轴向固定在底座板（12）上的小带座轴承上，底座板（12）上的小带座轴承通过螺钉固定在底座板（12）上，所述单头波纹管肌肉（21）靠卡箍固定在密封头（18）的波状卡口上，带气管接头的密封头（18）固定在小支座（19）上，所述小支座（19）固定在驱动板（6）上，两根所述拉弹簧（20）的一端钩进带脊推板（22）的背脊上的孔中，所述拉弹簧（20）的另一端钩进小支座（19）上的孔中，所述驱动板（6）的外侧安装的短推杆（8）的连杆（10）的另一端与柔性手指（13）上的铰链固定座通过铰链连接；
    所述柔性手指（13）包括厚度异形板弹簧（13a）铰链座（13b）、铰链支座（13c）、支架（13d）、厚密封头（13e）、气管接头（13f）、固定卡箍（13g）、双头波纹管肌肉（13h）和薄密封头（13i），所述铰链座（13b）固定安装在厚度异形板弹簧（13a）上，所述双头波纹管肌肉（13h）的上端靠卡箍固定在厚密封头（13e）的波状卡口上，所述气管接头（13f）通过螺纹旋装在厚密封头（13e）上，所述双头波纹管肌肉（13h）的下端靠卡箍固定在薄密封头（13i）的波状卡口上，所述厚密封头（13e）、薄密封头（13i）均固定在支架（13d），所述铰链支座（13c）固定在厚度异形板弹簧（13a）上，所述铰链芯轴上套有粗扭簧；所述厚度异形板弹簧（13a）的中间部分具有加厚部，所述加厚部的上端壁厚大、下端壁厚小；所述厚度异形板弹簧（13a）为弹簧钢材料，其厚度方向加工了沉头孔。
  2. 根据权利要求1所述的一种电气复合驱动厚度异形板弹簧骨架柔性机械手，其特征在于：所述推板（7）驱动短推杆（8）、连杆（10）用来调节柔性手指（13）指根与底座板（12）间的夹角，所述带脊推板（22）驱动短推杆（8）、连杆（10）用来调节柔性手指（13）指根与底座板（12）间的夹角。
  3. 根据权利要求1所述的一种电气复合驱动厚度异形板弹簧骨架柔性机械手，其特征在于：所述转动推板（17）的厚度与驱动板（6）外侧的导槽的宽度间隙配合，靠圆柱销铰链连接而转动。
  4. 根据权利要求1所述的一种电气复合驱动厚度异形板弹簧骨架柔性机械手，其特征在于：所述单头波纹管肌肉（21）的平面端夹紧固定在带脊推板（22）的背脊上。
  5. 根据权利要求1所述的一种电气复合驱动厚度异形板弹簧骨架柔性机械手，其特征在于：所述单头波纹管肌肉（21）充气膨胀驱动小支座（19）、右边的外侧的柔性手指（13）转动。
  6. 根据权利要求1所述的一种电气复合驱动厚度异形板弹簧骨架柔性机械手，其特征在于：所述驱动板（6）带动长推杆（16）上下直线运动，所述长推杆（16）驱动短推杆（8）、连杆（10）从而调节指根与底座板（12）间的夹角。
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