WO2020048467A1 - 双驱动异形超柔弹性骨架的机械手 - Google Patents

双驱动异形超柔弹性骨架的机械手 Download PDF

Info

Publication number
WO2020048467A1
WO2020048467A1 PCT/CN2019/104268 CN2019104268W WO2020048467A1 WO 2020048467 A1 WO2020048467 A1 WO 2020048467A1 CN 2019104268 W CN2019104268 W CN 2019104268W WO 2020048467 A1 WO2020048467 A1 WO 2020048467A1
Authority
WO
WIPO (PCT)
Prior art keywords
plate
finger
shaped
flexible
special
Prior art date
Application number
PCT/CN2019/104268
Other languages
English (en)
French (fr)
Inventor
章军
徐丁峰
王强
吕兵
Original Assignee
江南大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 江南大学 filed Critical 江南大学
Publication of WO2020048467A1 publication Critical patent/WO2020048467A1/zh
Priority to US17/117,572 priority Critical patent/US11000957B2/en

Links

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
    • B25J15/0004—Gripping heads and other end effectors with provision for adjusting the gripped object in the hand
    • 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

Definitions

  • the invention relates to the field of application technology of robots and mechatronics, and is connected to the robot body, in particular to a manipulator with a dual-drive special-shaped super-flexible elastic skeleton.
  • the types of complex objects to be grasped 1 irregularly shaped objects with large differences in size (melons, fruits, vegetables); 2 brittle and brittle objects (poultry eggs, glass ceramic products); 3 soft objects that are easily deformed ( Bread, flexible packaging items); 4 special-shaped objects (challenge bottles, cosmetics bottles) with chaotic position status and difficult to straighten out; from the above, it can be seen that the material properties, shapes, sizes, and position status of complex objects vary greatly.
  • Traditional industrial manipulators (the end gripper is a clamp-type or parallel-moving structure), can only grip rigid workpieces of the same shape and size, consistent position and no damage.
  • Human-like dexterous hands need to perceive the spatial position and shape of complex objects, and need to accurately control the movement and grasping force, otherwise they will damage complex objects or cannot be reliably grasped, but human-like dexterous hands are still in the laboratory research stage.
  • the fingers of underactuated manipulators are rigid and constrained structures, and each finger has three degrees of freedom. Driven by a single motor, the motion trajectory of any point of the finger is not fixed when it is not in contact with the grasped object, and it will support the small grasped object's supporting surface (such as interference with the conveyor belt).
  • the grasped object it is necessary to overcome the elasticity of the special-shaped super-flexible plate spring 4a, and the action point and the direction of the force cannot be changed. It can not adapt to the inconsistent shape and size of the complex object being grasped, nor can it meet the special requirements of not damaging the contact force and reliably grasping the complex object. At the same time, it will also have a greater impact on the complex object being grasped. Therefore, the rigid-structured under-actuated manipulator has poor adaptability and cannot effectively hold the aforementioned complex objects.
  • the applicant focuses on the above-mentioned complex gripping objects, and provides a manipulator with a reasonable structure and a dual-drive special-shaped super-flexible elastic skeleton to reliably grip the object in an enveloping manner to adapt to the size of the object Change, or directly drive the deformed super-flexible elastic skeleton to deform the end elastically, so as to reliably grasp the object by grasping it; also change the installation position of the finger to adapt to vertical grasping of cylindrical, square, spherical, ellipsoidal objects, or Grasp cylindrical and square objects horizontally; through the angular displacement control of the motor with angular displacement feedback encoder, the gripping attitude can be adjusted, and the point of contact force can be adjusted, so when gripping complex objects, the gripping range is wider; Flexible and adaptive grabbing effect.
  • a manipulator with a double-drive special-shaped super-flexible elastic skeleton includes an upper seat plate and a base plate.
  • Two screw shaft servo motors are installed at intervals on the upper seat plate, and the screws of the two screw shaft servo motors are respectively connected by a screw nut seat.
  • the hollow finger front drive plate and the finger root drive plate, the ends of the two lead screws are respectively supported on the base plate by two seated bearings, and the upper seat plate and the base plate are fixed into one by two sets of guide coupling rods.
  • each group of guide coupling rods includes two guide coupling rods, and two linear bearings are respectively installed on the hollow finger front driving plate and the finger root driving plate, and one set of guide coupling rods respectively pass through the hollow finger front driving plate.
  • the two linear bearings on the top, and the other set of guide coupling rods respectively pass through the two linear bearings on the driving board of the finger base; they also include a flexible finger, and the mounting structure of the flexible finger includes a T-slot plate and a T-slot plate There are two T-slots spaced from the upper part. The two T-slots are respectively connected to the lower end of the upper rod and the upper end of the lower rod.
  • the upper end of the upper rod is fixedly connected to the hollow finger front drive plate through a nut.
  • the lower end of the lower rod is hinged with a special-shaped super-flexible plate spring.
  • the special-shaped super-flexible plate spring is composed of a vertical section and a curved section. At the both ends of the vertical section and the outer wall of the vertical section, there are fixed connection members.
  • the end connection member and the lower rod The lower end is hinged, the connector at the first end is connected with the special-shaped plate and the finger root hinge seat, the finger root hinge seat is connected with the base plate, and the special-shaped plate is hinged with the finger root drive plate through a bent rod; two screw shaft servo motors pass through The respective lead screws drive the finger root drive plate and the hollow finger front drive plate, and perform linear movements up and down under the guidance of the two sets of guide coupling rods connected to each other.
  • the cross section of the vertical section of the special-shaped superflex leaf spring is a hyperbolic parabola
  • the cross section of the curved section is elliptical and ends at a section perpendicular to the elliptical axis at the end.
  • the connector at the end of the vertical section forms a fan-shaped structure.
  • the center of the circle is hinged to the lower end of the lower rod.
  • Two thick washers are installed between the end of the vertical section of the deformed superflex plate spring and the lower rod at the hinge; the connector at the head of the vertical section and the shaped plate (5a
  • a thick washer and a thin washer are installed at the connection between them, and one end of a finger hinge seat is hinged between the thin washer and the special-shaped plate.
  • the special-shaped plate has a triangular structure, and one side of the triangular structure has a concave arc shape.
  • the two vertices of the triangular structure are respectively fixedly connected to the connector at the vertical end of the vertical section of the special-shaped superflex plate spring by two pins.
  • the other vertex of the hinge is hinged to one end of the bent rod, the bent rod is bent, and the other end thereof is hinged to the bent rod hinge seat installed on the driving board of the finger base.
  • the bent rod hinge seat is positioned and moved in a T-shaped groove opened on the driving board of the finger base and fixed by screws.
  • the lower end of the upper rod and the upper end of the lower rod are respectively slid along the T-slot of the T-slot plate to adjust the length and are locked by a nut.
  • the flexible fingers are provided with three.
  • the three flexible fingers are evenly distributed along the circumference in the space position or distributed on the three vertices of the isosceles triangle.
  • One of the flexible fingers is located on the top corner of the isosceles triangle.
  • the other two flexible fingers are respectively Located on the two bottom corners of the isosceles triangle; the circle passing through the apex of the isosceles triangle and tangent to its bottom is concentric with the circle evenly distributed along the circumference, ensuring that the coordinate origin does not change when used to vertically grab a circular or square object .
  • the hollow finger front segment driving plate has a hollow structure in the middle, and the hollow portion is used for the upper part of the bent rod and the finger root driving plate to pass through.
  • the upper seat plate has a T-shaped structure, and two positioning holes are spaced apart along the symmetry axis of the T-shaped structure, and one positioning hole is opened at each symmetrical end of the T-shaped structure on both sides of the symmetry axis.
  • the upper ends of the four guide coupling rods are fixed, and positioning holes coaxial with the four positioning holes are formed at corresponding positions on the base plate for fixing the lower ends of the guide coupling rods.
  • the ends are respectively matched with eight positioning holes through a cylindrical surface, and the upper seat plate and the base plate are fixed into one body with a nut; the two seated bearings provide support at the ends of the screws of the two screw shaft servo motors respectively.
  • the hollow finger front drive plate and the finger root drive plate are respectively provided with two coaxial through holes, which respectively pass the corresponding two of the four guide coupling rods.
  • the hollow finger front drive plate and the finger root drive plate are each composed of two.
  • the guide coupling rod is guided and driven by a screw shaft servo motor; the four through holes are respectively matched with the four linear bearings.
  • the special-shaped super-flexible plate spring is made of spring steel material.
  • the invention has a compact and reasonable structure and convenient operation.
  • Two servo motors convert a rotary motion into a linear motion through a screw nut mechanism, and drive three fingers to work.
  • One servo motor directly drives the roots of the deformed super-flexible elastic skeleton of the three finger parts to adapt to changes in the size of the object, and the other servo motor directly drives the middle section of the deformed super-flexible elastic skeleton of the three finger parts to deform elastically, thereby reliably Enveloping objects by enveloping, or directly driving the deformed super-flexible elastic frame to deform the ends elastically, so that the objects can be grasped in a reliable pinching manner; also by changing the installation position of the fingers, it is suitable for vertical grasping of cylindrical, square, spherical, oval Spherical objects, or horizontally grasp cylindrical, square objects.
  • the gripping attitude can be adjusted and the contact point's action point can be adjusted, so when gripping complex objects, the gripping range is wider; the dual servo motor directly drives the special-shaped super-flexible elastic skeleton
  • the flexible structure produces a flexible and adaptive grasping effect.
  • the invention also has the following advantages:
  • the rotation angle of the special-shaped super-flexible plate spring and the finger base hinge base and the angle of the object to be grasped can be adjusted, and the adjustment of the position of the contact point can be achieved.
  • the angle can adapt to large changes in the size of the object to be grasped, and can be used to vertically grasp cylindrical, spherical, and square objects, or horizontally grasp cylindrical and square objects.
  • FIG. 1 is a bottom view taken along A-A in FIG. 2.
  • Fig. 2 is a B-B sectional front view of the present invention (a full sectional view of the present invention).
  • Fig. 3 is a top plan view taken along the line C-C in Fig. 2.
  • Fig. 4 is a top plan view taken along the line D-D in Fig. 2.
  • FIG. 5 is a front view of a flexible finger of the present invention.
  • Fig. 6 is a partial cross-sectional view taken along E-E in Fig. 5.
  • Fig. 7 is a partial cross-sectional view of F-F in Fig. 5.
  • Fig. 8 is a partial cross-sectional view of G-G in Fig. 5.
  • Fig. 9 is a sectional view taken along the line H-H in Fig. 10.
  • FIG. 10 is a top view of an upper seat plate part of the present invention.
  • Fig. 11 is a sectional view taken along the line I-I in Fig. 12.
  • FIG. 12 is a top view of a hollow finger front-stage driving board according to the present invention.
  • Fig. 13 is a sectional view taken along the line J-J in Fig. 14.
  • FIG. 14 is a plan view of a finger root driving plate according to the present invention.
  • Fig. 15 is a sectional view taken along the line K-K in Fig. 16.
  • FIG. 16 is a top view of a base plate part of the present invention.
  • Fig. 17 is a front view of the upper post of the present invention.
  • Figure 18 is a left side view of the upper post of the present invention.
  • Fig. 19 is a sectional view taken along the line L-L in Fig. 20.
  • FIG. 20 is a left side view of the deformed super-flexible plate spring of the present invention.
  • Fig. 21 is a front view of a T-slot plate according to the present invention.
  • Fig. 22 is a sectional view taken along the line J-J in Fig. 21.
  • FIG. 23 is a front view of a shaped plate according to the present invention.
  • Fig. 24 is a left side view of the profiled plate of the present invention.
  • Fig. 25 is a front view of a bent lever of the present invention.
  • Fig. 26 is a left side view of the bent lever of the present invention.
  • the manipulator of the dual-drive special-shaped super-flexible elastic skeleton of this embodiment includes an upper seat plate 2 and a base plate 10, and the upper seat plate 2 is installed at intervals.
  • There are two lead screw shaft servo motors 1 the lead screws of the two lead screw shaft servo motors 1 are respectively connected to the hollow finger front drive plate 4 and the finger root drive plate 7 through a screw nut seat 5, and the ends of the two screw screws pass through
  • Two seated bearings 11 are supported on the base plate 10, and the upper seat plate 2 and the base plate 10 are fixed into a whole by two sets of guide coupling rods 3, each set of guide coupling rods 3 includes two guide coupling rods 3, hollow fingers
  • Two linear bearings 8 are installed on the front drive plate 4 and the finger root drive plate 7, respectively.
  • One set of guide coupling rods 3 passes through the two linear bearings 8 on the front drive plate 4 of the hollow finger, and the other group is guided and coupled.
  • the rod 3 passes through two linear bearings 8 on the driving plate 7 of the finger base, respectively.
  • It also includes a flexible finger 12, and the mounting structure of the flexible finger 12 includes a T-shaped groove plate 2a, and two spaced apart T-shaped groove plates 2a. T-slots, two T-slots are respectively connected to the lower end of the upper rod 1a and the upper end of the lower rod 3a
  • the upper end of the upper rod 1a is fixedly connected with the hollow finger front drive plate 4 through a nut.
  • the lower end of the lower rod 3a is hinged with a special-shaped super flexible plate spring 4a.
  • the special-shaped super flexible plate spring 4a is composed of a vertical section and a curved section, and is located at the head of the vertical section. Connectors are fixedly installed on both sides of the outer wall of the end and the end. The connector at the end is hinged to the lower end of the lower rod 3a. The connector at the head end is connected to the special-shaped plate 5a and the finger hinge base 9, the finger hinge base 9 and the base plate 10 Connected, the special-shaped plate 5a is hinged to the finger root drive plate 7 through the bending rod 6a; the two screw shaft servo motors 1 respectively drive the finger root drive plate 7 and the hollow finger front drive plate 4 through the respective screws, and are connected at the respective The two sets of guide coupling rods 3 move linearly up and down.
  • the vertical section of the deformed super-flexible plate spring 4a is hyperbolic parabolic, the curved section is elliptical and ends at the end with a section perpendicular to the elliptical axis.
  • the connector has a fan-shaped structure, and is hinged to the lower end of the lower rod 3a at the center of the fan-shaped structure.
  • Two thick washers 7a are installed between the end of the vertical section of the deformed superflex plate spring 4a at the hinge and the lower rod 3a.
  • a thick washer 7a and a thin washer 8a are installed at the connection between the connecting member at the straight end of the straight end and the special-shaped plate 5a, wherein one end of a finger hinge base 9 is hinged between the thin washer 8a and the special-shaped plate 5a.
  • the special-shaped plate 5a has a triangular structure, and one side of the triangular structure has a concave arc shape.
  • the two vertices of the triangular structure are connected to the first end of the vertical section of the special-shaped superflex plate spring 4a by two The root pin is fixedly connected; the other vertex of the triangular structure is hinged to one end of the bending rod 6a, the bending rod 6a is bent, and the other end thereof is hinged to the bending rod hinge seat 6 mounted on the finger root driving plate 7.
  • the bent-hinged hinge base 6 is positioned and moved in a T-shaped groove opened on the finger root drive plate 7 and fixed by screws.
  • the lower end of the upper rod 1a and the upper end of the lower rod 3a are slid along the T-slot of the T-slot plate 2a to adjust the length and locked by a nut. .
  • three flexible fingers 12 are provided.
  • the three flexible fingers 12 are evenly distributed along the circumference in space or distributed on three vertices of an isosceles triangle, one of which is a flexible finger. 12 is located on the top corner of the isosceles triangle, and the other two flexible fingers 12 are respectively located on the two bottom corners of the isosceles triangle; a circle passing through the apex of the isosceles triangle and tangent to its bottom edge is concentric with a circle evenly distributed along the circumference, Ensure that the coordinate origin does not change when used to vertically grab a round or square object.
  • the hollow finger front drive plate 4 has a hollow structure in the middle, and the hollow portion is provided for the upper part of the bending rod 6 a and the finger root drive plate 7 to pass through.
  • the hollow finger front drive plate 4 and the finger root drive plate 7 are provided with two coaxial through holes, respectively, through corresponding two of the four guide coupling rods 3, the hollow finger front drive plate 4 and the finger root drive plate. 7 are each guided by two guide coupling rods 3 and driven by a screw shaft servo motor 1; the four through holes are respectively matched with the four linear bearings 8.
  • the upper seat plate 2 has a T-shaped structure, two positioning holes are spaced apart along the symmetry axis of the T-shaped structure, and two positioning holes are formed at the symmetrical ends of the T-shaped structure on both sides of the symmetry axis.
  • the four positioning holes are respectively fixed at the upper ends of the four guide coupling rods 3, and the corresponding positions on the base plate 10 are provided with positioning holes coaxial with the four positioning holes for fixing the lower ends of the guide coupling rods 3 and the four guide couplings
  • the upper and lower ends of the rod 3 are respectively matched with eight positioning holes through a cylindrical surface, and the upper seat plate 2 and the base plate 10 are fixed into one body with a nut; the two seated bearings 11 are respectively on the two screws of the screw shaft servo motor 1
  • the ends provide support.
  • the special-shaped super-flexible plate spring 4a is made of spring steel material.
  • two screw shaft servo motors 1 are fixed on the upper seat plate 2, and a hollow finger front drive plate 4 and a finger root drive plate 7 are each equipped with a screw nut seat 5 and two straight lines.
  • Bearing 8 one screw shaft servo motor 1 drives the hollow finger front drive plate 4, the other screw shaft servo motor 1 drives the finger root drive plate 7, the hollow finger front drive plate 4 and the finger root drive plate 7 each rely on two straight lines
  • the bearing 8 moves linearly under the guidance of the guide coupling rod 3; since the middle part of the hollow finger front drive plate 4 is hollow, the finger root drive plate 7 can be driven above the hollow finger front drive plate 4 or can be driven in front of the hollow finger Below the plate 4;
  • two bearing bearings 11 are respectively installed on the base plate 10 to support the screws of the two screw shaft servo motors 1; a positioning hole of the screw shaft servo motor 1 on the upper seat plate 2 and a hollow finger The positioning hole of the screw nut seat 5 on the front drive plate 4 and the positioning hole of the bearing plate 11
  • the installation of the three flexible fingers 12 may be a circular uniform installation, or a flexible finger 12 and two flexible fingers 12 on the other parallel plane are symmetrically installed; the upper rod 1a on the flexible finger 12 is fixed by a nut.
  • Hollow finger front drive plate 4 one end of the curved rod 6a on the flexible finger 12 is hingedly connected to the curved rod hinge base 6, the curved rod hinge base 6 can be positioned and moved in the T-shaped groove on the finger root drive plate 7, and is supported by screws Fixed; as shown in FIG. 7, from the outside to the inside are a special-shaped super-flexible plate spring 4 a, a thin washer 8 a, a finger hinge base 9 and a special-shaped plate 5 a. These four parts are hinged by cylindrical pins.
  • the upper rod 1a, the T-shaped groove plate 2a, and the lower rod 3a are screwed together.
  • the upper rod 1a and the lower rod 3a are respectively formed by the T-shaped groove plate 2a.
  • the T-slot is guided and then locked with a nut to adjust the length.
  • the lower end of the lower rod 3a is hinged with the special-shaped superflex plate spring 4a and two thick washers 7a; as shown in FIG. 8 From the outside to the inside are the special-shaped ultra-flexible plate spring 4a, thin washer 8a, finger base hinge seat 9 and special-shaped plate 5a. These four parts are hinged by cylindrical pins.
  • the special-shaped ultra-flexible plate spring 4a and the special-shaped plate 5a There are thick washers 7a between them, and these three parts are fixed with pins, so that the special-shaped super-flexible plate spring 4a and the special-shaped plate 5a become an integrated structure; the special-shaped plate 5a and the curved rod 6a are hinged, and the curved rod 6a pushes the special-shaped plate 5a to make the special shape
  • the super-flexible leaf spring 4a is elastically deformed; the deformed super-flexible leaf spring 4a, which plays a key role in the 12 flexible finger parts, is made of spring steel as an elastic deformation part.
  • a screw shaft servo motor 1 drives a hollow finger front segment drive plate 4 to move up and down linearly, elastically deforms the deformed super-flexible plate spring 4a, and plays a grasping role.
  • another screw shaft servo motor 1 drives a finger root drive plate 7 to move linearly up and down, drives a curved rod 6a, and adjusts an included angle between the special-shaped superflex plate spring 4a and the base plate 10.
  • the bending lever hinge base 6 can be positioned and moved in the T-shaped groove on the finger root driving plate 7 and fixed by screws. The position of the bending lever hinge base 6 on the finger root driving plate 7 can be adjusted to adjust The initial state of the flexible finger 12.
  • the upper rod 1a and the lower rod 3a are respectively guided by the T-shaped groove of the T-shaped groove plate 2a, and then locked with a nut to adjust the length, thereby adjusting the initial state of the flexible finger 12.
  • the installation of the three flexible fingers 12 may be a circular uniform installation, which is used for vertical grabbing or vertical columns or spheres; one flexible finger 12 and two flexible fingers on another parallel plane. 12 Symmetrical installation in the middle, used to vertically grasp a rectangular parallelepiped, or a cylinder with a horizontal axis.
  • a special-shaped super-flexible plate spring 4a is designed, which can calculate the grasping attitude and contact point position corresponding to the required grasping force, and grasp The attitude and the position of the contact point are precisely and cooperatively controlled by the rotation angles of the two screw shaft servo motors 1.
  • the state of the manipulator is: (1) No-load motion of the finger without contact; (2) The contact force is zero after contact; (3) The object does not move after contact, but the contact force increases The position of the contact point of the contact force and the direction of the contact force change; (4) The object does not move after the contact, and the contact force is at its maximum; (5) The gripping movement of the object and the manipulator at the same time, the position of the contact point of the contact force, The size and direction change; (6) The gripping movement of the object and the manipulator moving at the same speed at the same time, the position, size and direction of the contact force acting point change; (7) The gripping movement of the object and the manipulator at the same time decelerating displacement, the contact force The position, size, and direction of the point of action change; (8) Hovering state when the object and the robot are stationary.
  • the special-shaped super-flexible plate spring 4a of the flexible finger 12 is the core technology of the manipulator of the present invention and is a spring steel material. Its structural characteristics are irregular and super-flexible.
  • the irregularity is embodied as: 1 finger-shaped fixed installation structure of the special-shaped ultra-flexible plate spring 4a, 2 the drive installation structure of the hinged connection to the lower rod 3a, 3 the spring of the elastic deformation plate two sections, these three
  • the user is designed as an integrated and lightweight flexible skeleton; super-flexible is: leaf springs at the fingertip and finger root sections are easy to elastically deform, and it is easy to grasp the "pinch mode" of the fingertip section and " Envelope Mode ".
  • the design method of the special-shaped super-flexible plate spring 4a is not understood by those skilled in the field of manipulators and robots.
  • the mechanical characteristics are: under the condition that the magnitude and direction of the driving force and holding contact force are constantly changing, both the elastic super large deformation and the To meet material strength requirements. Its technical effect is: According to the characteristics of various grasping objects, the semi-custom designed special-shaped ultra-flexible leaf spring 4a has a "pinch mode" grasp of the fingertip section and an "envelope mode” grasp of the root section. Large range, flexible and adaptive contact force.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

双驱动异形超柔弹性骨架的机械手，包括上座板(2)和底座板(10)，两者之间通过两组导向联结杆(3)固定成一个整体，上座板(2)上间隔安装有两个丝杠轴伺服电机(1)，两个丝杠轴伺服电机(1)的丝杠分别连接中空指前段驱动板(4)和指根部驱动板(7)，两根丝杠末端分别通过两个带座轴承(11)支撑于底座板(10)，还包括柔性手指(12)，柔性手指(12)头部固定在中空指前段驱动板(4)上，柔性手指(12)的异形超柔板弹簧(4a)通过指根铰链座(9)与底座板(10)连接，柔性手指(12)的弯杆(6a)通过弯杆铰链座(6)与指根部驱动板(7)连接，两个丝杠轴伺服电机(1)通过丝杆螺母机构将旋转运动转化为直线运动，分别驱动柔性手指(12)的不同部分运动，可靠抓持状态尺寸各异的物体、抓取范围广，具有柔性自适应的效果。

Description

 双驱动异形超柔弹性骨架的机械手 技术领域
本发明涉及机器人、机电一体化的应用技术领域，与机器人本体联接，尤其是一种双驱动异形超柔弹性骨架的机械手。
 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
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异形超柔板弹簧4a的弹性，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
本申请人针对上述现有生产技术中的缺点，着重针对上述复杂抓持对象，提供一种结构合理的双驱动异形超柔弹性骨架的机械手，可靠地以包络方式抓持物体以适应物体尺寸的变化，或者直接驱动异形超柔弹性骨架使末端弹性变形、从而可靠地捏取方式抓持物体；也通过改变手指的安装位置，适应垂直抓取圆柱形、方形、球形、椭球形物体，或水平抓取圆柱形、方形物体；通过带角位移反馈编码器的电机角位移控制，抓取姿态可调、接触力的作用点可调，因此抓取复杂对象时，抓取范围更广；具有柔性自适应的抓取效果。
本发明所采用的技术方案如下：
一种双驱动异形超柔弹性骨架的机械手，包括上座板和底座板，上座板上间隔安装有两个丝杠轴伺服电机，两个丝杠轴伺服电机的丝杠分别通过丝杠螺母座连接中空指前段驱动板和指根部驱动板，两根丝杠的末端分别通过两个带座轴承支撑于所述底座板上，所述上座板和底座板之间通过两组导向联结杆固定成一个整体，每组导向联结杆包括两根导向联结杆，所述中空指前段驱动板和指根部驱动板上分别安装有两个直线轴承，其中一组导向联结杆分别穿过位于中空指前段驱动板上的两个直线轴承，另一组导向联结杆分别穿过位于指根部驱动板上的两个直线轴承；还包括柔性手指，柔性手指的安装结构为：包括T型槽板，T型槽板上间隔开有两个T型槽，两个T型槽内分别连接上杆的下端和下杆的上端，上杆上端通过螺母与所述中空指前段驱动板固定连接，下杆下端与异形超柔板弹簧铰接，异形超柔板弹簧由竖直段和弯曲段构成，位于竖直段首端和末端外壁两侧均固定安装有连接件，末端的连接件与下杆的下端铰接，首端的连接件与异形板及指根铰链座连接，指根铰链座与所述底座板连接，异形板通过弯杆与指根部驱动板铰接；两个丝杠轴伺服电机分别通过各自的丝杠带动指根部驱动板和中空指前段驱动板，并在各自连接的两组导向联结杆的导向下做上下直线运动。
作为上述技术方案的进一步改进：
异形超柔板弹簧竖直段的截面成双曲抛物线形，弯曲段的截面成椭圆形并在末端以垂直于椭圆轴线的截面收尾，竖直段末端的连接件成扇形结构，在扇形结构的圆心处与所述下杆下端铰接，在铰接处的异形超柔板弹簧竖直段末端连接件与下杆之间安装有两个厚垫圈；竖直段首端的连接件与异形板（5a之间在连接处安装有厚垫圈和薄垫圈，其中，在薄垫圈与异形板之间铰接有指根铰链座的一端。
所述异形板成三角形结构，三角形结构的一边成内凹圆弧状，三角形结构两个顶点处分别与所述异形超柔板弹簧竖直段首端的连接件通过两根销钉固定连接；三角形结构的另一个顶点与弯杆的一端铰接，弯杆成折弯状，并在其另一端与安装在指根部驱动板上的弯杆铰链座铰接。
所述弯杆铰链座在指根部驱动板上开设的T型槽内定位移动、靠螺钉固定。
上杆的下端、下杆的上端分别沿T型槽板的T型槽滑动以调节长度，并通过螺母锁紧。
所述柔性手指设有三个，三个柔性手指在空间位置沿圆周均布或者分布在等腰三角形的三个顶点上，其中一个柔性手指位于等腰三角形的顶角上，另两个柔性手指分别位于等腰三角形的两个底角上；过等腰三角形顶点且与其底边相切的圆与沿圆周均布的圆同心，保证用来垂直抓取圆形物体或方形物体时坐标原点不变。
所述中空指前段驱动板中部成镂空结构，镂空处供所述弯杆的上部和指根部驱动板通过。
所述上座板呈T形结构，沿T形结构的对称轴间隔开有两个定位孔，所述对称轴两侧的T形结构对称两端各开有一个定位孔，四个定位孔中分别固定所述四根导向联结杆的上端，底座板上相应位置处开有与所述四个定位孔同轴的定位孔，用于固定所述导向联结杆的下端，四根导向联结杆上下两端分别通过圆柱面与八个定位孔间隙配合，并用螺母将上座板和底座板固定成一体；两个带座轴承分别在两个丝杠轴伺服电机的丝杠末端提供支撑。
中空指前段驱动板和指根部驱动板上各开有两个同轴的通孔，分别通过四根导向联结杆中的相应的两根，中空指前段驱动板和指根部驱动板各自由两根导向联结杆导向和一个丝杠轴伺服电机驱动；四个通孔分别与四个直线轴承的相配合。
所述异形超柔板弹簧采用弹簧钢材料。
 有益效果
本发明结构紧凑、合理，操作方便，二个伺服电机通过丝杆螺母机构将旋转运动转化为直线运动，驱动三个手指工作。一个伺服电机直接驱动三个手指部件的异形超柔弹性骨架的根部转动、从而适应物体尺寸的变化，另一个伺服电机直接驱动三个手指部件的异形超柔弹性骨架中间段弹性变形、从而可靠地包络方式抓持物体，或者直接驱动异形超柔弹性骨架使末端弹性变形、从而可靠地捏取方式抓持物体；也通过改变手指的安装位置，适应垂直抓取圆柱形、方形、球形、椭球形物体，或水平抓取圆柱形、方形物体。通过带角位移反馈编码器的电机角位移控制，抓取姿态可调、接触力的作用点可调，因此抓取复杂对象时，抓取范围更广；双伺服电机直接驱动异形超柔弹性骨架，结构柔性产生了柔性自适应的抓取效果。同时，本发明还具有如下优点：
（1）通过伺服电机的控制，可以调整异形超柔板弹簧与指根铰链座的转动角度和被抓物体的角度，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，调整异形超柔板弹簧与弯杆的转动角度和被抓物体的角度，可以适应抓取物体尺寸的较大变化，适应垂直抓取圆柱形、球形、方形物体，或水平抓取圆柱形、方形物体。
（2）通过另一个伺服电机的驱动控制，克服异形超柔板弹簧中间段（竖直段）弹性变形，从而可靠地包络方式抓持物体，在异形超柔板弹簧中间段和末端（弯曲段）抓取力作用点和大小有柔性自适应性。
（3）或者通过另一个伺服电机的驱动控制，克服异形超柔板弹簧中间段（竖直段）弹性变形，并使异形超柔板弹簧使末端（弯曲段）弹性变形、从而可靠地捏取方式抓持物体，在异形超柔弹性骨架末端的抓取力作用点和大小有柔性自适应性。
 附图说明
图1为图2中A-A剖仰视图。
图2为本发明的B-B剖主视图（本发明的全剖视图）。
图3为图2中C-C剖俯视图。
图4为图2中D-D剖俯视图。
图5为本发明的柔性手指的主视图。
图6为图5中E-E局部剖视图。
图7为图5中F-F局部剖视图。
图8为图5中G-G局部剖视图。
图9为图10中H-H剖视图。
图10为本发明的上座板零件俯视图。
图11为图12中I-I剖视图。
图12为本发明的中空指前段驱动板俯视图。
图13为图14中J-J剖视图。
图14为本发明的指根部驱动板俯视图。
图15为图16中K-K剖视图。
图16为本发明的底座板零件俯视图。
图17为本发明上杆的主视图。
图18为本发明上杆的左视图。
图19为图20中L-L剖视图。
图20为本发明异形超柔板弹簧的左视图。
图21为本发明T型槽板的主视图。
图22为图21中J-J剖视图。
图23为本发明异形板的主视图。
图24为本发明异形板的左视图。
图25为本发明弯杆的主视图。
图26为本发明弯杆的左视图。
其中：1、丝杠轴伺服电机；2、上座板；3、导向联结杆；4、中空指前段驱动板；5、丝杠螺母座；6、弯杆铰链座；7、指根部驱动板；8、直线轴承；9、指根铰链座；10、底座板；11、带座轴承；12、柔性手指；1a、上杆；2a、T型槽板；3a、下杆；4a、异形超柔板弹簧；5a、异形板；6a、弯杆；7a、厚垫圈；8a、薄垫圈。
 本发明的实施方式
下面结合附图，说明本发明的具体实施方式。
如图1-图4、图5-图8及图9-图26所示，本实施例的双驱动异形超柔弹性骨架的机械手，包括上座板2和底座板10，上座板2上间隔安装有两个丝杠轴伺服电机1，两个丝杠轴伺服电机1的丝杠分别通过丝杠螺母座5连接中空指前段驱动板4和指根部驱动板7，两根丝杠的末端分别通过两个带座轴承11支撑于底座板10上，上座板2和底座板10之间通过两组导向联结杆3固定成一个整体，每组导向联结杆3包括两根导向联结杆3，中空指前段驱动板4和指根部驱动板7上分别安装有两个直线轴承8，其中一组导向联结杆3分别穿过位于中空指前段驱动板4上的两个直线轴承8，另一组导向联结杆3分别穿过位于指根部驱动板7上的两个直线轴承8；还包括柔性手指12，柔性手指12的安装结构为：包括T型槽板2a，T型槽板2a上间隔开有两个T型槽，两个T型槽内分别连接上杆1a的下端和下杆3a的上端，上杆1a上端通过螺母与中空指前段驱动板4固定连接，下杆3a下端与异形超柔板弹簧4a铰接，异形超柔板弹簧4a由竖直段和弯曲段构成，位于竖直段首端和末端外壁两侧均固定安装有连接件，末端的连接件与下杆3a的下端铰接，首端的连接件与异形板5a及指根铰链座9连接，指根铰链座9与底座板10连接，异形板5a通过弯杆6a与指根部驱动板7铰接；两个丝杠轴伺服电机1分别通过各自的丝杠带动指根部驱动板7和中空指前段驱动板4，并在各自连接的两组导向联结杆3的导向下做上下直线运动。
如图19、图20所示，异形超柔板弹簧4a竖直段的截面成双曲抛物线形，弯曲段的截面成椭圆形并在末端以垂直于椭圆轴线的截面收尾，竖直段末端的连接件成扇形结构，在扇形结构的圆心处与下杆3a下端铰接，在铰接处的异形超柔板弹簧4a竖直段末端连接件与下杆3a之间安装有两个厚垫圈7a；竖直段首端的连接件与异形板5a之间在连接处安装有厚垫圈7a和薄垫圈8a，其中，在薄垫圈8a与异形板5a之间铰接有指根铰链座9的一端。
如图23、图24所示，异形板5a成三角形结构，三角形结构的一边成内凹圆弧状，三角形结构两个顶点处分别与异形超柔板弹簧4a竖直段首端的连接件通过两根销钉固定连接；三角形结构的另一个顶点与弯杆6a的一端铰接，弯杆6a成折弯状，并在其另一端与安装在指根部驱动板7上的弯杆铰链座6铰接。
如图2、图13和图14所示，弯杆铰链座6在指根部驱动板7上开设的T型槽内定位移动、靠螺钉固定。
如图2、图17、图18、图21和图22所示，上杆1a的下端、下杆3a的上端分别沿T型槽板2a的T型槽滑动以调节长度，并通过螺母锁紧。
如图2、图3、图4和图12所示，柔性手指12设有三个，三个柔性手指12在空间位置沿圆周均布或者分布在等腰三角形的三个顶点上，其中一个柔性手指12位于等腰三角形的顶角上，另两个柔性手指12分别位于等腰三角形的两个底角上；过等腰三角形顶点且与其底边相切的圆与沿圆周均布的圆同心，保证用来垂直抓取圆形物体或方形物体时坐标原点不变。
如图2、图11、图12、图13和图14所示，中空指前段驱动板4中部成镂空结构，镂空处供弯杆6a的上部和指根部驱动板7通过。
中空指前段驱动板4和指根部驱动板7上各开有两个同轴的通孔，分别通过四根导向联结杆3中的相应的两根，中空指前段驱动板4和指根部驱动板7各自由两根导向联结杆3导向和一个丝杠轴伺服电机1驱动；四个通孔分别与四个直线轴承8的相配合。
如图1和图4所示，上座板2呈T形结构，沿T形结构的对称轴间隔开有两个定位孔，对称轴两侧的T形结构对称两端各开有一个定位孔，四个定位孔中分别固定四根导向联结杆3的上端，底座板10上相应位置处开有与四个定位孔同轴的定位孔，用于固定导向联结杆3的下端，四根导向联结杆3上下两端分别通过圆柱面与八个定位孔间隙配合，并用螺母将上座板2和底座板10固定成一体；两个带座轴承11分别在两个丝杠轴伺服电机1的丝杠末端提供支撑。
异形超柔板弹簧4a采用弹簧钢材料。
本实施例的安装原理如下：
如附图1-4所示，两个丝杠轴伺服电机1固定在上座板2上，中空指前段驱动板4和指根部驱动板7上各安装了一个丝杠螺母座5和二个直线轴承8，一个丝杠轴伺服电机1驱动中空指前段驱动板4，另一个丝杠轴伺服电机1驱动指根部驱动板7，中空指前段驱动板4和指根部驱动板7各自靠二个直线轴承8在导向联结杆3的导向下直线运动；由于中空指前段驱动板4的中部是镂空的，指根部驱动板7既可以在中空指前段驱动板4的上方、也可以在中空指前段驱动板4的下方；两个带座轴承11分别安装在底座板10上，用来支撑两个丝杠轴伺服电机1的丝杠；上座板2上一个丝杠轴伺服电机1定位孔、中空指前段驱动板4上那个丝杠螺母座5定位孔和底座板10上一个带座轴承11定位孔保证同轴，上座板2上另一个丝杠轴伺服电机1定位孔、指根部驱动板7上那个丝杠螺母座5定位孔和底座板10上另一个带座轴承11定位孔保证同轴；上座板2和底座板10上的四根导向联结杆3定位孔保证同轴，四根导向联结杆3上下两端各有圆柱面与这八个定位孔间隙配合，四根导向联结杆3将上座板2和底座板10固定成一个整体；
三个柔性手指12的安装可以是圆形均布安装，也可以是一个柔性手指12和另一平行平面上的二个柔性手指12中间对称安装；柔性手指12上的上杆1a靠螺母固定在中空指前段驱动板4，柔性手指12上的弯杆6a的一端与弯杆铰链座6铰链连接，弯杆铰链座6可以在指根部驱动板7上的T型槽内有定位移动、靠螺钉固定；如附图7所示，从外到内分别是异形超柔板弹簧4a、薄垫圈8a、指根铰链座9和异形板5a，这四种零件靠圆柱销形成铰链连接。
如附图5-8所示，柔性手指12部件中，上杆1a、T型槽板2a、下杆3a这三个零件螺纹连接，上杆1a、下杆3a分别以T型槽板2a的T型槽导向，再用螺母锁紧，可以调节长度；如附图6所示，下杆3a的下端与异形超柔板弹簧4a和二个厚垫圈7a形成铰链连接；如附图8所示，从外到内分别是异形超柔板弹簧4a、薄垫圈8a、指根铰链座9和异形板5a，这四种零件靠圆柱销形成铰链连接，异形超柔板弹簧4a和异形板5a之间有厚垫圈7a，用销钉将这三种零件固定，使异形超柔板弹簧4a和异形板5a成为整体结构；异形板5a和弯杆6a铰链连接，弯杆6a推动异形板5a从而使异形超柔板弹簧4a弹性变形；柔性手指12部件中起关键作用的异形超柔板弹簧4a作为弹性变形零件，是选用弹簧钢材料。
本实施例中，一个丝杠轴伺服电机1驱动中空指前段驱动板4上下直线运动，使异形超柔板弹簧4a弹性变形，起抓取作用。
本实施例中，另一个丝杠轴伺服电机1驱动指根部驱动板7上下直线运动，带动弯杆6a，调节异形超柔板弹簧4a与底座板10间的夹角。
本实施例中，弯杆铰链座6可以在指根部驱动板7上的T型槽内有定位移动、靠螺钉固定，可以调节弯杆铰链座6在指根部驱动板7上的位置，从而调整柔性手指12的初始状态。
本实施例中，上杆1a、下杆3a分别以T型槽板2a的T型槽导向，再用螺母锁紧，可以调节长度，从而调整柔性手指12的初始状态。
本实施例中，三个柔性手指12的安装可以是圆形均布安装，用来垂直抓取也可竖列圆柱体、或球体；一个柔性手指12和另一平行平面上的二个柔性手指12中间对称安装，用来垂直抓取长方体、或轴心线水平的圆柱体。
本发明的工作原理及使用流程：针对具体被抓取对象进行优化计算后，设计出异形超柔板弹簧4a，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二个丝杠轴伺服电机1转动角度精确协同控制。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异形超柔板弹簧4a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异形超柔板弹簧4a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）、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，能够通过改变二个柔性手指12的安装位置，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。
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。
如附图19所示，柔性手指12的异形超柔板弹簧4a是本发明机械手的核心技术，是弹簧钢材料。其结构特点是异形与超柔，异形体现为：①异形超柔板弹簧4a的指根固定安装结构、②与下杆3a铰链连接的驱动安装结构、③弹性变形板两段的弹簧，这三者设计成一体化和轻量化的柔性骨架；超柔体现为：指尖和指根两段的板弹簧易于弹性变形，易实现指尖段的“捏取方式”抓取和指根段的“包络方式”抓取。异形超柔板弹簧4a的设计方法不是机械手、机器人领域技术人员所了解的，力学特征是：在驱动力和抓持接触力的大小、方向都不断变化状态下，既考虑要弹性超大变形、又要满足材料强度要求。其技术效果是：根据多种抓取对象的特征，半定制设计的异形超柔板弹簧4a，其指尖段的“捏取方式”抓取和指根段的“包络方式”抓取的范围大、接触力柔性自适应。

Claims (10)

  1. 一种双驱动异形超柔弹性骨架的机械手，其特征在于：包括上座板（2）和底座板（10），上座板（2）上间隔安装有两个丝杠轴伺服电机（1），两个丝杠轴伺服电机（1）的丝杠分别通过丝杠螺母座（5）连接中空指前段驱动板（4）和指根部驱动板（7），两根丝杠的末端分别通过两个带座轴承（11）支撑于所述底座板（10）上，所述上座板（2）和底座板（10）之间通过两组导向联结杆（3）固定成一个整体，每组导向联结杆（3）包括两根导向联结杆（3），所述中空指前段驱动板（4）和指根部驱动板（7）上分别安装有两个直线轴承（8），其中一组导向联结杆（3）分别穿过位于中空指前段驱动板（4）上的两个直线轴承（8），另一组导向联结杆（3）分别穿过位于指根部驱动板（7）上的两个直线轴承（8）；还包括柔性手指（12），柔性手指（12）的安装结构为：包括T型槽板（2a），T型槽板（2a）上间隔开有两个T型槽，两个T型槽内分别连接上杆（1a）的下端和下杆（3a）的上端，上杆（1a）上端通过螺母与所述中空指前段驱动板（4）固定连接，下杆（3a）下端与异形超柔板弹簧（4a）铰接，异形超柔板弹簧（4a）由竖直段和弯曲段构成，位于竖直段首端和末端外壁两侧均固定安装有连接件，末端的连接件与下杆（3a）的下端铰接，首端的连接件与异形板（5a）及指根铰链座（9）连接，指根铰链座（9）与所述底座板（10）连接，异形板（5a）通过弯杆（6a）与指根部驱动板（7）铰接；两个丝杠轴伺服电机（1）分别通过各自的丝杠带动指根部驱动板（7）和中空指前段驱动板（4），并在各自连接的两组导向联结杆（3）的导向下做上下直线运动。
  2. 如权利要求1所述的双驱动异形超柔弹性骨架的机械手，其特征在于：异形超柔板弹簧（4a）竖直段的截面成双曲抛物线形，弯曲段的截面成椭圆形并在末端以垂直于椭圆轴线的截面收尾，竖直段末端的连接件成扇形结构，在扇形结构的圆心处与所述下杆（3a）下端铰接，在铰接处的异形超柔板弹簧（4a）竖直段末端连接件与下杆（3a）之间安装有两个厚垫圈（7a）；竖直段首端的连接件与异形板（5a）之间在连接处安装有厚垫圈（7a）和薄垫圈（8a），其中，在薄垫圈（8a）与异形板（5a）之间铰接有指根铰链座（9）的一端。
  3. 如权利要求2所述的双驱动异形超柔弹性骨架的机械手，其特征在于：所述异形板（5a）成三角形结构，三角形结构的一边成内凹圆弧状，三角形结构两个顶点处分别与所述异形超柔板弹簧（4a）竖直段首端的连接件通过两根销钉固定连接；三角形结构的另一个顶点与弯杆（6a）的一端铰接，弯杆（6a）成折弯状，并在其另一端与安装在指根部驱动板（7）上的弯杆铰链座（6）铰接。
  4. 如权利要求3所述的双驱动异形超柔弹性骨架的机械手，其特征在于：所述弯杆铰链座（6）在指根部驱动板（7）上开设的T型槽内定位移动、靠螺钉固定。
  5. 如权利要求1所述的双驱动异形超柔弹性骨架的机械手，其特征在于：上杆（1a）的下端、下杆（3a）的上端分别沿T型槽板（2a）的T型槽滑动以调节长度，并通过螺母锁紧。
  6. 如权利要求1所述的双驱动异形超柔弹性骨架的机械手，其特征在于：所述柔性手指（12）设有三个，三个柔性手指（12）在空间位置沿圆周均布或者分布在等腰三角形的三个顶点上，其中一个柔性手指（12）位于等腰三角形的顶角上，另两个柔性手指（12）分别位于等腰三角形的两个底角上；过等腰三角形顶点且与其底边相切的圆与沿圆周均布的圆同心，保证用来垂直抓取圆形物体或方形物体时坐标原点不变。
  7. 如权利要求1所述的双驱动异形超柔弹性骨架的机械手，其特征在于：所述中空指前段驱动板（4）中部成镂空结构，镂空处供所述弯杆（6a）的上部和指根部驱动板（7）通过。
  8. 如权利要求1所述的双驱动异形超柔弹性骨架的机械手，其特征在于：所述上座板（2）呈T形结构，沿T形结构的对称轴间隔开有两个定位孔，所述对称轴两侧的T形结构对称两端各开有一个定位孔，四个定位孔中分别固定所述四根导向联结杆（3）的上端，底座板（10）上相应位置处开有与所述四个定位孔同轴的定位孔，用于固定所述导向联结杆（3）的下端，四根导向联结杆（3）上下两端分别通过圆柱面与八个定位孔间隙配合，并用螺母将上座板（2）和底座板（10）固定成一体；两个带座轴承（11）分别在两个丝杠轴伺服电机（1）的丝杠末端提供支撑。
  9. 如权利要求1所述的双驱动异形超柔弹性骨架的机械手，其特征在于：中空指前段驱动板（4）和指根部驱动板（7）上各开有两个同轴的通孔，分别通过四根导向联结杆（3）中的相应的两根，中空指前段驱动板（4）和指根部驱动板（7）各自由两根导向联结杆（3）导向和一个丝杠轴伺服电机（1）驱动；四个通孔分别与四个直线轴承（8）的相配合。
  10. 如权利要求1所述的双驱动异形超柔弹性骨架的机械手，其特征在于：所述异形超柔板弹簧(4a）采用弹簧钢材料。
PCT/CN2019/104268 2018-09-07 2019-09-04 双驱动异形超柔弹性骨架的机械手 WO2020048467A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US17/117,572 US11000957B2 (en) 2018-09-07 2020-12-10 Mechanical hand of dual-driven special-shaped super-flexible elastic framework

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201811041675.5A CN108858271B (zh) 2018-09-07 2018-09-07 双驱动异形超柔弹性骨架的机械手
CN201811041675.5 2018-09-07

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US17/117,572 Continuation US11000957B2 (en) 2018-09-07 2020-12-10 Mechanical hand of dual-driven special-shaped super-flexible elastic framework

Publications (1)

Publication Number Publication Date
WO2020048467A1 true WO2020048467A1 (zh) 2020-03-12

Family

ID=64323326

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/104268 WO2020048467A1 (zh) 2018-09-07 2019-09-04 双驱动异形超柔弹性骨架的机械手

Country Status (3)

Country Link
US (1) US11000957B2 (zh)
CN (1) CN108858271B (zh)
WO (1) WO2020048467A1 (zh)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108858271B (zh) 2018-09-07 2020-10-30 江南大学 双驱动异形超柔弹性骨架的机械手
US11937627B2 (en) * 2019-07-23 2024-03-26 John Timothy Sullivan Cone loading, weighing, filling, and twisting apparatus and method for mass production of smokable cannabis or hemp products
CN111844095B (zh) * 2020-07-24 2021-08-03 江南大学 测距获取角位移而判别柔性机械手抓持状态的方法与结构
CN214490634U (zh) * 2020-12-30 2021-10-26 浙江工业大学台州研究院 一种柔性机械手开合与位置微调的驱动装置
CN114211515B (zh) * 2021-12-31 2023-03-10 重庆电子工程职业学院 工业用智能机器人仿生机械手抓取设备

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4452479A (en) * 1979-04-14 1984-06-05 Kabushiki Kaisha Komatsu Seisakusho Gripping device with interdigitating, articulate fingers
DE3710296C2 (zh) * 1987-03-28 1989-06-29 Fraunhofer-Gesellschaft Zur Foerderung Der Angewandten Forschung Ev, 8000 Muenchen, De
CN204725506U (zh) * 2015-05-12 2015-10-28 江南大学 弹性波纹管单作用气缸驱动串联板弹簧骨架机械手
CN204748643U (zh) * 2015-07-03 2015-11-11 赵子恒 一种可捏取和裹包抓取的柔性末端抓持器
CN108436952A (zh) * 2018-02-27 2018-08-24 江南大学 一种电-气复合驱动柔性手指的仿鹰爪物流包装机械手
CN108858271A (zh) * 2018-09-07 2018-11-23 江南大学 双驱动异形超柔弹性骨架的机械手
CN109079833A (zh) * 2018-09-07 2018-12-25 江南大学 双驱动串联变宽度柔性铰链骨架的机械手

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4014002A1 (de) * 1990-04-27 1991-10-31 Noell Gmbh Roboter und robotgreifer
US5863086A (en) * 1994-11-21 1999-01-26 Mcneilus Truck And Manufacturing, Inc. Container holding and lifting device
FI102674B1 (fi) * 1997-04-25 1999-01-29 Karelian Puu Ja Metalli Oy Laite etenkin hakkuutähteiden korjuuseen
US8807613B2 (en) * 2011-09-02 2014-08-19 Mcneilus Truck And Manufacturing, Inc. Container grabbing device
CN102441892A (zh) * 2011-10-25 2012-05-09 浙江大学 一种果蔬采摘欠驱动机械手爪
CN102689309B (zh) * 2012-05-29 2014-11-05 江南大学 柔顺性气动绳牵引弯曲板弹簧骨架被动抓持器
CN103386691B (zh) * 2013-07-22 2016-12-28 江南大学 直线电机驱动控制的板弹簧骨架柔性手爪
GB2522690B (en) * 2014-02-03 2016-12-14 Caterpillar Work Tools Bv Gripping device for machine
WO2016179793A1 (zh) * 2015-05-12 2016-11-17 江南大学 弹性波纹管单作用气缸驱动串联板弹簧骨架机械手
CN205928654U (zh) * 2016-04-26 2017-02-08 江南大学 双电机驱动协同控制的欠驱动机械手
CN205928703U (zh) * 2016-04-26 2017-02-08 江南大学 刚柔耦合可转位手指的欠驱动机械手

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4452479A (en) * 1979-04-14 1984-06-05 Kabushiki Kaisha Komatsu Seisakusho Gripping device with interdigitating, articulate fingers
DE3710296C2 (zh) * 1987-03-28 1989-06-29 Fraunhofer-Gesellschaft Zur Foerderung Der Angewandten Forschung Ev, 8000 Muenchen, De
CN204725506U (zh) * 2015-05-12 2015-10-28 江南大学 弹性波纹管单作用气缸驱动串联板弹簧骨架机械手
CN204748643U (zh) * 2015-07-03 2015-11-11 赵子恒 一种可捏取和裹包抓取的柔性末端抓持器
CN108436952A (zh) * 2018-02-27 2018-08-24 江南大学 一种电-气复合驱动柔性手指的仿鹰爪物流包装机械手
CN108858271A (zh) * 2018-09-07 2018-11-23 江南大学 双驱动异形超柔弹性骨架的机械手
CN109079833A (zh) * 2018-09-07 2018-12-25 江南大学 双驱动串联变宽度柔性铰链骨架的机械手

Also Published As

Publication number Publication date
CN108858271A (zh) 2018-11-23
US20210094189A1 (en) 2021-04-01
US11000957B2 (en) 2021-05-11
CN108858271B (zh) 2020-10-30

Similar Documents

Publication Publication Date Title
WO2020048467A1 (zh) 双驱动异形超柔弹性骨架的机械手
US11485027B2 (en) Electric compound driving thickness irregularly shaped plate spring framework flexible manipulator
CN108481311B (zh) 一种变刚度柔顺抓取装置
WO2019165878A1 (zh) 一种电-气复合驱动柔性手指的仿鹰爪物流包装机械手
CN109079833B (zh) 双驱动串联变宽度柔性铰链骨架的机械手
CN109910039B (zh) 气动手指夹持与指根转位及电动指根转动的敏捷机械手
WO2016180338A1 (zh) 弹性波纹管单作用气缸驱动串联柔性铰链骨架机械手
CN111230920B (zh) 一种气动软体夹持装置
WO2016180337A1 (zh) 弹性波纹管单作用气缸驱动串联活页铰链骨架机械手
WO2016179793A1 (zh) 弹性波纹管单作用气缸驱动串联板弹簧骨架机械手
CN107984484B (zh) 末端精确补偿直线平夹自适应机器人手指装置
CN110202606B (zh) 可换多种手指与指尖甲的灵巧柔触末端执行器
CN111844119A (zh) 一种可变行程软体气动夹持装置及其工作方法
CN112571445A (zh) 一种关节式外管道攀爬机械人
CN112123322B (zh) 十字导杆机构与双驱动五杆滑块并联机构组合手掌机械手
CN108673542B (zh) 一种电-气复合驱动串联柔性铰链骨架柔性机械手
CN212421348U (zh) 一种可变行程软体气动夹持装置
CN112123358A (zh) 可勾取和捏取的四指向心运动并联机构手掌机械手
CN111571632A (zh) 一种多场景自适应三指机械手
CN108890677B (zh) 指根节和指尖节协同驱动的柔性欠驱动机械手
CN110053036A (zh) 共圆滑杆直线平夹间接自适应机器人手指装置
CN107598949B (zh) 齿轮齿条末端近似直线复合抓取机器人手指装置
CN108818580B (zh) 共圆连杆齿轮滑轴式直线平夹自适应手指装置
CN112296992A (zh) 一种绳驱动多关节机器人单元机构
CN215660266U (zh) 一种搬运装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19857478

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19857478

Country of ref document: EP

Kind code of ref document: A1