WO2020082723A1 - 一种绳索驱动柔性手爪及机器人 - Google Patents

一种绳索驱动柔性手爪及机器人 Download PDF

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Publication number
WO2020082723A1
WO2020082723A1 PCT/CN2019/086328 CN2019086328W WO2020082723A1 WO 2020082723 A1 WO2020082723 A1 WO 2020082723A1 CN 2019086328 W CN2019086328 W CN 2019086328W WO 2020082723 A1 WO2020082723 A1 WO 2020082723A1
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WIPO (PCT)
Prior art keywords
flexible
rope
driving
pair
driven
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PCT/CN2019/086328
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English (en)
French (fr)
Inventor
袁晗
陈鑫杰
徐文福
Original Assignee
哈尔滨工业大学（深圳）
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Application filed by 哈尔滨工业大学（深圳） filed Critical 哈尔滨工业大学（深圳）
Publication of WO2020082723A1 publication Critical patent/WO2020082723A1/zh

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Classifications

    • 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
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • 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
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • 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

Definitions

  • the invention relates to the technical field of robots, in particular to a rope-driven flexible claw and a robot.
  • Some robots will install robotic claws to achieve certain grasping tasks.
  • the ordinary rigid mechanical claw grabs the target object, since the shape of the claw does not change, it is not conducive to grab the irregular object.
  • the present invention provides a rope-driven flexible claw, which has good bending deformation performance, has a strong adaptive ability, and can better adapt to an unstructured environment.
  • the present invention also provides a robot, which includes the rope-driven flexible gripper as described above, has a strong gripping adaptability, and can better adapt to the gripping work of a non-structural environment.
  • the technical solution adopted by the present invention to solve its technical problem is to provide a rope-driven flexible claw including a driving device, a transmission device connected to the driving device, and a flexible finger connected to the transmission device, the flexible finger
  • the material is soft material.
  • the flexible fingers are integrally formed by 3D printing.
  • the flexible finger includes a plurality of flexible columns arranged in sequence and a pair of driving ropes passing through the plurality of flexible columns.
  • two adjacent flexible columns are connected by a horizontal plate, and a pair of the driving ropes are respectively located on both sides of the horizontal plate, so that the flexible column and a pair of The flexural modulus of the parallel direction of the driving rope is smaller than the flexural modulus of the flexible column in a direction perpendicular to the pair of the driving ropes.
  • the cross section of the flexible column is rectangular, and the length of the two sides of the cross section of the flexible column perpendicular to the connecting line of the pair of driving ropes is greater than the cross section of the flexible column The length of the two parallel sides of the pair of driving ropes.
  • the flexible column is provided with contact plates parallel to both ends of the pair of driving ropes, and the contact plates extend along the length of the driving rope to increase the flexibility column and the The contact area for gripping objects.
  • the transmission mechanism includes a winch shaft and a pair of pulley shafts, a pair of the pulleys are arranged parallel to the winch shaft, and are located on both sides of the winch shaft, respectively, on the winch shaft
  • a winch is sleeved
  • a pulley is sleeved on the pulley shaft
  • the driving rope is wound around the winch, and one free end of the driving rope penetrates the flexible column through one of the pulleys, so The other free end of the driving rope penetrates the flexible column through the other pulley.
  • the winch is provided with a ring groove around which the driving rope is wound.
  • the driving device is a steering gear.
  • the present invention also provides a robot including the rope-driven flexible claw as described above.
  • the rope-driven flexible claw of the present invention includes a driving device, a transmission device connected to the driving device, and a flexible finger connected to the transmission device.
  • the material of the flexible finger is a soft material.
  • the rope-driven flexible claw of the present invention uses soft materials for its flexible fingers, and has good deformation performance. When gripping objects, it has strong self-adaptability and can adapt well to unstructured environments.
  • FIG. 1 is a schematic diagram of the overall structure of a rope-driven flexible gripper according to an embodiment of the present invention
  • FIG. 2 is a schematic structural view of an embodiment of the transmission device of the present invention.
  • Figure 3 is a plan view of the transmission device
  • FIG. 4 is a front view of the internal structure of the transmission device in FIG. 2;
  • FIG. 5 is a schematic structural view of an embodiment of a flexible finger of the present invention.
  • FIG. 6 is a partially enlarged structural diagram at A in FIG. 5.
  • a rope driving flexible claw includes a transmission device 100, a driving device 200, and a flexible claw 300.
  • the transmission device 100 includes a winch 110, a winch shaft 120, a frame 130, a pulley 140, and a pulley shaft.
  • the number of pulley shafts is two.
  • the pulley shaft and the winch shaft 120 are all fixed on the frame 130.
  • the two pulley shafts are arranged parallel to the winch shaft 120.
  • a winch 110 is sleeved on the winch shaft 120, and a pulley 140 is sleeved on the pulley shaft.
  • a drive rope is wound on the winch 110.
  • the drive rope has two extended ends, and one extended end of the drive rope penetrates the flexible hand through a pulley
  • an annular groove for winding the driving rope is also provided in the middle of the winch 110 to prevent the driving rope from wandering on the winch 110.
  • the winch 110 rotates, so that one free end of the driving rope is tightened, and the other free end is relaxed. Both ends of the driving rope act on the flexible claw 300 to deform the flexible claw 300.
  • the driving device 200 is fixed on the frame 130 and connected to the winch shaft 120. Among them, the driving device 200 is preferably a steering gear.
  • the flexible claw 300 is a soft material.
  • the flexible claw 300 is integrally formed by 3D printing.
  • the materials include but are not limited to TPE and TPU. This material can be used as a raw material for 3D printing.
  • the claw 300 has good deformation performance and has a strong adaptability.
  • the flexible claw 300 includes a plurality of flexible columns 310 arranged in sequence and a driving rope 320 for driving the flexible claw 300 to deform.
  • the driving rope 320 sequentially passes through the plurality of flexible columns 310, and the driving rope 320 is disposed opposite the flexible column 310
  • the flexible column 310 is provided with a hollow rivet 330, and the hollow rivet 330 is inserted into the rope hole of the flexible column 320 for the driving rope 320 to pass through to reduce the friction between the driving rope 320 and the flexible column 310.
  • a pair of driving ropes 320 are respectively disposed on both sides of the flexible column 310. During operation, one driving rope 310 is tightened and the other driving rope 310 is relaxed, which jointly controls the bending of the flexible column 310.
  • two adjacent flexible posts 310 are connected by a cross plate 340.
  • the cross plate 340 is located in the middle of the flexible post 310 and is perpendicular to the connection line of the two driving ropes 320, and the two driving ropes 320 is located on both sides of the transverse plate 340.
  • the transverse plate 340 plays a role in restricting the bending of the flexible post 320.
  • the flexible post 310 is perpendicular to the bending resistant dies of the two ends of the connection line driving the rope 320 The amount is significantly greater than the flexural modulus of the flexible column 310 parallel to the two ends of the connecting line of the two driving ropes 320.
  • the flexible column 310 can deform well under the driving of the driving rope 320 to grip the object, and when the flexible column 310 resists the object, due to the resistance of the flexible column 310 in the other direction
  • the bending modulus is large, and it will not be side-shifted due to the resistance of the object, thereby ensuring the stability of the flexible gripper to grasp the object.
  • the cross section of the flexible post 310 is preferably rectangular, and the length of the two sides perpendicular to the connecting line of the two driving ropes 320 is greater than the side length of the two sides parallel to the connecting line of the two driving ropes 320 to further change the flexible post 310 Bending performance.
  • a contact plate 350 is further provided on both sides of the connection line between the flexible post 310 and the two driving ropes 320, and the contact plate 350 extends along the direction of the driving rope 320 to increase the contact area between the flexible post 310 and the object being gripped To ensure the reliability of clamping.
  • the invention also provides a robot, which includes the rope-driven flexible claw as described above, which can realize stable grasping of irregular objects and has a strong adaptive ability.

Abstract

一种绳索驱动柔性手爪包括驱动装置（200）、与所述驱动装置（200）连接的传动装置（100）以及与所述传动装置（100）连接的柔性手爪（300），所述柔性手爪（300）的材质为软体材料。一种机器人包括绳索驱动柔性手爪（300）。此绳索驱动柔性手爪（300）及机器人具有很强的自适应能力，能够适应不规则物体的稳定抓取。

Description

一种绳索驱动柔性手爪及机器人
技术领域
本发明涉及机器人技术领域，尤其是涉及一种绳索驱动柔性手爪及机器人。
背景技术
如今，机器人技术已经广泛应用于工业生产领域，机器人的应用给人类的生产生活带来了极大的益处。近些年来，研究者针对非结构化的复杂环境发明了连续型机器人，连续型机器人采用类似象鼻的“无脊椎”柔性结构，由一个具有超弹性的中心骨架和若干关节组成，可以灵活的改变自身的弯曲形状，对非结构化环境的适应能力强。
一些机器人会安装机械手爪来实现某些抓取任务。普通的刚性机械手爪在对目标物体进行抓取时，由于手爪的形状不变，所以不利于抓取不规则物体。
发明内容
为了克服现有技术的不足，本发明提供一种绳索驱动柔性手爪，其具有良好的弯曲变形性能，具有很强的自适应能力，能够更好的适应非结构化环境。
本发明还提供一种机器人，其包括如上所述的绳索驱动柔性手爪，具有很强的夹取自适应能力，能够更好的适应非结构环境的夹取工作。
本发明解决其技术问题所采用的技术方案是：提供一种绳索驱动柔性手爪，包括驱动装置、与所述驱动装置连接的传动装置以及与所述传动装置连接的柔性手指，所述柔性手指的材质为软体材料。
作为上述技术方案的进一步改进，所述柔性手指通过3D打印一体成型。
作为上述技术方案的进一步改进，所述柔性手指包括若干依次设置的柔性柱以及一对穿过若干所述柔性柱的驱动绳索。
作为上述技术方案的进一步改进，相邻的两处所述柔性柱之间通过横板连接，一对所述驱动绳索分别位于所述横板的两侧，以使所述柔性柱与一对所述驱动绳索平行的方向的抗弯模量小于所述柔性柱与一对所述驱动绳索垂直的方向的抗弯模量。
作为上述技术方案的进一步改进，所述柔性柱的横截面为矩形，且所述柔性柱的横截面与一对所述驱动绳索的连线垂直的两边的长度大于所述柔性柱的横截面与一对所述驱动绳索的连线平行的两边的长度。
作为上述技术方案的进一步改进，所述柔性柱平行于一对所述驱动绳索的两端设有接触板，所述接触板沿所述驱动绳索的长度方向延伸，以增加所述柔性柱与被夹取物体的接触面积。
作为上述技术方案的进一步改进，所述传动机构包括绞盘轴与一对滑轮轴，一对所述滑轮与所述绞盘轴平行设置，且分别位于所述绞盘轴的两侧，所述绞盘轴上套设有绞盘，所述滑轮轴上套设有滑轮，所述绞盘上绕设有所述驱动绳索，且所述驱动绳索的一个自由端通过其中一个所述滑轮穿入所述柔性柱，所述驱动绳索的另一个自由端通过另一个所述滑轮穿入所述柔性柱。
作为上述技术方案的进一步改进，所述绞盘上设有供所述驱动绳索绕设的环槽。
作为上述技术方案的进一步改进，所述驱动装置为舵机。
本发明还提供一种机器人，其包括如上所述的绳索驱动柔性手爪。
本发明的有益效果是：
本发明的绳索驱动柔性手爪包括驱动装置、与所述驱动装置连接的传动装置以及与所述传动装置连接的柔性手指，所述柔性手指的材质为软体材料。本发明的绳索驱动柔性手爪，其柔性手指采用软体材料，具有良好的变形性能，在夹取物体时，其具有很强的自适应能力，能够很好的适应非结构化环境。
附图说明
下面结合附图和实施例对本发明进一步说明。
图1是本发明一个实施例的绳索驱动柔性手爪的整体结构示意图；
图2是本发明传动装置一个实施例的结构示意图；
图3图2中传动装置的俯视图；
图4是图2中传动装置的内部结构的正视图；
图5是本发明柔性手指一个实施例的结构示意图；
图6是图5中A处的局部放大结构示意图。
具体实施方式
以下将结合实施例和附图对本发明的构思、具体结构及产生的技术效果进行清楚、完整的描述，以充分地理解本发明的目的、方案和效果。需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。
需要说明的是，如无特殊说明，当某一特征被称为“固定”、“连接”在另一个特征，它可以直接固定、连接在另一个特征上，也可以间接地固定、连接在另一个特征上。此外，本发明中所使用的上、下、左、右、前、后等描述仅仅是相对于附图中本发明各组成部分的相互位置关系来说的。
此外，除非另有定义，本文所使用的所有的技术和科学术语与本技术领域的技术人员通常理解的含义相同。本文说明书中所使用的术语只是为了描述具体的实施例，而不是为了限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的组合。
参照图1，示出了本发明一个实施例的绳索驱动柔性手爪的整体结构示意图。一种绳索驱动柔性手爪，包括传动装置100、驱动装置200以及柔性手爪300。
如图2至图4，传动装置100包括绞盘110、绞盘轴120、机架130、滑轮140、以及滑轮轴，滑轮轴的数量为2个，滑轮轴、绞盘轴120均固设于机架130上，且2个滑轮轴与绞盘轴120平行设置。绞盘轴120上套设有绞盘110，滑轮轴上套设有滑轮140，绞盘110上缠绕有驱动绳索，驱动绳索具有两处伸出端，驱动绳索的一个伸出端通过一个滑轮穿入柔性手爪300，驱动绳索的另一个伸出端通过另一个滑轮穿入柔性手爪300，滑轮140在驱动绳索穿入柔性手爪300之前对驱动绳索导向。优选的，绞盘110的中间还设有供驱动绳索缠绕的环槽，用于避免驱动绳索在绞盘110上窜动。工作时，绞盘110转动，使得驱动绳索的一个自由端收紧，另一个自由端舒张，驱动绳索的两端共同作用在柔性手爪300上，使柔性手爪300产生变形。
驱动装置200固设于机架130上，其与绞盘轴120连接。其中，驱动装置200优选为舵机。
如图5与图6，柔性手爪300为软体材质，柔性手爪300整体通过3D打印一体成型，其材质包括但不限于TPE、TPU，该材质可以作为3D打印的原材料，打印出来的柔性手爪300具有良好的变形性能，具有很强的适应性。
柔性手爪300包括若干依次设置的柔性柱310以及用于驱动该柔性手爪300产生变形的驱动绳索320，驱动绳索320依次穿过若干柔性柱310，且驱动绳索320设于柔性柱310相对的两端处，柔性柱310上设有空心铆钉330，空心铆钉330插入到柔性柱320的绳孔处供驱动绳索320穿过，以减小驱动绳索320与柔性柱310之间的摩擦力。其中，一对驱动绳索320分别设于柔性柱310的两侧，工作时，一个驱动绳索310拉紧，另一个驱动绳索310舒张，其共同控制柔性柱310的弯曲。
本实施例中，相邻的两处柔性柱310之间通过横板340连接，横板340设于柔性柱310的中间部位，其垂直于两处驱动绳索320的连线，且两处驱动绳索320位于横板340的两侧，横板340起到限制柔性柱320的弯曲的作用，在横板340的作用下，柔性柱310垂直于两处驱动绳索320的连线的两端的抗弯模量显著大于柔性柱310平行于两处驱动绳索320的连线的两端的抗弯模量。当两处驱动绳索320工作时，柔性柱310在驱动绳索320的驱动下可以发生良好的变形，以夹取物体，而当柔性柱310与物体抵持时，由于柔性柱310另一个方向的抗弯模量很大，其不会因为物体的抵持而发生侧偏，从而保证了该柔性手爪夹取物体的稳固性。
柔性柱310的横截面优选为矩形，其与两处驱动绳索320的连线垂直的两边的边长大于其与两处驱动绳索320的连线平行的两边的边长，以进一步改变柔性柱310的弯曲性能。
优选的，柔性柱310与两处驱动绳索320的连线垂直的两边还设有接触板350，接触板350沿着驱动绳索320的方向延伸，以增加柔性柱310与被夹取物体的接触面积，保证夹取的可靠性。
本发明还提供一种机器人，其包括如上所述的绳驱柔性手爪，其可以实现对不规则物体的稳定抓取，具有很强的自适应能力。
以上是对本发明的较佳实施进行的具体说明，但本发明创造并不限于所述实施例，熟悉本领域的技术人员在不违背本发明精神的前提下还可做出种种的等同变形或替换，这些等同的变形或替换均包含在本申请权利要求所限定的范围内。

Claims (10)

  1. 一种绳索驱动柔性手爪，其特征在于，包括驱动装置、与所述驱动装置连接的传动装置以及与所述传动装置连接的柔性手指，所述柔性手指的材质为软体材料。
  2. 根据权利要求1所述的绳索驱动柔性手爪，其特征在于，所述柔性手指通过3D打印一体成型。
  3. 根据权利要求1或2所述的绳索驱动柔性手爪，其特征在于，所述柔性手指包括若干依次设置的柔性柱以及一对穿过若干所述柔性柱的驱动绳索。
  4. 根据权利要求3所述的绳索驱动柔性手爪，其特征在于，相邻的两处所述柔性柱之间通过横板连接，一对所述驱动绳索分别位于所述横板的两侧，以使所述柔性柱与一对所述驱动绳索平行的方向的抗弯模量小于所述柔性柱与一对所述驱动绳索垂直的方向的抗弯模量。
  5. 根据权利要求4所述的绳索驱动柔性手爪，其特征在于，所述柔性柱的横截面为矩形，且所述柔性柱的横截面与一对所述驱动绳索的连线垂直的两边的长度大于所述柔性柱的横截面与一对所述驱动绳索的连线平行的两边的长度。
  6. 根据权利要求3所述的绳索驱动柔性手爪，其特征在于，所述柔性柱平行于一对所述驱动绳索的两端设有接触板，所述接触板沿所述驱动绳索的长度方向延伸，以增加所述柔性柱与被夹取物体的接触面积。
  7. 根据权利要求3所述的绳索驱动柔性手爪，其特征在于，所述传动机构包括绞盘轴与一对滑轮轴，一对所述滑轮与所述绞盘轴平行设置，且分别位于所述绞盘轴的两侧，所述绞盘轴上套设有绞盘，所述滑轮轴上套设有滑轮，所述绞盘上绕设有所述驱动绳索，且所述驱动绳索的一个自由端通过其中一个所述滑轮穿入所述柔性柱，所述驱动绳索的另一个自由端通过另一个所述滑轮穿入所述柔性柱。
  8. 根据权利要求7所述的绳索驱动柔性手爪，其特征在于，所述绞盘上设有供所述驱动绳索绕设的环槽。
  9. 根据权利要求1所述的绳索驱动柔性手爪，其特征在于，所述驱动装置为舵机。
  10. 一种机器人，其特征在于，包括如权利要求1至9中任一项所述的绳索驱动柔性手爪。
PCT/CN2019/086328 2018-10-24 2019-05-10 一种绳索驱动柔性手爪及机器人 WO2020082723A1 (zh)

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