WO2020082923A1 - 一种柔性自适应机械手 - Google Patents

一种柔性自适应机械手 Download PDF

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Publication number
WO2020082923A1
WO2020082923A1 PCT/CN2019/105101 CN2019105101W WO2020082923A1 WO 2020082923 A1 WO2020082923 A1 WO 2020082923A1 CN 2019105101 W CN2019105101 W CN 2019105101W WO 2020082923 A1 WO2020082923 A1 WO 2020082923A1
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Prior art keywords
finger
thick
palm
fingers
knuckles
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PCT/CN2019/105101
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English (en)
French (fr)
Inventor
程建明
宋桂珍
孔凌霄
郭晓君
林博升
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太原理工大学
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Application filed by 太原理工大学 filed Critical 太原理工大学
Publication of WO2020082923A1 publication Critical patent/WO2020082923A1/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
    • 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 belongs to the technical field of robots, in particular to a flexible adaptive manipulator.
  • the manipulator is a key device in the field of robotics. According to the structure classification, the manipulator is divided into a clamp type, a multi-finger type and an adsorption type.
  • the gripper-type manipulator is suitable for grasping objects with relatively regular shapes, especially objects with two parallel surfaces.
  • Multi-finger manipulators (including 2 fingers, 3 fingers, 4 fingers, 5 fingers, etc.) have different degrees of adaptability to the shape of the object being grasped, but each finger and each joint of each finger must be independently controlled, structure and The control is quite complicated, and it is not easy to provide uniform clamping force.
  • the adsorption manipulator has a simple structure and is suitable for grasping flat and light objects with a smooth surface.
  • the present invention provides a flexible adaptive manipulator that can automatically adapt to the shape of the object being grasped, each finger can apply uniform clamping force to the object, and has simple control.
  • a flexible self-adaptive manipulator includes a thick finger, multiple thin fingers, a palm, a palm rest, and a connecting body.
  • the thick finger and multiple thin fingers are connected to the palm;
  • the thick finger includes a thick finger spiral compression sleeve, a thick finger connecting plate, a plurality of double-beveled knuckles, a limit hinge, a limit hinge shaft, a return spring, a limit hinge fixing screw, and a single bevel rough finger Tip, thick finger silicone sleeve, thick finger support spring, fluid, finger coupling screw; single-beveled fingertips are connected to adjacent double-beveled knuckles through limit hinges, and between two adjacent double-beveled knuckles are limited Hinge connection, the thick finger connecting plate and the adjacent double-beveled knuckle are connected by a limit hinge, the limit hinge limits the opening of the knuckle, the limit hinge is installed on the hinge shaft, and the hinge shaft is also installed Reset spring with auxiliary finger bending;
  • the thick finger support spring supports the silicone sleeve at the periphery of the knuckles.
  • the two ends of the thick finger support spring are connected to the single bevel thick finger tips and thick finger connecting discs respectively.
  • the end of the silicone sleeve is pressed tightly on the finger connection disk to seal and hold the fluid;
  • the internal structure, connection method and working principle of the thin fingers are the same as the thick fingers; the palm rest is installed in the center of the palm, the upper surface of the palm rest is provided with a groove, and the palm rest provides support for the grasped object;
  • the number of finger knuckles varies according to the specifications of the robot. Thick fingers and multiple thin fingers are connected to the inclined surface of the palm by screws, and an O-ring is installed between the finger connection plate and the palm for sealing.
  • the palm is connected to the palm transition flange and the arm flange by connecting screws, and the palm transition
  • the flange is equipped with a quick connector and is connected to the external pressure fluid through the pipeline.
  • All fingers and knuckles of the present invention are all controlled by one fluid.
  • the finger movements and knuckle movements are adaptively coordinated and controlled by the internal structure of the manipulator according to the shape of the grasped object, and the robot manipulator is adaptive to the shape of the grasped object. ;
  • the grasping force and the movement of the manipulator achieve a single fluid coordinated control, which makes the manipulator's grasping force for grasping objects more balanced; expands the working range of the manipulator grasping objects of the same specification; completely simplifies the control system.
  • FIG. 1 is an axonometric view of a flexible adaptive robot gripping a spherical workpiece 5.
  • Figure 2 is an axial cross-sectional view of a thick finger.
  • Figure 3 is a partial enlarged view of I in Figure 2.
  • FIG. 4 is a structural diagram of a state in which the fingers of the flexible adaptive manipulator are opened.
  • Fig. 5 is a cross-sectional view of Fig. 4 taken along the line A-A.
  • Fig. 6 is a structural diagram of a state in which a finger of a flexible adaptive manipulator is closed.
  • a flexible adaptive manipulator includes a thick finger 1, a plurality of thin fingers 2, a palm 3, a palm rest 18, a connecting body 20, a thick finger 1, 2 thin fingers 2 and a palm 3 Connected, a palm support 18 is provided in the center of the palm 3, and a groove is provided on the upper surface of the palm support 18.
  • the thick finger 1 includes a thick finger spiral compression sleeve 6, a thick finger connecting disk 7, a plurality of double-bevel knuckles 8, a limit hinge 9, a limit hinge shaft 10, a return spring 11, Limit hinge fixing screw 12, single bevel thick fingertip 13, thick finger silicone sleeve 14, thick finger support spring 15, pressure fluid 16, finger coupling screw 17;
  • the lower end face of the single beveled fingertip 13 is inclined, and different inclination angles are designed according to the size of the grasped object and different specifications of the manipulator; the inclination angle of the lower end face is 10 ° -25 °;
  • the single-beveled fingertip 13 is connected to the adjacent double-beveled knuckle 8 by a limiting hinge 9, the two adjacent double-beveled knuckles 8 are connected by a limiting hinge 9, and the thick finger connecting plate 7 is connected to the Double-bevel knuckles 8 are connected by limit hinges 9;
  • the upper and lower ends of the double-beveled knuckles 8 are inclined, and different inclination angles are designed according to the size of the grasped object and different specifications of the manipulator.
  • the inclination angle is 10 ° -45 °; the inclined directions of the upper and lower ends are opposite; the double-beveled knuckles 8 has a liquid hole 24;
  • the limit hinge 9 restricts the opening of the knuckles.
  • the limit hinge 9 is installed on the hinge shaft.
  • the hinge shaft is also provided with a return spring 11 to assist finger bending, and a thick finger support spring 15 is located on the finger
  • the outer periphery of the section supports the silicone sleeve 14, one end of the thick finger support spring 15 is connected to the single bevel thick finger tip 13 and the other end is connected to the thick finger connection disk 7;
  • the sleeve 6 tightly presses the silicone sleeve 14 on the finger connecting disk 7 to seal and maintain the fluid;
  • the pressure fluid 16 fills the closed cavity formed between the adjacent double-beveled knuckles 8 and the silicone sleeve 14 and the single-beveled fingertip 13 in the closed cavity formed between the adjacent double-beveled knuckles 8 and the silicone sleeve 14, the closed cavity formed between the double-beveled knuckles 8 and the thick finger connecting plate 7 and the silicone sleeve
  • the pressure fluid 16 in the above-mentioned closed cavity is connected to the outside pressure fluid through the liquid-through hole 24 and the quick connector.
  • the palm rest 18 is installed in the center of the palm 3, a groove is provided on the upper surface of the palm rest 18, and the palm rest 18 is used to provide support for the grasped object;
  • the number of thick and thin finger knuckles varies according to the specifications of the manipulator.
  • the angle between the thick finger 1 and the palm 3 and the thin finger 2 and the palm 3 changes according to the specifications of the manipulator determined by the size of the object being grasped, and the angle between the palm 3 and the palm 3 is 80 ° -135 °, and the thin finger 2 and the palm 3 is at an angle of 80 ° -135 °, and the thick finger 1 and the thin finger 2 are connected to the palm 3 through the screw 17; an O-ring 19 is installed between the finger connection disk 7 and the palm 3 for sealing, and the palm 3 is connected by
  • the screw 22 is connected to the palm transition flange 20 and the arm flange 21.
  • the palm transition flange 20 is equipped with a quick connector 23 and is connected to the external pressure fluid through a pipeline.
  • Multiple thin fingers 2 are provided, and in this embodiment, two thin fingers 2 are provided.
  • the thick finger 1, the thin finger 2, the palm 3, and the connecting body 20 together form a closed chamber with variable volume.
  • the closed cavity passes through the liquid through hole 24 provided on the double-bevel thick finger knuckle 8 and the communication on the thin finger knuckle
  • the liquid hole 24, the liquid hole 24 on the finger connection plate, and the liquid hole 24 on the palm are in communication.
  • the invention belongs to mechanical control and can be manufactured and applied in industrial processing.

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

Abstract

一种柔性自适应机械手，其由粗手指(1)、细手指(2)、手掌(3)组成；粗手指(1)、细手指(2)均与手掌(3)连接，粗手指(1)包括粗手指螺旋压紧套(6)、粗手指连接盘(7)、双斜面指节(8)、粗手指硅胶套(14)、流体(16)；单斜面指尖(13)与相邻的双斜面指节(8)连接，相邻两个双斜面指节(8)之间通过限位合页(9)连接，粗手指连接盘(7)与相邻的双斜面指节(8)通过限位合页(9)连接；粗手指硅胶套(14)下部贴合粗手指连接盘(7)并通过粗手指螺旋压紧套(6)将粗手指硅胶套(14)紧压在粗手指连接盘(7)上进行密封保压。该机械手所有手指和指节全部由一路流体进行动作控制，实现了机械手对所抓取物体形状的自适应；抓取力大小和机械手动作实现了单一流体协调控制，使得机械手抓取物体的抓取力更加均衡。

Description

一种柔性自适应机械手 技术领域
本发明属于机器人技术领域，具体是一种柔性自适应机械手。
 背景技术
在现代生产和生活中，机器人的使用越来越多，极大地提高了生产效率和生活质量。机械手是机器人技术领域的关键装置。按照结构分类，机械手分为钳夹式、多指式以及吸附式等。钳夹式机械手适于抓取外形较为规则的物体，特别是具有两个平行表面的物体。多指机械手（包括2指、3指、4指和5指等）对被抓物体的形状具有不同程度的适应性，但需对每个手指及每个手指的各个关节独立控制，结构及其控制都相当复杂，不易提供均匀的夹持力。吸附式机械手结构简单，适用于抓取表面光滑的平板类轻型物体。
 技术问题
为了克服现有机械手的应用局限性，本发明提供能自动适应被抓物体的形状、各手指能对物体施以均匀夹持力且控制简单的一种柔性自适应机械手。
 技术解决方案
一种柔性自适应机械手，包括粗手指、多根细手指、手掌、掌心托、连接体，粗手指、多根细手指均与手掌连接；
所述粗手指包括粗手指螺旋压紧套、粗手指连接盘、多个双斜面指节、限位合页、限位合页轴、复位弹簧、限位合页固定螺钉、单斜面粗手指指尖、粗手指硅胶套、粗手指支撑弹簧、流体、手指联接螺钉；单斜面指尖与相邻的双斜面指节通过限位合页连接，相邻两个双斜面指节之间通过限位合页连接，粗手指连接盘与相邻的双斜面指节通过限位合页连接，限位合页限制指节开度，限位合页安装在合页轴上，合页轴上还装有辅助手指弯曲的复位弹簧;
粗手指支撑弹簧在指节外围支撑硅胶套，粗手指支撑弹簧两端分别和单斜面粗手指指尖、粗手指连接盘连接，硅胶套下部贴合手指连接盘并通过粗手指螺旋压紧套将硅胶套末端紧压在手指连接盘上从而对流体进行密封保压；
细手指内部结构、连接方式及工作原理与粗手指相同；掌心托安装在手掌的中央，掌心托的上表面设置凹槽，掌心托为被抓取物体提供支撑；
粗细手指指节数量的多少根据机械手规格大小变化。粗手指、多根细手指通过螺钉与手掌的斜面连接，在手指连接盘与手掌之间装有O型密封圈进行密封，手掌通过联接螺钉与手掌过渡法兰和小臂法兰连接，手掌过渡法兰上装有快速接头通过管路与外界压力流体相连。
 有益效果
本发明所有手指和指节全部由一路流体进行动作控制，手指动作和指节动作由机械手内部结构根据被抓取物体的形状自适应协调控制，实现了机器人机械手对所抓取物体形状的自适应；抓取力大小和机械手动作实现了单一流体协调控制，使得机械手抓取物体的抓取力更加均衡；扩大了同一规格机械手抓取物体的工作范围；彻底简化了控制系统。
 附图说明
图1是柔性自适应机械手抓取球体工件5的轴测图。
    图2是粗手指轴向剖面图。
    图3是图2中Ⅰ的局部放大视图。
图4是柔性自适应机械手的手指张开状态结构图。
图5是图4沿A-A向的剖视图。
图6是柔性自适应机械手的手指闭合状态的结构图。
 本发明的实施方式
图1、图4所示，一种柔性自适应机械手，包括粗手指1、多根细手指2、手掌3、掌心托18、连接体20，粗手指1、2根细手指2均与手掌3连接，手掌3中心设置掌心托18，掌心托18上表面设置凹槽。
图2所示，所述粗手指1包括粗手指螺旋压紧套6、粗手指连接盘7、多个双斜面指节8、限位合页9、限位合页轴10、复位弹簧11、限位合页固定螺钉12、单斜面粗手指指尖13、粗手指硅胶套14、粗手指支撑弹簧15、压力流体16、手指联接螺钉17；
所述单斜面指尖13下端面倾斜，根据抓取物体大小以及机械手不同规格设计不同倾角；下端面倾斜角度是10°-25°；
单斜面指尖13与相邻的双斜面指节8通过限位合页9连接，相邻两个双斜面指节8之间通过限位合页9连接，粗手指连接盘7与相邻的双斜面指节8通过限位合页9连接；
所述双斜面指节8上、下两端面均倾斜，根据抓取物体大小以及机械手不同规格设计不同倾角，倾斜角度是10°-45°；上、下两端面倾斜方向相反；双斜面指节8内设有通液孔24；
图3所示，限位合页9限制指节开度，限位合页9安装在合页轴上，合页轴上还装有辅助手指弯曲的复位弹簧11，粗手指支撑弹簧15在指节外围支撑硅胶套14，粗手指支撑弹簧15一端与单斜面粗手指指尖13连接，另一端与粗手指连接盘7连接；硅胶套14下部贴合手指连接盘7并通过粗手指螺旋压紧套6将硅胶套14紧压在手指连接盘7上从而对流体进行密封保压；压力流体16填充在相邻双斜面指节8和硅胶套14之间形成的封闭腔内、单斜面指尖13与相邻的双斜面指节8和硅胶套14之间形成的封闭腔内、双斜面指节8与粗手指连接盘7和硅胶套14之间形成的封闭腔内；上述各封闭腔的体积可变，当压入流体时，封闭腔体积被迫加大，每个指节分别绕限位合页外展，手指之间开度加大，手指张开如图4；当抽出流体时，封闭腔体积需要减小，指节绕限位合页内闭合，手指之间开度减小，手指合上如图6。
上述封闭腔的压力流体16通过通液孔24和快速接头与外界压力流体相连。
细手指内部结构、连接方式及工作原理与粗手指相同；
掌心托18安装在手掌3的中央，掌心托18上表面设置凹槽，掌心托18用于为被抓取物体提供支撑；
图5所示，粗细手指指节数量的多少根据机械手规格大小变化。粗手指1与手掌3以及细手指2与手掌3之间的夹角根据被抓取物体的大小决定的机械手的规格进行变化，与手掌3呈80°-135°夹角，细手指2与手掌3呈80°-135°夹角，粗手指1、细手指2均通过螺钉17与手掌3连接；在手指连接盘7与手掌3之间装有O型密封圈19进行密封，手掌3通过联接螺钉22与手掌过渡法兰20和小臂法兰21连接，手掌过渡法兰20上装有快速接头23并通过管路与外界压力流体相连。
细手指2设置多根，本实施例设有两根细手指2。
粗手指1、细手指2、手掌3、连接体20共同构成一个体积可变的封闭腔，封闭腔内通过双斜面粗手指指节8上设置的通液孔24、细手指指节上的通液孔24、手指连接盘上的通液孔24以及手掌上的通液孔24连通。
 工业实用性
本发明属于机械控制，可以进行工业加工制造并应用。
 

Claims (9)

  1. 一种柔性自适应机械手，其特征在于：所述柔性自适应机械手是基于流体驱动柔性手指的多指机械手，根据不同形状被抓取物体而柔性地自动改变手指弯曲形态，每个指节施以相同的抓取力；所述机械手由粗手指、细手指、手掌组成；所述粗手指包括粗手指螺旋压紧套（6）、粗手指连接盘（7）、双斜面粗手指指节（8）、限位合页（9）、限位合页轴（10）、复位弹簧（11）、限位合页固定螺钉（12）、单斜面粗手指指尖（13）、粗手指硅胶套（14）、粗手指支撑弹簧（15）、流体（16）、手指联接螺钉（17）；单斜面指尖（13）与相邻的双斜面指节（8）通过限位合页（9）连接，相邻两个双斜面指节（8）之间通过限位合页（9）连接，粗手指连接盘（7）与相邻的双斜面指节（8）通过限位合页（9）连接；限位合页（9）限制指节开度，合页轴上装有复位弹簧（11），复位弹簧（11）辅助手指弯曲，粗手指支撑弹簧（15）在指节外围支撑硅胶套（14），粗手指支撑弹簧（15）两端分别和单斜面粗手指指尖（13）及粗手指连接盘（7）连接，硅胶套（14）下部贴合手指连接盘（7）并通过粗手指螺旋压紧套（6）将硅胶套（14）紧压在手指连接盘（7）上进行密封保压；细手指其内部结构、连接方式及工作原理与粗手指相同；掌心托（18）安装在手掌（3）的中央，掌心托（18）上表面设置凹槽，凹槽为被抓取物体提供支撑；粗手指（1）与手掌（3）通过螺钉连接且与手掌（3）成80°- 135°夹角，细手指（2）与手掌（3）通过螺钉连接且与手掌（3）成 80°- 135°夹角，在手指连接盘（7）与手掌（3）之间装有O型密封圈（19）进行密封，手掌（3）通过联接螺钉（22）与手掌过渡法兰（20）、小臂法兰（21）连接，手掌过渡法兰（20）上装有快速接头（23）并通过管路与外界压力流体相连；粗手指（1）、细手指（2）、手掌（3）、连接体（20）共同构成一个体积可变的封闭腔，封闭腔与双斜面粗手指指节（8）上设置的通液孔（24）、细手指指节上的通液孔（24）、手指连接盘上的通液孔（24）以及手掌上的通液孔（24）连通，封闭腔内充满流体，通过快速接头与外界压力流体相连。
  2. 根据权利要求1所述一种柔性自适应机械手，其特征在于：当压入流体时封闭腔体积被迫加大，每个指节分别绕限位合页外展，开度加大，手指张开；当抽出流体时封闭腔体积需要减小，指节绕限位合页内合，开度减小，手指合上；抓取物体时某一个指节先接触到物体受到阻力使得这个指节周围流体压力升高，由于封闭腔内流体连通，压力驱动其它手指和指节快速运动，快速接触到不规则的物体的不同点，直至封闭腔内流体形成等压体，对被抓取物体施以均匀夹持力。
  3. 根据权利要求1所述一种柔性自适应机械手，其特征在于所述粗手指为1根或多根，每根粗手指包括多个指节。
  4. 根据权利要求1所述一种柔性自适应机械手，其特征在于所述细手指为2根或多根，每根细手指包括多个指节。
  5. 根据权利要求1所述一种柔性自适应机械手，其特征在于所述单斜面指尖下端面倾斜，下端面倾斜角度是10°-25°。
  6. 根据权利要求1所述一种柔性自适应机械手，其特征在于所述双斜面指节8上、下两端面均倾斜，倾斜角度是10°-45°；上、下两端面倾斜方向相反。
  7. 根据权利要求1所述一种柔性自适应机械手，其特征在于粗、细手指的弯曲，是通过压入与抽出流体使手指内指节间开合角度变化从而改变封闭腔容积同时使手指发生弯曲变形，实现对物体的抓取。
  8. 根据权利要求1所述一种柔性自适应机械手，其特征在于粗手指指向被抓物体，细手指与粗手指相向，使机械手对于被抓物体的形状能自动适应且有均衡的夹紧力。
  9. 根据权利要求1所述一种柔性自适应机械手，其特征是整个柔性自适应机械手的所有手指和指节各种动作由外部提供一路可控制流体进行驱动控制，根据流体压力大小及流量协调控制动作和抓取力。
PCT/CN2019/105101 2018-10-26 2019-09-10 一种柔性自适应机械手 WO2020082923A1 (zh)

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CN112828926A (zh) * 2021-02-05 2021-05-25 纪新刚 一种流体柔性机械手及其组件
TWI795114B (zh) * 2021-12-08 2023-03-01 國立成功大學 多材料條件設計之自適性撓性手指、夾爪、設計方法、電腦程式產品、電腦可讀取紀錄媒體

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JPH0392282A (ja) * 1989-08-31 1991-04-17 Fuji Electric Co Ltd 把持装置
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CN107081744A (zh) * 2017-05-22 2017-08-22 清华大学 伸缩软管流体欠驱动多关节机器人手指装置
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JPH0392282A (ja) * 1989-08-31 1991-04-17 Fuji Electric Co Ltd 把持装置
EP0534778A2 (en) * 1991-09-25 1993-03-31 University Of Bristol Controlled flexure element
CN1365311A (zh) * 2000-03-28 2002-08-21 精工爱普生株式会社 泵一体型柔软的调节器
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Publication number Priority date Publication date Assignee Title
CN112828926A (zh) * 2021-02-05 2021-05-25 纪新刚 一种流体柔性机械手及其组件
TWI795114B (zh) * 2021-12-08 2023-03-01 國立成功大學 多材料條件設計之自適性撓性手指、夾爪、設計方法、電腦程式產品、電腦可讀取紀錄媒體

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