CN106826885B

CN106826885B - Variable-rigidity underactuated robot dexterous hand finger

Info

Publication number: CN106826885B
Application number: CN201710152428.1A
Authority: CN
Inventors: 戴建生; 万昌雄; 杨元卿; 康熙; 孙杰
Original assignee: Tianjin University
Current assignee: Tianjin University
Priority date: 2017-03-15
Filing date: 2017-03-15
Publication date: 2023-04-04
Anticipated expiration: 2037-03-15
Also published as: CN106826885A

Abstract

The invention discloses a variable-stiffness underactuated robot dexterous hand finger which comprises a far-end phalanx, a far-end rotating joint, a near-end phalanx and a near-end rotating joint which are sequentially connected from far to near, wherein a driving traction wire is wound on the near-end rotating joint, two ends of the driving traction wire are respectively connected with two transmission traction wires, the two transmission traction wires are respectively wound on two winding wheels, the two winding wheels are respectively driven by two motors, and the driving traction wire and the transmission traction wires are connected through a spring; the far-end rotating joint and the near-end rotating joint are driven by a linkage rope; the far-end rotating joint is provided with a plurality of linkage cord winding grooves I with different depths, and the near-end rotating joint is provided with a plurality of linkage cord winding grooves II with different depths. The invention has simple and compact structure, light weight, small volume, variable transmission ratio of linkage between phalanges, less motors required by underactuation and variable rigidity adjustment.

Description

Variable-rigidity underactuated robot dexterous hand finger

Technical Field

The invention belongs to the technical field of robots, and relates to an underactuated dexterous robot finger with variable rigidity.

Background

Conventional industrial robot end grippers can only perform a few simple tasks. However, more and more practical applications require the robot end to perform more complicated and intelligent operations, and a simple end gripper cannot meet the requirements of the actual complicated operation task. The dexterous hand of the robot has the advantages of strong universality, high grasping precision, good dexterity and stability and the like, becomes an effective scheme for solving complex operation tasks, and becomes one of popular research directions in the field of robots since the later stage of the 20 th century.

The fingers of the dexterous hand of the robot are the most important components of the dexterous hand and determine the grasping precision, the dexterous property, the stability and other properties of the dexterous hand.

The dexterous hand of the robot in the prior art of the Chinese patent document CN101941205A, the Chinese patent document CN 10163317A and the like is complex in design structure, the total size of the dexterous hand is much larger than that of a human hand, fingers are too big and heavy, and small objects are difficult to grasp. For another example, CN1031228744, a dexterous robot hand, three joints are provided for each finger, and are coupled by three sets of four-bar linkages and driven by one motor. The motion rates of the three joints are simultaneously bent according to a fixed angle 1. Also, for example, in the dexterous hand design of CN1418765, the practicability of the dexterous hand of the robot is greatly reduced due to the many drivers required, the difficulty of system control, and the huge production cost. And the rigidity of the dexterous fingers is not variable, so that the dexterous fingers are difficult to grab fragile objects and can not meet the flexibility requirements of different rigidities required by grabbing different objects.

Disclosure of Invention

The invention provides a variable-rigidity underactuated robot dexterous finger for solving the technical problems in the known technology, the finger has the advantages of simple and compact structure, light weight, small volume, variable linkage transmission ratio between finger bones, less motors required by underactuation and capability of realizing variable-rigidity adjustment.

The technical scheme adopted by the invention for solving the technical problems in the prior art is as follows: a variable-stiffness underactuated robot dexterous hand finger comprises a far-end phalanx, a far-end rotating joint, a near-end phalanx and a near-end rotating joint which are sequentially connected from far to near, wherein a driving traction wire is wound on the near-end rotating joint, two ends of the driving traction wire are respectively connected with two transmission traction wires, the two transmission traction wires are respectively wound on two winding wheels, the two winding wheels are respectively driven by two motors, and the driving traction wires are connected with the transmission traction wires through springs; the far-end rotating joint and the near-end rotating joint are driven by a linkage rope; the far-end rotating joint is provided with a plurality of linkage wire winding grooves I with different depths, and the near-end rotating joint is provided with a plurality of linkage wire winding grooves II with different depths.

The near-end phalanx and the near-end rotary joint are fixedly connected together through a connecting piece I.

The far-end rotary joint is supported by two side supporting end plates, the side supporting end plates are fixedly connected with the near-end phalanx through a connecting sheet II, and the far-end rotary joint is fixedly connected with the far-end phalanx through a connecting sheet III.

The invention has the advantages and positive effects that: the finger of a smart hand adopts an under-actuated mode, so that the structure is simple and compact, the weight is light, the volume is small, the number of drivers required by under-actuation is small, and the system control difficulty is reduced; secondly), linkage transmission with different transmission ratios can be realized among finger bones of the dexterous hand, and the dexterous hand has higher dexterous property compared with the dexterous hand with the traditional fixed transmission ratio and the motion speed which is simultaneously bent according to a fixed angle; thirdly) the flexible fingers can realize the bending and stretching movement of the fingers and the adjustment of variable rigidity, and can meet the flexibility requirements of different rigidities required by grasping different objects. In conclusion, the invention has the characteristics of simple and compact structure, light weight, small volume, variable transmission ratio of linkage between phalanges, variable rigidity, underactuation and the like, can complete various flexible and complex operation tasks, can replace hands to realize grabbing operation under the limit or harmful environment, and has wide application prospect and important social significance in a plurality of fields.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a side view of FIG. 1;

FIG. 3 is a schematic view of the transmission of the distal revolute joint and the proximal revolute joint of the present invention;

FIG. 4 is a schematic view of the distal revolute joint of the present invention;

FIG. 5 is a schematic view of the distal revolute joint of the present invention coupled to the distal phalanx and side support end plates.

In the figure: 101. the device comprises a far-end phalanx 102, connecting pieces I and 103, side supporting end plates 104, a far-end rotary joint 105, a near-end phalanx 106, a near-end joint 107, springs 108, reels 109, linkage ropes 110, a driving traction wire 111, a driving traction wire 112, connecting pieces II and 113 and connecting pieces III.

Detailed Description

For a further understanding of the invention, its nature and utility, reference should be made to the following examples, taken in conjunction with the accompanying drawings, in which:

referring to fig. 1 to 5, the variable stiffness underactuated robot dexterous hand finger comprises a distal phalanx 101, a distal revolute joint 104, a proximal phalanx 105 and a proximal revolute joint 106 which are sequentially connected from far to near, wherein a driving traction wire 110 is wound on the proximal revolute joint 106, two ends of the driving traction wire 110 are respectively connected with two transmission traction wires 111, the two transmission traction wires 111 are respectively wound on two reels 108, the two reels 108 are respectively driven by two motors, and the driving traction wire 110 and the transmission traction wires 111 are connected through a spring 107; the distal rotary joint 104 and the proximal rotary joint 106 are driven by a linkage wire 109; the far-end rotating joint 104 is provided with a plurality of linkage wire winding grooves I with different depths, the near-end rotating joint 106 is provided with a plurality of linkage wire winding grooves II with different depths, and the linkage wire 109 can be tensioned in the linkage wire winding grooves I and the linkage wire winding grooves II with different depths, so that the linkage transmission ratio of the near-end phalanx 105 and the far-end phalanx 101 can be adjusted, and linkage transmission with different transmission ratios can be realized by replacing different near-end rotating joints and/or far-end rotating joints. When the rotation directions of the two motors are the same, the bending and stretching movement of the fingers is realized, and when the rotation directions of the two motors are different, the rigidity changing adjustment of the fingers is realized.

In this embodiment, the proximal phalanx 105 and the proximal revolute joint 106 are fixedly connected together by a connecting piece i 102. The distal rotary joint 106 is supported by two lateral support end plates 103, the lateral support end plates 103 are fixedly connected with the proximal phalanx 105 through connecting plates II 112, and the distal rotary joint 104 is fixedly connected with the distal phalanx 101 through connecting plates III 113.

The working principle of the invention is as follows:

when both motors rotate counterclockwise, the proximal rotation joint 106 is driven to rotate counterclockwise, so that the proximal phalanx 105 and the distal phalanx 101 rotate counterclockwise, and the extension motion of the finger is realized. When the two motors rotate clockwise, the proximal rotating joint 106 is driven to rotate clockwise, and the proximal phalanx 105 and the distal phalanx 101 rotate clockwise, so that the bending motion of the fingers is realized. When the motor rotates clockwise and anticlockwise, the variable stiffness adjustment of the fingers is realized.

Although the preferred embodiments of the present invention have been described above with reference to the accompanying drawings, the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and those skilled in the art can make many modifications without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. A variable-stiffness underactuated robot dexterous hand finger comprises a far-end phalanx, a far-end rotating joint, a near-end phalanx and a near-end rotating joint which are sequentially connected from far to near, and is characterized in that a driving traction wire is wound on the near-end rotating joint, two ends of the driving traction wire are respectively connected with two transmission traction wires, the two transmission traction wires are respectively wound on two reels, the two reels are respectively driven by two motors, and the driving traction wire and the transmission traction wires are connected through springs;

the far-end rotating joint and the near-end rotating joint are driven by a linkage rope;

a plurality of linkage cord winding grooves I with different depths are formed in the far-end rotating joint, and a plurality of linkage cord winding grooves II with different depths are formed in the near-end rotating joint;

the near-end phalanx and the near-end rotary joint are fixedly connected together through a connecting sheet I;