CN110014445B - Flexible bionic manipulator with adjustable initial grabbing angle - Google Patents
Flexible bionic manipulator with adjustable initial grabbing angle Download PDFInfo
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- CN110014445B CN110014445B CN201910380984.3A CN201910380984A CN110014445B CN 110014445 B CN110014445 B CN 110014445B CN 201910380984 A CN201910380984 A CN 201910380984A CN 110014445 B CN110014445 B CN 110014445B
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- 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
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
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- 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
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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Abstract
The invention discloses a flexible bionic manipulator with an adjustable initial grabbing angle, and belongs to the technical field of robots. The initial grabbing angle of the bionic manipulator is adjustable, on one hand, the working space range of the bionic manipulator is determined by the initial grabbing angle of the bionic manipulator, and the larger the initial grabbing angle is, the larger the size range of a target object which can be grabbed by the bionic manipulator is; on the other hand, the initial contact of the bionic manipulator and the object to be grabbed can be accelerated, the time consumption of grabbing operation is reduced, and the working efficiency is improved. The bionic manipulator has adjustable grabbing modes, and different grabbing modes can be selected according to the shape of a grabbed object. Due to the existence of the flexible deformation element of the plate spring, when the bionic manipulator contacts a grasped object, the bionic manipulator can meet the shape of the object by utilizing the self-adaptive deformation of the plate spring, and the bionic manipulator shows good flexibility and self-adaptability to the grasped object.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a flexible bionic manipulator with an adjustable initial grabbing angle.
Background
The robot is applied in a large range to relieve human beings from boring physical labor, and the mechanical arm is used as an important component of the robot, can directly sense external environment and act on a target to grab objects, and plays an important role in improving the operation level and the intelligent level of the robot. Along with the continuous development of artificial intelligence technology, the operation object of robot becomes more complicated various, for satisfying the needs that the complicacy snatched, the better manipulator of adaptability and flexibility is urgently needed.
Dedicated type and general type industrial robot use in specific occasion, in order to improve the efficiency of snatching of manipulator, can snatch the thing according to the target and design corresponding structure generally, and these two kinds of manipulators are used in the industrial production line of specific product mostly. However, due to the rapid development of industries such as light industry, medicine, food, logistics and the like, industrial products are no longer limited to rigid workpieces with consistent shapes and sizes and high hardness, and for complex grasping objects with large changes in shapes and sizes and fragile and easily deformable materials, the traditional industrial manipulator cannot meet the grasping requirements.
On the basis of industrial manipulators, a multi-finger dexterous hand with stronger grabbing adaptability appears, which can grab and operate various complex objects flexibly and finely, but a large number of sensors and a complex control system are adopted, so that the structure of the dexterous hand is extremely complex, and higher requirements are placed on application environments.
Most of industrial manipulators and dexterous hands are composed of rigid mechanisms, wherein the rigid mechanisms are composed of rigid rod pieces connected with kinematic pairs and are mechanical devices for transmitting or converting motion, force or energy. Unlike rigid mechanisms, flexible mechanisms are formed from flexible members (e.g., springs, elastic rods, etc.) that also transmit or translate motion, force, or energy, and that, while the kinematic pair transmits motion, also derive some motion from the deformation of the flexible member, thereby enhancing the flexibility of the flexible mechanism. With the diversification and the complication of the grasping objects, the traditional rigid structure cannot meet the requirements of the manipulator on the flexibility and the adaptability of the grasping operation, so that the research on the flexible joint and the flexible manipulator becomes a new idea.
Disclosure of Invention
The invention aims to solve the technical problem of providing a flexible bionic manipulator with an adjustable initial grabbing angle, which is simple and convenient to operate and high in grabbing capacity.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
the utility model provides a flexible bionic manipulator with adjustable initial angle of snatching which characterized in that:
the bionic finger fixing device comprises an upper fixing disc and a lower fixing disc which are concentrically arranged up and down and are fixed by means of a plurality of connecting rods which are circumferentially and uniformly distributed, wherein an adjusting disc is arranged between the upper fixing disc and the lower fixing disc, and three bionic fingers are circumferentially and uniformly distributed at the edge of the bottom surface of the lower fixing disc;
a first adjusting mechanism for driving the adjusting disc to move up and down is arranged between the adjusting disc and the upper fixing disc, the adjusting disc and each bionic finger are fixed through a connecting rod, the connecting rod comprises a first connecting rod which is horizontally arranged, one end of the first connecting rod is rotatably connected with the adjusting disc through a first rotating shaft which is vertically arranged, the other end of the first connecting rod is fixedly provided with an L-shaped second connecting rod, and the tail end of the second connecting rod is fixed with the upper end of the bionic finger;
the bionic finger is connected with the fixed disc through a second adjusting mechanism, the second adjusting mechanism comprises a second driving motor fixed on the lower fixed disc, a driving shaft of the second driving motor faces downwards and is fixedly provided with a connecting piece, and the upper end of the bionic finger is rotatably connected with the connecting piece through a horizontal second rotating shaft;
the bionic finger comprises at least three finger joints which are sequentially and axially connected, each finger joint comprises interphalangeal connecting pieces at two ends, L-shaped bases which are oppositely arranged are fixed on the interphalangeal connecting pieces, an air cylinder connected with a pneumatic system is horizontally arranged between the two L-shaped bases, two ends of the air cylinder are respectively hinged with the corresponding L-shaped bases, a plate spring is fixed between the two interphalangeal connecting pieces, and a space is reserved between the plate spring and the air cylinder.
The further technical scheme is as follows: the first adjusting mechanism comprises a first driving motor fixed at the center of the upper fixing disc, an output shaft of the first driving motor faces downwards and is connected with a driving screw rod through a coupling, an adjusting disc is arranged between the upper fixing disc and the lower fixing disc, and a driving nut matched with the driving screw rod is arranged at the center of the adjusting disc.
The further technical scheme is as follows: the plate spring is of a variable cross-section type.
The further technical scheme is as follows: and a pressure sensor is fixed at the contact position of the free end of the bionic finger and the object.
The further technical scheme is as follows: the L-shaped base is detachably connected with the inter-finger connecting sheet.
Adopt the produced beneficial effect of above-mentioned technical scheme to lie in:
the initial grabbing angle can be adjusted: the opening and closing angle of the bionic finger can be adjusted by moving the adjusting disc up and down, on one hand, the initial grabbing angle of the bionic manipulator determines the working space range of the bionic manipulator, and the larger the initial grabbing angle is, the larger the size range of a target object which can be grabbed by the bionic manipulator is; on the other hand, the initial grabbing angle of the bionic manipulator is adjusted, so that the initial contact between the bionic manipulator and a grabbed object can be accelerated, the time consumption of grabbing operation is reduced, and the working efficiency is improved;
the grabbing mode is adjustable: the initial position of the bionic finger can be adjusted through the second adjusting mechanism, different grabbing modes including a center grabbing mode, a parallel grabbing mode and a pinching mode can be selected according to the shape of the grabbed object, the bionic finger can be suitable for grabbing different objects, and grabbing is firm;
due to the existence of the flexible deformation element of the plate spring, when the bionic manipulator contacts a grasped object, the bionic manipulator can use the self-adaptive deformation of the plate spring to meet the shape of the object, and the bionic manipulator shows good flexibility and self-adaptability to the grasped object and cannot damage the grasped object;
the bionic manipulator has the advantages of simple structure, easy control, no need of a large number of accurate sensors and low manufacturing cost.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic elevation view of the present invention;
FIG. 3 is a schematic top view of the present invention;
FIG. 4 is a schematic view of a first adjustment mechanism of the present invention;
FIG. 5 is a schematic structural view of a bionic finger in the present invention (showing three knuckle joints);
FIG. 6 is a schematic view of the structure of the knuckle according to the present invention;
FIGS. 7-1, 7-2, 7-3 and 7-4 are schematic mechanical views of different initial grasping angles of the present invention;
FIGS. 8-1 (before bending) and 8-2 (after bending) are schematic diagrams showing comparative structures of the plate spring subjected to bending deformation by the cylinder;
fig. 9-1, 9-2 and 9-3 are schematic structural views of different grasping modes of the present invention (bionic fingers not shown).
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
As shown in fig. 1-6, a flexible bionic manipulator with adjustable initial grabbing angle comprises an upper fixed disk 2 and a lower fixed disk 7 which are concentrically arranged up and down and fixed by means of a plurality of connecting rods 3 which are uniformly distributed in the circumferential direction, an adjusting disk 4 is arranged between the upper fixed disk 2 and the lower fixed disk 7, and three bionic fingers 11 are uniformly distributed in the circumferential direction on the bottom surface edge of the lower fixed disk 7.
Regarding the initial adjustment of the bionic fingers 11, the opening angles among the bionic fingers 11 can be adjusted through the first adjusting mechanism so as to adapt to the grabbing of articles with different sizes and improve the grabbing efficiency; the grabbing mode of the bionic finger 11 can be adjusted through the first adjusting mechanism, so that grabbing of objects in different shapes is adapted, and grabbing stability is improved.
Regarding the relation of connection between bionical finger 11 and each adjustment mechanism, specifically, be equipped with the first adjustment mechanism that is used for driving adjustment disk 4 and reciprocates between adjustment disk 4 and the upper fixed disk 2, it is fixed with the help of the connecting rod between adjustment disk 4 and each bionical finger 11, the connecting rod includes the first connecting rod 5 of level setting, the one end of first connecting rod 5 and adjustment disk 4 can be rotated with the help of the first pivot of vertical setting, the other end of first connecting rod 5 is fixed with the second connecting rod 6 of L shape, the end of second connecting rod 6 is fixed through base 10 and the upper end of bionical finger 11. Bionic finger 11 and fixed disk are connected with the help of second adjustment mechanism, second adjustment mechanism is including being fixed in second driving motor 8 on lower fixed disk 7, second driving motor 8's drive shaft is down and be fixed with connecting piece 9, bionic finger 11's upper end and connecting piece 9 are with the help of horizontally second pivot rotatable coupling.
Regarding the flexible structure of the bionic finger 11, the bionic finger 11 includes at least three finger joints, namely a flexible proximal knuckle 111, a flexible middle knuckle 112 and a flexible fingertip 113, which are sequentially and axially connected, and a fingertip connecting member 1139 in smooth transition is fixed at the end of the flexible fingertip 113, so as to avoid scratching objects. Due to the arrangement of the multiple finger joints, each bionic finger 11 has a multiple-section flexible structure and is more attached to the surface of an object during grabbing. Each finger joint comprises interphalangeal connecting sheets 1131 at two ends, L-shaped bases 1132 which are oppositely arranged are fixed on the two interphalangeal connecting sheets 1131, a cylinder 1135 which is connected with a pneumatic system is horizontally arranged between the two L-shaped bases 1132, an air inlet pipe joint 1134 and an air outlet pipe joint 1136 are arranged on the cylinder 1135, two ends of the cylinder 1135 can be hinged with the corresponding L-shaped bases 1132 respectively through a single-lug support 1133 and a double-lug connecting piece 1137, a plate spring 1138 is fixed between the two interphalangeal connecting sheets 1131, and a space is arranged between the plate spring 1138 and the cylinder 1135.
Each flexible knuckle is controlled by a cylinder 1135, all cylinders 1135 adopt the same pneumatic system, and the cylinders 1135 are controlled by a high-precision electric proportional pressure reducing valve. When the cylinder 1135 is filled with gas, the piston rod of the cylinder 1135 extends to transmit force and torque to the plate spring 1138, and the plate spring 1138 deforms and bends, as shown in fig. 8-1 and 8-2, because the plate spring 1138 has better adaptability and flexibility, when the shape of the object to be grasped is irregular, the shape of the object can be met through self deformation, and effective grasping can be performed. The pressure of the control cylinder 1135 is unchanged, the bionic manipulator can lift and move the grabbed object, and after the corresponding operation is completed, the switch valve is opened, the gas in the cylinder 1135 is discharged, and under the action of the restoring force of the plate spring 1138, the piston rod of the cylinder 1135 is pressed to retract, so that the flexible joint is restored to the initial state.
When the initial grabbing angle of the bionic manipulator is adjusted according to the size of a grabbing object, the first adjusting mechanism drives the adjusting disc 4 to move upwards or downwards, and when the adjusting disc 4 moves upwards, the bionic fingers 11 can rotate outwards along the second rotating shaft under the driving of the connecting rod, so that the opening angles among the bionic fingers 11 are expanded. On the contrary, when the adjusting disk 4 moves downwards, the opening angles among the bionic fingers 11 shrink. Thereby realizing the adjustment of the opening and closing angle of the bionic finger 11 by the up-and-down movement of the adjusting disc 4, as shown in fig. 7-1, fig. 7-2, fig. 7-3 and fig. 7-4.
The initial grabbing angle of the bionic manipulator is adjusted, on one hand, the working space range of the bionic manipulator is determined by the initial grabbing angle of the bionic manipulator, and the larger the initial grabbing angle is, the larger the size range of a target object which can be grabbed by the bionic manipulator is; on the other hand, adjust the initial angle of snatching of bionic manipulator, can accelerate bionic manipulator and the initial contact of being snatched the object, reduce the consuming time of snatching the operation, improve work efficiency.
When the grasping mode of the biomimetic manipulator is adjusted according to the shape of the grasping object, the single second drive motor 8 is started to individually change the initial position of each biomimetic finger 11. The second driving motor 8 drives the corresponding bionic finger 11 to rotate through the connecting piece 9, and at the moment, the connecting rod can rotate along the first rotating shaft along with the bionic finger 11, so that the working position of the hand with the bionic finger 11 is changed, and the finger layout of the manipulator is further changed.
Taking the bionic manipulator with three bionic fingers 11 as an example, as shown in fig. 9-1, at an initial position, namely a 0-degree position, the three bionic fingers 11 are circumferentially and uniformly distributed and can be held in a cone shape towards the middle under the action of a first adjusting mechanism, so that the manipulator can realize a center grabbing mode, the finger contact force points to the geometric center of a grabbing target along the normal direction, and the manipulator is suitable for grabbing a circular object; as shown in fig. 9-2, after the two bionic fingers 11 rotate 15 ° relatively, the two bionic fingers 11 are in a parallel state, the third bionic finger 11 is located between the two bionic fingers 11, and under the action of the first adjusting mechanism, the three bionic fingers 11 approach each other, so that a parallel grabbing mode is realized, and the device is suitable for grabbing cylindrical objects; when the two bionic fingers 11 rotate back to back by 30 degrees as shown in fig. 9-3, the three bionic fingers 11 are located in the range of 180 degrees, so that the range of the three bionic fingers 11 is reduced, and under the action of the first adjusting mechanism, the manipulator can realize a pinching mode, and is suitable for pinching objects with small size such as coins.
When the grabbing object is in a spherical structure, when the bionic machinery is used for grabbing operation:
1.1 adjusting the bionic manipulator to a central grabbing mode as shown in figure 9-1 through a second adjusting mechanism;
1.2, placing the grasped spherical object in a working space of a bionic manipulator;
1.3, driving an adjusting disc 4 downwards through a first adjusting mechanism, changing an initial grabbing angle of the bionic manipulator to a proper position, wherein the ideal position is just to enable a bionic finger 11 to be in contact with a grabbed spherical object;
1.4 the plate spring 1138 in the finger joint of the bionic finger 11 which is not in contact with the grasped spherical object is subjected to compliant deformation under the action of the corresponding cylinder 1135 until the bionic finger 11 is in contact with the grasped spherical object, so as to complete the center grasping operation.
When the grabbing object is of a cylinder structure, when the bionic machinery is used for grabbing operation:
2.1 adjusting the bionic manipulator to a parallel grabbing mode as shown in the figure 9-2 through a second adjusting mechanism;
2.2, placing the grabbed cylindrical object in a working space of the bionic manipulator;
2.3, driving the adjusting disk 4 downwards through the first adjusting mechanism, changing the initial grabbing angle of the bionic manipulator to a proper position, wherein the ideal position is just to enable the bionic fingers 11 to be in contact with the grabbed spherical object;
2.4 the plate spring 1138 in the finger joint of the bionic finger 11 which is not in contact with the grasped spherical object is subjected to compliant deformation under the action of the corresponding cylinder 1135 until the bionic finger 11 is in contact with the grasped spherical object, so as to complete the center grasping operation.
Wherein, the initial angle of the bionic finger 11 is to enable the grabber to be placed in the working space of the bionic manipulator.
Specifically, regarding the specific form of the first adjusting mechanism, the first adjusting mechanism includes a first driving motor 1 fixed at the center of an upper fixed disk 2, an output shaft of the first driving motor 1 is connected with a driving screw 13 downwards by means of a coupling 12, an adjusting disk 4 is arranged between the upper fixed disk 2 and a lower fixed disk 7, and a driving nut 14 matched with the driving screw 13 is arranged at the center of the adjusting disk 4. The first driving motor 1 rotates forwards to drive the driving screw 13 to rotate forwards, so that the driving nut 14 moves upwards along the driving screw 13, the adjusting disc 4 moves upwards, and the bionic finger 11 expands outwards. Conversely, the first driving motor 1 rotates reversely, so that the adjusting disk 4 moves downwards and the fingers are folded inwards.
Wherein, first driving motor 1 and second driving motor 8 all adopt servo motor or step motor all can, and the motor disposes rotary encoder for it is more accurate to bionical regulation that indicates 11.
The plate spring 1138 may be a rectangular plate spring 1138 with a uniform cross section, but the preferred plate spring 1138 is of a variable cross section type, such as a double trapezoidal plate spring 1138 and a parabolic plate spring 1138, and the variable cross section plate spring 1138 not only can save resources, but also has better flexibility.
A pressure sensor is fixed at the position where the free end of the bionic finger 11 is contacted with an object, and the pressure of the bionic finger 11 and the fingertip of the contacted object can be adjusted in real time through the detection of the pressure sensor on the fingertip pressure, so that the damage to the object is avoided. Specifically, pressure sensor transmits the pressure that detects to the controller, and the extension of cylinder 1135 is adjusted in good time according to the pressure value to the controller to make the bending degree of leaf spring 1138 more laminate article.
The above is only a preferred embodiment of the invention, and any simple modifications, variations and equivalents of the invention may be made by anyone in light of the above teachings and fall within the scope of the invention.
Claims (5)
1. The utility model provides a flexible bionic manipulator with adjustable initial angle of snatching which characterized in that:
the bionic finger ring comprises an upper fixed disc (2) and a lower fixed disc (7) which are concentrically arranged up and down and are fixed by means of a plurality of connecting rods (3) which are uniformly distributed in the ring direction, wherein an adjusting disc (4) is arranged between the upper fixed disc (2) and the lower fixed disc (7), and three bionic fingers (11) are uniformly distributed in the ring direction on the edge of the bottom surface of the lower fixed disc (7);
a first adjusting mechanism for driving the adjusting disc (4) to move up and down is arranged between the adjusting disc (4) and the upper fixing disc (2), the adjusting disc (4) and each bionic finger (11) are fixed through a connecting rod, the connecting rod comprises a first connecting rod (5) which is horizontally arranged, one end of the first connecting rod (5) is rotatably connected with the adjusting disc (4) through a first rotating shaft which is vertically arranged, an L-shaped second connecting rod (6) is fixed at the other end of the first connecting rod (5), and the tail end of the second connecting rod (6) is fixed with the upper end of the bionic finger (11);
the bionic finger (11) is connected with the fixed disc through a second adjusting mechanism, the second adjusting mechanism comprises a second driving motor (8) fixed on the lower fixed disc (7), a driving shaft of the second driving motor (8) faces downwards and is fixed with a connecting piece (9), and the upper end of the bionic finger (11) is rotatably connected with the connecting piece (9) through a horizontal second rotating shaft;
bionic finger (11) includes that at least three section is axial connection's in proper order indicates the joint, and each indicates the joint and includes connection piece (1131) between the finger at both ends, is fixed with L shape base (1132) of relative setting on connection piece (1131) between two fingers, and the level is equipped with cylinder (1135) of connecting pneumatic system between two L shape bases (1132), the both ends of cylinder (1135) are articulated with L shape base (1132) that correspond respectively, are fixed with leaf spring (1138) between two fingers connection piece (1131), the space has between leaf spring (1138) and cylinder (1135).
2. The flexible bionic manipulator with the adjustable initial grabbing angle of claim 1, wherein: first adjustment mechanism is including being fixed in first driving motor (1) at last fixed disk (2) center, the output shaft of first driving motor (1) is connected with driving screw (13) downwards and with the help of shaft coupling (12), be equipped with adjusting disk (4) between last fixed disk (2) and lower fixed disk (7), the center of adjusting disk (4) be equipped with driving screw (13) assorted drive nut (14).
3. The flexible bionic manipulator with the adjustable initial grabbing angle of claim 1, wherein: the plate spring (1138) is of variable cross-section type.
4. The flexible bionic manipulator with the adjustable initial grabbing angle of claim 1, wherein: and a pressure sensor is fixed at the position where the free end of the bionic finger (11) is contacted with the object.
5. The flexible bionic manipulator with the adjustable initial grabbing angle of claim 1, wherein: the L-shaped base (1132) is detachably connected with the inter-finger connecting sheet (1131).
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111070231B (en) * | 2020-01-09 | 2024-07-12 | 天津大学 | Variable-configuration base for multi-finger clamp holder |
| CN111687870B (en) * | 2020-06-17 | 2021-04-13 | 西南交通大学 | Rigid-flexible combined grabber capable of regulating and controlling friction force in large range |
| CN112318494B (en) * | 2020-11-04 | 2022-01-21 | 安徽工程大学 | Active variable stiffness actuator based on adjustable length reed and adjusting method |
| CN114054223B (en) * | 2021-11-15 | 2024-05-17 | 中国石油化工股份有限公司 | Cyclone separator with adjustable exhaust pipe outlet area and adjusting method thereof |
| CN114211515B (en) * | 2021-12-31 | 2023-03-10 | 重庆电子工程职业学院 | Bionic manipulator grabbing equipment of industrial intelligent robot |
| CN114750155B (en) * | 2022-04-26 | 2023-04-07 | 广东天太机器人有限公司 | Object classification control system and method based on industrial robot |
| CN114986534B (en) * | 2022-06-28 | 2024-06-25 | 北京工业大学 | Integrated rigid-flexible coupling manipulator |
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| WO2008062337A2 (en) * | 2006-11-22 | 2008-05-29 | Koninklijke Philips Electronics, N.V. | Clamping cell with forced open function |
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