CN86102562A - Self-adapting, universal flexible manipulator mechanism - Google Patents
Self-adapting, universal flexible manipulator mechanism Download PDFInfo
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Abstract
The invention discloses a kind of self-adapting, universal flexible manipulator mechanism, it is a kind of manipulator of flexible type and the hand organization of robot.Be characterized in a kind of plane or spatial flexible mechanism of automatic synchronization interlock, can grasp various difformities and big or small object or workpiece, one " hand " to be used, flexible quick safe safety, have adaptive ability and versatility, and simple structure, control operation is convenient simple and direct, the bearing load amount is big, and cost is low.Can make all kinds and the flexible manipulator of series and the hand organization of robot, be used for aspects such as industry, transportation, ocean development.
Description
The present invention relates to the flexible manipulator mechanism of a kind of manipulator of flexible type and the hand organization of robot, particularly a kind of adaptive universal.
Existing manipulator, the hand organization of robot though style is a lot, have two types in general, and one type is the clamping device of rigidity, and one type is to have the manipulator that refers to or the hand organizations of robot of closing more.Simple, main folder and the card of plaing a part of the former finger structure is called clamper (or clamping device), in the application of industrial robot, for different workpiece, often needs to change clamper, and be both inconvenient, dumb again, influences operating efficiency.The latter has the manipulators that refer to that close more, its shape, action and function and people's hand is more approaching a step, some advantage, but its structure is comparatively complicated with control, each joint of finger must be installed a little motor or small-sized oil cylinder, or the driving-belt of driving and control.This mechanism involves great expense, and it is little to bear service load.
The objective of the invention is to provide a kind of manipulator of flexible type and this mechanism of hand organization of robot just can make each flexible finger motion active and intelligent, can grasp various abnormity and the object or the workpiece that vary in size in automatic synchronization ground with a power drive control.Its structure is fairly simple with control, and load is easily big, cost is low, and emulation is stronger, and is applied widely, and self adaptation that can operation under various environment and condition, general flexible manipulator mechanism.
The main structure of mechanism of the present invention, by flexible finger, flexible waist and flexible joint, palm that a kind of new flexible chain mechanism is formed, the commutation section of new structure and device thereof and arm hollow or tubular type are formed the sinking support skeleton of flexible manipulator mechanism.In the outside of sinking support skeleton, be surrounded by the elastomeric material that a kind of similar skin plays the protection support framework, as the external maintenance device of sinking support skeleton.Pass through in passage that all the driving controls and the transmission line of flexible manipulator mechanism all left in the sinking support skeleton or the hole, it drives control is to adopt the Abseiling device of one or a few (one group or several groups) interlock to carry out transmission, a kind of branch's rope in the Abseiling device by shape automatic synchronization device interlock finger, at last drive control by a total cable traction, a power drive can be made deacclimatize with respectively pointing automatic synchronization in the object or the workpiece of the difformity that is grasped with size, and the motion posture of finger is respectively different to some extent, and this Abseiling device is called finger interlock Abseiling device.Another kind in the Abseiling device is to be used for driving respectively the motion of controlling each flexible joint (comprising flexible waist), this Abseiling device is called the flexible joint Abseiling device, these two kinds of Abseiling devices are linked to each other with the main frame of manipulator or robot respectively, drive and control by main frame and control system, this for this reason flexible manipulator mechanism just can according to oneself characteristics motions and carry out operation.
The main structure and the principal character thereof of mechanism of the present invention, function and effect, just concrete mechanism is described.Flexible finger is made up of a kind of new flexible chain mechanism, and this finger is suitable for grasping the object of various difformities and size, and the bending change of finger can change with the shape of grabbing object, always contact proper with grabbing body surface.Flexible manipulator mechanism has and singly refers to hand and the hand that refers to more, on the flexible manipulator mechanism that finger more than two is arranged, all is furnished with palm, and distribution and the arrangement mode pointed on palm are various.In the flexible manipulator mechanism of two or three fingers is arranged, the branch's rope that drives the control flexible finger merges in palm, by a total cable traction, driving merges the total finger interlock rope of this root of back just can make difformity or the big or small object automatic synchronization of each finger to being grasped.And in the flexible manipulator mechanism of finger more than three, in the space in palm, a shape automatic synchronization device must be set, with the motion of each finger of automatic synchronization.Branch's rope of each flexible finger is connected and interlock by shape automatic synchronization device in palm, and automatic synchronization ground drives control by a total cable traction.So just finished by the some flexible fingers on the power drive control flexible manipulator mechanism and carried out the automatic synchronization motion, grasped difformity and big or small object or workpiece.Thus, make the present invention have structure control and simply have the performance of adaptive universal.Flexible waist is the basic composition element by some similar gardens annular, at first be combined into a kind of support framework of flexible chain mechanism, generally make the driving control Abseiling device that is passed through in the support framework skeleton of plain bending of single-degree-of-freedom and its rope is remained on the flexible neutral surface of motion of flexible waist pass through, the finger interlock is coordinated to pass through on the center line of the flexible neutral surface of motion that Abseiling device then remains on flexible waist.If flexible waist need have two frees degree, make bending motion all around, just must between these two plain bending support frameworks, a commutation section be set, in the commutation section, be provided with reversing arrangement.The commutation section will change the character of flexible waist, become spatial flexible mechanism by planar flexible mechanism.The effect of reversing arrangement is commutation section two to be driven the control rope keep stably carrying out the transition to the flexible neutral surface of another motion from a flexible neutral surface of motion.Like this, in flexible manipulator mechanism, each drives the control rope carries out driving separately respectively and controls not affecting mutually, is independent of each other, and like this, can illustrate that structure of this mechanism and control are simple.Flexible waist structurally with athletic posture on all further emulation, good antitorque and stress performance is arranged, adapt to bigger load.Flexible joint comprises elbow joint or shoulder joint, and its structural shape is identical with flexible waist.Flexible arm must be hollow or tubular type, and links to each other with the flexible joint at its two, all is provided with reversing arrangement in the arm.An arm is actually long commutation section.If arm shortened flexible joint (or flexible waist) is extended, this flexible manipulator mechanism is exactly a kind of full compliant mechanism, and its profile and movement posture are as trunk.Flexible manipulator mechanism according to specific requirement, also can increase special attachment device in concrete the application.Flexible manipulator mechanism links to each other with main frame, and wherein each power drive control device of each Abseiling device and main frame is connected available hydraulic, air pressure or motor-driven respectively
Below in conjunction with accompanying drawing 1, be further described.
Fig. 1 is the longitudinal profile schematic diagram of a kind of example structure of self-adapting, universal flexible manipulator mechanism.
With reference to Fig. 1, on palm (2), connect flexible finger (1) respectively, the quantity of flexible finger (1) is more than three or three, branch is arranged in both sides, can only see two fingers that cutd open on longitudinal sectional drawing, the width of (webs) is greater than the width of finger between referring to, finger alternate correspondence in both sides is arranged.When grasping object, during the finger on both sides can insert between the other side's finger mutually.Grasp all size object to adapt to.Branch's rope (9) is installed in the flexible finger (1), is driven branch's rope (9) by the interlock of Abseiling device, flexible finger just can move, and makes grasping movement, and the degree of crook of vertical each section of finger is difference with the difference of grabbing body form.In palm (2), be provided with shape automatic synchronization device (10) (10) respectively with each the finger in branch's rope (9) be connected and interlock, and by the finger interlock rope (11) always pull out, by the flexible neutral surface of the motion of flexible waist, flexible joint, after reversing arrangement and arm in the commutation section, reach the power drive control device in the main frame.Point interlock rope (11) when main frame as long as drive control, because the coordination and the interlock effect of shape automatic synchronization device, each flexible finger (1) just can be according to each motion of pointing of shape automatic synchronization of grabbing object, reach with a power drive control and just can make each flexible finger motion active and intelligent, can grasp various difformities and big or small object or workpiece in automatic synchronization ground.Wrist is by preceding flexible waist (3), commutation section (4) and back flexible waist (5) are formed, preceding flexible waist (3) is connected with palm (2) and does elastic motion, the motion that back flexible waist (5) work swings, connect (3) and (5) by the section of changing (4), this flexible waist is that a kind of sky is to compliant mechanism.Preceding flexible waist (3) is driven and control by flexible joint rope (12), spring in the wrist or elastic device play function and the effect that complementary resilience resets, rope (16) can be incorporated in the main frame and to connect one section extension spring and work to strengthen complementary resilience and reset, necessary, also can be used as the driving control rope that drives the preceding flexible waist (3) of control.(12) by the reversing arrangement in the commutation section (4), the flexible neutral surface of flexible waist motion is drawn to main frame and drives control after entering.Structurally the same flexible waist (3) of back flexible waist (5) is identical, and just its section just in time differs 90 ° with preceding flexible waist on the direction of installing, and its driving control rope and device thereof have the variation of symmetry.Structurally the same flexible waist (3) of flexible joint (7), just its cross dimensions is greater than the cross dimensions of preceding flexible waist (3).Reversing arrangement in commutation section (4) arm (6) and (8) all the last period flexible joint drive the flexible neutral surface of motion that rope carries out the transition to back one section flexible joint, its effect is each to be driven control rope and drive control separately, not influenced by it.As in arm (8), the driving control rope (14) that is passed through, (17) be to be provided with under the situation of flexible shoulder joint at flexible manipulator mechanism, drive the trend of control rope, if flexible shoulder joint is arranged, the dotted line direction of its (14), (17) carries out the transition in the flexible neutral surface of motion of shoulder joint, so that drive respectively and control by reversing arrangement.Among flexible waist joint and arm, also be provided with other hole or passage, various sensings, transmission information control circuit are passed through.Concrete condition can be decided according to concrete application.
More than with regard to the summary of whole mechanism, the flexible self adaptation and the versatility of flexible manipulator mechanism is described, its structure control is comparatively simple, its profile and athletic posture have simulation performance, load capacity is big, cost is low.Wide accommodation can operation under various comparatively rugged environments and condition.
Manipulator mechanism of the present invention, can be made into hand-held tool type manipulator, large-scale manipulation type delivery and automatic loading and unloading robot, be used for speedily carrying out rescue work, get rid of the danger and clearing up of various carryings, loading and unloading, earthquake flood, fire, on the basis of development, can be made into various industrial production manipulators and have the industrial robot of sensing function and the hand organization of service robot, also can be used for space flight, ocean development, nuclear industry and war industry aspects with computer control.
Below, the several devices that principal character is arranged with regard to flexible manipulator mechanism are further described respectively.
1. flexible finger: with hinged, spring assembly connects or other continuous combined method flexible finger, connects into the chain type combined mechanism of the interlock that is similar to chain-type by the some basic composition element of continuous series.
On each basic composition element of chain type combined mechanism, install catch or braking brake shoe successively accordingly at selected position, make its chain type combined mechanism be subjected to restriction on some direction or mode, and allow its mechanism make bending motion according to direction or mode that people predesignate, this device is called the directed movement device.
The chain type combined mechanism of directed movement device is installed, just energy directed movement, but a kind of combined mechanism of chain type, between each the basic composition element in this mechanism, spring or elastic device with certain ability to bear is installed again, is called the resilience flexible apparatus, the chain type combined mechanism that the resilience flexible apparatus is housed will play very big variation, become can stretch, can directional curvature and chain type flexibility " rod member " mechanism of resilience automatically, and be referred to as chain flexible mechanism.
In chain flexible mechanism, be connected the position that supporting (or jointed shaft) axis normal direction grade separation becomes maximum moment with various, the rope branch unit that drives the control flexible finger is installed, drive its rope branch unit, flexible finger just can be done the shaped form flexion movement, and like this, chain flexible mechanism is by mechanism passive or non-driving control, become the mechanism that maybe can drive control of an active, i.e. the finger mechanism of flexible manipulator.
By the chain type combined mechanism, the chain flexible mechanism that directed movement device, resilience flexible apparatus are formed is under the driving control action of finger branch rope, to produce a kind of comprehensive function and effect, the made mechanical finger of this mechanism can automatic shape with grabbing object or workpiece be changed with size.Play the function and the effect of a kind of self adaptation or automatic synchronization.Branch's rope in finger is by the spatial channel and the supporting-point of each basic composition element, and the supporting-point of branch's rope on each basic composition element slides and rub and adjust direction, and this device is called the slide guide device.If will increase the antitorque rotating function of flexible finger just must make up continuously " in a zigzag " antitorque rotary device successively or each basic composition element is formed torsion proof sinking support mechanism in the continuous combination of basic composition element.In the outside of finger, the elastomeric material that similar skin shields on the packing, installing fluted slightly is the finger tip of nail, installs by the made finger of elastomeric material at the inboard groove place of finger tip.During concrete the application, according to its special needs, also can set up new attachment device, to satisfy or to strengthen the function of its flexible finger and effect (as resilience reinforcement moving apparatus, lateral stabilizer, refers to collude, refers to thorn and sensing device thereof at guiding tension step-up system).
Below, with regard to the specific embodiment mechanism of flexible finger, in conjunction with the accompanying drawings 2,3,4, be further described.
A. the box-like flexible finger of serialgram joint groups of springs mechanism.
Fig. 2 is the longitudinal profile schematic diagram of the serialgram joint box-like flexible finger of groups of springs mechanism.
Fig. 3 is the transverse cross-sectional view of this mechanism.
With reference to Fig. 2, Fig. 3, finger carries out the combination of continuous series by the basic composition element of number of plate-shaped (18), on the edge of (18), make heel teeth and groove, block the groove of (18) with elongated extension spring (19), and heel teeth bent up, push down extension spring (19), (19) and (18) are connected to each other firmly, connect the basic composition element of number of plate-shaped (18) successively continuously with the method or other method of attachment, form rubber-like chain type combined mechanism.Use the same method, connect elongated extension spring (20) again, make the chain type combined mechanism have directed function.Can only be past antecurvature, and can not bend backward.An end that has been connected and fixed branch's rope (9) is in the finger tip place, and the other end links to each other with shape automatic synchronization device, to drive control.Antitorque requirement is arranged, the antitorque rotary device (21) of antitorque commentaries on classics " in a zigzag " sheet can be installed, make elasticity chain type combined mechanism become a kind of directional curvature and globality chain flexible mechanism that can resilience.Face here, elongated extension spring (20) make finger mechanism play bilayer effect directed and resilience, and extension spring (19) rises and wholely connects and keep certain lateral stability, and rope (22) is used to the lateral stability strengthening pointing.Stage clip (23), (24) will increase the screen resilience of finger, and the stress that the basic composition element of distribution sheet (18) is concentrated with finger external maintenance device (25) when operation reduces and impacts, shakes, rubs, increases the service life.Branch's rope (9) by soft drive control device end drives or controls by the control slide guide device of the soft drive on the basic composition element of sheet (18) (26).Then, external maintenance device (25) is installed again, is connected finger tip (27) and elastic-friction finger (28), connect specific attachment device as required again, like this, the serialgram joint box-like flexible finger of groups of springs principal organ has just formed.Be connected to each other by certain arrangement mode and palm as required, by the interlock of branch's rope and the dynamic coordinate of shape automatic synchronization device thereof, this finger mechanism just can specifically be used and operation.
B. hinged continuously close refers to flexible finger mechanism more.
Fig. 4 is continuously that hinged close refers to flexible finger mechanism wherein one section longitudinal sectional drawing and theory of mechanics schematic diagram more.
With reference to Fig. 4, finger is undertaken hinged mutually successively by axle hinge (29) by the basic composition element (18) of the sheet of continuous series or housing, connect into a kind of chain type combined mechanism.Connect stage clip (30) again, directed braking retaining lock (31) is set in case of necessity, antitorque rotary device (32) is installed, make the chain type combined mechanism become the chain flexible mechanism of a kind of directional curvature and energy resilience.Here, the lateral stability of finger mechanism is born and is controlled by axle hinge (29), and axle hinge (29) is also born a part of torsion proof power simultaneously.Branch's rope (9) of soft drive control device end is installed again, is driven and control by the control slide guide device of the soft drive on sheet or the basic composition element of housing (18) (26).This is the main structure of finger sinking support mechanism, and other device and accessory are identical with the serialgram joint box-like flexible finger of groups of springs mechanism on structure and combination form, are profile, the material, respectively different to some extent of each accessory.
Hinged continuously close refers to that flexible finger mechanism compares with the serialgram joint box-like flexible finger of groups of springs mechanism more.General weight own is bigger, the elastic force of wherein set resilience flexible apparatus is (this device can not be provided with very greatly) inadequately, therefore, must set up resilience reinforcement moving apparatus (33), interlock by rope (34), the device that increases the finger screen resilience is moved to and is installed in " body " of palm, arm or robot, make finger structure lightly flexible.The reinforcement moving apparatus can be spring, elastic rope or power drive.Above two embodiment mechanisms that exemplify, though textural bigger difference arranged, its textural association principle is identical with the basic skills of enforcement.
2. palm and shape automatic synchronization device
Flexible manipulator mechanism have Dan Zhiyu how finger branch, be provided with the flexible manipulator mechanism of palm, be the above flexible manipulator mechanisms of two fingers at least.Finger on palm arrangement and be distributed as symmetrical expression and asymmetric.Symmetrical expression comprises symmetry in a row and garden dish radiation symmetry.Asymmetric comprises finger, and alternate a formula, garden dish are emanant to embracing, artifucial limb formula and special-shaped formula.
The palm housing in being provided with the palm housing of four or more finger, is provided with shape automatic synchronization device except that connecting finger and wrist.The degree of crook difference of finger, the stroke of its soft drive control device (rope) are also different.If it is one to form lever-linked formula and make up that the soft drive control rope in per two or three fingers is joined, analogize with the method and to carry out multistage combination, draw and drive and control until merging into a total driving control rope at last, each clinodactyly degree all can be with the shape of the object that is grasped and size and automatic synchronization reaches various special-shaped objects of self adaptation or workpiece when grasping object.This lever-linked formula combined mechanism, the linkage of He Binging is called shape automatic synchronization device step by step.
Below with regard to the concrete enforcement body of palm and shape automatic synchronization device, comprehensive accompanying drawing 5 is further described.
(a) and (b) among Fig. 5, (c), (d), (e) be 6 mechanical schematic diagrams that the branch term diagram all is the lever-linked formula combination of shape automatic synchronization device (f).
The branch's rope (9) that drives control referring to flexible finger among Fig. 1, Fig. 5, Fig. 1 is entering palm (2) lining, just with palm in shape automatic synchronization device be connected to each other.See Fig. 5, branch's rope (9) is hinged to one with the dynamic balance combined type interlock lever system (35) of shape automatic synchronization device, draw by a total soft drive control rope (11) at last, carry out total driving and control, when driving rope (11), comprehensive function and motion thereof by dynamic balance combined type interlock lever among Fig. 5, each position on each finger and the finger thereof is subjected to the resistance difference, finger has nothing in common with each other at the state of bending change and motion, just the stroke of the branch's rope (9) in the finger also has nothing in common with each other, in the case, carry out automatic synchronization by stress balance, newly carry out the transition to balance from unbalanced weight, make and respectively point stress equalization.Like this, by shape automatic synchronization device.Power drive and control just can make many finger automatic synchronizations ground grasp the object of various difformities and size or workpiece and reach self adaptation, general purpose.
The different permutations and combinations methods of finger on palm, shape automatic synchronization device is structurally variant slightly, as the (a) and (b) among Fig. 5, (c) three components represented to be adapted to double-row type asymmetric to embracing a formula permutations and combinations pattern, (36) are double synchronous merging device among the figure, merged by (11) and to draw, such two row's finger soft drive controls are synchronized with the movement, and the finger on each row then can automatic synchronization, like this, make the more perfect function of hand flexible.(d) among Fig. 5, (e), (f) component are represented, are adapted to the garden emanant permutations and combinations mechanism of dish, are adapted to grasp the block object or the workpiece of various abnormity.
According to this principle and method, can apply in a flexible way in actual applications.The finger shape automatic synchronization device on the artifucial limb for example, just can at first adopt thumb and other four finger to form double synchronous merging device, form the soft drive control branch Abseiling device of secondary automatic synchronization then on other four fingers, like this, motion of each finger is just very flexible.
3. flexible waist, joint, arm and control thereof and transmission device.
The flexible waist of adaptive universal flexible manipulator, flexible joint all are by some annulars, the sheet shape that has multiple hole or various housing shape joint segmentation combination continuously successively, form chain type combined mechanism or torsion proof chain type combined mechanism.On the basis of chain type combined mechanism, orienting device is installed, the resilience flexible apparatus.Like this, the elastic bearing mechanism of just having formed flexible waist or flexible joint.This mechanism is structurally than flexible finger mechanism complexity, mainly be to increase and the solution multiple degrees of freedom, many power lines and various transmission control circuit all pass through in flexible waist, joint, drive, control and transmit, outside in flexible waist, joint, have " skin " formula outer peripheral protection unit of elasticity or sealing except that installing, do not have other device.
The flexible waist of one degree of freedom and the bending motion in joint can be regarded the motion in a plane as.On structural shape, be analogous to single flexible finger mechanism.Multivariant flexible waist and joint, its motion are a kind of spatial movements, and this mechanism is exactly an a kind of flexible space mechanism.The key of the space mechanism in flexible waist and joint not only is the elastic bearing mechanism of itself, but this in-house set and various power and transmission line that pass through are passed through smoothly, and when mechanism kinematic, various power drive control circuits drive separately and control, do not affect influence and constraint mutually.Control program and controlling organization like this, have just been simplified.
Passive transmission, pipe-line are as long as it is just passable to leave enough strokes in the lateral space in each flexible joint.The soft drive control device initiatively and the rope of institute's interlock thereof, for each the branch's power soft drive that makes control flexible waist, joint is controlled rope under each self-driven situation, do not affect influence mutually, just must make dynamic Control drive Abseiling device along the move orbital motion of neutral surface of whole compliant mechanism, in flexible waist, joint, the method and the device thereof of this track transmission route are set, are called motion neutral surface orbital method and device thereof.Multivariant flexible waist, the spatial flexible mechanism in joint, when flexible joint change direction the beginning another free degree motion the time, will a new neutral surface tracks appears, turnover or sudden change will take place in this new tracks, the rope of power soft drive control device and interlock thereof will adapt to this new turnover or sudden change thereupon, like this, just must increase a commutation section, the function of commutation section has been transitional effect, orbital transformation device that assurance is provided with in it is not subjected to the turnover of track or the influence of sudden change, goes but the circuit transmission of a motion neutral surface track transformed in another motion neutral surface track.
Commutation section operated by rotary motion is in the middle part in flexible waist and joint.If be connected with the hollow wrist of rigidity in flexible manipulator mechanism, this arm itself just can commutation section of double as.
Below, with regard to the specific embodiment mechanism of flexible waist, joint and motion neutral surface track and converting means thereof, in conjunction with the accompanying drawings 6,7, be further described.
Fig. 6 is the space orbit dynamic schematic diagram in flexible waist, joint.
Fig. 7 is a commutation section space orbit conversion dynamic schematic diagram.
Referring to Fig. 6, the center line in flexible waist, joint moves in ZOY and ZOX plane, and the angle ∠ ZOX on ZOY plane and YOX plane always changing continuously, by 0 ° of increase, or reduce and in-100 ° to 100 ° scope, to change, this is an a kind of flexible space mechanism.When driving Abseiling device (12), mechanism's plane of symmetry in flexible waist, joint this section mechanism (37) in the ZOY plane, it always makes the symmetrical center line (39) of flexible neutral surface (38) track of motion itself remain on to carry out bending motion in the ZOY plane.When driving Abseiling device (13), this section mechanism (40) in the mechanism plane of symmetry ZOX plane in flexible waist, joint, it always makes the symmetrical center line (39) of flexible neutral surface (41) track of motion itself remain on to carry out bending motion in the ZOX plane.Between (37) and (40) these two sections, there is a commutation section (42) that the two is coupled together, (42) on the ZO axis, the crucial pivot that is carried out the transition to the ZOX plane by the ZOY plane is turned round, it extradites ZOX plane (seeing Fig. 6 for details) to the tracks circuit of power drive rope from the ZOY plane, the driving of (13) only makes the angle ∠ ZOX on ZOY plane and YOX plane change, promptly (40) motion of being taken place does not influence the motion of (37); And drive (12), (37) are moved, and do not influence the motion of (40).This is the key point that control program is reduced in flexible waist, joint.This mainly is to utilize the orbital transformation device in flexible neutral surface of motion and the commutation section to solve this key issue.
With reference to Fig. 7, CD and AB promptly begin its direction of conversion from here for flexible neutral surface of motion and the intersection that commutation section both ends of the surface begin to turn back.As can be seen from Figure 7, CD is perpendicular to AB, and the power drive control rope is by the reversing arrangement of commutation section, from a flexible neutral surface of the motion flexible neutral surface of another motion of turning back.The effect of commutation section that Here it is.In the commutation section pulley or flexible axle conduit and other accessory are installed, are made by the driving control rope in the commutation section and ensure carrying out smoothly of orbital transfer, this device is exactly the reversing arrangement in the commutation section.
Claims (8)
1, a kind of by finger palm wrist arm joint with inner it is characterized in that by driving the manipulator that the control tethered system forms and the hand organization of robot this mechanism is a kind of flexible manipulator mechanism of adaptive universal, it has following mechanism:
A. in the front portion of palm (2), be connected with the flexible finger (1) that several are made up of continuous multi-joint or continuous chain flexible mechanism,
B. at the rear portion of palm (2), be connected with preceding flexible waist (3) the back flexible waist of forming with continuous multi-joint or continuous chain flexible mechanism and attachment device thereof (5) with two frees degree and be arranged on before and after the flexible waist centre can change the commutation section (4) of curvature of space deformation direction, rear portion behind flexible waist, two compliant mechanisms that also are provided with the flexible joint formed by a continuous multi-joint or continuous chain flexible mechanism and attachment device thereof or form by two continuous multi-joints or continuous chain flexible mechanism and attachment device thereof and be connected in the flexible joint that commutation section is between the two formed with two frees degree with one degree of freedom
C. among palm (2), be provided with drive control by a total rope (11) and can make flexible dactylus on each flexible finger (1) and the flexible finger (1) thereof carry out the shape automatic synchronization device (10) of adaptive grasping movement, in flexible waist (5) arm (6) flexible joint (a 7) lining, preceding flexible waist (3) commutation section (4) back.Also be provided with the prolongation of above-mentioned rope (11) and together introduce driving control rope (12), (13), (14) that main frame is independent of each other respectively.
2, flexible manipulator mechanism according to claim 1, it is characterized by the chain type combined mechanism that flexible finger mechanism (1) is made up of some basic composition elements (18), mix directed movement device (20) or (31), mix resilience flexible apparatus (23) (24) or (30), form chain flexible mechanism, branch's rope (9) and the slide guide device (26) thereof that drives control, antitorque rotary device (21) or (32) are installed again.Finger tip (27), finger (28), outer peripheral protection unit (25) and other attachment device are formed the self-adapting flexible finger mechanism that the energy continuous bend is out of shape.
3, flexible manipulator mechanism according to claim 1, it is characterized by flexible finger is specifically to implement with the serialgram joint box-like flexible finger of groups of springs mechanism.
4, flexible manipulator mechanism according to claim 1, it is characterized by flexible finger is to refer to that with continuous hinged close flexible finger mechanism specifically implements more.
5, flexible manipulator mechanism according to claim 1, it is characterized in that in palm (2), being provided with shape automatic synchronization device (10), shape automatic synchronization device (10) is made up of interlock lever system (35), one with each flexible finger (1) in branch's rope (9) link respectively, the other end dwindles step by step by a total rope (11) draws, through flexible waist, the center line position of the flexural deformation neutral surface in joint and commutation section are finally introduced main frame with the reversing arrangement in the arm and are driven control, make flexible dactylus automatic synchronization ground on some fingers of power drive control and the finger thereof be adapted to the device of difformity and big or small manipulating object.
6, flexible manipulator mechanism according to claim 1 is characterized in that flexible waist or joint all are to carry out the combination of continuous series by some basic composition elements, forms the wrist or the joint of chain type flexibility.In wrist or there is the spatial flexible joint middle part of two-freedom to be equipped with the commutation section, in the commutation section, reversing arrangement is housed, and reversing arrangement is to transform to the device that the flexural deformation neutral surface of another vertical direction goes to the power drive control rope of a flexural deformation neutral surface.
7, flexible manipulator mechanism according to claim 1 is characterized in that all transmission drive control flexible circuitry or pipeline, all passes through in flexible manipulator mechanism, and the active force circuit is bent and deformed neutral surface.The pipeline of non-power has more the performance and the profile of emulation by lateral space for making whole flexible manipulator mechanism, in the outside of finger mechanism, is surrounded by the enclosure device made from elastomeric material.
8, flexible manipulator mechanism according to claim 1, it is characterized by its power drive control is hydraulic-pneumatic or motor-driven device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 86102562 CN86102562A (en) | 1986-04-16 | 1986-04-16 | Self-adapting, universal flexible manipulator mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 86102562 CN86102562A (en) | 1986-04-16 | 1986-04-16 | Self-adapting, universal flexible manipulator mechanism |
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| CN86102562A true CN86102562A (en) | 1987-10-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 86102562 Pending CN86102562A (en) | 1986-04-16 | 1986-04-16 | Self-adapting, universal flexible manipulator mechanism |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100464958C (en) * | 2007-02-09 | 2009-03-04 | 北京航空航天大学 | Rope-driven redundancy mechanical arm |
| CN102092046A (en) * | 2010-12-09 | 2011-06-15 | 江南大学 | Pneumatic single tow rope multi-joint flexible manipulator with damping |
| CN102642206A (en) * | 2012-05-16 | 2012-08-22 | 滑英宾 | Joint type manipulator |
| CN102825593A (en) * | 2012-06-04 | 2012-12-19 | 东北林业大学 | Magnetorheological fluid continuum robot manipulator |
| CN103423379A (en) * | 2012-05-25 | 2013-12-04 | 郑州新力光电技术有限公司 | Convex-ball-hinged type joint chain |
| CN103817707A (en) * | 2012-11-19 | 2014-05-28 | 株式会社安川电机 | Robot device |
| CN103934833A (en) * | 2013-01-21 | 2014-07-23 | 株式会社安川电机 | Robot apparatus |
| CN104409106A (en) * | 2014-06-26 | 2015-03-11 | 谌桂生 | Universal unit mechanism |
| CN105904469A (en) * | 2016-06-15 | 2016-08-31 | 上海未来伙伴机器人有限公司 | Flying robot clamping device and flying robot with same |
| CN106956288A (en) * | 2017-04-28 | 2017-07-18 | 上海交通大学 | Multiple degrees of freedom software grabbing device |
| CN108501031A (en) * | 2018-04-04 | 2018-09-07 | 佛山市奥耶克思机械设备有限公司 | A kind of clamping flexible manipulator |
| CN112372663A (en) * | 2020-10-29 | 2021-02-19 | 北京航空航天大学 | Continuum variable-rigidity adjusting device |
| CN112607299A (en) * | 2020-11-10 | 2021-04-06 | 北京城创新智科技有限公司 | Swallowing type conveying channel and mechanical arm |
| CN114179119A (en) * | 2021-12-10 | 2022-03-15 | 中国科学院深圳先进技术研究院 | Soft finger mechanism with touch and bending sensing functions and soft hand |
| CN114536377A (en) * | 2022-01-28 | 2022-05-27 | 西安交通大学 | Mechanical clamping jaw capable of continuously deforming |
| CN114770570A (en) * | 2022-03-30 | 2022-07-22 | 安徽大学 | Full flexible bionic pneumatic manipulator based on branch-imitating structure |
-
1986
- 1986-04-16 CN CN 86102562 patent/CN86102562A/en active Pending
Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100464958C (en) * | 2007-02-09 | 2009-03-04 | 北京航空航天大学 | Rope-driven redundancy mechanical arm |
| CN102092046A (en) * | 2010-12-09 | 2011-06-15 | 江南大学 | Pneumatic single tow rope multi-joint flexible manipulator with damping |
| CN102642206A (en) * | 2012-05-16 | 2012-08-22 | 滑英宾 | Joint type manipulator |
| CN102642206B (en) * | 2012-05-16 | 2015-01-07 | 滑英宾 | Joint type manipulator |
| CN103423379A (en) * | 2012-05-25 | 2013-12-04 | 郑州新力光电技术有限公司 | Convex-ball-hinged type joint chain |
| CN103423379B (en) * | 2012-05-25 | 2015-03-18 | 郑州新力光电技术有限公司 | Convex-ball-hinged type joint chain |
| CN102825593A (en) * | 2012-06-04 | 2012-12-19 | 东北林业大学 | Magnetorheological fluid continuum robot manipulator |
| CN102825593B (en) * | 2012-06-04 | 2014-10-15 | 东北林业大学 | Magnetorheological fluid continuum robot manipulator |
| US9272415B2 (en) | 2012-11-19 | 2016-03-01 | Kabushiki Kaisha Yaskawa Denki | Robot device |
| CN103817707A (en) * | 2012-11-19 | 2014-05-28 | 株式会社安川电机 | Robot device |
| CN103817707B (en) * | 2012-11-19 | 2016-05-11 | 株式会社安川电机 | Robot device |
| CN103934833A (en) * | 2013-01-21 | 2014-07-23 | 株式会社安川电机 | Robot apparatus |
| CN104409106A (en) * | 2014-06-26 | 2015-03-11 | 谌桂生 | Universal unit mechanism |
| CN104409106B (en) * | 2014-06-26 | 2018-02-02 | 北京功顺达仿生机械有限公司 | Omnipotent unit body mechanism |
| CN105904469A (en) * | 2016-06-15 | 2016-08-31 | 上海未来伙伴机器人有限公司 | Flying robot clamping device and flying robot with same |
| CN106956288A (en) * | 2017-04-28 | 2017-07-18 | 上海交通大学 | Multiple degrees of freedom software grabbing device |
| CN108501031A (en) * | 2018-04-04 | 2018-09-07 | 佛山市奥耶克思机械设备有限公司 | A kind of clamping flexible manipulator |
| CN108501031B (en) * | 2018-04-04 | 2021-01-19 | 任庆 | Flexible manipulator of centre gripping |
| CN112372663A (en) * | 2020-10-29 | 2021-02-19 | 北京航空航天大学 | Continuum variable-rigidity adjusting device |
| CN112372663B (en) * | 2020-10-29 | 2022-04-08 | 北京航空航天大学 | Continuum variable-rigidity adjusting device |
| CN112607299A (en) * | 2020-11-10 | 2021-04-06 | 北京城创新智科技有限公司 | Swallowing type conveying channel and mechanical arm |
| CN114179119A (en) * | 2021-12-10 | 2022-03-15 | 中国科学院深圳先进技术研究院 | Soft finger mechanism with touch and bending sensing functions and soft hand |
| CN114536377A (en) * | 2022-01-28 | 2022-05-27 | 西安交通大学 | Mechanical clamping jaw capable of continuously deforming |
| CN114536377B (en) * | 2022-01-28 | 2023-07-18 | 西安交通大学 | Mechanical clamping jaw capable of continuously deforming |
| CN114770570A (en) * | 2022-03-30 | 2022-07-22 | 安徽大学 | Full flexible bionic pneumatic manipulator based on branch-imitating structure |
| CN114770570B (en) * | 2022-03-30 | 2024-01-19 | 安徽大学 | Fully-flexible bionic pneumatic manipulator based on branch-like structure |
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