WO2020057142A1 - 一种基于涡卷弹簧的多指柔性机械手 - Google Patents

一种基于涡卷弹簧的多指柔性机械手 Download PDF

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Publication number
WO2020057142A1
WO2020057142A1 PCT/CN2019/086325 CN2019086325W WO2020057142A1 WO 2020057142 A1 WO2020057142 A1 WO 2020057142A1 CN 2019086325 W CN2019086325 W CN 2019086325W WO 2020057142 A1 WO2020057142 A1 WO 2020057142A1
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WO
WIPO (PCT)
Prior art keywords
flexible
scroll spring
winch
finger
manipulator based
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Application number
PCT/CN2019/086325
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English (en)
French (fr)
Inventor
袁晗
陈鑫杰
徐文福
周丽丽
Original Assignee
哈尔滨工业大学（深圳）
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Application filed by 哈尔滨工业大学（深圳） filed Critical 哈尔滨工业大学（深圳）
Publication of WO2020057142A1 publication Critical patent/WO2020057142A1/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
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons

Definitions

  • the invention relates to the technical field of robots, in particular to a rope-driven continuous robot.
  • Robots can be classified into discrete robots and continuous robots according to the continuous type.
  • Discrete robots are composed of discrete degrees of freedom joints and rigid links.
  • the robot's motion is only generated at each single degree of freedom joint.
  • the degree of freedom is limited.
  • the limited environment adaptability is weak, so in order to meet more complex working environments, a new type of continuous robot needs to be invented.
  • the present invention provides a multi-finger flexible manipulator based on a scroll spring.
  • the multi-finger flexible manipulator is a continuous robot with a simple structure, strong self-adapting ability and good safety.
  • the technical solution adopted by the present invention to solve its technical problem is to provide a multi-finger flexible manipulator based on a scroll spring, including a driving device, the driving device including a motor, a transmission shaft fixedly connected to an output end of the motor, A winch is rotatably sleeved on the transmission shaft, and a scroll spring is arranged in the winch.
  • the center of the scroll spring is fixed on the transmission shaft.
  • the outer side of the scroll spring and the A winch is fixedly connected;
  • a flexible finger includes a flexible work post and a rope that drives the flexible work post to bend, one end of the rope is fixedly set at the end of the flexible work post, and the other end is fixed on the winch .
  • it further includes a pillar, which is fixedly disposed relative to the motor, the pillar is provided on a side of the winch, and the pillar is provided with a first section provided in a radial direction of the winch. A via, the rope passes through the first via and extends onto the winch.
  • a base plate is further included, the base plate is rotatably sleeved on the transmission shaft, the pillar is fixedly connected to the base plate, and the flexible working column is fixedly disposed on the base plate.
  • the bottom plate is provided with a second via hole through which the rope passes.
  • the bottom plate is further provided with a lead pipe, and the lead pipe is provided with a third via hole disposed coaxially with the second via hole.
  • the flexible finger includes multiple places, and the multiple flexible fingers are provided on the base plate around a circumferential direction of the base plate.
  • the number of the winches is equal to the number of the flexible fingers, and the ropes of the flexible fingers are connected to the winch in a one-to-one correspondence.
  • each of the flexible fingers is provided with two of the ropes, the two ropes are symmetrically arranged along the axis of the flexible working column, and the two ropes are respectively connected to the winch Both ends on the same diameter.
  • a tension spring provided along the axial direction of the flexible working column is also provided.
  • a cover plate is further included, the cover plate is fixedly connected to the motor, and the cover plate and the bottom plate are respectively fixedly connected to both ends of the pillar.
  • the multi-finger flexible manipulator based on a scroll spring of the present invention includes a driving device, the driving device includes a motor, a transmission shaft fixedly connected to an output end of the motor, and a winch rotatably sleeved on the transmission shaft.
  • a scroll spring is arranged in the winch, and the center of the scroll spring is fixedly arranged on the transmission shaft; the outside of the scroll spring is fixedly connected to the winch; a flexible finger, and the flexible finger includes flexibility
  • a working post and a rope driving the flexible working post to bend, one end of the rope is fixedly disposed at the end of the flexible working post, and the other end is fixed to the winch.
  • the multi-finger flexible manipulator based on the scroll spring of the present invention drives the scroll spring to work through the movement of the motor.
  • the scroll spring further drives the winch to rotate, and the rope has a length difference with the rotation of the winch.
  • the elastic effect of the spring can capture irregular objects and has excellent shape adaptability.
  • FIG. 1 is a schematic diagram of the overall structure of a multi-finger flexible manipulator based on a scroll spring according to an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of a driving device in an embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of a winch in an embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of a stent in an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a flexible finger in an embodiment of the present invention.
  • FIG. 1 shows a multi-finger flexible manipulator based on a scroll spring according to an embodiment of the present invention
  • FIG. 2 shows a schematic structural diagram of a driving device in an embodiment of the present invention
  • FIG. 3 A schematic diagram of the structure of a winch in an embodiment of the present invention is shown
  • FIG. 4 is a schematic diagram of a structure of a bracket in an embodiment of the present invention
  • FIG. 5 is a schematic diagram of a flexible finger in an embodiment of the present invention.
  • a multi-finger flexible manipulator based on a scroll spring includes a driving device 100, a frame 200, and a flexible finger 300.
  • the driving device 100 is used to drive the flexible finger 300 to bend to clamp an object.
  • the frame 200 plays a role of supporting and fixing the components of the robot.
  • the driving device 100 of the present invention includes a motor 110, a transmission shaft 120, and a winch 130.
  • the transmission shaft 120 is fixed on the output shaft of the motor 110.
  • the shaft 120 rotates, that is, the rotation of the transmission shaft 120 does not directly drive the rotation of the winch 130.
  • the winch 130 has a hollow cylindrical cavity structure as a whole.
  • a scroll spring 133 is fixed in the winch 130.
  • the center of the scroll spring 133 is fixed to the transmission shaft 120.
  • the end of the scroll spring 133 is fixedly connected to the inner wall of the winch 130.
  • the rotation of the transmission shaft 120 drives the scroll spring 133 to work.
  • the scroll spring 133 further drives the winch 130 to rotate. Due to the elastic characteristics of the scroll spring 133, the winch 130 runs flexibly under the drive of the transmission shaft 120, that is, it encounters a large During the reaction force, the winch 130 can stop rotating and maintain a proper clamping force on the object.
  • the winch 130 is formed by the winch outer frame 131 and the winch cover plate 132, which can facilitate the installation of the scroll spring 133. At the same time, the winch cover plate 132 can fix the scroll spring 133 in the axial direction to prevent its elastic effect. Under fan.
  • the rack 200 includes a cover plate 210, a pillar 220, and a bottom plate 230.
  • the cover plate 210 has a disc-shaped structure, which is fixedly connected to the motor 110 by a thread, and the bottom plate 230 Opposed to the cover plate 210, the bottom plate 230 is sleeved on the end of the transmission shaft 120, and a bearing 140 is provided between the bottom plate 230 and the transmission shaft 120 It can avoid excessive friction between the bottom plate 230 and the transmission shaft 120, and it is convenient to maintain a rotatable connection between the bottom plate 230 and the transmission shaft 120.
  • the pillar 220 is provided with a cover plate 210 and the bottom plate 230 along the axis direction of the transmission shaft 120. Meanwhile, two ends of the pillar 220 are fixedly connected to the cover plate 210 and the bottom plate 230 respectively, and the place 220 is provided on the side of the winch 130.
  • the flexible finger 300 includes a flexible work post 310 and a rope 320.
  • the flexible work post 310 has an elongated structure and is made of a flexible material.
  • the flexible work post 310 is preferably a silicone tube.
  • the rope 320 is provided along the length of the flexible work post 310. One end of the rope 320 is fixed at the end of the flexible work post 310, and the other end passes through the bottom plate 230, extends to the winch 130, and is fixedly connected to the winch 130.
  • the pillar 220 is provided with a first via hole 221 provided along the radial direction of the winch 130, and the bottom plate 230 is provided with a rope 320 for passing the rope 320 therethrough.
  • the second via (not shown), one end of the rope 320 is fixed to the end of the flexible working column 310, and the other end passes through the second via and the first via 221 in order, and then extends to the winch 130 and connects with the winch.
  • the rope 320 has an L-shaped structure as a whole, which is convenient for effectively transforming the deformation of the rope 320 with the winch 130 into a flexible working column
  • the driving force of 310 is fixedly connected, the axial directions of the first via hole 221 and the second via hole are perpendicular to each other, so that the rope 320 has an L-shaped structure as a whole, which is convenient for effectively transforming the deformation of the rope 320 with the winch 130 into a flexible working column The driving force of 310.
  • the bottom plate 230 is further provided with a conduit 240, and the conduit 240 is provided with a third via coaxial with the second via.
  • One end of the conduit 240 is inserted into the second via and the other end is inserted into the support 220.
  • the lead tube 240 is preferably a polytetrafluoroethylene tube.
  • the rope 320 is preferably a steel wire rope, which has excellent strength and is very suitable as a power transmission member of a mechanical arm.
  • a plurality of circular plates 330 are sleeved on the flexible working column 310 along its length direction, and the rope 320 is sequentially passed through the several circular plates 330, and the arrangement of the circular plates 330 can ensure that the length of the rope 320 is transformed into a pair.
  • the bending force of the flexible working post 310 is preferably, a plurality of circular plates 330 are sleeved on the flexible working column 310 along its length direction, and the rope 320 is sequentially passed through the several circular plates 330, and the arrangement of the circular plates 330 can ensure that the length of the rope 320 is transformed into a pair.
  • the bending force of the flexible working post 310 is sleeved on the flexible working column 310 along its length direction
  • a tension spring 340 is inserted in the flexible working column 310 along the axis direction to increase the rigidity of the flexible working column 310 and ensure the normal operation of the flexible working column 310.
  • the flexible finger 300 includes multiple places, and the winch 130 also includes multiple places.
  • the specific numbers of the flexible fingers 300 and the winch 130 need to be determined according to the specific type of work.
  • the flexible finger 300 The number of winches 130 is equal to the number of flexible fingers 300 distributed on the bottom plate 230 around the circumference of the bottom plate 230.
  • the plurality of winches 130 are sequentially arranged along the axis direction of the transmission shaft 120. Between the plurality of flexible fingers 300 and the plurality of winches 130 The connections are made one-to-one, so that each winch 130 individually drives the corresponding flexible finger 300 to work.
  • the number of flexible fingers 300 is three
  • the number of winches 130 is also corresponding to three
  • the support 220 is also provided correspondingly to three.
  • the pillar 220 is provided with three first via holes 221 in turn, and the three first via holes 221 correspond to the positions of the three winches 130 respectively, which facilitates the modular production of the pillar 220.
  • each flexible finger 300 is connected with two ropes 320, and the two ropes 320 are arranged symmetrically with respect to the axis of the flexible work post 310. Therefore, corresponding to each flexible finger 300, two guide tubes 240 and two The pillar 220 is used to guide the two ropes 320.
  • the preferred installation process of the rope 320 and the winch 130 is: first find the closest point between the extension of the winch 130 and the flexible working column 310, and then determine the point on the winch 130 that passes through this point. The first diameter, and then the second diameter where the vertical line of the first diameter is located according to the first diameter, and the two ropes 320 are fixedly disposed at the two end positions of the second diameter.
  • the motor 110 is preferably a steering gear.
  • the flexible manipulator is moved to the position of the object to be gripped and adjusted.
  • the multi-finger flexible manipulator based on the scroll spring of the present invention has excellent self-adaptive ability.
  • a flexible working column 310 first resists the surface of the object.
  • the motor 110 continues to work.
  • the force between the flexible working post 310 and the object is a flexible force. Only the flexible working post 310 maintains sufficient resistance to the object and waits for another flexible working post 310. Reach the surface of the object to complete the gripping of the object.
  • the entire flexible manipulator requires only one motor control, which is simple in structure and light in weight;

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

Abstract

本发明涉及机器人技术领域，公开了一种基于涡卷弹簧的多指柔性机械手。本发明的基于涡卷弹簧的多指柔性机械手包括驱动装置，所述驱动装置包括电机、于所述电机的输出端固定连接的传动轴、可转动地套设于所述传动轴上的绞盘，所述绞盘内设有涡卷弹簧，所述涡卷弹簧的中心固定设置于所述传动轴上，所述涡卷弹簧的末端与所述绞盘固定连接；柔性手指，所述柔性手指包括柔性工作柱以及带动所述柔性工作柱弯曲的绳索，所述绳索一端固定设置于所述柔性工作柱的末端，另一端固设于所述绞盘上。本发明的基于涡卷弹簧的多指柔性机械手为连续型机器人结构，具有良好的自适应能力，能够实现对不规则物体的抓取。

Description

一种基于涡卷弹簧的多指柔性机械手
技术领域
本发明涉及机器人技术领域，尤其是涉及一种绳驱连续型机器人。
背景技术
随着科学技术的发展，工业生产的效率在逐步提高，人类的生活水平和工作环境都在不断改善，靠人类的体力劳动已经不能满足所需的工业生产，因此人类社会对机器人的需求越来越大。机器人按照连续型可分类为离散型机器人、连续型机器人。
离散型机器人的技术已经比较成熟，在工业机器人领域得到了广泛的应用。离散型机器人由离散的自由度关节和刚性连杆构成，机器人的运动仅在各单自由度关节处产生，通过驱动单自由度关节，因此自由度有限，对非结构环境和工作环境和工作空间受限的环境适应能力较弱，所以为了满足更复杂的工作环境，需要发明一种新型的连续型机器人。
发明内容
为了克服现有技术的不足，本发明提供一种基于涡卷弹簧的多指柔性机械手，其为连续型机器人，结构简单、自适应抓捕能力强、安全性好。
本发明解决其技术问题所采用的技术方案是：提供一种基于涡卷弹簧的多指柔性机械手，包括驱动装置，所述驱动装置包括电机、于所述电机的输出端固定连接的传动轴、可转动地套设于所述传动轴上的绞盘，所述绞盘内设有涡卷弹簧，所述涡卷弹簧的中心固定设置于所述传动轴上，所述涡卷弹簧的外侧与所述绞盘固定连接；柔性手指，所述柔性手指包括柔性工作柱以及带动所述柔性工作柱弯曲的绳索，所述绳索一端固定设置于所述柔性工作柱的末端，另一端固设于所述绞盘上。
作为上述技术方案的进一步改进，还包括支柱，所述支柱相对所述电机固定设置，所述支柱设于所述绞盘的侧面，所述支柱上设有沿所述绞盘的径向方向设置的第一过孔，所述绳索穿过所述第一过孔并延伸至所述绞盘上。
作为上述技术方案的进一步改进，还包括底板，所述底板可转动的套设于所述传动轴上，所述支柱与所述底板固定连接，所述柔性工作柱固定设置于所述底板上。
作为上述技术方案的进一步改进，所述底板上设有供所述绳索穿过的第二过孔。
作为上述技术方案的进一步改进，所述底板上还设有导线管，所述导线管上设有与所述第二过孔同轴线设置的第三过孔。
作为上述技术方案的进一步改进，所述柔性手指包括多处，多处所述柔性手指绕所述底板的圆周方向设置于所述底板上。
作为上述技术方案的进一步改进，所述绞盘的数量与所述柔性手指的数量相等，所述柔性手指的所述绳索与所述绞盘一一对应地连接。
作为上述技术方案的进一步改进，每个所述柔性手指上设有两条所述绳索，两条所述绳索以所述柔性工作柱的轴线对称设置，两条所述绳索分别连接于所述绞盘同一直径上的两端。
作为上述技术方案的进一步改进，所述柔性工作柱内还设有沿其轴线方向设置的拉簧。
作为上述技术方案的进一步改进，还包括盖板，所述盖板与所述电机固定连接，所述盖板、所述底板分别与所述支柱的两端固定连接。
本发明的有益效果是：
本发明的基于涡卷弹簧的多指柔性机械手，包括驱动装置，所述驱动装置包括电机、于所述电机的输出端固定连接的传动轴、可转动地套设于所述传动轴上的绞盘，所述绞盘内设有涡卷弹簧，所述涡卷弹簧的中心固定设置于所述传动轴上，所述涡卷弹簧的外侧与所述绞盘固定连接；柔性手指，所述柔性手指包括柔性工作柱以及带动所述柔性工作柱弯曲的绳索，所述绳索一端固定设置于所述柔性工作柱的末端，另一端固设于所述绞盘上。本发明的基于涡卷弹簧的多指柔性机械手，通过电机运动带动涡卷弹簧工作，涡卷弹簧进一步带动绞盘转动，绳索随绞盘的转动而产生长度差，使柔性手指弯曲进行工作，由于涡卷弹簧的弹性作用，可以实现对不规则物体的抓取，具有优秀的形状适应能力。
附图说明
下面结合附图和实施例对本发明进一步说明。
图1是本发明一个实施例的基于涡卷弹簧的多指柔性机械手的整体结构示意图；
图2是本发明一个实施例中驱动装置的结构示意图；
图3是本发明一个实施例中绞盘的结构示意图；
图4是本发明一个实施例中支架的结构示意图；
图5是本发明一个实施例中柔性手指的结构示意图。
具体实施方式
以下将结合实施例和附图对本发明的构思、具体结构及产生的技术效果进行清楚、完整的描述，以充分地理解本发明的目的、方案和效果。需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。
需要说明的是，如无特殊说明，当某一特征被称为“固定”、“连接”在另一个特征，它可以直接固定、连接在另一个特征上，也可以间接地固定、连接在另一个特征上。此外，本发明中所使用的上、下、左、右、前、后等描述仅仅是相对于附图中本发明各组成部分的相互位置关系来说的。
此外，除非另有定义，本文所使用的所有的技术和科学术语与本技术领域的技术人员通常理解的含义相同。本文说明书中所使用的术语只是为了描述具体的实施例，而不是为了限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的组合。
请参照图1至图5，其中，图1示出了本发明一个实施例的基于涡卷弹簧的多指柔性机械手，图2示出了本发明一个实施例中驱动装置的结构示意图，图3示出了本发明一个实施例中绞盘的结构示意图，图4示出了本发明一个实施例中支架的结构示意图，图5示出了本发明一个实施例中柔性手指的结构示意图。
首先，请参照图1，本发明一个实施例的基于涡卷弹簧的多指柔性机械手包括驱动装置100、机架200以及柔性手指300，驱动装置100用于驱动柔性手指300弯曲实现对物体的夹取，机架200起对机械手上部件的支撑固定的作用。
一下结合图1至图5对该柔性机械手的各个部件结构进行详细说明。
如图2，本发明的驱动装置100包括电机110、传动轴120、绞盘130，传动轴120固设于电机110的输出轴上，绞盘130套设于传动轴120上，且绞盘130可相对传动轴120转动，即传动轴120的转动并不直接带动绞盘130的转动，继续参照图3，绞盘130整体呈中空的圆柱形腔体结构，其通过绞盘外框131和绞盘盖板132连接形成，在绞盘130内固设有涡卷弹簧133，涡卷弹簧133的中心固连于传动轴120上，涡卷弹簧133的末端与绞盘130的内壁固定连接。传动轴120转动带动涡卷弹簧133工作，涡卷弹簧133进一步带动绞盘130转动，由于涡卷弹簧133的弹性特点，在传动轴120的带动下，绞盘130呈柔性的运转，即遇到较大的反作用力时，绞盘130可停止转动，而保持对物体合适的夹持力。
绞盘130通过绞盘外框131与绞盘盖板132安装形成，可以方便涡卷弹簧133的安装，同时，绞盘盖板132可以在轴向方向上对涡卷弹簧133固定，防止其在自身弹力的作用下散开。
如图1、图2与图4，机架200包括盖板210、支柱220、底板230，在本实施例中，盖板210呈圆盘形结构，其与电机110通过螺纹固定连接，底板230与盖板210相对设置，底板230套设于传动轴120的末端，且底板230与传动轴120之间设置有轴承140 ，可以避免底板230与传动轴120之间产生过大的摩擦力，便于底板230与传动轴120之间保持可转动的连接，支柱220沿传动轴120的轴线方向设置盖板210与底板230之间，支柱220的两端分别与盖板210、底板230固定连接，且之处220设于绞盘130的侧面。
如图1与图5，柔性手指300包括柔性工作柱310与绳索320，柔性工作柱310呈长条形结构，且其为柔性材料制得，本实施例中，柔性工作柱310优选为硅胶管310，绳索320沿柔性工作柱310的长度方向设置，其一端固定设置于柔性工作柱310的末端，另一端穿过底板230，延伸至绞盘130上，并与绞盘130固定连接，在绞盘130的转动过程中，绳索320固定于绞盘130一端会随着绞盘130的转动而受拉，使整个绳索320处于受拉状态，从而柔性工作柱310两侧的绳索产生长度差，进而带动柔性工作柱310弯曲并执行夹取动作。
请一并参照图1至图5，在本发明的一个实施例中，支柱220上设有沿绞盘130的径向方向设置的第一过孔221，底板230上设有供绳索320穿过的第二过孔（图中未示出），绳索320一端固定在柔性工作柱310的末端，另一端依次穿过第二过孔、第一过孔221，然后延伸至绞盘130上，并与绞盘130固定连接，第一过孔221、第二过孔的轴线方向相互垂直，从而使绳索320整体呈L形结构，便于有效的将绳索320随绞盘130转动而产生的变形转化为对柔性工作柱310的驱动力。
优选的，底板230上还设有导线管240，导线管240上设有与第二过孔同轴线的第三过孔，导线管240一端***第二过孔中，另一端***支柱220中，以使第三过孔与第一过孔221连通，实现对绳索320的导向作用。其中，本实施例中，导线管240优选为聚四氟乙烯管。
本实施例中，绳索320优选为钢丝绳，其具有优秀的强度，非常适合作为机械臂的动力传动件。
优选的，在柔性工作柱310上、沿其长度方向上套设有若干圆板330，绳索320依次穿过若干圆板330设置，圆板330的设置可以保证将绳索320的长度变形转变为对柔性工作柱310的弯曲力。
硅胶管的刚度较差，因此，本实施例中，在柔性工作柱310的内部、沿其轴线方向***拉簧340，以增加柔性工作柱310的刚度，确保柔性工作柱310的正常工作。
需要特别注意，本发明中，柔性手指300包括多处，绞盘130也包括多处，柔性手指300与绞盘130的具体数量需要根据具体的工种来决定，但是，在优选的方案中，柔性手指300与绞盘130的数量相等，多处柔性手指300绕底板230的圆周方向分布在底板230上，多处绞盘130沿传动轴120的轴线方向依次设置，多处柔性手指300与多处绞盘130之间一一对应的进行连接，使得每个绞盘130单独带动对应的柔性手指300进行工作。
在本发明附图所示意出的实施例中，柔性手指300的数量为3处，绞盘130的数量也对应的为3处，支柱220也对应的设置了3处，其中，在该实施例中，支柱220上依次设置有3处第一过孔221，3处第一过孔221分别对应3处绞盘130的位置，这样便于支柱220模块化生产。
优选的，每一个柔性手指300连接有两条绳索320，两条绳索320以柔性工作柱310的轴线对称设置，因此，对应于每个柔性手指300，分别设置有两个导线管240以及两个支柱220，以便于对两条绳索320的导向，绳索320与绞盘130优选的安装过程为：先找到绞盘130与柔性工作柱310的延长线距离最近的点，然后确定绞盘130上经过该点的第一直径，然后根据第一直径找到第一直径的中垂线所在的第二直径，两条绳索320分别固定设置在第二直径的两个端点位置处，这样，在绞盘130转动时，一条绳索320随绞盘130的转动长度变长，另一条绳索320随绞盘130的转动而长度变短，由于两条绳索320以柔性工作柱310的轴线对称设置，保证了两条绳索320均驱动柔性工作柱310向一个方向进行弯曲。其中，为适应本实施例的结构特点，保证足够的驱动力，电机110优选为舵机。
下面以本发明的附图所示出的实施例详细介绍本发明的基于涡卷弹簧的多指柔性机械手的工作原理：首先，将该柔性机械手移动到需要夹取的物***置处，并调整好柔性机械手的姿态；然后电机110工作，传动轴120、涡卷弹簧133、绞盘130依次在电机110的驱动下转动；然后绳索320在绞盘130的转动下产生长度差，使得柔性工作柱310弯曲，3个柔性工作柱310弯曲后分别抵紧物体的三处表面，形成牢固的夹持力；然后将物体取走。其中，由于涡卷弹簧133的引入，本发明的基于涡卷弹簧的多指柔性机械手具有优秀的自适应能力，当物体表面不规则时，一个柔性工作柱310先抵持物体表面，这时，电机110继续工作，由于涡卷弹簧133的弹性作用，该柔性工作柱310与物体之间的力为柔性力，仅保持柔性工作柱310对物体足够的抵持力，等待另外的柔性工作柱310到达物体表面，来完成对物体的夹取。
本发明的基于涡卷弹簧的多指柔性机械手具有如下优点：
1、整个柔性机械手只需要一个电机控制，结构简单、重量轻；
2、可以实现对不规则物体的抓取，自适应能力强。
以上是对本发明的较佳实施进行的具体说明，但本发明创造并不限于所述实施例，熟悉本领域的技术人员在不违背本发明精神的前提下还可做出种种的等同变形或替换，这些等同的变形或替换均包含在本申请权利要求所限定的范围内。

Claims (10)

  1. 一种基于涡卷弹簧的多指柔性机械手，其特征在于，包括
    驱动装置，所述驱动装置包括电机、于所述电机的输出端固定连接的传动轴、可转动地套设于所述传动轴上的绞盘，所述绞盘内设有涡卷弹簧，所述涡卷弹簧的中心固定设置于所述传动轴上，所述涡卷弹簧的外侧与所述绞盘固定连接；
    柔性手指，所述柔性手指包括柔性工作柱以及带动所述柔性工作柱弯曲的绳索，所述绳索一端固定设置于所述柔性工作柱的末端，另一端固设于所述绞盘上。
  2. 根据权利要求1所述的基于涡卷弹簧的多指柔性机械手，其特征在于，还包括支柱，所述支柱相对所述电机固定设置，所述支柱设于所述绞盘的侧面，所述支柱上设有沿所述绞盘的径向方向设置的第一过孔，所述绳索穿过所述第一过孔并延伸至所述绞盘上。
  3. 根据权利要求2所述的基于涡卷弹簧的多指柔性机械手，其特征在于，还包括底板，所述底板可转动的套设于所述传动轴上，所述支柱与所述底板固定连接，所述柔性工作柱固定设置于所述底板上。
  4. 根据权利要求3所述的基于涡卷弹簧的多指柔性机械手，其特征在于，所述底板上设有供所述绳索穿过的第二过孔。
  5. 根据权利要求4所述的基于涡卷弹簧的多指柔性机械手，其特征在于，所述底板上还设有导线管，所述导线管上设有与所述第二过孔同轴线设置的第三过孔。
  6. 根据权利要求3-5中任一项所述的基于涡卷弹簧的多指柔性机械手，其特征在于，所述柔性手指包括多处，多处所述柔性手指绕所述底板的圆周方向设置于所述底板上。
  7. 根据权利要求6所述的基于涡卷弹簧的多指柔性机械手，其特征在于，所述绞盘的数量与所述柔性手指的数量相等，所述柔性手指的所述绳索与所述绞盘一一对应地连接。
  8. 根据权利要求1所述的基于涡卷弹簧的多指柔性机械手，其特征在于，每个所述柔性手指上设有两条所述绳索，两条所述绳索以所述柔性工作柱的轴线对称设置，两条所述绳索分别连接于所述绞盘同一直径上的两端。
  9. 根据权利要求1所述的基于涡卷弹簧的多指柔性机械手，其特征在于，所述柔性工作柱内还设有沿其轴线方向设置的拉簧。
  10. 根据权利要求1所述的基于涡卷弹簧的多指柔性机械手，其特征在于，还包括盖板，所述盖板与所述电机固定连接，所述盖板、所述底板分别与所述支柱的两端固定连接。
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