WO2021110059A1 - 一种采用绞盘和腱传动的拮抗式驱动装置 - Google Patents

一种采用绞盘和腱传动的拮抗式驱动装置 Download PDF

Info

Publication number
WO2021110059A1
WO2021110059A1 PCT/CN2020/133434 CN2020133434W WO2021110059A1 WO 2021110059 A1 WO2021110059 A1 WO 2021110059A1 CN 2020133434 W CN2020133434 W CN 2020133434W WO 2021110059 A1 WO2021110059 A1 WO 2021110059A1
Authority
WO
WIPO (PCT)
Prior art keywords
tendon
joint
winch
tendon sheath
sheath
Prior art date
Application number
PCT/CN2020/133434
Other languages
English (en)
French (fr)
Inventor
任化龙
Original Assignee
深圳忆海原识科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳忆海原识科技有限公司 filed Critical 深圳忆海原识科技有限公司
Publication of WO2021110059A1 publication Critical patent/WO2021110059A1/zh
Priority to US17/830,972 priority Critical patent/US20220287852A1/en

Links

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
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/583—Hands; Wrist joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control

Definitions

  • the application belongs to the technical field of driving of a bionic dexterous hand, and specifically relates to an antagonistic driving device adopting a winch and a tendon drive.
  • Bionic dexterous hand refers to a manipulator whose hand index, degree of freedom, shape and function are close to that of a human hand. It can manipulate objects flexibly and finely. It is suitable for high-performance prosthetics or used in industrial scenes such as compliant assembly. It can also replace personnel entering pollution, poisoning, Operations in hazardous environments such as radiation and service robots with strong versatility are key components of bionic robots or humanoid robots.
  • the characteristics of the bionic dexterous hand are the small size of the hand and the large number of joints. It needs to achieve greater force transmission in a small space, and often requires independent control of each joint to achieve high flexibility.
  • tendon transmission has the characteristics of being compliant and capable of transmitting greater power to the hip joint, and is widely used in dexterous hand systems with high degrees of freedom.
  • This method transmits the force and motion of the driver in the arm to the hand joints through tendons (using steel wires or flexible ropes), which can effectively balance the contradiction between hand space constraints and the need to transmit greater power; some solutions are also
  • a tendon sheath ie a hose is sheathed on the outer layer of the tendon, so that the tendon can slide axially in the tendon sheath to restrict the tendon's direction and provide protection.
  • linear actuators mainly use pneumatic components (including pneumatic muscles) or hydraulic components, or use rotary motors and screw devices to convert the rotary motion of the motor output shaft into linear motion; solutions for pneumatic components and hydraulic components It is necessary to combine a series of supporting links such as pumps and control valves. The overall volume is large and accompanied by relatively large noise. However, the solution of the rotary motor plus the screw device has a large screw weight and low transmission efficiency; because of the above The reason is that these solutions are not suitable for driving the finger joints of a dexterous hand with a small overall size and a large number of joints.
  • One of the purposes of the embodiments of this application is to provide an antagonistic drive device using winch and tendon transmission, which aims to solve the difficulty of the existing dexterous hand joint drive method to meet the requirements of small overall size, large number of joints, and relatively high transmission force. It is a problem that requires controllable joint stiffness.
  • An antagonistic drive device adopting winch and tendon transmission.
  • the device includes: tendon, No. I rotary drive, No. II rotary drive, No. I winch, No. II winch, tendon sheath guiding element at the joint, and No. I drive.
  • the controlled joint includes a rotating end and a joint seat; the rotating end is hinged with the joint seat so that the controlled joint can rotate;
  • the tendon sheath guiding element at the joint has a tendon sheath installation port through which the tendon can pass;
  • the tendon sheath guiding element at the joint is relatively fixed with the joint seat
  • the tendon sheath guiding element at the No. 1 driver has a tendon sheath installation port through which the tendon can pass;
  • the tendon sheath guiding element at the No. 1 driver is relatively fixed to the stator of the No. 1 rotary driver;
  • the tendon sheath guiding element at the No. II driver has a tendon sheath installation port through which the tendon can pass;
  • the tendon sheath guiding element at the No. II driver is relatively fixed to the stator of the No. II rotary driver;
  • One end of the No. 1 tendon sheath is fixedly connected to the tendon sheath installation port of the tendon sheath guide element at the joint, and the other end is fixedly connected to the tendon sheath installation port of the tendon sheath guide element at the No. 1 driver;
  • One end of the No. II tendon sheath is fixedly connected to the tendon sheath installation port of the tendon sheath guide element at the joint, and the other end is fixedly connected to the tendon sheath installation port of the tendon sheath guide element at the No. II driver;
  • the rotating end is fixedly connected to any point in the middle of the tendon, and the controlled joint is jointly driven by the No. I rotary drive and the No. II rotary drive; wherein the No. I rotary drive is pulled by the No. I winch fixedly connected to its output shaft At one end of the tendon, the No. II rotary driver pulls the other end of the tendon through the No. II winch fixed with its output shaft;
  • the tendon sheath is a flexible tube
  • the controlled joint is a joint of a dexterous hand
  • the dexterous hand refers to a manipulator with at least 3 fingers and a total of at least 6 degrees of freedom.
  • the controlled joint is equipped with a joint angle sensor.
  • the controlled joint is equipped with joint force and torque sensors.
  • one or more tendon tension sensors are installed in the tendon.
  • the No. 1 winch is equipped with a torque sensor to measure the moment of the No. 1 rotary drive output shaft acting on the No. 1 winch.
  • the No. II winch is equipped with a torque sensor to measure the torque applied to the No. II winch by the output shaft of the No. II rotary drive.
  • the position, speed, torque, joint damping and joint stiffness of the controlled joint are controlled by configuring the respective speed and output force of the No. I rotary drive and the No. II rotary drive.
  • Dynamically adjusting the joint damping can make the rotating end of the controlled joint move in a smooth or explosive manner (such as flicking the fingers); dynamically adjusting the joint stiffness of the controlled joint can make it free from interference by external forces or compliantly adapt to external forces.
  • the antagonistic drive device using winch and tendon transmission provided by the embodiments of the present application adopts a pair of rotary drives to pull the tendons through the winches fixedly connected with the respective output shafts, and then drive controlled Joints constitute an antagonistic drive; because the rotary drive can use a small-sized rotary motor, and the winch can be reasonably arranged to make full use of the space in the dexterous hand (especially the forearm), the overall size of the device is small and the weight Lightweight and low noise, it is especially suitable for driving the finger joints of dexterous hands with small overall size and a large number of joints, and can also be used for driving other robot joints.
  • FIG. 1 is a schematic diagram of the overall structure of an antagonistic drive device using winch and tendon transmission provided by an embodiment of the application;
  • Fig. 2 is a schematic diagram of a controlled joint of an antagonistic drive device using a winch and tendon transmission provided by an embodiment of the application.
  • the embodiment of the application discloses an antagonistic drive device using winch and tendon transmission, including: tendon 10, No. I rotary drive, No. II rotary drive, No. I winch 13, and No. II winch 8. , Tendon sheath guiding element 4 at the joint, tendon sheath guiding element 12 at driver I, tendon sheath guiding element 6 at driver II, tendon sheath I 11, tendon sheath II 5, controlled joints;
  • Both the No. I rotary drive and the No. II rotary drive are configured as rotary motors;
  • the controlled joint includes a rotating end 3 and a joint seat (the joint seat has been hidden in Figure 1); the rotating end 3 is hinged with the joint seat so that the controlled joint can rotate;
  • the tendon sheath guiding element 4 at the joint has a tendon sheath installation port through which the tendon 10 can pass;
  • the tendon sheath guiding element 4 at the joint is relatively fixed with the joint seat;
  • the tendon sheath guiding element 12 at the No. 1 driver has a tendon sheath installation port through which the tendon 10 can pass;
  • the tendon sheath guiding element 12 at the No. 1 driver is relatively fixed to the stator of the No. 1 rotary driver;
  • the tendon sheath guiding element 6 at the No. II driver has a tendon sheath installation port through which the tendon 10 can pass;
  • the tendon sheath guiding element 6 at the No. II driver is relatively fixed to the stator of the No. II rotary driver;
  • One end of the No. 1 tendon sheath 11 is fixedly connected to the tendon sheath installation port of the tendon sheath guide element 4 at the joint, and the other end is fixedly connected to the tendon sheath installation port of the tendon sheath guide element 12 at the No. 1 driver;
  • One end of the No. II tendon sheath 5 is fixedly connected to the tendon sheath installation opening of the tendon sheath guiding element 4 at the joint, and the other end is fixedly connected to the tendon sheath installation opening of the tendon sheath guiding element 6 at the No. II driver;
  • the rotating end 3 is fixedly connected to any point in the middle of the tendon 10, and the controlled joint is jointly driven by the No. I rotary drive and the No. II rotary drive; wherein the No. I rotary drive is fixedly connected by the output shaft of the No. I winch 13 Pull one end of the tendon 10, and the No. II rotary driver pulls the other end of the tendon 10 through the No. II winch 8 fixedly connected with its output shaft;
  • No. I tendon sheath 11 and No. II tendon sheath 5 can use hoses such as rubber tube, PVC, spring tube, etc.;
  • the controlled joint is equipped with a joint angle sensor 9;
  • the controlled joint is equipped with a joint force and torque sensor 2; in the embodiment of FIG. 1, the rotating end 3 is fixedly connected to the knuckle 1, and the joint force and torque sensor 2 is installed on the rotating end 3 and the knuckle 1. Of the junction.
  • One or more tendon tension sensors 7 are installed in the tendon 10;
  • the No. I winch 13 is equipped with a torque sensor to measure the moment of the No. I rotary drive output shaft acting on the No. I winch 13;
  • the No. II winch 8 is equipped with a torque sensor to measure the moment of the No. II rotary drive output shaft acting on the No. II winch 8.
  • the controlled joint is an interphalangeal joint, including an interphalangeal joint rotating end 17 and an interphalangeal joint seat 19, which are articulated by an interphalangeal joint flexion shaft 15 ;
  • the interphalangeal joint rotating end 17 has a V-shaped sheave, the middle point of the tendon 10 is fixed to the V-shaped sheave of the interphalangeal joint rotating end 17 through the tendon fixing element 18, and is wound on the V-shaped sheave half a circle;
  • An interphalangeal joint angle sensor 14 and an interphalangeal joint force and torque sensor 16 are installed in the interphalangeal joint.
  • the joint damping of the joint is controlled.
  • the stiffness of the joint can be controlled by dynamically adjusting the traction force on both sides; the dynamic adjustment of the joint damping can make the rotating end 3 of the controlled joint move in a smooth or explosive manner (such as flicking fingers); the joint stiffness of the controlled joint can be dynamically adjusted, It can be free from interference from external forces or adapt to external forces compliantly.
  • the antagonistic drive mechanism adopting tendon transmission provides the basis for joint damping and joint stiffness control of the dexterous hand, so that the dexterous hand can take into account the flexibility of operation and the robustness of anti-interference.

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Transplantation (AREA)
  • Vascular Medicine (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Cardiology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

一种采用绞盘和腱传动的拮抗式驱动装置，采用一对旋转型驱动器分别通过各自输出轴固联的绞盘（8，13）牵拉腱（10），进而驱动受控关节，构成拮抗式驱动，旋转型驱动器采用尺寸较小的旋转型电机，绞盘（8，13）通过合理排布以充分利用灵巧手或机器人机体内的空间，装置整体尺寸小，重量轻，噪音低，适用于整体尺寸小而且关节数量多的灵巧手的关节的驱动，也可用于其它机器人关节的驱动。

Description

一种采用绞盘和腱传动的拮抗式驱动装置
本申请要求于2019年12月02日在中国专利局提交的、申请号为201911214167.7、发明名称为“一种采用绞盘和腱传动的拮抗式驱动装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请属于仿生灵巧手的驱动技术领域，具体涉及一种采用绞盘和腱传动的拮抗式驱动装置。
 背景技术
仿生灵巧手是指手指数、自由度、形状和功能接近人手的机械手，能够灵活精细地操作物体，适合作为高性能假肢，或用于柔顺装配等工业场景，还可以代替人员进入污染、毒害、辐射等危险环境作业，以及应用于通用性较强的服务型机器人，是仿生机器人或人形机器人的关键组成部分。仿生灵巧手的特点是手部尺寸小巧而关节数量多，需要在狭小的空间内实现较大力量的传递，而且往往需要各个关节能够独立控制以达到较高的灵活性。
目前灵巧手大多采用腱传动、齿轮或连杆等传动方式。其中，腱传动具有柔顺、能胯关节传递较大力量等特点，被广泛应用于自由度数量高的灵巧手***。该方式是通过腱（采用钢丝或柔绳）将位于手臂内的驱动器的力与运动传递至手部关节处，能够有效平衡手部空间尺寸约束与需要传递较大力量的矛盾；有的方案还会在腱的外层套上腱鞘（即软管），使腱能够在腱鞘内轴向滑动，用于约束腱的走向以及提供保护。
人的关节由一对肌肉群组形成拮抗式驱动，即当一组肌肉收紧，另一组肌肉释放，对应关节即向一个方向转动，反之亦然。目前一些采用腱传动的灵巧手模拟了这种方式，令每个关节由一对直线型驱动器进行拮抗式驱动，即需要关节向一个方向转动时，其中一个驱动器拉腱，另一个驱动器放腱，反之亦然；直线型驱动器主要采用气动元件（包括气动肌肉）或液压元件，再或者采用旋转型电机加上丝杠装置将电机输出轴的旋转运动转为直线运动；气动元件、液压元件的方案需要结合泵、控制阀等一系列配套环节，整体体积很大而且还伴随有较大的噪声；而旋转型电机加上丝杠装置的方案，其丝杠重量较大，传动效率低；因上述原因，这些方案不适合用于整体尺寸小而且关节数量很多的灵巧手的手指关节的驱动。
 技术问题
本申请实施例的目的之一在于：提供一种采用绞盘和腱传动的拮抗式驱动装置，旨在解决现有灵巧手关节驱动方式难以同时满足整体尺寸小、关节数量较多、要求传动力量较大、需要关节刚度可控的问题。
 技术解决方案
为解决上述技术问题，本申请实施例采用的技术方案是：
一种采用绞盘和腱传动的拮抗式驱动装置，所述装置包括：腱，I号旋转型驱动器，II号旋转型驱动器，I号绞盘，II号绞盘，关节处腱鞘引导元件，I号驱动器处腱鞘引导元件，II号驱动器处腱鞘引导元件，I号腱鞘，II号腱鞘，受控关节；
所述受控关节包括转动端与关节座；转动端与关节座铰接，使受控关节能够转动；
所述关节处腱鞘引导元件具有腱鞘安装口，腱能够从中穿过；
所述关节处腱鞘引导元件与关节座相对固定；
所述I号驱动器处腱鞘引导元件具有腱鞘安装口，腱能够从中穿过；
所述I号驱动器处腱鞘引导元件与I号旋转型驱动器的定子相对固定；
所述II号驱动器处腱鞘引导元件具有腱鞘安装口，腱能够从中穿过；
所述II号驱动器处腱鞘引导元件与II号旋转型驱动器的定子相对固定；
所述I号腱鞘的一端与关节处腱鞘引导元件的腱鞘安装口相固联，另一端与I号驱动器处腱鞘引导元件的腱鞘安装口相固联；
所述II号腱鞘的一端与关节处腱鞘引导元件的腱鞘安装口相固联，另一端与II号驱动器处腱鞘引导元件的腱鞘安装口相固联；
所述转动端与腱的中部任一点固联，受控关节由I号旋转型驱动器和II号旋转型驱动器共同驱动；其中，I号旋转型驱动器通过其输出轴固联的I号绞盘牵拉腱的一端，II号旋转型驱动器通过其输出轴固联的II号绞盘牵拉腱的另一端；
腱在I号腱鞘和II号腱鞘中滑动；
所述腱鞘为软管，所述受控关节为灵巧手的关节，所述灵巧手是指至少有3根手指、总共有至少6个自由度的机械手。
可选地，所述受控关节安装有关节角度传感器。
可选地，所述受控关节安装有关节力和力矩传感器。
可选地，所述腱安装有一至多个腱张力传感器。
可选地，所述I号绞盘安装有力矩传感器，测量I号旋转型驱动器输出轴作用于I号绞盘的力矩。
可选地，所述II号绞盘安装有力矩传感器，测量II号旋转型驱动器输出轴作用于II号绞盘的力矩。
通过配置I号旋转型驱动器和II号旋转型驱动器各自的速度和输出力对受控关节的位置、速度、力矩、关节阻尼和关节刚度进行控制。动态调整关节阻尼可使受控关节的转动端以平滑或者爆发（如弹手指）的方式运动；动态调整受控关节的关节刚度，可使其不受外力干扰，或者柔顺地适应外力。
 有益效果
本申请实施例的有益效果为：本申请实施例提供的一种采用绞盘和腱传动的拮抗式驱动装置采用一对旋转型驱动器分别通过各自输出轴固联的绞盘牵拉腱，进而驱动受控关节，构成拮抗式驱动；由于旋转型驱动器可采用尺寸较小的旋转型电机，而且绞盘可通过合理排布以充分利用灵巧手（尤其是小臂）内的空间，该装置整体尺寸小巧，重量轻，噪音低，特别适用于整体尺寸小而且关节数量很多的灵巧手的手指关节的驱动，也可用于其它机器人关节的驱动。
 附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例或示范性技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例提供的一种采用绞盘和腱传动的拮抗式驱动装置的整体结构示意图；
图2为本申请实施例提供的一种采用绞盘和腱传动的拮抗式驱动装置的受控关节示意图。
 本发明的实施方式
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行详细说明。应当理解，此处所描述的具体实施例仅用以解释本申请，并不用于限定本申请。
为了说明本申请的技术方案，以下结合具体附图及实施例进行详细说明。
参见附图1，本申请实施例公开了一种采用绞盘和腱传动的拮抗式驱动装置，包括：腱10，I号旋转型驱动器，II号旋转型驱动器，I号绞盘13，II号绞盘8，关节处腱鞘引导元件4，I号驱动器处腱鞘引导元件12，II号驱动器处腱鞘引导元件6，I号腱鞘11，II号腱鞘5，受控关节；
所述I号旋转型驱动器和II号旋转型驱动器均配置为旋转型电机；
所述受控关节包括转动端3与关节座（附图1中关节座已隐去）；转动端3与关节座铰接，使受控关节能够转动；
所述关节处腱鞘引导元件4具有腱鞘安装口，腱10能够从中穿过；
所述关节处腱鞘引导元件4与关节座相对固定；
所述I号驱动器处腱鞘引导元件12具有腱鞘安装口，腱10能够从中穿过；
所述I号驱动器处腱鞘引导元件12与I号旋转型驱动器的定子相对固定；
所述II号驱动器处腱鞘引导元件6具有腱鞘安装口，腱10能够从中穿过；
所述II号驱动器处腱鞘引导元件6与II号旋转型驱动器的定子相对固定；
所述I号腱鞘11的一端与关节处腱鞘引导元件4的腱鞘安装口相固联，另一端与I号驱动器处腱鞘引导元件12的腱鞘安装口相固联；
所述II号腱鞘5的一端与关节处腱鞘引导元件4的腱鞘安装口相固联，另一端与II号驱动器处腱鞘引导元件6的腱鞘安装口相固联；
所述转动端3与腱10的中部任一点固联，受控关节由I号旋转型驱动器和II号旋转型驱动器共同驱动；其中，I号旋转型驱动器通过其输出轴固联的I号绞盘13牵拉腱10的一端，II号旋转型驱动器通过其输出轴固联的II号绞盘8牵拉腱10的另一端；
腱10在I号腱鞘11和II号腱鞘5中滑动；
I号腱鞘11和II号腱鞘5可采用橡胶管、PVC、弹簧管等软管；
所述受控关节安装有关节角度传感器9；
所述受控关节安装有关节力和力矩传感器2；在附图1的实施例中，转动端3固联有指节1，并将关节力和力矩传感器2安装在转动端3与指节1的联接处。
所述腱10安装有一至多个腱张力传感器7；
所述I号绞盘13安装有力矩传感器，测量I号旋转型驱动器输出轴作用于I号绞盘13的力矩；
所述II号绞盘8安装有力矩传感器，测量II号旋转型驱动器输出轴作用于II号绞盘8的力矩。
参见附图2，以本申请的一种实施例举例，所述受控关节为一个指间关节，包括指间关节转动端17与指间关节座19，二者通过指间关节屈曲轴15铰接；指间关节转动端17具有V型槽轮，腱10的中部一点通过腱固定元件18固定于指间关节转动端17的V型槽轮，并半周缠绕于V型槽轮；
在所述指间关节中安装有指间关节角度传感器14，指间关节力和力矩传感器16。
参见附图1，因判断受控关节的运动趋势仅需参见I号绞盘13和II号绞盘8的运动，附图1中隐去了I号旋转型驱动器和II号旋转型驱动器；
通过配置I号旋转型驱动器和II号旋转型驱动器各自的速度和输出力对受控关节的位置、速度、力矩、关节阻尼和关节刚度进行控制；
1）当I号旋转型驱动器通过I号绞盘13收紧腱10的上侧部分，同时II号旋转型驱动器通过II号绞盘8释放腱10的下侧部分，受控关节转动端3向上侧旋转；
2）当I号旋转型驱动器通过I号绞盘13释放腱10的上侧部分，同时II号旋转型驱动器通过II号绞盘8收紧腱10的下侧部分，受控关节转动端3向下侧旋转；
当I号旋转型驱动器通过I号绞盘13对腱10的上侧部分施加一定牵引力，同时II号旋转型驱动器通过II号绞盘8对腱10的下侧部分施加一定牵引力，受控关节的关节阻尼和关节刚度可通过动态调整两侧牵引力的大小进行控制；动态调整关节阻尼可使受控关节的转动端3以平滑或者爆发（如弹手指）的方式运动；动态调整受控关节的关节刚度，可使其不受外力干扰，或者柔顺地适应外力。
采用腱传动的拮抗式驱动机构为灵巧手的关节阻尼和关节刚度控制提供了基础，使灵巧手能够兼顾操作的柔顺性和抗干扰的鲁棒性。
以上仅为本申请的可选实施例而已，并不用于限制本申请。对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的权利要求范围之内。

Claims (7)

  1. 一种采用绞盘和腱传动的拮抗式驱动装置，其特征在于，包括：腱，I号旋转型驱动器，II号旋转型驱动器，I号绞盘，II号绞盘，关节处腱鞘引导元件，I号驱动器处腱鞘引导元件，II号驱动器处腱鞘引导元件，I号腱鞘，II号腱鞘，受控关节；
    所述受控关节包括转动端与关节座；转动端与关节座铰接，使受控关节能够转动；
    所述关节处腱鞘引导元件具有腱鞘安装口，腱能够从中穿过；
    所述关节处腱鞘引导元件与关节座相对固定；
    所述I号驱动器处腱鞘引导元件具有腱鞘安装口，腱能够从中穿过；
    所述I号驱动器处腱鞘引导元件与I号旋转型驱动器的定子相对固定；
    所述II号驱动器处腱鞘引导元件具有腱鞘安装口，腱能够从中穿过；
    所述II号驱动器处腱鞘引导元件与II号旋转型驱动器的定子相对固定；
    所述I号腱鞘的一端与关节处腱鞘引导元件的腱鞘安装口相固联，另一端与I号驱动器处腱鞘引导元件的腱鞘安装口相固联；
    所述II号腱鞘的一端与关节处腱鞘引导元件的腱鞘安装口相固联，另一端与II号驱动器处腱鞘引导元件的腱鞘安装口相固联；
    所述转动端与腱的中部任一点固联，受控关节由I号旋转型驱动器和II号旋转型驱动器共同驱动；其中，I号旋转型驱动器通过其输出轴固联的I号绞盘牵拉腱的一端，II号旋转型驱动器通过其输出轴固联的II号绞盘牵拉腱的另一端；
    腱在I号腱鞘和II号腱鞘中滑动，
    所述腱鞘为软管，所述受控关节为灵巧手的关节，所述灵巧手是指至少有3根手指、总共有至少6个自由度的机械手。
  2. 根据权利要求1所述的一种采用绞盘和腱传动的拮抗式驱动装置，其特征在于，所述受控关节安装有关节角度传感器。
  3. 根据权利要求1所述的一种采用绞盘和腱传动的拮抗式驱动装置，其特征在于，所述受控关节安装有关节力和力矩传感器。
  4. 根据权利要求1所述的一种采用绞盘和腱传动的拮抗式驱动装置，其特征在于，所述腱安装有一至多个腱张力传感器。
  5. 根据权利要求1所述的一种采用绞盘和腱传动的拮抗式驱动装置，其特征在于，所述I号绞盘安装有力矩传感器，测量I号旋转型驱动器输出轴作用于I号绞盘的力矩。
  6. 根据权利要求1所述的一种采用绞盘和腱传动的拮抗式驱动装置，其特征在于，所述II号绞盘安装有力矩传感器，测量II号旋转型驱动器输出轴作用于II号绞盘的力矩。
  7. 根据权利要求1所述的一种采用绞盘和腱传动的拮抗式驱动装置，其特征在于，通过配置I号旋转型驱动器和II号旋转型驱动器各自的速度和输出力对受控关节的位置、速度、力矩、关节阻尼和关节刚度进行控制。
PCT/CN2020/133434 2019-12-02 2020-12-02 一种采用绞盘和腱传动的拮抗式驱动装置 WO2021110059A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US17/830,972 US20220287852A1 (en) 2019-12-02 2022-06-02 Antagonistic drive device with capstans and tendon transmission

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201911214167.7 2019-12-02
CN201911214167.7A CN110842968A (zh) 2019-12-02 2019-12-02 一种采用绞盘和腱传动的拮抗式驱动装置

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US17/830,972 Continuation-In-Part US20220287852A1 (en) 2019-12-02 2022-06-02 Antagonistic drive device with capstans and tendon transmission

Publications (1)

Publication Number Publication Date
WO2021110059A1 true WO2021110059A1 (zh) 2021-06-10

Family

ID=69607024

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/133434 WO2021110059A1 (zh) 2019-12-02 2020-12-02 一种采用绞盘和腱传动的拮抗式驱动装置

Country Status (3)

Country Link
US (1) US20220287852A1 (zh)
CN (1) CN110842968A (zh)
WO (1) WO2021110059A1 (zh)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110842968A (zh) * 2019-12-02 2020-02-28 深圳忆海原识科技有限公司 一种采用绞盘和腱传动的拮抗式驱动装置
CN113232013A (zh) * 2021-04-16 2021-08-10 佛山纽欣肯智能科技有限公司 一种具有多绳驱单元的机械手***
CN114952929A (zh) * 2022-06-17 2022-08-30 深圳忆海原识科技有限公司 一种腱传动结构

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2560102A1 (fr) * 1984-02-28 1985-08-30 Exameca Monedi Dispositifs contractiles generant des mouvements mecaniques ou robotiques pour manipulation ou locomotion et membres robots actionnes par ces dispositifs
WO2012049623A1 (en) * 2010-10-11 2012-04-19 Ecole Polytechnique Federale De Lausanne (Epfl) Mechanical manipulator for surgical instruments
GB2496335A (en) * 2009-07-22 2013-05-08 Shadow Robot Company Ltd Finger digit for robotic hand
CN108785010A (zh) * 2017-04-28 2018-11-13 新加坡国立大学 具有柔顺性和分段驱动功能的手外骨骼装置
CN109834725A (zh) * 2017-11-27 2019-06-04 斯寇司株式会社 手指机构、机器人手和机器人手控制方法
CN110271020A (zh) * 2019-05-29 2019-09-24 浙江大学 仿生机械运动学优化方法
CN110325139A (zh) * 2016-10-04 2019-10-11 Ip2Ipo创新有限公司 用于机器人手术器械的联接件
CN110842968A (zh) * 2019-12-02 2020-02-28 深圳忆海原识科技有限公司 一种采用绞盘和腱传动的拮抗式驱动装置

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5488610B2 (ja) * 2009-11-12 2014-05-14 株式会社安川電機 ロボット
EP2914197B1 (en) * 2012-11-02 2020-12-09 Intuitive Surgical Operations, Inc. Self-antagonistic drive for medical instruments
CN103029135B (zh) * 2012-12-13 2015-08-26 东北大学 一种仿肌肉驱动的机器人关节
JP6153484B2 (ja) * 2014-02-24 2017-06-28 オリンパス株式会社 ワイヤ駆動装置およびマニピュレータ
GB2551676B (en) * 2015-04-06 2018-07-18 Ekso Bionics Inc Exoskeleton cord loop-type actuator
CN109895079B (zh) * 2019-04-22 2022-03-04 哈尔滨工业大学（威海） 一种全自由度连续体机械臂

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2560102A1 (fr) * 1984-02-28 1985-08-30 Exameca Monedi Dispositifs contractiles generant des mouvements mecaniques ou robotiques pour manipulation ou locomotion et membres robots actionnes par ces dispositifs
GB2496335A (en) * 2009-07-22 2013-05-08 Shadow Robot Company Ltd Finger digit for robotic hand
WO2012049623A1 (en) * 2010-10-11 2012-04-19 Ecole Polytechnique Federale De Lausanne (Epfl) Mechanical manipulator for surgical instruments
CN110325139A (zh) * 2016-10-04 2019-10-11 Ip2Ipo创新有限公司 用于机器人手术器械的联接件
CN108785010A (zh) * 2017-04-28 2018-11-13 新加坡国立大学 具有柔顺性和分段驱动功能的手外骨骼装置
CN109834725A (zh) * 2017-11-27 2019-06-04 斯寇司株式会社 手指机构、机器人手和机器人手控制方法
CN110271020A (zh) * 2019-05-29 2019-09-24 浙江大学 仿生机械运动学优化方法
CN110842968A (zh) * 2019-12-02 2020-02-28 深圳忆海原识科技有限公司 一种采用绞盘和腱传动的拮抗式驱动装置

Also Published As

Publication number Publication date
CN110842968A (zh) 2020-02-28
US20220287852A1 (en) 2022-09-15

Similar Documents

Publication Publication Date Title
WO2021110059A1 (zh) 一种采用绞盘和腱传动的拮抗式驱动装置
CN110315511B (zh) 一种采用被动弹簧张紧的索驱动并联分拣机器人
CN101508115B (zh) 变序欠驱动两关节机器人手指装置
CN111098320B (zh) 一种12自由度五指机械手
CN107309887B (zh) 一种耦合与自适应的欠驱动仿生灵巧手指
JP5503702B2 (ja) シリアルロボットのための低ストローク作動
CN108724163B (zh) 一种气动肌肉驱动的七自由度仿人机械臂
CN202241307U (zh) 连杆滑块式欠驱动仿生机器人手装置
CN113799162B (zh) 面向异形物体的机器人抓取手爪
CN108544518B (zh) 一种主动双模式绳驱动五指灵巧机械手
WO2015063524A1 (en) Twisted cord actuating system for robotic arm
CN86102562A (zh) 自适应通用柔性机械手机构
EP2286115B1 (en) High torque limited angle compact and lightweight actuator
WO2023207344A1 (zh) 机械臂及机器人
CN113288530A (zh) 一种全耦合假肢手臂
KR20210113504A (ko) 착용식 근력 보조 장치에 적용되는 중력 보상 장치
CN214818580U (zh) 一种分体式模块化七自由度绳驱动仿人臂
CN108274483A (zh) 一种单驱动形状自适应机械手指
CN113172618A (zh) 一种模块化七自由度绳驱动仿人臂
CN105798947A (zh) 可重构的绳驱动串联解耦机械臂关节及其工作方法
CN112809721A (zh) 一种基于非均匀弹性体构型的柔索牵引欠驱动仿人手
WO2019156362A1 (ko) 동력전달장치
CN211729238U (zh) 一种机器人仿人灵巧手手指的基关节
CN113043260B (zh) 一种可解耦的绳驱动机械臂
KR20190062016A (ko) 하이브리드 구동을 위한 줄 꼬임 구동기

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20895129

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 11/11/2022)

122 Ep: pct application non-entry in european phase

Ref document number: 20895129

Country of ref document: EP

Kind code of ref document: A1