CN109176568A - A kind of rigid soft coupling multi-finger clever hand of tendon rope-electromagnetic force joint driving - Google Patents
A kind of rigid soft coupling multi-finger clever hand of tendon rope-electromagnetic force joint driving Download PDFInfo
- Publication number
- CN109176568A CN109176568A CN201811137823.3A CN201811137823A CN109176568A CN 109176568 A CN109176568 A CN 109176568A CN 201811137823 A CN201811137823 A CN 201811137823A CN 109176568 A CN109176568 A CN 109176568A
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- Prior art keywords
- transmission module
- finger
- tendon rope
- mechanical
- electromagnetic force
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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
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- 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
- B25J15/0233—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by chains, cables or ribbons
-
- 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
- B25J15/0246—Gripping heads and other end effectors servo-actuated actuated by an electromagnet
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Prostheses (AREA)
Abstract
本发明涉及一种腱绳‑电磁力联合驱动的刚软耦合多指灵巧手，由四个机械手指部分、机械手掌部分、以及传动模块组成。机械手指部分包括四个大小成比例的连杆单元组成。连杆单元由铁质凸球和两片半弧形电磁凹槽组成，关节之间有限制尺寸确保关节之间的单轴摆动。手掌部分用于连接四个机械手指部分和传动模块。传动模块用于控制各个机械手指部分的舒展和抓取，实现机械爪的传动。本发明相比已有的灵巧手，具有刚软耦合的特点,具有更好的稳定性和抓取力，并且可以适应多种外形具有较大差异的物体，具有很好的适应性和实用性。
The invention relates to a rigid-soft coupled multi-fingered dexterous hand driven by tendon rope-electromagnetic force, which is composed of four mechanical finger parts, a mechanical palm part, and a transmission module. The mechanical finger part consists of four proportional link units. The link unit is composed of iron convex balls and two semi-arc electromagnetic grooves, and there are limited dimensions between the joints to ensure single-axis swing between the joints. The palm part is used to connect the four mechanical finger parts and the transmission module. The transmission module is used to control the stretching and grasping of each mechanical finger part to realize the transmission of the mechanical claw. Compared with the existing dexterous hand, the present invention has the characteristics of rigid-soft coupling, better stability and grasping force, and can adapt to various objects with large differences in shape, and has good adaptability and practicability .
Description
Technical field
The present invention relates to Dextrous Hand field, it is related to automatically grabbing, more particularly, to a kind of tendon rope-electromagnetic force joint driving
Rigid soft coupling multi-finger clever hand, is mainly used for the flexible crawl of the object of a variety of different characteristics.
Background technique
As the hot spot of recent decades, Dextrous Hand carries out the critical component of object pick-and-place operation, research as robot
A large amount of concerns have been obtained, have been had a wide range of applications.Traditional Dextrous Hand generally uses setting for multiple stiffness electromechanics driving joint finger
Meter mode, the flexibility of movement generally require extremely complex control technology and are just able to achieve, and limit its use scope.At present
Based on pneumatic actuation technology, the Novel Flexible Dexterous Hand being made of Pneumatic artificial muscle etc. has movement well
Flexibility has shown advantage in terms of the frangible fragile equal objects of crawl, but this kind of flexible Dextrous Hand often and is not able to satisfy institute
The rigidity requirement needed.
Therefore, to change the Dextrous Hand design status for being at this stage mostly single drive mode, more fingers of just soft coupling are designed
Dextrous Hand increases the type that can grab object as an important demand.
The invention proposes a kind of new driving methods to be compared using the driving method of tendon rope and electromagnetic force joint driving
Existing Dextrous Hand has the characteristics that rigid soft coupling, has better stability and grasp force, and be adapted to various shapes
Object with larger difference has good adaptability and practicability.
Summary of the invention
The purpose of the present invention is to provide a kind of rigid soft coupling multi-finger clever hands of tendon rope-electromagnetic force joint driving, it has
There is simple structure to design, can adapt to more different types of objects, using the drive of tendon rope tension and electromagnetic force joint driving
Flowing mode, grabs high reliablity, and grasp force is big.
In order to achieve the above objectives, the present invention is implemented with the following technical solutions: tendon rope of the invention-electromagnetic force joint driving
Rigid soft coupling multi-finger clever hand be made of three four mechanical finger parts, mechanical palms module and transmission module parts.
Wherein mechanical finger part is made of the proportional simple joint unit of four sizes.
Simple joint unit is made of irony spherical male ball and half arc electromagnetism groove of two panels, between joint restricted size with
Ensure that the single-degree-of-freedom between joint is swung.Wherein every mechanical finger is referred to by the proportional intermediate connecting rod of four sizes and one
Sharp connecting rod composition, every finger have 5 pitch rotation joints, and entire gripper has 20 freedom degrees.
Mechanical palms module is for connecting four mechanical finger parts and transmission module.Transmission module is for controlling each machine
Unfolding and grabbing for tool finger part, realizes the driving of gripper.There is size to limit between connecting rod to ensure that joint can only be single
Freedom degree pitch rotation.There is size to limit between joint to ensure that joint can only single freedom degree pitch rotation.Electromagnetism groove is pressed
The design of electromagnet principle can provide the holding torque of position to joint when energization.
The manipulator is 16 freedom degrees.When fetching instruction arrives, Dextrous Hand is mobile by rear mechanical arm
To being crawled right above object, control diastole transmission module and promptly transmission module carry out envelope and are grabbed object, pre- needed for reaching
It is powered to the recessed joint of electromagnetism after clamp force to reach and fasten, grasping body.Pass through the mobile crawl object of mechanical arm to finger again
Positioning is set.
The present invention has the advantages that
1, novel in design, operation is reliable, portable construction, maintenance easy to disassemble.
2, grab during, Dextrous Hand envelope is good, two kinds of driving methods combine mode grasp force it is big, can adapt to compared with
The object of weight.
3, there are four flexible fingers for tool, adapt to a variety of different objects.
4, may be implemented a variety of grasp modes, working environment it is adaptable.
Detailed description of the invention
Fig. 1 is the overall structure figure of Dextrous Hand of the present invention；
Fig. 2 is the mechanical palms structure chart of apparatus of the present invention；
Fig. 3 is the promptly transmission module structure chart of apparatus of the present invention；
Fig. 4 is the diastole transmission module structure chart of apparatus of the present invention；
Fig. 5 is the finger link mechanism figure of apparatus of the present invention.
Fig. 6 is the finger fingertip part figure of apparatus of the present invention.
Label title in upper figure: 1. mechanical finger part, 101. finger shaft portion, the 10101. convex ball of irony
10102. electromagnetism groove, 10103. cuboid step, 10104. inner aperture, 10105. external aperture, 102. outside tendon rope
103. 104. inside tendon rope 2. of finger fingertip part 10301. outer apertures, 10302. inside aperture, 10303. electromagnetism groove
The convex 202. transmission control module through-hole of ball of 3. drive control part of mechanical palms part, 201. irony and groove 301. are grabbed
Tight 302. diastole control module 30201. of control module firmly grasps control module through hole
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing and case study on implementation,
The present invention will be described in further detail.It should be appreciated that specific implementation case described herein is used only for explaining this hair
It is bright, it is not intended to limit the present invention.
The present invention is mainly made of four mechanical finger parts (1), mechanical palms module (2), transmission module (3) three parts
As shown in Figure 1.Wherein, mechanical finger part (1) is the core of the Dextrous Hand.Mechanical finger part (1) is placed on machinery
In palm module (2), using the folding of transmission module (3) control mechanical finger part, pass through after grabbing specified object
The inside tendon rope (104) of transmission module tenses, and recycling mechanical finger, interarticular electromagnetic force is fixed each other.
Fig. 2 is the mechanical palms structure chart of apparatus of the present invention, and four mechanical fingers are connected by the convex ball of irony (201)
(1), guarantee the sliding of promptly transmission module (301) by intermediate through-hole (202).Mechanical palms are played as coupling part
Effect above and below connection.
Fig. 3 is the transmission module of Dextrous Hand described in 4.Promptly transmission module (301) is using inside tendon rope (102) come chain
The inner aperture (10104) for connecing four simple joint units, controls manipulator by firmly grasping the upward sliding of transmission module (301)
Refer to firmly grasping for (1), transmission module (301) has certain default sliding space, i.e. groove (202) at palm, avoids sliding
It is interfered when dynamic with object；Diastole transmission module (302) links the external aperture of four connecting rods using outside tendon rope (102)
(10105), the diastole of mechanical finger (1) is controlled by the upward sliding of diastole transmission module (302).
Fig. 5 is the included linkage unit in mechanical finger part (101).It is convex by the irony in four groups of finger connecting rods (101)
The cooperation of ball (10101) and electromagnetism groove (10102) utilizes the left and right of cuboid step below the inner side end and convex ball of groove
End face mating surface makes each mechanical finger that can only be pitching movement around the axis of electromagnetism groove, and the circumferential direction of finger is avoided to turn
It is dynamic.
Fig. 6 is mechanical finger part finger tip shaft portion (103).There are two hole slot (10301,10302) for finger tip upper surface
For connecting outer tendon rope (102) and inside tendon rope (104).The fixed position in end as tendon rope, upper surface or so respectively has one
Baltimore groove, it is similar on link mechanism, electromagnetism groove (10303) above are had, the diastole of finger tip and the guarantor of torque may be implemented
It holds.
According to above structure feature it is found that a kind of rigid soft coupling multi-finger clever hand of tendon rope-electromagnetic force joint driving, it has
There is reliable mechanical outline, envelope is good, can adapt to more different types of objects.It is a kind of utilization tendon rope-electromagnetic force
Combine the driving method of driving, grab high reliablity, grasp force is big.There are four flexible fingers for tool, adapt to a variety of different
Object, and a variety of grasp modes may be implemented, working environment it is adaptable.
Claims (5)
1. a kind of tendon rope-electromagnetic force joint driving Arm Flexible Dextrous Hand, it is characterised in that: the present invention is mainly by four machines
Tool finger (1), mechanical palms module (2), transmission module (3) three parts composition.Wherein, mechanical finger (1) is the Dextrous Hand
Core.Mechanical finger (1) is placed on mechanical palms module (2), utilizes transmission module (3) control mechanical finger part
Folding tenses tendon rope (102) on the outside of finger by transmission module and opens gripper, pass through later before grabbing specified object
The tension of the inside tendon rope (104) of transmission module realizes that gripper is pinched and taken to the envelope of object or control finger tip (103), finally sharp again
It is locked with the electromagnetic force in mechanical finger joint to joint.
2. a kind of tendon rope according to claim 1-electromagnetic force joint driving Arm Flexible Dextrous Hand, feature exist
In: the mechanical finger part includes four fingers (101) and a finger tip (103).By the joint on every finger by
(101) the convex ball portion of the irony of connecting rod (10101) and electromagnetism groove (10102) cooperatively form.
3. a kind of tendon rope according to claim 1-electromagnetic force joint driving Arm Flexible Dextrous Hand, feature exist
In: the tendon rope that aperture (10104) on the inside of four connecting rods of finger is promptly tightened through by sliding on transmission module (301) that hand is grabbed
(102) it realizes；What hand was grabbed loosens, and is tightened through four connecting rod outer apertures of finger by cunning on transmission module (302)
(10104) tendon rope is realized.
4. a kind of tendon rope according to claim 1-electromagnetic force joint driving multi-joint Dextrous Hand, it is characterised in that: grab
Tight transmission module (301) links the avris aperture (10104) of four link mechanisms using inside tendon rope (104), by promptly
The upward sliding of transmission module (301) come control mechanical finger part (1) promptly；Diastole transmission module (302) utilizes outside
Tendon rope (102) links the external apertures (10105) of four link mechanisms, passes through the upward sliding of diastole transmission module (302)
To control the diastole of mechanical finger (1).Four mechanical fingers (1) are connected by the convex ball of irony (201), pass through intermediate through-hole
(202) guarantee the sliding of promptly transmission module (301), and diastole transmission module (302) is nested in promptly driving device (301)
On, hollow hole (30201) ensures the normal sliding of promptly transmission module (301).There are two hole slots for finger tip (103) upper surface
(10301,10302) it is used to connect outer tendon rope (102) and inside tendon rope (104), upper surface is similar on link mechanism, with electricity
Magnetic groove (10303), may be implemented the diastole of finger tip and the holding of torque.
5. a kind of tendon rope according to claim 1-electromagnetic force joint driving Arm Flexible Dextrous Hand, feature exist
In: the size of the electromagnetic force between the mechanical finger connecting rod can according to the size of the electric current applied at electromagnetism groove and
It is adjusted, different size of crawl retentivity is used to different objects to realize.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811137823.3A CN109176568B (en) | 2018-09-28 | 2018-09-28 | A rigid-soft coupled multi-fingered dexterous hand driven by tendon and electromagnetic force |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811137823.3A CN109176568B (en) | 2018-09-28 | 2018-09-28 | A rigid-soft coupled multi-fingered dexterous hand driven by tendon and electromagnetic force |
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| Publication Number | Publication Date |
|---|---|
| CN109176568A true CN109176568A (en) | 2019-01-11 |
| CN109176568B CN109176568B (en) | 2021-10-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811137823.3A Active CN109176568B (en) | 2018-09-28 | 2018-09-28 | A rigid-soft coupled multi-fingered dexterous hand driven by tendon and electromagnetic force |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109807924A (en) * | 2019-04-09 | 2019-05-28 | 南京林业大学 | An Adaptive Variable Stiffness Soft Gripper |
| CN110978041A (en) * | 2020-01-03 | 2020-04-10 | 广州大学 | An electromagnet-driven flexible micro-clamping device |
| CN111283713A (en) * | 2020-03-30 | 2020-06-16 | 安徽轶记机械科技有限公司 | Mechanical arm suitable for grabbing parts of various specifications |
| CN111844095A (en) * | 2020-07-24 | 2020-10-30 | 江南大学 | Method and structure for judging the grasping state of a flexible manipulator by obtaining angular displacement by distance measurement |
| CN112248018A (en) * | 2020-10-13 | 2021-01-22 | 武汉轻工大学 | A flexible gripper and manipulator |
| CN112873263A (en) * | 2020-11-24 | 2021-06-01 | 北京邮电大学 | Air cylinder driving type dexterous hand reflection anti-skid control system and method |
| CN113119155A (en) * | 2021-04-06 | 2021-07-16 | 江苏科技大学 | Flexible mechanical gripper and control method thereof |
| CN113183174A (en) * | 2021-05-25 | 2021-07-30 | 北方工业大学 | Soft robot gripper based on magnetic ball reinforced elastomer |
| CN113386160A (en) * | 2021-06-29 | 2021-09-14 | 大连大华中天科技有限公司 | Rigid-flexible coupling under-actuated dexterous hand device |
| CN113731868A (en) * | 2021-08-26 | 2021-12-03 | 天地（常州）自动化股份有限公司 | Pusher dog for sorting gangue and gangue sorting method |
| CN117921640A (en) * | 2024-03-25 | 2024-04-26 | 烟台六好农业科技有限公司 | A robot that adapts to the type of object being gripped |
| CN121179455A (en) * | 2025-11-27 | 2025-12-23 | 天津理工大学 | Bionic smart hand with rigid-soft coupling |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109807924A (en) * | 2019-04-09 | 2019-05-28 | 南京林业大学 | An Adaptive Variable Stiffness Soft Gripper |
| CN110978041A (en) * | 2020-01-03 | 2020-04-10 | 广州大学 | An electromagnet-driven flexible micro-clamping device |
| CN111283713A (en) * | 2020-03-30 | 2020-06-16 | 安徽轶记机械科技有限公司 | Mechanical arm suitable for grabbing parts of various specifications |
| CN111844095B (en) * | 2020-07-24 | 2021-08-03 | 江南大学 | Method and structure for judging the grasping state of a flexible manipulator by obtaining angular displacement by distance measurement |
| CN111844095A (en) * | 2020-07-24 | 2020-10-30 | 江南大学 | Method and structure for judging the grasping state of a flexible manipulator by obtaining angular displacement by distance measurement |
| CN112248018A (en) * | 2020-10-13 | 2021-01-22 | 武汉轻工大学 | A flexible gripper and manipulator |
| CN112873263A (en) * | 2020-11-24 | 2021-06-01 | 北京邮电大学 | Air cylinder driving type dexterous hand reflection anti-skid control system and method |
| CN113119155A (en) * | 2021-04-06 | 2021-07-16 | 江苏科技大学 | Flexible mechanical gripper and control method thereof |
| CN113183174A (en) * | 2021-05-25 | 2021-07-30 | 北方工业大学 | Soft robot gripper based on magnetic ball reinforced elastomer |
| CN113386160A (en) * | 2021-06-29 | 2021-09-14 | 大连大华中天科技有限公司 | Rigid-flexible coupling under-actuated dexterous hand device |
| CN113731868A (en) * | 2021-08-26 | 2021-12-03 | 天地（常州）自动化股份有限公司 | Pusher dog for sorting gangue and gangue sorting method |
| CN113731868B (en) * | 2021-08-26 | 2023-10-24 | 天地（常州）自动化股份有限公司 | Pusher dog for sorting coal gangue and gangue sorting method |
| CN117921640A (en) * | 2024-03-25 | 2024-04-26 | 烟台六好农业科技有限公司 | A robot that adapts to the type of object being gripped |
| CN117921640B (en) * | 2024-03-25 | 2024-06-07 | 烟台六好农业科技有限公司 | Manipulator adaptively adjusted by type of clamping object |
| CN121179455A (en) * | 2025-11-27 | 2025-12-23 | 天津理工大学 | Bionic smart hand with rigid-soft coupling |
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