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WO2020057144A1 - Préhenseur flexible auto-adaptatif basé sur des ressorts de torsion et robot - Google Patents

Préhenseur flexible auto-adaptatif basé sur des ressorts de torsion et robot Download PDF

Info

Publication number
WO2020057144A1
WO2020057144A1 PCT/CN2019/086327 CN2019086327W WO2020057144A1 WO 2020057144 A1 WO2020057144 A1 WO 2020057144A1 CN 2019086327 W CN2019086327 W CN 2019086327W WO 2020057144 A1 WO2020057144 A1 WO 2020057144A1
Authority
WO
WIPO (PCT)
Prior art keywords
bevel gear
flexible
torsion spring
winch
adaptive
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/CN2019/086327
Other languages
English (en)
Chinese (zh)
Inventor
袁晗
陈鑫杰
徐文福
周丽丽
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Harbin Institute of Technology Shenzhen
Original Assignee
Harbin Institute of Technology Shenzhen
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 Harbin Institute of Technology Shenzhen filed Critical Harbin Institute of Technology Shenzhen
Publication of WO2020057144A1 publication Critical patent/WO2020057144A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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
    • B25J15/08—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 continuous robots, in particular to an adaptive flexible hand and a robot based on a torsion spring.
  • Discrete robots are generally composed of 5 to 7 rigid DOF joints connected by rigid rods. They have limited degrees of freedom, are weakly adaptable to non-structural environments, and are unable to perform tasks with complex environments.
  • continuous robots Compared with discrete robots, continuous robots use "invertebrate" flexible structures similar to elephant trunks, without discrete joints and rigid links. They can flexibly change their bending shapes and have a strong ability to adapt to unstructured environments. However, currently there are very few applications of continuous robots, and the technology is relatively immature. Therefore, it is of great significance to design a continuous robot with adaptive ability.
  • the present invention provides an adaptive flexible gripper based on a torsion spring, which adopts a continuous structure, has strong self-adaptive ability, and can adapt to an unstructured environment.
  • the present invention also provides a robot, which includes the above-mentioned torsion spring-based adaptive flexible gripper, which has strong adaptability and adaptability to an unstructured environment.
  • the technical solution adopted by the present invention to solve its technical problem is to provide an adaptive flexible gripper based on a torsion spring, including a driving device, a transmission device, and a flexible finger.
  • the transmission device includes a first bevel gear and a second bevel gear.
  • a torsion spring and a winch shaft the first bevel gear is connected to the driving device, the second bevel gear is meshed with the first bevel gear, and the second bevel gear is sleeved on the bevel gear shaft,
  • One end of the torsion spring is fixedly connected to the bevel gear shaft, and the other end is fixedly connected to the winch shaft.
  • the flexible finger is fixedly provided.
  • a driving rope is provided on the flexible finger, and the driving rope is wound around the winch.
  • a shaft, a free end of the driving rope is provided along a length direction of the flexible finger, and is fixed to an end of the flexible finger.
  • a winch is sleeved on the winch shaft, and a plurality of grooves are provided on the surface of the winch for the drive rope to be embedded.
  • a frame is further included, the frame includes a first fixed plate and a second fixed plate opposite to each other, the driving device is fixed on the first fixed plate, and the flexible finger It is fixed on the second fixing plate, and a bevel gear support plate, a first winch shaft support plate, and a second winch shaft support plate are connected between the first fixing plate and the second fixing plate.
  • a spring is provided between the bevel gear support plate and the first winch shaft support plate, the second bevel gear is provided on a side of the bevel gear support plate away from the torsion spring, and the bevel gear shaft passes through Passes through the bevel gear support plate and is fixedly connected to one end of the torsion spring, the winch is provided between the first winch shaft support plate and the second winch shaft support plate, and one end of the winch shaft passes through It passes through the first winch shaft support plate and is fixedly connected with the torsion spring.
  • the flexible finger includes a flexible column and a plurality of circular plates, one end of the flexible column is fixed on the second fixed plate, and the other end is freely disposed, and a plurality of the circular plates are along the flexible column. It is arranged in the length direction, and the driving rope passes through several of the circular plates in sequence, and is fixedly connected with the free end of the flexible column.
  • a wire conduit is also fixed on the second fixing plate for the driving rope to pass through.
  • the material of the conduit is polytetrafluoroethylene.
  • the material of the flexible column is silica gel.
  • the second bevel gear, the torsion spring, the winch shaft, the flexible finger, and the driving rope include three places, and the second bevel gear is located along the first A bevel gear is uniformly distributed in a circumferential direction, and the flexible fingers are uniformly distributed in a circumferential direction of the second fixing plate.
  • the present invention also provides a robot, including a robot body and the aforementioned adaptive flexible hand based on a torsion spring, and the adaptive flexible hand based on the torsion spring is fixed on the robot body.
  • the adaptive flexible gripper based on the torsion spring of the present invention adopts a continuous structure.
  • the first bevel gear drives the second bevel gear in turn
  • the second bevel gear drives the torsion spring
  • the winch shaft is driven by the torsion spring.
  • the driving rope on the winch shaft drives the flexible fingers to work.
  • the robot of the present invention includes the above-mentioned torsion spring-based adaptive flexible gripper, which has strong self-adaptive ability and can adapt to an unstructured environment.
  • 1 is an adaptive flexible hand based on a torsion spring according to an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of an embodiment of a transmission device according to the present invention.
  • Figure 3 is a side view of Figure 2;
  • FIG. 4 is a schematic structural diagram of an embodiment of a flexible finger according to the present invention.
  • An adaptive flexible gripper based on a torsion spring includes a driving device 100, a transmission device 200, and a flexible finger 300.
  • the driving device 100 is preferably a stepping motor.
  • the transmission device 200 includes a winch shaft 240, a first bevel gear 250, a second bevel gear 260, and a torsion spring 270.
  • the first bevel gear 250 is firmly connected to the output shaft 230 of the stepper motor
  • the second bevel gear 260 is meshed with the first bevel gear 250
  • the second bevel gear 260 is sleeved on the bevel gear shaft 261.
  • the bevel gear shaft 261 and One end of the torsion spring 270 is fixedly connected, and the other end of the torsion spring 270 is fixedly connected to the winch shaft 240.
  • a winch 290 is sleeved on the winch shaft 240.
  • the winch 290 is provided with a plurality of grooves for the driving rope 320 to be embedded.
  • the torsion spring-based adaptive flexible claw of the present invention further includes a frame.
  • the frame includes a first fixing plate 210 and a second fixing plate 280 opposite to each other.
  • the stepping motor is fixed to the first On the fixing plate 210, the flexible finger 300 is fixed on the second fixing plate 280.
  • the torsion spring 270 is provided between the bevel gear support plate 220 and the first winch shaft support plate 221
  • the second bevel gear 260 is provided on the side of the bevel gear support plate 220 away from the torsion spring 260
  • the bevel gear shaft 261 It passes through the bevel gear support plate 220 and is fixedly connected to one end of the torsion spring 260.
  • the winch 290 is disposed between the first winding spiral support plate 221 and the second winding spiral support plate 222.
  • the two ends of the winch shaft 240 are respectively arranged at The first winch shaft support plate 221 and the second winch shaft support plate 222, and one end of the winch shaft 240 passes through the first winch shaft support plate 221 and is fixedly connected to the other end of the torsion spring 270.
  • the flexible finger 300 receives resistance, It is difficult for the winch shaft 240 to continue to rotate. 260 still rotating, the torsion spring 270 so that a certain strain of the two shafts to accommodate a non-torsion spring 270 is connected to rotate synchronously.
  • the flexible finger 300 includes a flexible post 310, a driving rope 320, and a plurality of circular plates 330.
  • the flexible post 310 is preferably a tubular structure made of silicone. One end of the flexible post 310 is fixed on the second fixing plate 280 and the other end. Freely set, during work, the free end of the flexible column 310 is bent under the driving of the driving rope 320 to achieve the function of holding objects.
  • Several circular plates 330 are distributed along the length of the flexible column 310, and several circular plates 330 pass through the shaft. The holes are closely fitted on the flexible column 310.
  • the circular plate 330 is provided with small circular holes through which the driving rope 320 passes.
  • the driving rope 320 is wound on the winch 290, and the free end of the driving rope 320 passes through several circular plates. A circular hole on 330 is fixed at the free end of the flexible column 310.
  • a torque will be generated on the flexible column 310 to cause the flexible finger 300 to bend, thereby realizing the action of grasping an object.
  • a plurality of second bevel gears 260, torsion springs 270, winch shafts 240, winches 290, and flexible fingers 300 are provided in accordance with the above-mentioned structure to meet the requirements of different conditions.
  • the second bevel gear 260, the torsion spring 270, the winch shaft 240, the winch 290, and the flexible finger 300 are preferably three.
  • the three second bevel gears 260 are evenly distributed along the circumferential direction of the first bevel gear 250.
  • the corresponding torsion spring 270, the winch shaft 240, the winch 290, and the flexible finger 300 are sequentially connected, so that three fingers with a uniform distribution in the circumferential direction are used to grasp the object.
  • the present invention also provides a robot including a robot body and the above-mentioned adaptive spring-based adaptive flexible claw, wherein the adaptive spring-based adaptive claw is fixed on the robot body, and the robot adopts a continuous structure. Good adaptability to non-structured environments.

Landscapes

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

Abstract

L'invention se rapporte à un préhenseur flexible auto-adaptatif basé sur des ressorts de torsion et à un robot. Le préhenseur flexible comprend un dispositif d'entraînement (100), un dispositif de transmission (200) et des doigts flexibles (300) ; le dispositif de transmission (200) comprend un premier engrenage conique (250), des seconds engrenages coniques (260), des ressorts de torsion (270) et des arbres de treuil (240) ; le premier engrenage conique (250) est relié au dispositif d'entraînement (100) ; les seconds engrenages coniques (260) viennent en prise avec le premier engrenage conique (250) et les seconds engrenages coniques (260) sont disposés et emmanchés sur des arbres d'engrenage coniques (261) ; deux extrémités des ressorts de torsion (270) sont reliées de manière fixe aux arbres d'engrenage conique (261) et aux arbres de treuil (240), respectivement ; les doigts flexibles (300) sont pourvus de câbles d'entraînement (320) ; et les câbles d'entraînement (320) sont enroulés autour des arbres de treuil (240) et les extrémités libres des câbles d'entraînement (320) sont reliées de manière fixe aux parties d'extrémité des doigts flexibles (300).
PCT/CN2019/086327 2018-09-18 2019-05-10 Préhenseur flexible auto-adaptatif basé sur des ressorts de torsion et robot Ceased WO2020057144A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201811088831.3 2018-09-18
CN201811088831.3A CN109176586B (zh) 2018-09-18 2018-09-18 一种基于扭转弹簧的自适应柔性手爪及机器人

Publications (1)

Publication Number Publication Date
WO2020057144A1 true WO2020057144A1 (fr) 2020-03-26

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/086327 Ceased WO2020057144A1 (fr) 2018-09-18 2019-05-10 Préhenseur flexible auto-adaptatif basé sur des ressorts de torsion et robot

Country Status (2)

Country Link
CN (1) CN109176586B (fr)
WO (1) WO2020057144A1 (fr)

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CN112045406A (zh) * 2020-09-28 2020-12-08 广东惠而浦家电制品有限公司 一种扭簧自动装配机构
CN114012713A (zh) * 2021-11-24 2022-02-08 上海大学 一种连续体机器人驱动组件
CN115256362A (zh) * 2022-07-27 2022-11-01 西南科技大学 一种多级柔性模块化连续体机器人及控制方法
CN115924132A (zh) * 2022-09-29 2023-04-07 北京空间飞行器总体设计部 一种可适应星表起伏附着固定的柔性足趾

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CN109176586B (zh) * 2018-09-18 2021-11-12 哈尔滨工业大学（深圳） 一种基于扭转弹簧的自适应柔性手爪及机器人
CN110465965A (zh) * 2019-08-06 2019-11-19 李泽铭 流体力平衡弹性件阵列自适应机器人手装置
CN111015646A (zh) * 2019-12-25 2020-04-17 中国科学院沈阳自动化研究所 绳驱式欠驱动自适应软体机械手
JP2021159999A (ja) * 2020-03-30 2021-10-11 国立研究開発法人産業技術総合研究所 複数の指を有するロボットハンドの駆動機構
CN112248018A (zh) * 2020-10-13 2021-01-22 武汉轻工大学 一种柔性手爪及机械手
CN112594830A (zh) * 2020-12-18 2021-04-02 北京东方华脉工程设计有限公司 一种室内新风换气除霾系统
CN113154001B (zh) * 2021-02-26 2022-07-05 北京大学 一种基于绳驱动的超输入柔性驱动器
CN113291790B (zh) * 2021-05-25 2022-08-30 武汉理工大学 一种自适应抓取机构
CN113696213B (zh) * 2021-09-18 2022-03-01 安徽理工大学 一种机械手
CN114833861B (zh) * 2022-04-29 2024-05-17 北京科技大学 一种可变手指根部空间线驱软体手

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CN112045406A (zh) * 2020-09-28 2020-12-08 广东惠而浦家电制品有限公司 一种扭簧自动装配机构
CN114012713A (zh) * 2021-11-24 2022-02-08 上海大学 一种连续体机器人驱动组件
CN114012713B (zh) * 2021-11-24 2022-12-27 上海大学 一种连续体机器人驱动组件
CN115256362A (zh) * 2022-07-27 2022-11-01 西南科技大学 一种多级柔性模块化连续体机器人及控制方法
CN115924132A (zh) * 2022-09-29 2023-04-07 北京空间飞行器总体设计部 一种可适应星表起伏附着固定的柔性足趾

Also Published As

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CN109176586A (zh) 2019-01-11

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