An underactuated bionic manipulator

Abstract

The application provides an underactuated bionic manipulator for clamping workpieces in a welding process, comprising a palm and three fingers installed on the palm, wherein the three fingers are identical in structure, are a thumb installed on the middle of the long side of one side of the palm, and are a middle finger and an index finger installed on the long side of the other side of the palm, and the thumb, the middle finger and the index finger are distributed on the palm in an isosceles triangle shape, each finger is divided into four sections, namely a palm connecting joint connected with the palm, a finger root joint hinged with the palm connecting section, a middle finger joint hinged with the finger root joint, and a fingertip joint hinged with the middle finger joint, and the finger root joint and the middle finger joint are both in the structure of the root bone of an artiodactyla animal. The underactuated bionic manipulator has the advantages of simple structure, reliable clamping, good enveloping property and self-adaptability to target objects, and greatly improved robustness.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of underactuated bionic robot, and particularly relates to an underactuated bionic robot hand. BACKGROUND

[0002] At present, most of the researches on underactuated robot hand focus on the de-actuated mode of rope or tendon, and there is no more thinking on the practicability of the structure from the bionic angle.

[0003] The welding technology is needed for the maintenance and assembly of outer space facilities, and a sharp welding burr is often left after welding in the microgravity environment of space. When the astronaut grips the welded object, the burr can possibly pierce the spacesuit, and the life safety of the astronaut will be threatened. Therefore, a device capable of solving the above problems is needed. SUMMARY

[0004] The present application is to solve the above problems, and aims to provide an underactuated bionic robot hand.

[0005] The present application provides an underactuated bionic robot hand for gripping workpieces in the welding process, which has the following characteristics: a palm and three fingers mounted on the palm, wherein the three fingers have the same structure, and are respectively a thumb mounted on the middle position of the long side of one side of the palm, and a middle finger and an index finger mounted on the long side of the other side of the palm, and the thumb, the middle finger and the index finger are distributed in an isosceles triangle shape on the palm, each finger is divided into four sections, which are respectively a palm connecting joint connected with the palm, a finger root joint hinged with the palm connecting joint, a middle finger joint hinged with the finger root joint, and a fingertip joint hinged with the middle finger joint, and the finger root joint and the middle finger joint are both in the structure of the root bone of an odd-toed ungulate.

[0006] In the underactuated bionic robot hand provided by the present application, the middle finger joint can also have a fingertip joint hinge point, a finger root joint hinge point and a connecting rod hinge point, and the included angle between the line connecting the fingertip joint hinge point and the finger root joint hinge point and the line connecting the finger root joint hinge point and the connecting rod hinge point is 40°.

[0007] In the underactuated bionic robot hand provided by the present application, the middle finger joint can also have a fingertip joint hinge point, a finger root joint hinge point and a connecting rod hinge point, and the included angle between the line connecting the fingertip joint hinge point and the finger root joint hinge point and the line connecting the finger root joint hinge point and the connecting rod hinge point is 40°.

[0008] In the underactuated bionic robot hand provided by the present application, the middle finger joint can also have a fingertip joint hinge point, a finger root joint hinge point and a connecting rod hinge point, and the included angle between the line connecting the fingertip joint hinge point and the finger root joint hinge point and the line connecting the finger root joint hinge point and the connecting rod hinge point is 40°.

[0009] In the underactuated bionic manipulator provided by the application, the first connecting rod and the two second connecting rods are provided with two fourth connecting rods and a fifth connecting rod, one end of the two fourth connecting rods is hingedly connected to the two outer sides of the middle position of the first connecting rod, the other end is hingedly connected to the connection between the proximal interphalangeal joint and the two second connecting rods, one end of the fifth connecting rod is hingedly connected to the top end of the first connecting rod, the other end is hingedly connected to the top end of the two second connecting rods, and the fifth connecting rod is a linear spring.

[0010] In the underactuated bionic manipulator provided by the application, the two second connecting rods and the two third connecting rods are provided with two sixth connecting rods and a seventh connecting rod, one end of the two sixth connecting rods is hingedly connected to the one fourth position of the second connecting rod, the other end is hingedly connected to the connection between the middle interphalangeal joint and the two third connecting rods, one end of the seventh connecting rod is hingedly connected to the top end of the second connecting rod, the other end is hingedly connected to the top end of the two third connecting rods, and the seventh connecting rod is a linear spring.

[0011] In the underactuated bionic manipulator provided by the application, the third connecting rod and the fingertip joint are provided with an eighth connecting rod, one end of the eighth connecting rod is hingedly connected to the top end of the two third connecting rods, the other end is hingedly connected to the fingertip joint, and the eighth connecting rod is a linear spring.

[0012] Effects and advantages of the application

[0013] According to the underactuated bionic manipulator provided by the application, because the three fingers are distributed in the shape of an isosceles triangle, the balance of the gripping force is ensured; because each finger has four joints, rotation can be performed; because the proximal interphalangeal joint and the middle interphalangeal joint are both of the ungulate bone structure, stable and effective gripping force can be achieved.

[0014] Therefore, the underactuated bionic manipulator provided by the application has the advantages of simple structure, reliable gripping, good enveloping property and self-adaptability for target objects, and greatly improved robustness. In addition, the workpiece can be stably enveloped when welding the workpiece, and the danger of the welding burr piercing the spacesuit when the astronaut is welding can be avoided, thereby improving the safety guarantee of the astronaut during the welding process. In addition, the gloves can be protected when operating in extreme ground environments. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is a perspective view of the underactuated bionic manipulator in the embodiment of the application;

[0016] Figure 2 is a schematic diagram of the fingers of the underactuated bionic manipulator in the embodiment of the application;

[0017] Figure 3 is a schematic diagram of a finger of the underactuated bionic manipulator of the embodiment of the present application;

[0018] Figure 4 is a schematic diagram of a finger of the underactuated bionic manipulator of the embodiment of the present application;

[0019] Figure 5 is a schematic diagram of a finger of the underactuated bionic manipulator of the embodiment of the present application;

[0020] Figure 6 is a schematic diagram of a finger of the underactuated bionic manipulator of the embodiment of the present application;

[0021] Figure 7 is a schematic diagram of a finger of the underactuated bionic manipulator of the embodiment of the present application;

[0022] Figure 8 is a schematic diagram of a finger of the underactuated bionic manipulator of the embodiment of the present application. DETAILED DESCRIPTION

[0023] In order to make the technical means and effects of the present application easy to understand, the present application is specifically described below in combination with embodiments and drawings.

[0024] Embodiment:

[0025] Figure 1 is a schematic diagram of a finger of the underactuated bionic manipulator of the embodiment of the present application.

[0026] As shown in Figure 1 , the underactuated bionic manipulator 100 of the embodiment is used for grabbing workpieces in a welding process, and comprises a palm 1 and three fingers installed on the palm 1.

[0027] Figure 2 is a schematic diagram of a finger of the underactuated bionic manipulator of the embodiment of the present application.

[0028] As shown in Figure 1 and Figure 2 , the three fingers have the same structure, and are respectively a thumb 2 installed at the middle position of the long side of one side of the palm 1 and a middle finger 3 and an index finger 4 installed on the long side of the other side of the palm 1, and the thumb 2, the middle finger 3 and the index finger 4 are distributed in an isosceles triangle shape on the palm 1.

[0029] Figure 3 is a schematic diagram of a finger of the underactuated bionic manipulator of the embodiment of the present application, Figure 4 is a schematic diagram of a finger of the underactuated bionic manipulator of the embodiment of the present application, Figure 4Each small circle represents a hinged point.

[0030] As shown in Figure 3 As shown in Figure 4 Each finger is divided into four sections, i.e. a palm connecting joint 5 connected with the palm 1, a root joint 6 hinged with the palm connecting joint 5, a middle joint 7 hinged with the root joint 6, and a fingertip joint 8 hinged with the middle joint 7.

[0031] Figure 5 is a schematic diagram of the root joint of the under-actuated bionic manipulator in the embodiment of the present application

[0032] As shown in Figure 5 The root joint 6 is in the form of a root bone structure of an even-toed animal, and has a middle joint hinged point 601, a palm connecting joint hinged point 602, and a connecting rod hinged point 603. The angle between the line connecting the middle joint hinged point 601 and the palm connecting joint hinged point 602 and the line connecting the palm connecting joint hinged point 602 and the connecting rod hinged point 603 is 60°.

[0033] Figure 6 is a schematic diagram of the middle joint of the under-actuated bionic manipulator in the embodiment of the present application.

[0034] As shown in Figure 6 The middle joint 7 is in the form of a root bone structure of an even-toed animal, and has a fingertip joint hinged point 701, a root joint hinged point 702, and a connecting rod hinged point 703. The angle between the line connecting the fingertip joint hinged point 701 and the root joint hinged point 702 and the line connecting the root joint hinged point 702 and the connecting rod hinged point 703 is 40°.

[0035] In addition, the fingertip joint 8, the middle joint 7, and the root joint 6 each have one degree of rotational freedom, which not only satisfies the enveloping requirement of the manipulator for grasping workpieces, but also reduces the structural complexity of the bionic manipulator.

[0036] In the embodiment, the palm connecting joint 5 is hinged with a first connecting rod 9, the root joint 6 is hinged with two second connecting rods 10, and the middle joint 7 is hinged with two third connecting rods 11.

[0037] Further, the first connecting rod 9 and the two second connecting rods 10 are provided with two fourth connecting rods 12 and a fifth connecting rod 13. One end of each of the two fourth connecting rods 12 is hinged to the middle position of the first connecting rod 9 on the outer side, and the other end is hinged to the connection between the root joint 6 and the two second connecting rods 10. One end of the fifth connecting rod 13 is hinged to the top end of the first connecting rod 9, and the other end is hinged to the top end of the two second connecting rods 10. The fifth connecting rod 13 is a linear spring.

[0038] Further, two sixth connecting rods 14 and a seventh connecting rod 15 are arranged between the two second connecting rods 10 and the two third connecting rods 11, one end of each of the two sixth connecting rods 14 is hingedly connected to the second connecting rod 10 at a position one fourth from the bottom, and the other end is hingedly connected to the connection between the middle finger joint 7 and the two third connecting rods 11, one end of the seventh connecting rod 15 is hingedly connected to the top end of the second connecting rod 7, and the other end is hingedly connected to the top end of the two third connecting rods 11, and the seventh connecting rod 15 is a linear spring.

[0039] Further, an eighth connecting rod 16 is arranged between the third connecting rod 11 and the fingertip joint 8, one end of the eighth connecting rod 16 is hingedly connected to the top end of the two third connecting rods 11, and the other end is hingedly connected to the fingertip joint 8, and the eighth connecting rod 16 is a linear spring.

[0040] Figure 7 is a schematic diagram of the enveloping process of the underactuated bionic manipulator in the embodiment of the present application for gripping a cylindrical workpiece, Figure 8 is a schematic diagram of the enveloping process of the underactuated bionic manipulator in the embodiment of the present application for gripping a plate-shaped workpiece.

[0041] In addition, in the embodiment, each connecting rod is driven by a motor, when it is needed to grasp a workpiece, the motor is turned on to drive each connecting rod to work, and then the connecting rod drives the fingers to move, so as to grasp the workpiece. Figure 7 and Figure 8 As shown in the figures, when different shapes of workpieces are grasped, each joint of the three fingers rotates at different angles to stably grasp the workpiece. Meanwhile, in order to improve the shape adaptability of the fingers to the grasped object, the fifth connecting rod 13, the seventh connecting rod 15 and the eighth connecting rod 16 are all linear springs, so that the overall structure is simple, rigid, and has strong enveloping property and adaptability to the grasped object.

[0042] Effects of the embodiment

[0043] According to the underactuated bionic manipulator related to the embodiment, because the three fingers are distributed in an isosceles triangle shape, the balance of the gripping force is ensured, because each finger has four joints, rotation can be performed, and because the root joints and the middle joints are of the ungulate bone structure, stable and effective gripping force can be achieved.

[0044] According to the underactuated bionic manipulator related to the embodiment, because the connecting rods are hingedly connected, and the connecting rods and the joints are also hingedly connected, flexible rotation can be achieved, because the fifth connecting rod, the seventh connecting rod and the eighth connecting rod are all linear springs, the rigidity is good, and the flexible link greatly improves the enveloping property, adaptability and robustness of the underactuated bionic manipulator.

[0045] Therefore, the under-actuated bionic manipulator of the embodiment has simple structure, reliable grabbing, good enveloping property and self-adaptability to the target object, and greatly improves the robustness. In addition, the bionic manipulator can stably envelop the workpiece when welding the workpiece, and can avoid the danger that the welding burr pierces the spacesuit when the astronaut performs the welding work, thereby improving the safety guarantee of the astronaut in the welding process. In addition, the bionic manipulator can also protect the gloves when operating in the extreme environment on the ground.

[0046] The above embodiment is a preferred case of the present application and does not limit the protection scope of the present application.

Claims

1. An underactuated bionic manipulator for gripping workpieces during welding, characterized in that, include: The palm and the three fingers mounted on the palm. The three fingers described herein have the same structure: the thumb, located in the middle of the long side of one side of the palm, and the middle and index fingers, located on the long side of the other side of the palm. The thumb, middle finger, and index finger are arranged in an isosceles triangle on the palm. Each finger is divided into four segments: a palmar joint connecting to the palm, a phalangeal joint hinged to the palmar joint, a middle phalangeal joint hinged to the phalangeal joint, and a fingertip joint hinged to the middle phalangeal joint. The finger root joint is modeled after the root bone structure of even-toed ungulates, and has a fingertip joint hinge point, a finger root joint hinge point, and a connecting rod hinge point. The angle between the line connecting the finger middle joint hinge point and the palm connecting joint hinge point and the line connecting the palm connecting joint hinge point and the connecting rod hinge point is 60°. The finger joint is modeled after the radicular bone structure of even-toed ungulates, and has a fingertip joint hinge point, a finger root joint hinge point, and a connecting rod hinge point. The angle between the line connecting the fingertip joint hinge point and the finger root joint hinge point and the line connecting the finger root joint hinge point and the connecting rod hinge point is 40°. A first link is hinged to the palm joint, two second links are hinged to the finger root joint, and two third links are hinged to the finger middle joint.

2. The underactuated bionic manipulator according to claim 1, characterized in that: wherein Two fourth links and one fifth link are provided between the first link and the two second links. One end of each of the two fourth connecting rods is hinged to the two outer sides of the middle position of the first connecting rod, and the other end is hinged to the connection between the finger root joint and the two second connecting rods. One end of the fifth link is hinged to the top of the first link, and the other end is hinged to the tops of the two second links. The fifth link is a linear spring.

3. The underactuated bionic manipulator according to claim 1, characterized in that: in, Two sixth links and one seventh link are provided between the two second links and the two third links. One end of each of the two sixth links is hinged to a quarter-length of the second link, and the other end is hinged to the connection between the middle finger joint and the two third links. One end of the seventh link is hinged to the top of the second link, and the other end is hinged to the tops of the two third links. The seventh link is a linear spring.

4. The underactuated bionic manipulator according to claim 1, characterized in that: in, An eighth link is provided between the third link and the fingertip joint. One end of the eighth link is hinged to the top of the two third links, and the other end is hinged to the fingertip joint. The eighth link is a linear spring.

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