A tendon automatic tensioning device with force feedback for a dexterous hand and a method of using the same

Abstract

The application provides a tendon automatic tensioning device with force feedback for a dexterous hand and a use method thereof, which comprises a mounting base, a spring seat and a wheel seat, the spring seat is fixed on the mounting base, the wheel seat is slidingly arranged in the spring seat, a tensioning wheel is rotatably arranged on the wheel seat, a return spring is arranged in the spring seat, the return spring is arranged between the wheel seat and the mounting base, and a pressure sensor is arranged between the return spring and the mounting base. The automatic return of the return spring can automatically tension the tendon arranged on the tensioning wheel when the tendon is lengthened, the manual tensioning after the original tendon is lengthened is avoided, the force data of the tendon are fed back through the pressure sensor at the tail of the return spring, and the operation precision and reliability of the hand of the robot are obviously improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a tendon automatic tensioning device with force feedback for a dexterous hand and a use method thereof. BACKGROUND

[0002] The dexterous hand is one of the important structures of a humanoid robot. The dexterous hand adopts a tendon driving scheme, which has strong flexibility and high adaptability and simulates the tendon movement of a human hand. The bending and stretching of fingers are realized by driving the tendon with a power source steering engine, so as to realize the functions of grasping and simulating a human hand of the dexterous hand.

[0003] This design is widely used in the field of mechanical hands due to its flexibility and high adaptability. However, the length of the tendon increases due to the release of the fixed gap itself, plastic deformation caused by a large external force and the like in the long-term use process, and needs to be tensioned regularly. However, the tensioning process is highly professional, and the dexterous hand has no force feedback function in the use process, and cannot feedback the grasping force of the fingers in each grasping state. SUMMARY

[0004] The present application aims to provide a tendon automatic tensioning device with force feedback for a dexterous hand and a use method thereof, which can automatically tension the tendon on the tensioning wheel and improve the operation accuracy and reliability of the hand of the robot by feeding back the force data of the tendon.

[0005] According to one object of the present application, the present application provides a tendon automatic tensioning device with force feedback for a dexterous hand, which comprises a mounting base, a spring seat and a wheel seat. The spring seat is fixed on the mounting base, the wheel seat is slidingly arranged in the spring seat, a tensioning wheel is rotatably arranged on the wheel seat, a return spring is arranged in the spring seat, the return spring is arranged between the wheel seat and the mounting base, and a pressure sensor is arranged between the return spring and the mounting base.

[0006] Further, a limiting groove is arranged on the spring seat, and the wheel seat is slidingly arranged in the spring seat through a limiting shaft.

[0007] Further, the tensioning wheel is rotatably arranged on the wheel seat through a rotating shaft.

[0008] Further, a bearing is arranged between the tensioning wheel and the rotating shaft.

[0009] Further, the return spring is a disc spring.

[0010] Further, a plurality of groups of the disc springs are arranged in the spring seat.

[0011] Further, a gasket is arranged between the return spring and the pressure sensor.

[0012] Further, the tendon is arranged in the inclined groove of the tensioning wheel.

[0013] According to another object of the present application, the present application provides a method for using the tendon automatic tensioning device with force feedback for the dexterous hand, comprising the following steps:

[0014] When the tendon is in the initial state, the length of the tendon is adjusted, the wheel seat is arranged at the bottom of the spring seat, and the reset spring is compressed; when the length of the tendon is increased, the reset spring is reset, the wheel seat is pushed out from the inside of the spring seat, the wheel seat drives the tensioning wheel to be pushed out, so that the tendon arranged on the tensioning wheel is automatically tensioned;

[0015] When the tendon is tensioned, the force is transmitted to the wheel seat through the angle between the tendon and the tensioning wheel, so that the reset spring is compressed, and the reset spring transmits the force to the pressure sensor arranged at the tail of the reset spring after being compressed, and the pressure sensor feeds back the measured data.

[0016] Further, according to the angle relationship between the tendon and the tensioning wheel, the tension of the tendon is calculated; the tension on the same tendon is consistent, and the force acting on the fingertips at this time is calculated through the mechanical relationship on the robotic finger.

[0017] The technical scheme of the present application can automatically reset the reset spring when the length of the tendon is increased, so that the tendon arranged on the tensioning wheel is automatically tensioned, the manual tensioning after the original tendon is elongated is avoided, and the force data of the tendon is fed back through the pressure sensor at the tail of the reset spring, which has a significant influence on improving the operation accuracy and reliability of the robotic hand. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the specific embodiments of the present application or the technical scheme in the prior art, the drawings needed in the following specific embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creating labor.

[0019] Figure 1 It is a structural schematic diagram of the embodiment of the present application.

[0020] Figure 2 It is a structural schematic diagram of the embodiment of the present application.

[0021] In the figure: 1, mounting base; 2, spring seat; 3, wheel seat; 4, tensioning wheel; 5, rotating shaft; 6, disc spring; 7, gasket; 8, pressure sensor; 9, limiting shaft; 10, tendon; 11, bearing. DETAILED DESCRIPTION

[0022] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0024] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. Furthermore, the terms "installed," "connected," and "linked" should be interpreted broadly; for example, they may refer to a fixed connection, a detachable connection, or an integral connection; they may refer to a mechanical connection or an electrical connection; they may refer to a direct connection or an indirect connection through an intermediate medium; and they may refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0025] Example 1

[0026] like Figure 1 and Figure 2 As shown,

[0027] A dexterous hand-operated automatic tendon cable tensioning device with force feedback includes a mounting base 1, a spring seat 2, and a wheel seat 3, wherein:

[0028] Spring seat 2 is mounted on mounting base 1, wheel seat 3 is mounted inside spring seat 2 via limiting shaft 9, wheel seat 3 moves within the limited range of spring seat 2 via limiting shaft 9, and tension wheel 4 is mounted on wheel seat 3 via rotating shaft 5.

[0029] The inside of the spring seat 2 is equipped with several groups of disc springs 6, which automatically adjust the tendon 10 tensioning through the elastic force of the disc springs 6. One end of the disc spring 6 acts on the bottom of the wheel seat 3, and the other end of the disc spring 6 acts on the gasket 7, and the gasket 7 acts on the pressure sensor 8 installed on the mounting base 1.

[0030] This device selects disc springs 6 as a reset spring, and its main advantages are as follows: the disc spring 6 is small in size and large in elastic coefficient, and is suitable for actual use in a hand requiring a small size device; the disc spring 6 can adjust the relationship between the elastic coefficient and the compression amount through different combinations, and is flexible and practical.

[0031] The disc spring 6 used in this embodiment is used as a reset spring, and other forms of springs, such as compression springs, can also be used as reset springs.

[0032] High-performance materials can be used to manufacture the disc spring in this embodiment, such as using memory alloy or high-elasticity polymer. These materials can maintain excellent performance under different temperatures or environmental conditions, improving the durability and environmental adaptability of the device.

[0033] The wheel seat 3 can move within a certain range through the action of the limiting shaft 9. The disc spring 6 ensures a certain elastic force when the wheel seat 3 is extended, ensuring that the displacement of the tendon 10 under stress is small, facilitating data feedback by the pressure sensor 8.

[0034] A bearing 11 is installed between the tensioning wheel 4 and the rotating shaft 5, so that the tensioning wheel 4 rotates with the tendon 10 to minimize resistance. The tendon 10 is arranged in the inclined groove of the tensioning wheel 4, and the inclined groove has a certain depth to reduce the probability of the tendon 10 jumping out of the groove.

[0035] In the initial state, the length of the tendon 10 is adjusted, and the limiting shaft 9 is set at the bottom, so that when the tendon 10 is lengthened, the disc spring 6 can be reset to a certain extent, pushing the wheel seat 3 out, driving the tensioning wheel 4 out through the rotating shaft 5, and making the tendon 10 arranged on the tensioning wheel 4 be tensioned by a certain force; within a certain range, the tendon 10 can be automatically tensioned, avoiding the previous situation that the tendon 10 must be manually tensioned after elongation, which is time-consuming and labor-intensive.

[0036] When the device is used:

[0037] When the tendon 10 is tensioned and stressed, the force will be transmitted to the wheel seat 3 through the angle between the tendon 10 and the tensioning wheel 4, so that the disc spring 6 group is pressed, and the disc spring 6 group will transmit the force to the gasket 7 arranged at the tail of the disc spring 6, and the gasket 7 will transmit the force to the pressure sensor 8, and the pressure sensor 8 will feedback the measured data;

[0038] According to the angle relationship between the tendon 10 and the tensioning wheel 4, the tension on the tendon 10 can be calculated; the tension on the same tendon 10 is consistent, and the force acting on the fingertip can be calculated through the mechanical relationship on the robotic finger.

[0039] The application is not only suitable for dexterous hands, but also can be used for other devices driven by the tendon 10; in order to reduce the friction, the tensioning wheel 4 is used between the tendon 10 and the tensioning device, and the bearing 11 is installed in the middle of the tensioning wheel 4, but in the actual use process, the bearing 11 can be cancelled, and the form of the tensioning wheel 4 can also be cancelled.

[0040] The application has a significant influence on improving the operation precision and reliability of the robotic hand, and simplifies the maintenance and operation process of the mechanical hand.

[0041] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the application, and not to limit them; although the application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the application.

Claims

1. A dexterous hand-operated automatic tendon cable tensioning device with force feedback, characterized in that, The device includes a mounting base, a spring seat, and a wheel seat. The spring seat is fixed to the mounting base, and the wheel seat is slidably disposed within the spring seat. A tension wheel is rotatably disposed on the wheel seat. A return spring is disposed within the spring seat and between the wheel seat and the mounting base. A pressure sensor is disposed between the return spring and the mounting base. A limiting groove is provided on the spring seat, and the wheel seat is slidably disposed within the spring seat via a limiting shaft. A gasket is disposed between the return spring and the pressure sensor. A tendon rope is disposed in the inclined groove of the tension wheel.

2. The automatic tendon cable tensioning device with force feedback for dexterous hands according to claim 1, characterized in that, The tensioning wheel is rotatably mounted on the wheel seat via a rotating shaft.

3. The automatic tendon tensioning device with force feedback for dexterous hands according to claim 2, characterized in that, A bearing is installed between the tensioning wheel and the rotating shaft.

4. The automatic tendon cable tensioning device with force feedback for dexterous hands according to claim 1, characterized in that, The return spring is a disc spring.

5. The automatic tendon tensioning device with force feedback for dexterous hands according to claim 4, characterized in that, The spring seat contains multiple sets of disc springs.

6. The method of using the automatic tendon tensioning device with force feedback for dexterous hands according to claim 1, characterized in that, Includes the following steps: When the tendon is in its initial state, adjust the length of the tendon and place the wheel seat at the bottom of the spring seat, and compress the return spring; when the tendon becomes longer, the return spring resets, pushes the wheel seat out from inside the spring seat, and the wheel seat drives the tension wheel out, so that the tendon set on the tension wheel is automatically tensioned. When the tendon chord is tightened and subjected to force, it transmits the force to the wheel seat through the angle between itself and the tension wheel, thereby compressing the return spring. The compressed return spring then transmits the force to the pressure sensor located at the tail of the return spring, and the pressure sensor feeds back the measured data.

7. The method of using the automatic tendon tensioning device with force feedback for dexterous hands according to claim 6, characterized in that, The tension on the tendon chord is calculated based on the angular relationship between the tendon chord and the tension wheel. The tension on the same tendon chord is consistent, and the force on the fingertip is calculated based on the mechanical relationship of the robot finger.

Images