Flexible manipulator

Abstract

The invention provides a flexible mechanical arm and belongs to the technical field of mechanical arms, flexible elements are introduced into the structure of the mechanical arm, the flexible elements have large deformation performance and elastic energy storage characteristics, the motion load of the mechanical arm structure can be reduced, and the number of parts of the mechanical arm can be greatly reduced. The mechanical arm of the flexible structure has better adaptability and flexibility, can adapt to the shapes and characteristics of various objects, and can effectively solve the technical problem that a rigid mechanical arm can not effectively grab and operate fragile objects or objects in irregular shapes.

Description

Technical Field

[0001] The invention belongs to the technical field of manipulators and specifically discloses a flexible manipulator. Background Art

[0002] The end effector of the manipulator is its most critical component, which has an important impact on the grasping effect and work efficiency of the manipulator. At present, the main end effector of the manipulator used is a rigid structure. However, the manipulator with a rigid structure has a greater grasping force when grasping an object, and the surface of the grasped object needs to be hard and its shape is regular. This kind of manipulator with a rigid structure has certain limitations in certain application scenarios. For example, for fragile or irregularly shaped objects, a manipulator with a rigid structure may not be able to grasp and operate effectively. Summary of the invention

[0003] The present invention provides a flexible manipulator to overcome the technical problem that a rigid manipulator may not be able to effectively grasp and operate fragile or irregularly shaped objects.

[0004] The above-mentioned flexible manipulator includes a fixed platform, a moving platform, a moving platform driving mechanism, flexible fingers and a finger driving mechanism; multiple groups of moving platform driving mechanisms are arranged at equal angles around the center of the fixed platform, connecting the fixed platform and the moving platform, and are used to drive the moving platform to move; U-shaped notches are symmetrically arranged on the inner and outer sides of the flexible fingers, and the three U-shaped notches divide the flexible fingers into the first joint, the second joint, the third joint and the fourth joint; multiple flexible fingers are arranged at equal angles around the center of the moving platform, and the first joint is fixedly connected to the moving platform; the finger driving mechanism connects the moving platform and the flexible fingers, and is used to drive the flexible fingers to move.

[0005] The above-mentioned flexible manipulator includes two specific structures.

[0006] In the first structure, the moving platform driving mechanism is a linear telescopic member, the fixed end is rotatably connected to the fixed platform through a ball joint, and the telescopic end is rotatably connected to the moving platform through a ball joint; the finger driving mechanism includes a first finger driving member, a slider, a first connecting frame, a second connecting frame, a second finger driving member, a third connecting frame and a fourth connecting frame; the first finger driving member is a linear telescopic member, the fixed end is fixed at the center position of the moving platform, and the telescopic end is fixedly connected to the slider; the first connecting frame is a linear connecting frame; the second connecting frame is a broken line connecting frame, including a first connecting plate and a second connecting plate connected at an acute angle; a plurality of first connecting frames and a plurality of second connecting frames are arranged at equal angles around the center of the slider, and the first connecting frame is a linear connecting frame; the second connecting frame is a broken line connecting frame; the first connecting frame is a linear connecting frame; the second connecting frame is a broken line connecting frame; the first connecting frame is a linear connecting frame; the second connecting frame is a linear connecting frame; the first connecting plate is a linear connecting plate; the second connecting plate is connected at an acute angle; a plurality of first connecting frames and a plurality of second connecting frames are arranged at equal angles around the center of the slider; the first connecting frame is a linear connecting frame; the second connecting frame is a linear connecting frame; the first connecting frame is a linear connecting frame; the second connecting frame is a linear connecting frame; the first connecting plate is a linear connecting plate; the second connecting plate is connected at an acute angle ... The first end of the connecting frame is rotatably connected to the slider via a pin, the second end of the first connecting frame and the first connecting plate of the second connecting frame are rotatably connected via a pin, and the second connecting plate of the second connecting frame is fixedly connected to the second joint of the flexible finger; the second finger driving member is a linear telescopic member, and the fixed end is fixed on the first connecting plate of the second connecting frame; the third connecting frame and the fourth connecting frame are both linear connecting frames, the first end of the third connecting frame, the first end of the fourth connecting frame and the telescopic end of the second finger driving member are rotatably connected via a pin, the second end of the third connecting frame is rotatably connected to the third joint of the flexible finger via a pin, and the second end of the fourth connecting frame is rotatably connected to the fourth joint of the flexible finger via a pin.

[0007] In the above-mentioned flexible manipulator, each group of moving platform driving mechanism includes two linear motors; the fixed end of the linear motor is rotatably connected to the fixed platform through a bent rod-shaped ball head rod end joint bearing, and the telescopic end is rotatably connected to the moving platform through a bent rod-shaped ball head rod end joint bearing; a connecting block is provided on the fixed end of the linear motor, and the connecting block and the rod body of the bent rod-shaped ball head rod end joint bearing are inserted in the first sleeve; the telescopic end of the linear motor and the rod body of the bent rod-shaped ball head rod end joint bearing are inserted in the second sleeve.

[0008] In the above-mentioned flexible manipulator, the first finger driving member is the first cylinder; the second finger driving member is the second cylinder; the first connecting frame includes two opposite connecting plates; the second connecting frame also includes a third connecting plate connecting the first connecting plate and the second connecting plate and a fourth connecting plate fixed on both sides of the first connecting plate; the first ends of the two connecting plates in the first connecting frame are rotatably connected to the slider through a pin, and the second ends of the two connecting plates in the first connecting frame are rotatably connected to the fourth connecting plate in the second connecting frame through a pin; the fixed end of the second cylinder is fixed between the first connecting plate and the fourth connecting plate of the second connecting frame; the third connecting frame includes two opposite connecting plates; the fourth connecting frame includes two opposite first connecting plates and a second connecting plate connecting the two first connecting plates; the first ends of the two connecting plates in the third connecting frame, the first end of the first connecting plate in the fourth connecting frame and the telescopic end of the second cylinder are rotatably connected through a pin, the second ends of the two connecting plates in the third connecting frame are rotatably connected to the third knuckle of the flexible finger through a pin, and the second end of the first connecting plate in the fourth connecting frame is rotatably connected to the protrusion of the fourth knuckle in the flexible finger through a pin.

[0009] In the above-mentioned flexible manipulator, the finger driving mechanism also includes a guide rail and a guide rail fixing member; multiple guide rails are arranged around the first cylinder, pass through the slider, the bottom end is fixedly connected to the moving platform, and the top end is fixedly connected to the guide rail fixing member.

[0010] In the above-mentioned flexible manipulator, a finger mounting groove is provided at the edge of the moving platform, and the angle between the finger mounting groove and the upper plane of the moving platform is 30°; the angle between the first connecting plate and the second connecting plate in the second connecting frame is 30°.

[0011] In the second structure, the dynamic platform driving mechanism includes a universal joint, a first shaft rod driving member, a second shaft rod driving member, a flexible connecting rod and a ball joint; a universal joint mounting seat is provided on the fixed platform, and a mounting seat shaft hole is provided on the universal joint mounting seat, and the mounting seat shaft hole on the same universal joint mounting seat is collinear with the center of the fixed platform; the universal joint includes a first shaft rod, a second shaft rod and a shaft rod connecting block; the shaft rod connecting block is provided with a first shaft hole and a second shaft hole perpendicular to each other; the first shaft rod passes through the mounting seat shaft hole and the first shaft hole, is rotatably connected to the mounting seat shaft hole, and is fixedly connected to the first shaft hole, and the first shaft rod is connected by the first shaft rod. The driving member drives the rotation; the second shaft rod passes through the second shaft hole and the first end of the flexible connecting rod, is rotatably connected to the second shaft hole, and is fixedly connected to the first end of the flexible connecting rod. The second shaft rod is driven to rotate by the second shaft rod driving member; the second end of the flexible connecting rod is rotatably connected to the moving platform through a ball joint; the finger driving mechanism includes a finger driving member and a rigid connecting rod; a plurality of rigid connecting rods are arranged at equal angles around the center of the moving platform, and the first end is fixedly connected to the moving platform; the finger driving member is a linear telescopic member, the fixed end is fixedly connected to the second end of the rigid connecting rod, and the telescopic end is connected to the fourth knuckle of the flexible finger through a pin shaft.

[0012] In the above-mentioned flexible manipulator, the flexible connecting rod includes a first straight rod, a second straight rod, a third straight rod, a first bent rod and a second bent rod; the first straight rod and the second straight rod are located on the same side of the third straight rod, the third straight rod obliquely intersects with the first straight rod and the second straight rod, the first end of the first straight rod is provided with a connecting rod shaft hole, the second end of the first straight rod is connected to the first end of the third straight rod through the first bent rod, the second end of the third straight rod is connected to the first end of the second straight rod through the second bent rod, and the second end of the second straight rod is provided with a ball of a ball joint; the second shaft rod passes through the second shaft hole and the connecting rod shaft hole to connect the shaft rod connecting block and the flexible connecting rod; a ball joint base is provided on the moving platform, a ball joint shell is provided at the end of the ball joint base, and the ball of the ball joint is rotatably connected to the shell.

[0013] In the above-mentioned flexible manipulator, the first bending rod and the second bending rod are provided with a 90° arc.

[0014] In the above-mentioned flexible manipulator, the two ends of the rigid connecting rod are respectively provided with a first connecting ear and a second connecting ear, and the first connecting ear is connected to the ball joint base by a threaded fastener; the finger driving mechanism is a finger driving cylinder, a connecting block is provided on the fixed end, and a connecting ear is provided on the telescopic end, the connecting block is connected to the second connecting ear of the rigid connecting rod by a threaded fastener, and the connecting ear is connected to the protrusion of the fourth knuckle of the flexible finger by a pin shaft.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] The present invention introduces a flexible element into the structure of the manipulator. The flexible element has a large deformation performance and elastic energy storage characteristics, which can not only reduce the motion load of the manipulator structure, but also greatly reduce the number of parts of the manipulator. The manipulator with a flexible structure has better adaptability and flexibility, can adapt to the shapes and characteristics of various objects, and can effectively overcome the technical problem that a rigid manipulator may not be able to effectively grasp and operate fragile or irregularly shaped objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 This is a schematic diagram of the first structure of the flexible manipulator;

[0019] Figure 2 for Figure 1 Assembly drawings of the fixed platform, moving platform, and moving platform drive mechanism;

[0020] Figure 3 for Figure 1 Assembly diagram of the mid-motion platform, flexible fingers, and finger drive mechanism;

[0021] Figure 4 for Figure 1 Schematic diagram of the structure of the mid-motion platform;

[0022] Figure 5 for Figure 1 Schematic diagram of the structure of the flexible finger;

[0023] Figure 6 for Figure 1 A schematic diagram of the structure of the second connecting frame;

[0024] Figure 7 This is a schematic diagram of the second structure of the flexible manipulator;

[0025] Figure 8 for Figure 7 Schematic diagram of the structure of the Zhongding platform;

[0026] Fig. 9 It is the structural diagram of the moving platform;

[0027] Fig.10 It is a structural schematic diagram of the universal joint;

[0028] Fig.11 It is a structural schematic diagram of the flexible link.

[0029] In the figure: 1-fixed platform; 2-moving platform; 3-flexible finger;

[0030] 2.1-cylinder mounting slot; 2.2-finger mounting slot; 4-linear motor; 5-bent rod-shaped ball head rod end joint bearing; 6-first shaft sleeve; 7-second shaft sleeve; 8-slider; 9-first connecting frame; 10-second connecting frame; 11-third connecting frame; 12-fourth connecting frame; 13-first cylinder; 14-second cylinder; 15-guide rail; 16-guide rail fixing piece;

[0031] 1.1-universal joint mounting seat; 2.3-ball joint base; 17-universal joint; 17.1-first shaft rod; 17.2-second shaft rod; 17.3-shaft rod connecting block; 18-flexible connecting rod; 19-ball joint; 19.1-sphere; 19.2-housing; 20-rigid connecting rod; 21-finger drive cylinder. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the described embodiment, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Unless otherwise defined, the technical terms or scientific terms used herein should be the common meanings understood by ordinary technicians in this field.

[0033] The words "first", "second" and similar words used in the specification and claims of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, but do not exclude other elements or objects. "Inside", "outside", "upper", "lower", "far", "near", "front", "back" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly. The drawings described in the present invention are only schematic diagrams of the structures and are not drawn strictly according to the actual proportions. The specific size and quantity of each structure can be determined according to actual needs.

[0034] Example 1

[0035] This embodiment provides a flexible manipulator, which adopts a spatial 6-SPS structure and includes a fixed platform 1, a moving platform 2, a moving platform driving mechanism, flexible fingers 3 and a finger driving mechanism.

[0036] Three groups of moving platform driving mechanisms are arranged at equal angles around the center of the fixed platform 1, connecting the fixed platform 1 and the moving platform 2, and are used to drive the moving platform 2 to move.

[0037] In this embodiment, the moving platform driving mechanism is a linear telescopic member, the fixed end is rotatably connected to the fixed platform through a ball joint, and the telescopic end is rotatably connected to the moving platform through a ball joint.

[0038] Specifically, each group of moving platform driving mechanism includes two linear motors 4; the fixed end of the linear motor 4 is rotatably connected to the fixed platform 1 through a bent rod-shaped ball head rod end joint bearing 5, and the telescopic end is rotatably connected to the moving platform 2 through a bent rod-shaped ball head rod end joint bearing 5; a connecting block is provided on the fixed end of the linear motor 4, and the connecting block and the rod body of the bent rod-shaped ball head rod end joint bearing 5 are inserted into the first sleeve 6; the telescopic end of the linear motor 4 and the rod body of the bent rod-shaped ball head rod end joint bearing 5 are inserted into the second sleeve 7.

[0039] U-shaped notches are symmetrically arranged on the inner and outer sides of the flexible fingers 3, and the three U-shaped notches divide the flexible fingers into the first finger joint, the second finger joint, the third finger joint and the fourth finger joint; the three flexible fingers 3 are arranged at equal angles around the center of the moving platform 2, and the first finger joint is fixedly connected to the moving platform 2. The three flexible fingers 3 correspond to the three sets of moving platform drive mechanisms and are located between the corresponding two linear motors 4.

[0040] The finger driving mechanism connects the moving platform 2 and the flexible finger 3 and is used to drive the flexible finger 3 to move.

[0041] In this embodiment, the finger drive mechanism includes a first finger drive member, a slider 8, a first connecting frame 9, a second connecting frame 10, a second finger drive member, a third connecting frame 11 and a fourth connecting frame 12; the first finger drive member is a linear telescopic member, the fixed end of which is fixed at the center of the moving platform 2, and the telescopic end is fixedly connected to the slider 8; the first connecting frame 9 is a linear connecting frame; the second connecting frame 10 is a broken line connecting frame, including a first connecting plate and a second connecting plate connected at an acute angle; the three first connecting frames 9 and the three second connecting frames 10 are arranged at equal angles around the center of the slider 8, the first end of the first connecting frame 9 is rotatably connected to the slider 8 through a pin, and the first connecting frame 9 The second end and the first connecting plate of the second connecting frame 10 are rotatably connected via a pin, and the second connecting plate of the second connecting frame 10 is fixedly connected to the second joint of the flexible finger 3; the second finger driving member is a linear telescopic member, and the fixed end is fixed on the first connecting plate of the second connecting frame 10; the third connecting frame 11 and the fourth connecting frame 12 are both linear connecting frames, and the first end of the third connecting frame 11 and the first end of the fourth connecting frame 12 are rotatably connected to the telescopic end of the second finger driving member via a pin, the second end of the third connecting frame 11 is rotatably connected to the third joint of the flexible finger 3 via a pin, and the second end of the fourth connecting frame 12 is rotatably connected to the fourth joint of the flexible finger 3 via a pin.

[0042] Specifically, the first finger driving member is the first cylinder 13; the second finger driving member is the second cylinder 14; the first connecting frame 9 includes two opposite connecting plates; the second connecting frame 10 also includes a third connecting plate connecting the first connecting plate and the second connecting plate and a fourth connecting plate fixed on both sides of the first connecting plate; the first ends of the two connecting plates in the first connecting frame 9 are rotatably connected to the slider 8 through a pin shaft, and the second ends of the two connecting plates in the first connecting frame 9 are rotatably connected to the fourth connecting plate in the second connecting frame 10 through a pin shaft; the fixed end of the second cylinder 14 is fixed to the first connecting plate of the second connecting frame 10 to rotate. and the fourth connecting plate; the third connecting frame 11 includes two opposite connecting plates; the fourth connecting frame 12 includes two opposite first connecting plates and a second connecting plate connecting the two first connecting plates; the first ends of the two connecting plates in the third connecting frame 11, the first end of the first connecting plate in the fourth connecting frame 12 and the telescopic end of the second cylinder 14 are rotatably connected via a pin, the second ends of the two connecting plates in the third connecting frame 11 are rotatably connected to the third joint of the flexible finger 3 via a pin, and the second end of the first connecting plate in the fourth connecting frame 12 is rotatably connected to the protrusion of the fourth joint of the flexible finger 3 via a pin.

[0043] In the above-mentioned flexible manipulator, the finger driving mechanism further includes a guide rail 15 and a guide rail fixing member 16; a plurality of guide rails 15 are arranged around the first cylinder 13, pass through the slider 8, and are fixedly connected to the moving platform 2 at the bottom end and fixedly connected to the guide rail fixing member 16 at the top end. The guide rail 15 and the guide rail fixing member 16 are used to ensure that the slider 8 can move without deviating from the axis under different loads in three directions.

[0044] The fixed platform 1, the curved rod-shaped ball head rod end joint bearing 5, the linear motor 4 and the moving platform 2 form a 6-SPS parallel mechanism, which can control the movement of the palm part in six degrees of freedom through the reciprocating motion drive of the six linear motors 4. The first cylinder 13 drives the second finger joint, the third finger joint and the fourth finger joint to rotate around the first U-shaped notch by pushing the slider 8, driving the first connecting frame 9, and the second connecting frame 10 to drive the second finger joint, the third finger joint and the fourth finger joint to rotate around the first U-shaped notch, thereby controlling the bending and grasping action of the flexible finger 3. The second cylinder 14 drives the third finger joint and the fourth finger joint to rotate around the second U-shaped notch and the fourth finger joint to rotate around the third U-shaped notch by pushing the third connecting frame 11 and the fourth connecting frame 12 to control the grasping movement of the flexible finger 3.

[0045] Example 2

[0046] This embodiment provides specific sizes and models of various components in the flexible manipulator described in Embodiment 1.

[0047] The fixed platform 1 is provided with connecting ears for connecting the linear motor 4, and the maximum outer diameter of the fixed platform 1 is 200 mm.

[0048] In order to better fix the first cylinder 13, a sunken cylinder mounting groove 2.1 is adopted in the center position of the moving platform 2, and an air guide groove is reserved. A finger mounting groove 2.2 is provided at the edge of the moving platform 2, and the angle between the finger mounting groove 2.2 and the upper plane of the moving platform 2 is 30°.

[0049] Linear motor 4 selects MNTL micro electric mini push rod, with a stroke of 50mm, a center distance of 105mm when the motor is retracted, a center distance of 155mm when the motor is fully extended, a speed of 8mm / s, and a maximum thrust of 60N.

[0050] The curved rod-shaped ball head rod end joint bearing 5 selects the CS8 ball head rod end joint bearing, with a thread of M5*0.8.

[0051] The material of the flexible finger 3 is rubber, the arc radius of the U-shaped notch is 435 mm, and the thinnest thickness at the notch is 2 mm.

[0052] The first cylinder 13 is a SDA16-30 thin cylinder with a maximum stroke of 30 mm and a maximum thrust of 8 kg at 0.5 MPa.

[0053] The length of the connecting plate in the first connecting frame 9 is 90 mm.

[0054] The angle between the first connecting plate and the second connecting plate in the second connecting frame 10 is 30°, which is consistent with the angle of the finger mounting groove 2.2, so that the second cylinder 14 can better drive the flexible finger 3 to bend.

[0055] The second cylinder 14 is a CDJ2B10-30 stainless steel mini cylinder with a retracted stroke of 104mm and an extended stroke of 134mm. The cylinder thrust can reach 4.6kg under an air pressure input of 7kg.

[0056] The length of the connecting plate in the third connecting frame 11 is 22 mm.

[0057] The length of the connecting plate in the fourth connecting frame 12 is 35.5 mm.

[0058] The guide rail 15 has a diameter of 4 mm and a length of 110 mm.

[0059] Example 3

[0060] This embodiment provides a flexible manipulator, which adopts a spatial 3-US mechanism and has three degrees of freedom, including a fixed platform 1, a moving platform 2, a moving platform driving mechanism, a flexible finger 3 and a finger driving mechanism.

[0061] Three groups of moving platform driving mechanisms are arranged at equal angles around the center of the fixed platform 1, connecting the fixed platform 1 and the moving platform 2, and are used to drive the moving platform 2 to move.

[0062] In this embodiment, the moving platform driving mechanism includes a universal joint 17, a first shaft driving member, a second shaft driving member, a flexible connecting rod 18 and a ball joint 19; a universal joint mounting seat 1.1 is provided on the fixed platform 1, and a mounting seat axial hole is provided on the universal joint mounting seat 1.1, and the mounting seat axial hole on the same universal joint mounting seat 1.1 is collinear with the center of the fixed platform 1; the universal joint 17 includes a first shaft 17.1, a second shaft 17.2 and a shaft connecting block 17.3; the shaft connecting block 17.3 is provided with mutually perpendicular The first axial hole and the second axial hole; the first shaft rod 17.1 passes through the mounting seat axial hole and the first axial hole, is rotatably connected to the mounting seat axial hole, is fixedly connected to the first axial hole, and the first shaft rod is driven to rotate by the first shaft rod driving member; the second shaft rod 17.2 passes through the second axial hole and the first end of the flexible connecting rod 18, is rotatably connected to the second axial hole, is fixedly connected to the first end of the flexible connecting rod 18, and the second shaft rod is driven to rotate by the second shaft rod driving member; the second end of the flexible connecting rod 18 is rotatably connected to the moving platform 2 through the ball joint 19.

[0063] The first shaft driving member and the second shaft driving member can directly use motors. In this embodiment, a stepper motor or a servo motor is used to drive the ball screw to cooperate with the slider to move up and down. The slider is connected to the first shaft 17.1 and the second shaft 17.2. When the slider moves, the first shaft 17.1 and the second shaft 17.2 are driven to rotate.

[0064] In order to realize the steering function and ensure that the three flexible connecting rods 18 will not collide with each other and better connect the fixed platform 1 and the moving platform 2, the flexible connecting rod 18 adopts the following structure: it includes a first straight rod, a second straight rod, a third straight rod, a first bent rod and a second bent rod; the first straight rod and the second straight rod are located on the same side of the third straight rod, and the third straight rod is obliquely intersected with the first straight rod and the second straight rod, the first end of the first straight rod is provided with a connecting rod shaft hole, the second end of the first straight rod is connected to the first end of the third straight rod through the first bent rod, the second end of the third straight rod is connected to the first end of the second straight rod through the second bent rod, and the second end of the second straight rod is provided with a ball 19.1 of a ball joint 19; the second shaft 17.2 passes through the second shaft hole and the connecting rod shaft hole, connecting the shaft connecting block 17.3 and the flexible connecting rod 18; a ball joint base 2.3 is provided on the moving platform 2, and a shell 19.2 of a ball joint 19 is provided at the end of the ball joint base 2.3, and the ball 19.1 of the ball joint 19 is rotatably connected to the shell.

[0065] Preferably, the first bending rod and the second bending rod are provided with a 90° arc to eliminate stress concentration that may be generated by the manipulator during working process.

[0066] U-shaped notches are symmetrically arranged on the inner and outer sides of the flexible fingers 3, and the three U-shaped notches divide the flexible fingers into the first knuckle, the second knuckle, the third knuckle and the fourth knuckle; the end of the fourth knuckle is provided with an inwardly curved arc segment, which can increase the contact surface with the object while grasping the object, thereby better protecting the surface of the object; the three flexible fingers 3 are arranged at equal angles around the center of the moving platform 2, and the first knuckle is fixedly connected to the moving platform 2.

[0067] The finger driving mechanism connects the moving platform 2 and the flexible finger 3 and is used to drive the flexible finger 3 to move.

[0068] In this embodiment, the finger drive mechanism includes a finger drive member and a rigid link 20; three rigid links 20 are arranged at equal angles around the center of the moving platform 2, and the first end is fixedly connected to the moving platform 2; the finger drive member is a linear telescopic member, the fixed end is fixedly connected to the second end of the rigid link 20, and the telescopic end is connected to the fourth joint of the flexible finger 3 through a pin shaft.

[0069] Specifically, the two ends of the rigid connecting rod 20 are respectively provided with a first connecting ear and a second connecting ear, and the first connecting ear is connected to the ball joint base 2.3 by a threaded fastener; the finger driving mechanism is a finger driving cylinder 21, a connecting block is provided on the fixed end, and a connecting ear is provided on the telescopic end, the connecting block is connected to the second connecting ear of the rigid connecting rod 20 by a threaded fastener, and the connecting ear is connected to the protrusion of the fourth knuckle of the flexible finger 3 by a pin. When the piston rod of the finger driving cylinder 21 is extended and retracted, the flexible finger 3 is bent and deformed to realize the grasping and releasing action of the finger. In the static state, the angle between the finger driving cylinder 21 and the flexible finger 3 is 30°.

[0070] Example 4

[0071] This embodiment provides specific sizes and models of various components in the flexible manipulator described in Embodiment 3.

[0072] The distance between the fixed platform 1 and the moving platform 2 is 145.5 mm.

[0073] The outer diameter of the fixed platform 1 is 111.6 mm, the angle between the three universal joint mounting seats 1.1 is 120°, and the distance between the center of the universal joint mounting seat 1.1 and the center of the fixed platform 1 is 37.26 mm.

[0074] The outer diameter of the moving platform 2 is 111.6 mm. The moving platform 2 is grooved to reserve the installation position of the flexible finger 3, and a hole is opened on the groove section to connect with the flexible finger 3. The center of the ball joint base 2.3 is evenly distributed on the moving platform 2 at an angle of 120°. The ball joint base 2.3 is designed with a hole. The center of the ball joint base 2.3 and the center of the hole at the installation position of the flexible finger are on the same plane.

[0075] The thickness of the flexible finger 3 is 24mm, the length of the second knuckle is 30mm, the length of the third knuckle is 30mm, the length of the horizontal part of the fourth knuckle is 40mm, the radius of the U-shaped notch is 5mm, and the depth is 7.5mm. According to bionics, the distal phalanx (corresponding to the fourth knuckle) has the largest range of motion among the three phalanges during hand grasping, so improving the flexibility of the distal phalanx can better realize the grasping function. Therefore, pneumatically driven flexible fingers are bent, and the cylinder installation position is set on the fourth knuckle. The grasping and releasing actions of the flexible finger 3 are realized by the extension and retraction of the piston rod of the finger-driven cylinder 21 and the rotating pair between the finger and the flexible finger 3.

[0076] The choice of different materials will directly affect the key characteristics of the flexible mechanism, such as compliance, reliability and durability. If the material is too soft, the stiffness of the entire mechanism will be reduced, thus affecting its dynamic performance and accuracy. If the material is too rigid, it will limit the working space of the mechanism. The output force of the flexible finger 3 and the elastic modulus E and yield strength δ of the material s Related, and δ s The larger the / E ratio is, the larger the bending angle is. In this embodiment, the flexible finger 3 is made of spring steel. The yield limit of spring steel is δ s It is 1.17Gpa, the elastic modulus E is 206Gpa, and the Poisson's ratio u=0.3.

[0077] The thickness of the flexible connecting rod 18 is 5.7mm, the installation positions of the moving sub-centers at both ends are on the same plane and on a straight line, the third straight rod is at an angle of 45° to the horizontal plane and is 65mm long. The total projected length of the flexible connecting rod 18 is 118.5mm, and the diameter of the ball 19.1 of the ball joint 19 is 20mm.

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A flexible manipulator, characterized in that: It includes a fixed platform, a moving platform, a moving platform driving mechanism, a flexible finger and a finger driving mechanism; Multiple groups of moving platform driving mechanisms are arranged at equal angles around the center of the fixed platform, connecting the fixed platform and the moving platform, and are used to drive the moving platform to move; The flexible finger is symmetrically provided with U-shaped notches on the inner and outer sides, and the three U-shaped notches divide the flexible finger into a first knuckle, a second knuckle, a third knuckle and a fourth knuckle; A plurality of flexible fingers are arranged at equal angles around the center of the moving platform, and the first finger joints are fixedly connected to the moving platform; The finger driving mechanism connects the moving platform and the flexible finger and is used to drive the flexible finger to move.

2. The flexible manipulator according to claim 1, characterized in that: The movable platform driving mechanism is a linear telescopic member, the fixed end is rotatably connected to the fixed platform through a ball joint, and the telescopic end is rotatably connected to the movable platform through a ball joint; the finger driving mechanism includes a first finger driving member, a slider, a first connecting frame, a second connecting frame, a second finger driving member, a third connecting frame and a fourth connecting frame; The first finger driving member is a linear telescopic member, the fixed end of which is fixed at the center of the moving platform, and the telescopic end is fixedly connected to the slider; The first connecting frame is a linear connecting frame; The second connecting frame is a folded-line connecting frame, including a first connecting plate and a second connecting plate connected at an acute angle; a plurality of first connecting frames and a plurality of second connecting frames are arranged at equal angles around the center of the slider, the first end of the first connecting frame is rotatably connected to the slider through a pin, the second end of the first connecting frame is rotatably connected to the first connecting plate of the second connecting frame through a pin, and the second connecting plate of the second connecting frame is fixedly connected to the second joint of the flexible finger; the second finger driving member is a linear telescopic member, and the fixed end is fixed on the first connecting plate of the second connecting frame; the third connecting frame and the fourth connecting frame are both linear connecting frames, the first end of the third connecting frame, the first end of the fourth connecting frame and the telescopic end of the second finger driving member are rotatably connected through a pin, the second end of the third connecting frame is rotatably connected to the third joint of the flexible finger through a pin, and the second end of the fourth connecting frame is rotatably connected to the fourth joint of the flexible finger through a pin.

3. The flexible manipulator according to claim 2, characterized in that: Each set of moving platform drive mechanism includes two linear motors; The fixed end of the linear motor is rotatably connected to the fixed platform via a curved rod-shaped ball head rod end joint bearing, and the telescopic end is rotatably connected to the moving platform via a curved rod-shaped ball head rod end joint bearing; A connecting block is arranged on the fixed end of the linear motor, and the connecting block and the rod body of the curved rod-shaped ball head rod end joint bearing are inserted into the first shaft sleeve; The telescopic end of the linear motor and the rod body of the bent rod-shaped ball head rod end joint bearing are inserted into the second shaft sleeve.

4. The flexible manipulator according to claim 2, characterized in that: The first finger driving member is a first cylinder; the second finger driving member is a second cylinder; The first connecting frame includes two opposite connecting plates; The second connecting frame also includes a third connecting plate connecting the first connecting plate and the second connecting plate and a fourth connecting plate fixed on both sides of the first connecting plate; The first ends of the two connecting plates in the first connecting frame are rotatably connected to the slider via a pin, and the second ends of the two connecting plates in the first connecting frame are rotatably connected to the fourth connecting plate in the second connecting frame via a pin; The fixed end of the second cylinder is fixed between the first connecting plate and the fourth connecting plate of the second connecting frame; The third connecting frame includes two opposite connecting plates; The fourth connecting frame includes two opposite first connecting plates and a second connecting plate connecting the two first connecting plates; the first ends of the two connecting plates in the third connecting frame and the first end of the first connecting plate in the fourth connecting frame are rotatably connected to the telescopic end of the second cylinder through a pin shaft, the second ends of the two connecting plates in the third connecting frame are rotatably connected to the third joint of the flexible finger through a pin shaft, and the second end of the first connecting plate in the fourth connecting frame is rotatably connected to the protrusion of the fourth joint of the flexible finger through a pin shaft.

5. The flexible manipulator according to claim 4, characterized in that: The finger drive mechanism also includes a guide rail and a guide rail fixing member; A plurality of guide rails are arranged around the first cylinder, pass through the sliding block, have bottom ends fixedly connected to the moving platform, and top ends fixedly connected to the guide rail fixing piece.

6. The flexible manipulator according to claim 5, characterized in that: The edge of the moving platform is provided with a finger mounting groove, and the angle between the finger mounting groove and the upper plane of the moving platform is 30°; The included angle between the first connecting plate and the second connecting plate in the second connecting frame is 30°.

7. The flexible manipulator according to claim 1, characterized in that: The moving platform driving mechanism comprises a universal joint, a first shaft driving member, a second shaft driving member, a flexible connecting rod and a ball joint; The fixed platform is provided with a universal joint mounting seat, the universal joint mounting seat is provided with a mounting seat axial hole, and the mounting seat axial hole on the same universal joint mounting seat is collinear with the center of the fixed platform; The universal joint comprises a first shaft, a second shaft and a shaft connecting block; The shaft connecting block is provided with a first shaft hole and a second shaft hole which are perpendicular to each other; The first shaft passes through the mounting seat shaft hole and the first shaft hole, is rotatably connected to the mounting seat shaft hole, and is fixedly connected to the first shaft hole, and the first shaft is driven to rotate by the first shaft driving member; The second shaft rod passes through the second shaft hole and the first end of the flexible connecting rod, is rotatably connected to the second shaft hole, and is fixedly connected to the first end of the flexible connecting rod. The second shaft rod is driven to rotate by the second shaft rod driving member; The second end of the flexible connecting rod is rotatably connected to the moving platform via a ball joint; The finger drive mechanism comprises a finger drive member and a rigid connecting rod; A plurality of rigid connecting rods are arranged at equal angles around the center of the moving platform, and a first end is fixedly connected to the moving platform; The finger driving member is a linear telescopic member, a fixed end of which is fixedly connected to the second end of the rigid connecting rod, and a telescopic end of which is connected to the fourth knuckle of the flexible finger via a pin.

8. The flexible manipulator according to claim 1, characterized in that: The flexible connecting rod comprises a first straight rod, a second straight rod, a third straight rod, a first curved rod and a second curved rod; The first straight rod and the second straight rod are located on the same side of the third straight rod, the third straight rod obliquely intersects with the first straight rod and the second straight rod, the first end of the first straight rod is provided with a connecting rod shaft hole, the second end of the first straight rod is connected to the first end of the third straight rod through a first bent rod, the second end of the third straight rod is connected to the first end of the second straight rod through a second bent rod, and the second end of the second straight rod is provided with a ball of a ball joint; The second shaft rod passes through the second shaft hole and the connecting rod shaft hole to connect the shaft rod connecting block and the flexible connecting rod; A ball joint base is arranged on the moving platform, a shell of a ball joint is arranged at the end of the ball joint base, and the ball of the ball joint is rotatably connected with the shell.

9. The flexible manipulator according to claim 8, characterized in that: The first curved rod and the second curved rod are provided with a 90° arc.

10. The flexible manipulator according to claim 7, characterized in that: A first connecting ear and a second connecting ear are respectively provided at both ends of the rigid connecting rod, and the first connecting ear is connected to the ball joint base through a threaded fastener; The finger driving mechanism is a finger driving cylinder, a connecting block is arranged on the fixed end, a connecting ear is arranged on the telescopic end, the connecting block is connected to the second connecting ear of the rigid connecting rod through a threaded fastener, and the connecting ear is connected to the protrusion of the fourth knuckle of the flexible finger through a pin shaft.

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