Self-adaptive bionic mechanical arm and robot comprising same
By setting joint limiting mechanisms and surface elastic adjustment parts in the fingers and thumbs of the bionic robot arm, the straight and flexible contact of the fingers is achieved, and the problem of difficulty in grasping thin sheet items is solved, and the gripping is improved Flexibility and effect of taking.
Patent Information
- Application Number
- CN202411971905.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-30
- Publication Date
- 2025-02-18
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
Existing bionic robotic arms are difficult to grasp sheet-like objects because the joints of their fingers cannot mimic the finger-abdominal contact movement when the human body grasps sheets.
An adaptive bionic robot arm is designed. By setting joint limiting mechanisms and surface elastic adjustment parts in the fingers and thumbs, the straight state of the first and second joints is realized, simulating the fingers when the human hand grasps the thin sheet. Abdominal contact, thereby changing the contact surface and direction of force between the finger and thumb.
It realizes effective grasping of sheet-like items, enhances the flexible contact ability of fingers, and can better adapt to items of different sizes and shapes.
Smart Images
Figure CN119458424A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the field of mechanical arms, in particular to an adaptive bionic mechanical arm and a robot containing the same. Background Art
[0002] A manipulator is an automatic device that can imitate certain movements and functions of human hands and arms, and is used to grab, carry objects or operate tools according to a fixed program. A manipulator arm usually has a palm, four fingers, a thumb and other parts. Pull ropes are set on each finger, and the pull ropes are pulled by the finger servo to bend or straighten the four fingers and the thumb, thereby realizing the bionic manipulator arm to grab objects.
[0003] In the prior art, bionic robotic arms can usually only grab large objects, such as apples, cups, hammers, etc. It is still difficult for bionic robotic arms to grab thin objects, such as paper, etc. Most robotic arms use a suction cup structure to grab thin objects. This is because one end of the pull rope is pulled at the end of the first joint of the four fingers or thumb. When the servo tightens the pull rope, each joint of the corresponding finger is bent. At this time, the tips of the index finger and thumb are close to each other to achieve a clamping action. In this state, the contact surface of the index finger and thumb is small and rigid, and it is impossible to imitate the clamping action achieved by the contact between the fingertips of the thumb and index finger of the human body, and it is also impossible to grab thin objects.
[0004] The purpose of the present invention is to design an adaptive bionic mechanical arm and a robot containing the same in view of the above-mentioned problems in the prior art. Summary of the invention
[0005] In view of the problems existing in the above-mentioned prior art, the present invention provides an adaptive bionic mechanical arm and a robot containing the same, which can effectively solve at least one problem existing in the above-mentioned prior art.
[0006] The technical solution of the present invention is:
[0007] An adaptive bionic mechanical arm, comprising:
[0008] Palm of hand;
[0009] A plurality of finger members and a thumb member are arranged on the palm part, wherein the finger members and the thumb member each include a first joint, a second joint, and a third joint which are hinged in sequence, and the third joint is hinged to the palm part;
[0010] A plurality of driving mechanisms, one of which is provided for each finger member or thumb member, each of which comprises a transmission line and a steering gear, wherein the transmission line is led out from the steering gear, passes through the third joint and the second joint, and is fixedly connected to the end of the first joint;
[0011] A joint limiting mechanism is arranged between a first joint and a second joint of one of the finger members, the joint limiting mechanism comprises a blocking member, the blocking member is driven by a driving member, and after the driving member drives the blocking member to work, the blocking member limits the corresponding first joint from bending relative to the second joint;
[0012] A surface elastic adjustment member is arranged at the first joint of the finger member provided with the joint limiting mechanism. The side surface of the surface elastic adjustment member produces a change in the stiffness of the anti-bending zone according to the angle between the first joint and the second joint. The larger the angle between the first joint and the second joint, the smaller the stiffness of the anti-bending zone of the surface elastic adjustment member.
[0013] Further, the blocking member includes a movable seat arranged at the second joint, the movable seat is restricted to move in a direction perpendicular to the movable surfaces of the first joint and the second joint, a blocking block is arranged on the surface of the movable seat, the driving member is arranged at the first joint, and a groove matching the blocking block is arranged on the surface of the driving member. After the driving member drives the movable seat to move toward the first joint, the blocking block is inserted into the groove to limit the bending of the first joint relative to the second joint.
[0014] Furthermore, the movable seat is made of a magnetically attractive metal material, and the driving component is an electromagnet. When the electromagnet is energized, the movable seat is adsorbed on the surface of the driving component.
[0015] Furthermore, the movable seat is provided with a guide block on its edge, and the second joint is provided with a movable groove at a position corresponding to the guide block, and the guide block moves in the movable groove.
[0016] Furthermore, a first spring is provided between the second joint and the movable seat, and the first spring enables the movable seat to have a movement tendency away from the first joint.
[0017] Furthermore, the surface elasticity adjustment member includes a second spring, which is sleeved on the periphery of the first joint, and the outer ring of the second spring is sleeved with an elastic layer, and the stretching amount of the second spring is negatively correlated with the angle between the first joint and the second joint, and the outer ring of the second spring is sleeved with an elastic layer, and the elastic layer expands after being squeezed by the second spring, thereby changing its thickness, and the thickness of the elastic layer is positively correlated with the stretching amount of the second spring.
[0018] Furthermore, it comprises a plurality of torsion springs, wherein the torsion springs are arranged between the first joint and the second joint, and between the second joint and the third joint, and the torsion springs enable the finger piece or the thumb piece to have a tendency to straighten.
[0019] Furthermore, when the bionic robotic arm clamps a thin sheet-like object, the driving member drives the blocking member to work so that the first joint and the second joint of the corresponding finger member remain parallel, the corresponding driving mechanism drives the corresponding finger member to achieve bending between the second joint and the third joint, and between the third joint and the palm, the corresponding driving mechanism drives the thumb member to bend, and controls the driving amount of the driving mechanism so that the end of the third joint of the thumb member contacts the side of the third joint of the finger member.
[0020] A robot is further provided, comprising the adaptive bionic mechanical arm.
[0021] Therefore, the present invention provides the following effects and / or advantages:
[0022] The first joint and the second joint of the present application can maintain a straight line state, forming a simulation of a human hand grasping a thin sheet of objects, in which the second joint of the index finger and the first joint maintain a straight line state and contact with the thumb, thereby changing the contact surface and force direction between the finger piece and the thumb piece, making it more suitable for grasping thin sheets of objects. At the same time, with the surface elastic adjustment piece, the surface elastic adjustment piece in which the first joint and the second joint maintain a straight line state appears softer and easier to deform. After the first joint and the thumb piece contact the object, the surface elastic adjustment piece is more likely to receive the reaction force of the contact object or the thumb piece to produce deformation of the corresponding object surface, and finally the surface elastic adjustment piece fits the surface of the object.
[0023] The present application uses a surface elasticity adjustment member to adaptively change the surface elasticity according to the curvature of the first joint and the second joint, so that when the robot grasps a large-volume object and bends the first joint and the second joint, the surface elasticity adjustment member becomes harder and less likely to deform, thereby making it easier to grasp large objects.
[0024] The present application has the characteristic of small size through the cooperation of the electromagnet and the movable seat, so that it can be placed in the narrow space between the first joint and the second joint to achieve control of the two joints.
[0025] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description and the drawings.
[0026] It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. BRIEF DESCRIPTION OF THE DRAWINGS
[0027] Figure 1It is a schematic structural diagram of an embodiment of the present invention.
[0028] Figure 2 It is a cross-sectional view of the index finger.
[0029] Figure 3 This is a schematic diagram of the index finger piece from one angle after the explosion.
[0030] Figure 4 This is a schematic diagram of the index finger piece from another perspective after the explosion.
[0031] Figure 5 It is a schematic diagram of the state when the thumb piece and the finger piece are closed. DETAILED DESCRIPTION
[0032] In order to facilitate understanding by those skilled in the art, the structure of the present invention is further described in detail with reference to the accompanying drawings:
[0033] refer to Figure 1-4 , an adaptive bionic robotic arm, comprising:
[0034] Palm 1;
[0035] A plurality of finger members 2 and a thumb member 3 are arranged on the palm portion 1, wherein the finger members 2 and the thumb member 3 each include a first joint 21, a second joint 22, and a third joint 23 which are hinged in sequence, and the third joint 23 is hinged to the palm portion 1;
[0036] A plurality of drive mechanisms 4, one drive mechanism 4 corresponding to each finger member 2 or thumb member 3, each drive mechanism 4 comprises a transmission line 41 and a steering gear 42, the transmission line 41 is led out from the steering gear 42, passes through the third joint 23 and the second joint 22, and is fixedly connected to the end of the first joint 21;
[0037] The joint limiting mechanism 5 is arranged between the first joint 21 and the second joint 22 of one of the finger members 2, and the joint limiting mechanism 5 includes a blocking member 51, and the blocking member 51 is driven by a driving member 52. After the driving member 52 drives the blocking member 51 to work, the blocking member 51 limits the corresponding first joint 21 from bending relative to the second joint 22;
[0038] The prior art can only make all the joints of the fingers bend at the same time through the cooperation of the transmission line and the servo. In this case, after all the joints of the thumb and the index finger are bent, the fingertips of the thumb and the index finger touch each other, making it difficult to achieve the ability to grasp thin sheet objects. This embodiment limits the bending of the first joint 21 and the second joint 22 of the corresponding finger member 2 through the joint limiting mechanism 5, so that when the transmission line 41 drives the finger member 2 to bend, the first joint 21 and the second joint 22 remain in a straight state, while the third joint 23 and the second joint 22, and the third joint 23 and the palm 1 can bend, forming a simulation of the second joint and the first joint of the index finger remaining in a straight state and in contact with the thumb when grasping a thin sheet object, thereby changing the contact surface and force direction between the finger member 2 and the thumb member 3, making it more suitable for grasping thin sheet objects.
[0039] The surface elastic adjustment member 6 is arranged at the first joint 21 of the finger member 2 provided with the joint limiting mechanism 5. The side surface of the surface elastic adjustment member 6 produces a change in the stiffness of the anti-bending zone according to the angle between the first joint 21 and the second joint 22. The larger the angle between the first joint 21 and the second joint 22, the smaller the stiffness of the anti-bending zone of the surface elastic adjustment member 6.
[0040] When the human fingers are clamping a thin sheet of object, the index finger and the thumb are brought together and then closed, and the skin between the two fingers fits together, thereby deforming and fitting to the surface of the object, thereby improving the hand of the two fingers. This embodiment simulates this specific situation of the human body, and adds a surface elasticity adjustment member 6 to the first joint 21. The surface elasticity adjustment member 6 can change the surface elasticity of the first joint 21. When the finger member 2 and the thumb member 3 of this embodiment are in contact, the joint limiting mechanism 5 mentioned above keeps the first joint 21 and the second joint 22 in a parallel state. Since the larger the angle between the first joint 21 and the second joint 22, the smaller the stiffness of the bending zone of the surface elasticity adjustment member 6, the surface elasticity adjustment member 6 appears to be softer and easier to deform. After the first joint 21 and the thumb member 3 contact the object, the surface elasticity adjustment member 6 is more likely to receive the reaction force of the contact object or the thumb member 3 to produce deformation of the corresponding object surface, and finally make the surface elasticity adjustment member 6 fit to the surface of the object.
[0041] Furthermore, the blocking member 51 includes a movable seat 511 arranged on the second joint 22, and the movable seat 511 is restricted to move in a direction perpendicular to the movable surfaces of the first joint 21 and the second joint 22. A blocking block 5111 is arranged on the surface of the movable seat 511. The driving member 52 is arranged on the first joint 21, and a groove 521 matching the blocking block 5111 is arranged on the surface of the driving member 52. After the driving member 52 drives the movable seat 511 to move toward the first joint 21, the blocking block 5111 is inserted into the groove 521 to limit the bending of the first joint 21 relative to the second joint 22.
[0042] In this embodiment, the driving member 52 is fixedly arranged at the first joint 21, and the second joint 22 is provided with a groove body, so as to accommodate the blocking member 51. The movable seat 511 can move up and down along the groove body. When the movable seat 511 is driven by the driving member 52 to move toward the first joint 21, the movable seat 511 fits against the blocking member 51, and the two are locked to each other and cannot rotate under the action of the protrusion 5111 and the groove 521, thereby limiting the rotation of the first joint 21 and the second joint 22.
[0043] Furthermore, the movable seat 511 is made of a magnetically attractive metal material, and the driving member is an electromagnet. When the electromagnet is energized, the movable seat 511 is adsorbed on the surface of the driving member 52 .
[0044] Furthermore, the movable seat 511 is provided with a guide block 5112 at its edge, and the second joint 22 is provided with a movable groove 221 at a position corresponding to the guide block 5112 , and the guide block 5112 moves in the movable groove 5112 .
[0045] In this embodiment, the cooperation between the movable groove 221 and the guide block 5112 makes the movable seat 511 unable to rotate, so that when the movable seat 511 is adsorbed onto the surface of the driving member 52, the movable seat 511 is stuck in the rotation direction, making it impossible for the first joint 21 and the second joint 22 to rotate and bend.
[0046] Furthermore, a first spring 512 is provided between the second joint 22 and the movable seat 511 , and the first spring 512 enables the movable seat 511 to have a movement tendency away from the first joint 21 .
[0047] In this embodiment, after the electromagnet stops adsorbing the movable seat 511 , the movable seat 511 is separated from the electromagnet surface of the second joint 22 by the first spring 512 , thereby not hindering the normal rotation of the first joint 21 and the second joint 22 .
[0048] Furthermore, the surface elasticity adjustment member 6 includes a second spring 61, which is sleeved on the periphery of the first joint 21. The outer ring of the second spring 61 is sleeved with an elastic layer 62. The stretching amount of the second spring 61 is negatively correlated with the angle between the first joint 21 and the second joint 22. The outer ring of the second spring 61 is sleeved with an elastic layer 62. The elastic layer 62 expands after being squeezed by the second spring 61, thereby changing its thickness. The thickness of the elastic layer 62 is positively correlated with the stretching amount of the second spring 61.
[0049] In this embodiment, the second spring 61 is a circular spring, and the elastic layer 62 can be a structural support such as rubber or foam, and has a certain thickness. The second spring 61 is sleeved inside the elastic layer 62. After the second spring 61 is stretched, the diameter of the spring is reduced, thereby reducing the expansion of the elastic layer 62. Preferably, one end of the second spring 61 is connected to the end of the first joint 21, and the other end of the second spring 61 is connected to the position of the second joint 22 close to the first joint 21, so that when the first joint 21 and the second joint remain parallel, the second spring 61 is stretched to the maximum. The thickness of the elastic layer 62 is negatively correlated with its expansion amount. It can be understood that when the first joint 21 and the second joint remain parallel, the expansion amount of the elastic layer 62 by the second spring 61 reaches the minimum value. At this time, the elastic layer 62 has a greater thickness after contraction, and the elastic layer 62 loses the supporting effect of the second spring 61 inside it, making it easier for the elastic layer 62 to produce surface bending. It is used when the finger piece 2 and the thumb piece 3 are in contact, and the thumb piece 3 is more likely to make the surface of the elastic layer 62 bend and fit to the surface of the clamped object.
[0050] Furthermore, it includes a plurality of torsion springs (not shown), which are arranged between the first joint 21 and the second joint 22, and between the second joint 22 and the third joint 23, and the torsion springs make the finger piece 2 or the thumb piece 3 have a tendency to straighten.
[0051] Furthermore, when the bionic robotic arm clamps a thin sheet-like object, the driving member 52 drives the blocking member 51 to work so that the first joint 21 and the second joint 22 of the corresponding finger member 2 remain parallel, and the corresponding driving mechanism 4 drives the corresponding finger member 2 to achieve bending between the second joint 22 and the third joint 23, and between the third joint 23 and the palm 1, and the corresponding driving mechanism 4 drives the thumb member 3 to bend, and controls the driving amount of the driving mechanism 4 so that the end of the third joint 23 of the thumb member 3 contacts the side of the third joint 23 of the finger member 2.
[0052] refer to Figure 5In this embodiment, the driving amount of the driving mechanism 4 is precisely controlled so that the end of the third joint 23 of the thumb piece 3 contacts the side of the third joint 23 of the finger piece 2. Under the action of the surface elasticity adjustment member 6 mentioned above, the side of the first joint 21 can be adaptively made to have better surface elasticity, and the first joint 21 and the second joint 22 can be kept in a straight state in the joint limiting mechanism 5, so that the thumb piece 3 can contact the side of the first joint 21, forming a flexible contact, which is more suitable for thin sheet objects.
[0053] A robot is further provided, comprising the adaptive bionic mechanical arm.
[0054] It should be noted that in the claims, any reference signs placed between brackets shall not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claim. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The invention may be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third etc. does not indicate any order. These words may be interpreted as names.
[0055] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.
[0056] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0057] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms should not be understood as necessarily referring to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.
Claims
1. An adaptive bionic robotic arm, characterized by: include: Palm of hand; A plurality of finger members and a thumb member are arranged on the palm part, wherein the finger members and the thumb member each include a first joint, a second joint, and a third joint which are hinged in sequence, and the third joint is hinged to the palm part; A plurality of driving mechanisms, one of which is provided for each finger member or thumb member, each of which comprises a transmission line and a steering gear, wherein the transmission line is led out from the steering gear, passes through the third joint and the second joint, and is fixedly connected to the end of the first joint; A joint limiting mechanism is arranged between a first joint and a second joint of one of the finger members, the joint limiting mechanism comprises a blocking member, the blocking member is driven by a driving member, and after the driving member drives the blocking member to work, the blocking member limits the corresponding first joint from bending relative to the second joint; A surface elastic adjustment member is arranged at the first joint of the finger member provided with the joint limiting mechanism. The side surface of the surface elastic adjustment member produces a change in the stiffness of the anti-bending zone according to the angle between the first joint and the second joint. The larger the angle between the first joint and the second joint, the smaller the stiffness of the anti-bending zone of the surface elastic adjustment member.
2. The adaptive bionic robotic arm according to claim 1, characterized in that: The blocking member includes a movable seat arranged at the second joint, the movable seat is restricted to move in a direction perpendicular to the movable surfaces of the first joint and the second joint, a blocking block is arranged on the surface of the movable seat, the driving member is arranged at the first joint, and a groove matching the blocking block is arranged on the surface of the driving member. After the driving member drives the movable seat to move toward the first joint, the blocking block is inserted into the groove to restrict the bending of the first joint relative to the second joint.
3. The adaptive bionic robotic arm according to claim 2, characterized in that: The movable seat is made of a magnetically attractive metal material, and the driving component is an electromagnet. When the electromagnet is energized, the movable seat is adsorbed on the surface of the driving component.
4. The adaptive bionic robotic arm according to claim 2, characterized in that: The movable seat is provided with a guide block at its edge, and the second joint is provided with a movable groove at a position corresponding to the guide block, and the guide block moves in the movable groove.
5. The adaptive bionic robotic arm according to claim 2, characterized in that: A first spring is arranged between the second joint and the movable seat, and the first spring enables the movable seat to have a movement tendency away from the first joint.
6. The adaptive bionic robotic arm according to claim 1, characterized in that: The surface elastic adjustment member includes a second spring, which is sleeved on the periphery of the first joint. The outer ring of the second spring is sleeved with an elastic layer. The stretching amount of the second spring is negatively correlated with the angle between the first joint and the second joint. The outer ring of the second spring is sleeved with an elastic layer. The elastic layer expands after being squeezed by the second spring, thereby changing its thickness. The thickness of the elastic layer is positively correlated with the stretching amount of the second spring.
7. The adaptive bionic robotic arm according to claim 1, characterized in that: It comprises a plurality of torsion springs, which are arranged between the first joint and the second joint, and between the second joint and the third joint, and the torsion springs enable the finger piece or the thumb piece to have a tendency to straighten.
8. The adaptive bionic robotic arm according to claim 1, characterized in that: When the bionic robotic arm clamps a thin sheet-like object, the driving member drives the blocking member to work so that the first joint and the second joint of the corresponding finger member remain parallel, the corresponding driving mechanism drives the corresponding finger member to achieve bending between the second joint and the third joint, and between the third joint and the palm, the corresponding driving mechanism drives the thumb member to bend, and controls the driving amount of the driving mechanism so that the end of the third joint of the thumb member contacts the side of the third joint of the finger member.
9. A robot, characterized in that: An adaptive bionic robotic arm comprising any one of claims 1-8.