Petal-shaped bionic flexible manipulator and control system

Abstract

The invention belongs to the field of manipulators, and particularly discloses a petal-shaped bionic flexible manipulator and a control system, and the petal-shaped bionic flexible manipulator comprises a main body, a finger mechanism and a control mechanism; the main body comprises a fixed plate, a movable plate is movably arranged at the top of the fixed plate through a rotating shaft, and a rotating driving part is arranged at the input end of the rotating shaft; the finger mechanism comprises a near section plate, a middle section plate and a far section plate which are hinged in sequence, and the near section plate is hinged to the movable plate; the control mechanism comprises a control arm movably arranged on the near section plate, a connecting plate arranged on the middle section plate and a universal connecting piece arranged between the control arm and the fixing plate and between the control arm and the connecting plate. Through bionic simulation of a petal structure, the finger mechanism can be opened and closed through one rotating action of the movable plate, a dodecahedron space for a fragile object to move can be formed during closing, non-contact grasping is achieved, and damage caused by direct contact is avoided.

Description

Technical Field

[0001] The invention belongs to the field of manipulators, and in particular relates to a petal-shaped bionic flexible manipulator and a control system. Background Art

[0002] A gripper is a robotic device that can simulate the functions of a human hand and is used to grip and transport objects or organisms. It is widely used in industrial automation, medical assistance, agriculture, service robots and other fields.

[0003] However, traditional manipulators inevitably require complex sensors and posture control to grasp fragile objects such as jellyfish, such as fragile objects, marine life, mollusks, etc., in order not to damage fragile objects. The actuators are relatively cumbersome, and the transmission and control are too complicated. Summary of the invention

[0004] The purpose of the present invention is to provide a petal-shaped bionic flexible manipulator and control system. By bionic simulation of the petal structure, the manipulator can be opened and closed with a rotation action, and when closed, a dodecahedral space is formed for the movement of fragile objects, and non-contact grasping is performed to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A petal-shaped bionic flexible manipulator comprises a main body, a finger mechanism and a control mechanism; the main body comprises a fixed plate, a movable plate is movably arranged on the top of the fixed plate through a rotating shaft, and a rotating drive member is arranged at the input end of the rotating shaft; the finger mechanism comprises a proximal section plate, a middle section plate and a distal section plate which are hinged in sequence, wherein the proximal section plate is hinged to the movable plate; the movable plate, the proximal section plate and the middle section plate are all arranged in an equilateral pentagon, and the distal section plate is arranged in a triangle, and the finger mechanism is arranged in five groups, which are respectively located on five sides of the movable plate; the control mechanism comprises a control arm movably arranged on the proximal section plate, a connecting plate arranged on the middle section plate, and a universal connecting member arranged between the control arm and the fixed plate and the connecting plate.

[0007] Preferably, the control arm is connected to the center of the near-section plate via a connecting rod, and the connecting plate is connected to the center of the middle-section plate.

[0008] Preferably, the movable plate and the near-section plate, the near-section plate and the middle-section plate, and the middle-section plate and the far-section plate are all connected via hinges.

[0009] Preferably, the rotary drive member comprises a steering gear, a gear 1 is sleeved on the rotating shaft, a gear 2 is arranged at the output end of the steering gear, and the gear 1 is meshed with the gear 2.

[0010] Preferably, the rotating shaft is connected to the fixed plate via a bearing, and blocking blocks are provided on the rotating shaft at the top and bottom of the bearing. The top of the rotating shaft passes through the movable plate and is threadedly connected to nut 2, and the bottom of the rotating shaft passes through gear 1 and is threadedly connected to nut 1.

[0011] Preferably, the universal connector comprises:

[0012] Four rotating plates are respectively arranged on the first end of the control arm, the second end of the control arm, the connecting plate and the fixing plate;

[0013] Hinge 2, each of the rotating plates is horizontally hingedly connected to the corresponding structure through the hinge 2;

[0014] The rotating plate at the first end of the control arm is vertically hinged to the rotating plate of the connecting plate, and the rotating plate at the second end of the control arm is vertically hinged to the rotating plate of the fixed plate.

[0015] Preferably, a fixing frame is provided at the bottom of the fixing plate.

[0016] A petal-shaped bionic flexible manipulator control system includes the above-mentioned petal-shaped bionic flexible manipulator, and also includes a host computer, a Bluetooth communication module and a steering gear controller, wherein the host computer is connected to the steering gear controller through the Bluetooth communication module, and the steering gear controller is connected to the steering gear wire.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] The present invention simulates the petal structure through bionics and utilizes a control arm and a universal connector so that the movable plate can realize the opening and closing of the finger mechanism with one rotation action. The movable plate, the proximal plate and the middle plate are all arranged in an equilateral pentagon, and the distal plate is arranged in a triangle. When closed, a dodecahedral space can be formed for the movement of fragile objects, and non-contact grasping can avoid damage caused by direct contact. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 A bottom view of the present invention;

[0022] Figure 3It is a schematic diagram of the structure of the finger mechanism and the control mechanism of the present invention;

[0023] Figure 4 It is a schematic diagram of the structure of the rotary drive member of the present invention;

[0024] Figure 5 It is a system block diagram of the present invention.

[0025] In the figure: 1. main body; 101. fixed plate; 102. rotating shaft; 1021. nut 1; 1022. nut 2; 1023. blocking block; 103. movable plate; 104. rotating drive member; 1041. gear 1; 1042. gear 2; 1043. servo; 105. fixed frame; 106. bearing; 2. finger mechanism; 201. near section plate; 202. middle section plate; 203. far section plate; 204. hinge 1; 3. control mechanism; 301. control arm; 302. connecting rod; 303. connecting plate; 304. universal joint; 3041. hinge 2; 3042. rotating plate. DETAILED DESCRIPTION

[0026] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0027] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0028] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0029] As attached Figure 1 , 2 and attached Figure 3 As shown:

[0030] Embodiment 1: This embodiment provides a petal-shaped bionic flexible manipulator, including a main body 1, a finger mechanism 2 and a control mechanism 3; the main body 1 includes a fixed plate 101, a movable plate 103 is movably arranged on the top of the fixed plate 101 through a rotating shaft 102, and a rotating driving member 104 is arranged at the input end of the rotating shaft 102; the finger mechanism 2 includes a proximal section plate 201, a middle section plate 202 and a distal section plate 203 which are hinged in sequence, wherein the proximal section plate 201 is hinged to the movable plate 103; the movable plate 103, the proximal section plate 201 and the middle section plate 202 are all arranged in an equilateral pentagon, and the distal section plate 203 is arranged in a triangle, and the finger mechanism 2 is arranged in five groups, and the five groups of finger mechanisms 2 are respectively located on the five sides of the movable plate 103; the control mechanism 3 includes a control arm 301 movably arranged on the proximal section plate 201, a connecting plate 303 arranged on the middle section plate 202, and a universal connector 304 arranged between the control arm 301 and the fixed plate 101 and the connecting plate 303.

[0031] The initial state is as follows Figure 1 As shown, during operation, the rotating shaft 102 is driven to rotate by the rotating driving member 104, and when the rotating shaft 102 rotates, the movable plate 103 is driven to rotate synchronously, thereby driving the five groups of finger mechanisms 2 to rotate synchronously. Since one end of the control arm 301 is connected to the fixed plate 101 through the universal connector 304, when the near-section plate 201 and the control arm 301 swing, the connection between the universal connector 304 and the fixed plate 101 cannot rotate together, so that the distance between the connection point between the universal connector 304 and the fixed plate 101 and the connection point between the control arm 301 and the near-section plate 201 increases, and a pulling force is applied to the control arm 301 in the direction of the fixed plate 101. At the same time, the control arm 301 itself cannot be extended or retracted, and then through the hinge between the near-section plate 201 and the movable plate 103, a pulling force is applied to the near-section plate 201 in the direction of the fixed plate 101, so as to control the near-section plate 201 to swing outward and open. Moreover, due to the rotation of the near-section plate 201, the universal connector 304 and the fixed plate The angle between the connection point 101 and the connection point between the control arm 301 and the near-section plate 201 increases, which causes the control arm 301 to swing around the connection point with the near-section plate 201, and when the control arm 301 swings, its other end will swing in the opposite direction, pulling the universal connector 304 to make it away from the middle section plate 202, while the connecting plate 303 cannot be extended, and then the tension is applied to the middle section plate 202 through the connecting plate 303, so that it swings outward to open, completing the opening of the device, and when it moves to the position where the object is clamped, the control shaft 102 rotates in the opposite direction, which can drive the control arm 301 to swing in the opposite direction, and push the near-section plate 201 and the middle section plate 202 to swing inward to close, completing the clamping of the object, and the far section plate 203 will use the inertia of opening and closing to synchronize and adjust to achieve opening and closing, and the universal connector 304 satisfies the multi-directional articulated activities between the control arm 301 and the fixed plate 101 and the middle section plate 202, such as a ball universal joint;

[0032] The movable plate 103, the proximal plate 201, and the middle plate 202 are all arranged in an equilateral pentagonal shape, and the distal plate 203 is arranged in a triangular shape. The finger mechanism 2 is arranged in five groups. When the five triangular distal plates 203 are closed, a pentagonal surface will be formed, and the five groups of proximal plates 201 and the middle plate 202 are ten pentagonal surfaces, which serve as five fingers. Each finger contains two pentagonal surfaces, and one pentagonal surface of the movable plate 103 serves as the palm. Such a structure makes the palm and fingers resemble a petal-shaped structure when opened, and form a regular dodecahedron surrounded by twelve pentagonal surfaces when closed, forming a cavity to achieve non-contact grasping, so that when grasping fragile objects such as jellyfish, the grasped object can move freely in this limited cavity, thus avoiding direct grasping. In order to prevent damage caused by contact, the device can be closed and opened by driving the rotating shaft 102 to rotate through a driving source, with rapid action and precise movement. In addition, it is not necessary to install various sensors on the hand to achieve flexible grasping of certain objects, such as certain fragile objects, marine life, mollusks, etc., thus avoiding the system from becoming extremely complicated, as well as huge motion calculations and controls. The opening and closing of the petal-shaped fingers requires each component to move along a certain path. By analyzing the motion trajectory and path of the opening and closing of the petals, the size, direction and angle of the translation, rotation and swing of each component are accurately calculated, and we have obtained the optimized shapes and sizes of each component, avoiding motion disorders caused by unreasonable design, thereby achieving flexible and rapid opening and closing of the fingers.

[0033] Specifically, the control arm 301 is connected to the center of the near-section plate 201 through the connecting rod 302 , and the connecting plate 303 is connected to the center of the middle-section plate 202 .

[0034] Specifically, the movable plate 103 and the near-section plate 201 , the near-section plate 201 and the middle-section plate 202 , and the middle-section plate 202 and the far-section plate 203 are all connected via hinges 204 .

[0035] As attached Figure 1 and attached Figure 4 As shown:

[0036] Specifically, the rotary drive member 104 includes a servo 1043, a gear 1041 is sleeved on the rotating shaft 102, a gear 2 1042 is provided at the output end of the servo 1043, the gear 1 1041 is meshed with the gear 2 1042, and the servo 1043 adopts the RS485 bus servo of Fuyang Feller Technology Co., Ltd.

[0037] Specifically, the rotating shaft 102 is connected to the fixed plate 101 through the bearing 106, and the rotating shaft 102 at the top and bottom of the bearing 106 is provided with a blocking block 1023, the top of the rotating shaft 102 passes through the movable plate 103 and is threadedly connected with a nut 2 1022, and the bottom of the rotating shaft 102 passes through the gear 1 1041 and is threadedly connected with a nut 1021.

[0038] As can be seen from the above, when the steering gear 1043 is started during operation, the steering gear 1043 drives the second gear 1042 to rotate, and the second gear 1042 drives the first gear 1041 to rotate by meshing with the first gear 1041, thereby transmitting power to the rotating shaft 102 to realize the opening and closing of the device;

[0039] Nut 1021 is threadedly connected to the rotating shaft 102 to press and fix gear 1041 on the blocking block 1023, nut 2 1022 is threadedly connected to the rotating shaft 102 to press and fix the movable plate 103 on the blocking block 1023, the bearing 106 is pressed and fixed on the fixed plate 101 through a fixing seat, and the fixing seat and the fixed plate 101 are connected by bolts. The staff can separate the rotating shaft 102 from the movable plate 103, the fixed plate 101 and the rotating drive member 104 by turning nut 1021, nut 2 1022 and the bolts to facilitate maintenance.

[0040] As attached Figure 1 , 2 and attached Figure 3 As shown:

[0041] Embodiment 2: This embodiment provides a petal-shaped bionic flexible manipulator, including a main body 1, a finger mechanism 2 and a control mechanism 3; the main body 1 includes a fixed plate 101, a movable plate 103 is movably arranged on the top of the fixed plate 101 through a rotating shaft 102, and a rotating driving member 104 is arranged at the input end of the rotating shaft 102; the finger mechanism 2 includes a proximal section plate 201, a middle section plate 202 and a distal section plate 203 which are hinged in sequence, wherein the proximal section plate 201 is hinged to the movable plate 103; the movable plate 103, the proximal section plate 201 and the middle section plate 202 are all arranged in an equilateral pentagon, and the distal section plate 203 is arranged in a triangle, and the finger mechanism 2 is arranged in five groups, and the five groups of finger mechanisms 2 are respectively located on the five sides of the movable plate 103; the control mechanism 3 includes a control arm 301 movably arranged on the proximal section plate 201, a connecting plate 303 arranged on the middle section plate 202, and a universal connector 304 arranged between the control arm 301 and the fixed plate 101 and the connecting plate 303.

[0042] Specifically, the control arm 301 is connected to the center of the near-section plate 201 through the connecting rod 302 , and the connecting plate 303 is connected to the center of the middle-section plate 202 .

[0043] Specifically, the movable plate 103 and the near-section plate 201 , the near-section plate 201 and the middle-section plate 202 , and the middle-section plate 202 and the far-section plate 203 are all connected via hinges 204 .

[0044] As attached Figure 3 As shown:

[0045] Specifically, the universal connector 304 includes:

[0046] Four rotating plates 3042 are respectively disposed on the first end of the control arm 301, the second end of the control arm 301, the connecting plate 303 and the fixing plate 101;

[0047] Hinge 2 3041, each rotating plate 3042 is horizontally hinged to the corresponding structure through hinge 2 3041;

[0048] The rotating plate 3042 at the first end of the control arm 301 is vertically hinged to the rotating plate 3042 of the connecting plate 303 , and the rotating plate 3042 at the second end of the control arm 301 is vertically hinged to the rotating plate 3042 of the fixing plate 101 .

[0049] Specifically, a fixing frame 105 is disposed at the bottom of the fixing plate 101 .

[0050] As can be seen from the above, the horizontal hinge between the control arm 301 and the fixed plate 101 and the connecting plate 303 is realized by the hinge 2 3041, and the vertical hinge between the control arm 301 and the fixed plate 101 and the connecting plate 303 is realized by the rotating plate 3042, so as to realize universal movement and meet the opening and closing drive of the device;

[0051] The device is mounted and fixed on an external device through a fixing bracket 105, which is used to drive the device to flexibly move to a desired position to achieve clamping. Preferably, the device is a 7-DOF robotic arm, which can extend, fold, swing and rotate, etc. By installing a dodecahedron manipulator at the front end of the robotic arm, the motor at the top of the 7-DOF robotic arm is used as a rotating drive 104 to drive the rotating shaft 102 to rotate.

[0052] As attached Figure 5 As shown:

[0053] Embodiment 3: This embodiment is basically the same as the previous embodiment, except that a petal-shaped bionic flexible manipulator control system includes the above-mentioned petal-shaped bionic flexible manipulator, and also includes a host computer, a Bluetooth communication module and a servo controller. The host computer is connected to the servo controller through the Bluetooth communication module, and the servo controller is connected to the servo 1043 wire.

[0054] From the above, it can be seen that the control signal is output by the host computer, and the control signal is transmitted to the servo controller using the Bluetooth communication module, thereby controlling the operation of the servo 1043, completing the opening and closing drive of the device, and realizing remote control. The action of the servo 1043 can also be manually debugged through the servo controller to control the rotation angle and speed of the servo 1043.

[0055] Importantly, it should be noted that the construction and arrangement of the present application shown in a plurality of different exemplary embodiments are only exemplary. Although only a few embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible (e.g., the size, scale, structure, shape and proportion of various elements, and parameter values ​​(e.g., temperature, pressure, etc.), installation arrangement, use of materials, color, directional changes, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in the application. For example, the element shown as integrally formed can be composed of multiple parts or elements, the position of the element can be inverted or otherwise changed, and the nature or number or position of the discrete element can be changed or changed. Therefore, all such modifications are intended to be included in the scope of the present invention. The order or sequence of any process or method steps can be changed or reordered according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure of performing the function described herein, and is not only structurally equivalent but also equivalent structure. Without departing from the scope of the present invention, other replacements, modifications, changes and omissions can be made in the design, operating conditions and arrangement of the exemplary embodiments. Therefore, the invention is not limited to a specific embodiment, but extends to numerous modifications still falling within the scope of the appended claims.

[0056] Additionally, in order to provide a concise description of exemplary embodiments, all features of an actual embodiment (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those that are not relevant to implementing the invention) may not be described.

[0057] It will be appreciated that in the development of any actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but will be a routine task of design, fabrication, and production for those of ordinary skill having the benefit of this disclosure without undue experimentation.

[0058] 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 preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A petal-shaped bionic flexible manipulator, characterized in that: It comprises a main body (1), a finger mechanism (2) and a control mechanism (3); The main body (1) comprises a fixed plate (101), a movable plate (103) is movably provided on the top of the fixed plate (101) via a rotating shaft (102), and a rotating driving member (104) is provided at the input end of the rotating shaft (102); The finger mechanism (2) comprises a proximal plate (201), a middle plate (202) and a distal plate (203) which are hinged in sequence, wherein the proximal plate (201) is hinged to the movable plate (103); The movable plate (103), the proximal plate (201), and the middle plate (202) are all arranged in an equilateral pentagonal shape, the distal plate (203) is arranged in a triangular shape, and the finger mechanisms (2) are arranged in five groups, and the five groups of finger mechanisms (2) are respectively located on five sides of the movable plate (103); The control mechanism (3) comprises a control arm (301) movably arranged on the near-node plate (201), a connecting plate (303) arranged on the middle-node plate (202), and a universal connecting member (304) arranged between the control arm (301), the fixed plate (101) and the connecting plate (303).

2. The petal-shaped bionic flexible manipulator according to claim 1, characterized in that: The control arm (301) is connected to the center of the near-node plate (201) via a connecting rod (302), and the connecting plate (303) is connected to the center of the middle-node plate (202).

3. The petal-shaped bionic flexible manipulator according to claim 1, characterized in that: The movable plate (103) and the near-section plate (201), the near-section plate (201) and the middle-section plate (202), and the middle-section plate (202) and the far-section plate (203) are all connected via hinges (204).

4. The petal-shaped bionic flexible manipulator according to claim 1, characterized in that: The rotary drive member (104) comprises a steering gear (1043), a gear 1 (1041) is sleeved on the rotating shaft (102), a gear 2 (1042) is arranged at the output end of the steering gear (1043), and the gear 1 (1041) is meshed with the gear 2 (1042).

5. The petal-shaped bionic flexible manipulator according to claim 4, characterized in that: The rotating shaft (102) is connected to the fixed plate (101) via a bearing (106), and a blocking block (1023) is provided on the rotating shaft (102) at the top and bottom of the bearing (106). The top of the rotating shaft (102) passes through the movable plate (103) and is threadedly connected to a nut 2 (1022), and the bottom of the rotating shaft (102) passes through a gear 1 (1041) and is threadedly connected to a nut 1 (1021).

6. The petal-shaped bionic flexible manipulator according to claim 1, characterized in that: The universal connection member (304) comprises: Four rotating plates (3042) are respectively arranged on the first end of the control arm (301), the second end of the control arm (301), the connecting plate (303) and the fixing plate (101); Hinge 2 (3041), each of the rotating plates (3042) is horizontally hingedly connected to the corresponding structure via the hinge 2 (3041); The rotating plate (3042) at the first end of the control arm (301) is vertically hinged to the rotating plate (3042) of the connecting plate (303), and the rotating plate (3042) at the second end of the control arm (301) is vertically hinged to the rotating plate (3042) of the fixed plate (101).

7. The petal-shaped bionic flexible manipulator according to claim 1, characterized in that: A fixing frame (105) is provided at the bottom of the fixing plate (101).

8. A petal-shaped bionic flexible manipulator control system, characterized by: It comprises a petal-shaped bionic flexible manipulator as described in any one of claims 1 to 7, and also comprises a host computer, a Bluetooth communication module and a servo controller, wherein the host computer is connected to the servo controller through the Bluetooth communication module, and the servo controller is connected to the servo (1043) by wire.

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