Manipulator driven by artificial muscle in speed increasing mode

Abstract

The utility model discloses a mechanical arm driven by artificial muscles in a speed increasing mode, relates to the technical field of mechanical arms, and solves the problem that an existing mechanical arm is low in action response speed. The device comprises a fixed shell, a plurality of finger units are arranged on the fixed shell, and bending traction mechanisms are arranged on the finger units; a plurality of speed-increasing transmission mechanisms corresponding to the finger units are arranged in the fixing shell, the speed-increasing transmission mechanisms are respectively connected with the bending traction mechanism, and dielectric elastomer drivers corresponding to the speed-increasing transmission mechanisms are respectively arranged in the fixing shell. By arranging the bending traction mechanism, the finger units can be driven to bend or unbend in a traction mode. The speed-increasing transmission mechanism can control fingers to bend and unbend in a speed-increasing mode to transmit to the bending traction mechanism, the action speed and efficiency are improved, the dielectric elastomer driver serves as a power source, the flexibility driving mode can be improved, the flexibility of the action manipulator is improved, the structure is reliable, the action speed is higher, and the efficiency is higher.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a robotic arm driven by artificial muscle speed increase. Background Technology

[0002] A robotic arm is an industrial robot typically designed to mimic the movements of a human arm and hand to perform various tasks. Composed of multiple joints, actuators, sensors, and control systems, they can perform complex operations in manufacturing, assembly, packaging, logistics, and other fields. Traditional robotic arms, consisting of various joints and actuators, can be driven by motors, pneumatic, or hydraulic systems. They are suitable for many industrial applications, such as assembly lines, packaging, and material handling. However, traditional robotic arms are usually made of rigid materials, lacking flexibility and deformability, resulting in poor compliance. This rigid structure can cause discomfort or even injury when in contact with humans or flexible objects, leading to poor safety in human-robot interactions. Dielectric elastomer actuators (DEAs), as a novel flexible actuation technology, demonstrate great potential in addressing these problems due to their high power density, lightweight, flexibility, and high precision.

[0003] Chinese invention patent CN112720540A discloses a soft robotic hand driven by negative pressure pneumatic artificial muscles. It mainly consists of two parts: the soft robotic hand body and external equipment. The external equipment is used to drive the negative pressure-driven pneumatic artificial muscles inside the soft hand. It mainly includes a vacuum generator, a vacuum tank, an electro-proportional control valve, and an air filter. The soft robotic hand consists of metacarpals and five fingers. The metacarpals are used to fix the fingers; the thumb has three degrees of freedom, and the other four fingers have four degrees of freedom each. Each finger mainly includes phalanges, negative pressure pneumatic artificial muscles, tendons, guide wheels, and torsion springs. The movement control of each joint of the soft robotic hand can be achieved by adjusting the opening of the electro-proportional control valve.

[0004] In this solution, the pneumatic control system has a complex structure. During use, the finger movements need to be controlled by a proportional valve. Under pneumatic drive, the finger movement response speed is slow, which affects the efficiency of the movement. Therefore, it is crucial to invent a robotic hand driven by artificial muscle speed-up. Utility Model Content

[0005] To address the shortcomings in the aforementioned background technology, this utility model proposes a robotic hand driven by artificial muscle speed-up, which solves the problem of slow finger movement response speed in existing robotic hands.

[0006] The technical solution of this utility model is implemented as follows: a robotic hand driven by artificial muscle speed increase includes a fixed shell, on which a plurality of finger units are provided, and each finger unit is provided with a bending traction mechanism; the fixed shell is provided with a plurality of speed increase transmission mechanisms corresponding to the finger units, and the speed increase transmission mechanisms are respectively connected to the bending traction mechanisms; the fixed shell is provided with dielectric elastomer actuators corresponding to the speed increase transmission mechanisms.

[0007] Preferably, the fixed shell is provided with a hinge seat, and each finger unit includes a plurality of intermediate phalanges and terminal phalanges arranged in sequence, with the intermediate phalanges and the hinge seat being hinged to each other, between adjacent intermediate phalanges, and between intermediate phalanges and terminal phalanges.

[0008] Preferably, the bending traction mechanism includes a pair of traction members, one end of which is fixedly connected to the distal phalanx from the inner and outer sides respectively, and the middle part of the traction member cooperates with the inner and outer sides of the intermediate phalanx respectively, and the other end of the traction member cooperates with the speed-increasing transmission mechanism. The inner and outer sides of the intermediate phalanx are each provided with ear seats to accommodate the passage of the traction members.

[0009] Preferably, the speed-increasing transmission mechanism includes an output wheel, with the lower end of the traction member connected to the output wheel. The output wheel is engaged with at least one gear transmission pair, which is engaged with an input wheel. A support plate is provided within the fixed housing to support the rotation of the output wheel, the gear transmission pair, and the input wheel. The transmission ratio along the direction from the input wheel to the output wheel is greater than one.

[0010] Preferably, a tension spring is provided inside the fixed housing, and the tension spring is connected to the dielectric elastomer actuator. The dielectric elastomer actuators are arranged in pairs, and the two driving ends of each pair of dielectric elastomer actuators are respectively connected to the two ends of the driving rope, and the middle part of the driving rope is wound around or fixed to the input wheel.

[0011] Preferably, both the intermediate phalanx and the distal phalanx include side plates, which are connected by a connecting block. One end of each side plate is connected by a hinge shaft, and the other end of each side plate has a through hole for engaging with the hinge shaft. The distal phalanx has an arc-shaped end face.

[0012] The beneficial effects of this invention are as follows: By setting a fixed shell, a supporting foundation is provided for the entire robotic arm; by setting a bending traction mechanism, the finger units can bend or straighten by pulling. By setting an increasing speed transmission mechanism, the speed of movement is increased when controlling the bending and straightening of the fingers, thus improving the speed and efficiency of the movement. By setting a dielectric elastomer actuator as a power source, the flexible driving method is improved, thus enhancing the compliance of the robotic arm. This invention has a reliable structure, faster movement speed, and higher efficiency. Attached Figure Description

[0013] To more clearly illustrate the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0015] Figure 2 This is a schematic diagram of the finger unit and speed-increasing transmission mechanism of this utility model;

[0016] Figure 3 This is a schematic diagram of the speed-increasing transmission mechanism of this utility model;

[0017] Figure 4 This is a cross-sectional schematic diagram of the finger unit and bending traction mechanism of this utility model;

[0018] In the diagram: 1: Fixed shell, 2: Finger unit, 3: Bending traction mechanism, 4: Speed-increasing transmission mechanism, 5: Dielectric elastomer actuator, 11: Hinge seat, 21: Middle phalanx, 22: End phalanx, 31: Traction element, 32: Ear seat, 41: Output wheel, 42: Input wheel, 43: Support plate, 12: Tension spring, 51: Drive rope, 26: Side plate, 27: Connecting block, 28: Hinge shaft, 29: Arc-shaped end face, 431: First stage large gear, 432: First stage small gear, 433: Second stage large gear, 434: Second stage small gear. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0020] like Figure 1As shown in Embodiment 1, a robotic hand driven by artificial muscle speed-up includes a fixed shell 1, which provides a mounting support base for the entire robotic hand. The fixed shell 1 has several finger units 2, each equipped with a bending traction mechanism 3. These mechanisms can bend or straighten the finger units by pulling. The fixed shell 1 contains several speed-up transmission mechanisms 4 corresponding to the finger units 2. These mechanisms can transmit power to the bending traction mechanisms at an increased speed when controlling finger bending and straightening, thereby improving movement speed and efficiency. The speed-up transmission mechanisms 4 are connected to the bending traction mechanisms 3. The fixed shell 1 also contains dielectric elastomer actuators 5 corresponding to the speed-up transmission mechanisms 4. These actuators, acting as a power source, enhance the smoothness of the robotic hand through flexible actuation.

[0021] As a further specific implementation method, such as Figure 2 As shown, the fixed shell 1 is provided with a hinge seat 11. Each finger unit 2 includes a plurality of intermediate phalanges 21 and distal phalanges 22 arranged sequentially. The intermediate phalanges 21 are hinged to the hinge seat 11, between adjacent intermediate phalanges 21, and between intermediate phalanges 21 and distal phalanges 22. In this embodiment, to achieve biomimicry, a total of five finger units are provided, corresponding to five hinge seats on the upper end of the fixed shell. Two intermediate phalanges are provided, sequentially connected to the hinge seats. The hinge seat at the thumb position is inclined, and the length of the finger unit corresponding to the thumb position is shorter than the length of the other finger units. Specifically, in this embodiment, both the intermediate phalanges 21 and distal phalanges 22 include side plates 26. The side plates 26 are connected by connecting blocks 27. One end of each side plate 26 is connected by a hinge shaft 28, and the other end is provided with a through hole for engaging with the hinge shaft 28. Adjacent intermediate phalanges are hinged by engaging with the hinge shaft and the through hole, mimicking the joints of human fingers. In addition, the distal phalanx 22 is provided with an arc-shaped end face 29. The arc-shaped end face conforms to the shape design of the human fingertip, which facilitates movement and pressing actions. The structure is reliable, the action speed is faster, and the efficiency is higher.

[0022] Example 2: A robotic hand driven by artificial muscle speed increase, based on Example 1, such as... Figure 4As shown, the bending traction mechanism 3 includes a pair of traction members 31, one end of which is fixedly connected to the distal phalanx 22 from the inner and outer sides respectively. The middle portions of the traction members 31 engage with the inner and outer sides of the intermediate phalanx 21, respectively, and the other end of the traction members 31 engages with the speed-increasing transmission mechanism 4. Correspondingly, ear seats 32 are provided on both the inner and outer sides of the intermediate phalanx 21 to allow the traction members 31 to pass through. The ear seats connect the intermediate phalanx to the traction members, allowing the traction members to slide within the ear seats when tightened, and simultaneously pulling the intermediate phalanx to rotate. In this embodiment, the traction members can be selected as traction ropes. Under the drive of the speed-increasing transmission mechanism, when the traction member located on the outer side is tightened or pulled, the hinge angles between the distal phalanx and the intermediate phalanx, between the intermediate phalanxes, and between the intermediate phalanx and the hinge seat all rotate, thereby straightening the finger unit. When the traction member located on the inner side is tightened or pulled, the hinge angle at the corresponding joint changes in the opposite direction, thereby achieving finger bending.

[0023] Example 3: A robotic hand driven by artificial muscle speed increase, based on Example 2, such as... Figure 2 , 3 As shown, the speed-increasing transmission mechanism 4 includes an output wheel 41, and the lower end of the traction member 31 is connected to the output wheel 41. Specifically, in this embodiment, the output wheel is provided with a through hole arranged radially along the output wheel, and the lower ends of the two traction members are respectively fixedly connected to the through hole on the output wheel. Optionally, one loop can be wound around the output wheel. When the output wheel rotates, it can drive the traction member on one side to wrap around the output wheel and tighten the traction member on that side, while the traction member on the other side is released by the corresponding length, thereby achieving the purpose of traction to bend the finger unit. The output wheel 41 is driven and cooperates with at least one level gear transmission pair, and the gear transmission pair is driven and cooperates with the input wheel 42. The fixed shell 1 is provided with a support plate 43 for supporting the rotation of the output wheel 41, the gear transmission pair, and the input wheel 42.

[0024] In addition, in this embodiment, in order to achieve speed-up drive, the transmission ratio along the direction from the input wheel 42 to the output wheel 41 is greater than one, thereby increasing the rotational speed of the output wheel at the output end during each action, thereby increasing the speed of the traction member driven by the output wheel, and ultimately achieving the purpose of increasing the movement speed of the middle and end phalanges of the finger unit.

[0025] In this embodiment, each speed-increasing transmission mechanism has two parallel support plates 43. Three axles are arranged in parallel on the support plates 43. The bottom axle has a first-stage large gear 431 and an input wheel 42 rotatably mounted on it, and the first-stage large gear 431 and the input wheel 42 are fixedly connected. The middle axle has a first-stage small gear 432 and a second-stage large gear 433 rotatably mounted on it, and the first-stage small gear 432 and the second-stage large gear 433 are fixedly connected to each other. The top axle has a second-stage small gear 434 and an output wheel 41 rotatably mounted on it. The meshing between the first-stage small gear and the first-stage large gear, and between the second-stage large gear and the second-stage small gear, forms a gear transmission pair. Thus, when the input wheel 42 rotates, it drives the output wheel 43 to rotate in a speed-increasing manner, thereby achieving two-stage speed increase.

[0026] As an optional alternative implementation to the above embodiments, in this embodiment, two axles are fixedly mounted parallel to each other on the support plate. The input wheel and the first-stage gear of the gear transmission pair are coaxially rotatably mounted on the lower axle, and the input wheel and the first-stage gear are fixedly connected. Both can be integrally machined. The second-stage gear and the output wheel of the gear transmission pair are coaxially rotatably mounted on the upper axle, and the output wheel and the second-stage gear are fixedly connected. They are integrally machined. The first-stage gear and the second-stage gear of the gear transmission pair mesh, so that when the input wheel rotates, it synchronously drives the first-stage gear to rotate, and simultaneously drives the second-stage gear and the output wheel to rotate, achieving a first-stage speed increase. When using a first-stage speed increase, the control direction of the dielectric elastomer actuator is opposite to that of a second-stage speed increase control, so that the rotation direction of the output wheel meets the actual action direction requirements.

[0027] Example 4: A robotic hand driven by artificial muscle acceleration. Based on Example 3, the fixed shell 1 is provided with a tension spring 12, which is connected to a dielectric elastomer actuator 5. The dielectric elastomer actuators 5 are arranged in pairs, and the two driving ends of each pair of dielectric elastomer actuators 5 are respectively connected to the two ends of a driving rope 51. The middle part of the driving rope 51 is wound around or fixed to the input wheel 42. In this example, the input wheel is provided with a radially arranged through hole to allow the driving rope to pass through. Optionally, the driving rope can be fixed in the through hole. When one end of the driving rope is pulled by the dielectric elastomer actuator, it can drive the input wheel to rotate.

[0028] In this embodiment, a total of ten dielectric elastomer actuators are provided, and ten tension springs are provided accordingly. The tension springs are located at the lower end of the fixed shell, and the upper end of the tension springs is connected to the dielectric elastomer actuators. The upper end of the dielectric elastomer actuators is connected to the drive rope, and the tension springs are in a pre-tensioned state.

[0029] In practical use, when finger flexion needs to be controlled, the outer dielectric elastomer actuator 5 extends after being energized. Under the force of the inner tension spring and the self-resetting force of the inner dielectric elastomer, it pulls the drive rope 51 to move, thereby driving the input wheel 42 to rotate. In turn, under the speed-increasing transmission of the gear transmission pair, it drives the output wheel to rotate. The output wheel drives the traction member wrapped around it to move. The inner side of the traction member is pulled to the outside, pulling the middle and end phalanges to rotate inward, thus bending the finger. When finger straightening is needed, the inner dielectric elastomer actuator extends after being energized, while the outer dielectric elastomer actuator de-energizes and remains in a contracted state, thereby driving the middle and end phalanges of the finger unit to rotate in the opposite direction, achieving the finger straightening action.

[0030] As a further specific embodiment, the fixed shell can be divided into a wrist shell and a back-of-hand shell, which are fixedly connected or integrally formed. The dielectric elastomer actuator and tension spring are disposed in the wrist shell, and the speed-increasing transmission mechanism is disposed in the back-of-hand shell. The support plate is fixedly disposed inside the back-of-hand shell, and the back-of-hand shell and the wrist shell are provided with through holes to accommodate the traction component and the drive rope. The hinge seat is fixedly disposed on the back-of-hand shell.

[0031] In this embodiment, the dielectric elastomer actuator can be driven by a novel actuator based on a dielectric elastomer, as disclosed in Chinese Utility Model Patent No. CN202160126U, or by an actuator driven by a PDMS dielectric elastomer film. In the energized state, the dielectric elastomer actuator will extend under the action of Maxwell forces. In the de-energized state, the dielectric elastomer actuator will contract under the action of an internal spring.

[0032] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A robotic hand driven by artificial muscle speed increase, characterized in that: The device includes a fixed shell (1), on which a plurality of finger units (2) are provided, and each finger unit (2) is provided with a bending traction mechanism (3); the fixed shell (1) is provided with a plurality of speed-increasing transmission mechanisms (4) corresponding to the finger units (2), and the speed-increasing transmission mechanisms (4) are respectively connected to the bending traction mechanism (3); the fixed shell (1) is provided with dielectric elastomer actuators (5) corresponding to the speed-increasing transmission mechanisms (4).

2. The artificial muscle speed-driven robotic hand according to claim 1, characterized in that: The fixed shell (1) is provided with a hinge seat (11), and each finger unit (2) includes a number of intermediate phalanges (21) and terminal phalanges (22) arranged in sequence. The intermediate phalanges (21) are hinged to the hinge seat (11), between adjacent intermediate phalanges (21), and between intermediate phalanges (21) and terminal phalanges (22).

3. The artificial muscle speed-driven robotic hand according to claim 2, characterized in that: The bending traction mechanism (3) includes a pair of traction members (31) with one end fixedly connected to the end finger joint (22) from the inside and the outside respectively, and the middle part of the traction member (31) cooperates with the inside and the outside of the middle finger joint (21) respectively, and the other end of the traction member (31) cooperates with the speed-increasing transmission mechanism (4).

4. The artificial muscle speed-driven robotic hand according to claim 3, characterized in that: The middle finger joint (21) is provided with ear seats (32) on both the inner and outer sides to accommodate the traction member (31).

5. The artificial muscle speed-increasing driven robotic hand according to claim 4, characterized in that: The speed-increasing transmission mechanism (4) includes an output wheel (41), the lower end of the traction member (31) is connected to the output wheel (41), the output wheel (41) is in transmission cooperation with at least one level gear transmission pair, the gear transmission pair is in transmission cooperation with the input wheel (42), and the fixed shell (1) is provided with a support plate (43) for supporting the rotation of the output wheel (41), the gear transmission pair and the input wheel (42).

6. The artificial muscle speed-driven robotic hand according to claim 5, characterized in that: The transmission ratio along the direction from the input wheel (42) to the output wheel (41) is greater than one.

7. The artificial muscle speed-driven robotic hand according to claim 6, characterized in that: The fixed shell (1) is provided with a tension spring (12), which is connected to the dielectric elastomer actuator (5).

8. The artificial muscle speed-driven robotic hand according to claim 7, characterized in that: The dielectric elastomer actuators (5) are arranged in pairs, and the two driving ends of each pair of dielectric elastomer actuators (5) are respectively connected to the two ends of the driving rope (51). The driving rope (51) is wound around or fixed on the input wheel (42) in the middle.

9. The artificial muscle speed-increasing driven robotic hand according to any one of claims 2 to 8, characterized in that: The middle finger joint (21) and the end finger joint (22) both include side plates (26), which are connected to each other by a connecting block (27). One end of each side plate (26) is connected by a hinge shaft (28), and the other end is provided with a through hole for cooperating with the hinge shaft (28).

10. The artificial muscle speed-driven robotic hand according to claim 9, characterized in that: The distal phalanx (22) is provided with an arc-shaped end face (29).

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