CN204997657U - Biomimetic mechanical hand with imitate function - Google Patents

Abstract

The utility model discloses a bionic manipulator with an imitation function, which belongs to the technical field of robots and comprises a manipulator, a control glove and a controller. The bionic manipulator with imitation function of the utility model can make the manipulator determine the finger to be moved and the degree of bending of the finger according to different needs by controlling the glove, so as to realize the dexterous grasping of objects of different sizes and shapes.

Description

A bionic manipulator with imitation function

technical field

The utility model belongs to the technical field of robots, in particular to a bionic manipulator with an imitation function.

Background technique

The manipulator is an automatic operation device that can imitate certain movement functions of the human hand to grab, carry objects or operate tools according to the program. It is a high-tech automatic production equipment developed in recent decades. The ability to complete tasks in the environment and the environment has become an important branch of industrial robots. It can replace human heavy labor to achieve mechanization and automation of production, and can operate in harmful environments to protect personal safety, so it is widely used in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, and space exploration and other fields.

As a kind of robot terminal operating device, the five-finger bionic manipulator has the advantages of both human and machine in terms of structure and performance, and has the characteristics of multi-degree of freedom, multi-finger coordination, and strong flexibility. Therefore, in various tasks that require dexterity and precision Get widely used.

However, through research, it has been found that the current bionic robotic arm is mainly driven by a motor, and can only do some simple mechanical movement flexibility according to a predetermined program. It uses a large number of mechanisms, and the structure of the driving device is relatively complicated. Joint flexibility, dynamic stiffness, and energy density are all difficult to meet the use requirements, so that the use effect is affected, which in turn affects industrial applications, and there are defects of high cost. At present, the movement of most five-finger bionic manipulators is through fixed programming to complete various expected tasks, that is, the operator directly sends action instructions to the five-finger bionic manipulator through a computer or other control equipment, and controls the five-finger bionic manipulator to complete specified actions. This control method is simple and easy to implement, but it cannot make the five-finger bionic manipulator perform corresponding actions with reference to real human gestures, and it is difficult to achieve arbitrary operation, and its intelligence and adaptability are also greatly reduced.

With the needs of production, higher and higher requirements are put forward for the flexibility, positioning accuracy and working space of bionic manipulators, and in more cases, it is hoped that robots can replace humans to complete dangerous experimental tasks or labor, so a It is particularly important to find a specific way to solve the above problems.

Utility model content

The purpose of this utility model is to provide a bionic manipulator with imitation function. By controlling the glove, the manipulator can determine the finger to be moved and the bending degree of the finger according to different needs, so as to realize the dexterous grasping of objects of different sizes and shapes.

In order to achieve the above object, the utility model provides a bionic manipulator with imitation function, including a manipulator, a control glove and a controller; the manipulator includes a manipulator, a palm connected to the manipulator and five fingers connected to the palm, each finger includes The proximal knuckles, middle knuckles and far knuckles connected in sequence, the joints of the mechanical arm, the palm and the fingers and the joints of the fingers are provided with a first sensor and a driving mechanism; the control glove includes an operating palm and a joint The five operating fingers of the operating palm, each operating finger includes proximal knuckles, middle knuckles, and distal knuckles connected in sequence, and the joints between the operating palm and the operating fingers and the joints of the joints of the operating fingers are provided with second sensors; The controller includes an internal control device and an external control device, and the internal control device is provided with a first control module, a drive module and a first wireless transmission module, and the first sensor, the drive module and the first wireless transmission module are all connected to each other. The first control module is connected, the driving module is connected with the driving mechanism, the second control module and the second wireless transmission module are arranged in the external control device, and the second sensor and the second wireless transmission module are connected with the second control module. The modules are connected, and the second wireless transmission module is wirelessly connected with the first wireless transmission module.

As a further improvement of the utility model, the manipulator also includes a base, a column and a crossbar, the column is vertically installed on the base, the internal control device is installed on the upper end of the column, and the crossbar is vertical to the column and installed inside On the side of the control device, the mechanical arm is connected to the end of the cross bar, and the connection between the mechanical arm and the cross bar is provided with the driving mechanism and the first sensor.

As a further improvement of the present utility model, the mechanical arm includes a first mechanical arm joint and a second mechanical arm joint connected in sequence, the first mechanical arm joint is connected to a crossbar, and the second mechanical arm joint is connected to a palm, The connection between the first mechanical arm joint and the crossbar, the connection between the second mechanical arm joint and the first mechanical arm joint, and the connection between the second mechanical arm joint and the palm are all provided with the drive mechanism and the first sensor .

As a further improvement of the utility model, the driving mechanism includes a steering gear and an ultrasonic motor; The joints of the joints of the second mechanical arm and the palms; the ultrasonic motors are respectively installed at the joints of the palms and the fingers and the joints of the fingers.

As a further improvement of the utility model, the first sensor includes a first angular velocity sensor and an angular acceleration sensor, and the first angular velocity sensor and the angular acceleration sensor are respectively installed at the connection between the crossbar and the first mechanical arm joint, The connection between the second mechanical arm joint and the first mechanical arm joint, the connection between the second mechanical arm joint and the palm, the connection between the palm and each finger, and the joint connection of each finger; the second sensor is the second Angular velocity sensor.

As a further improvement of the utility model, the signal end of the first angular velocity sensor, the signal end of the angular acceleration sensor, and the control end of the first wireless transmission module are all connected to the IO port of the first control module; the second wireless The transmission module is connected to the data port of the second control module through SPI communication, and the data input end of the second control module is connected to the data output end of the second angle sensor.

As a further improvement of the utility model, the external control device is also provided with a data display liquid crystal, and the data display liquid crystal is connected to the data port of the second control module through I2C communication.

As a further improvement of the present utility model, both the first control module and the second control module are embedded control modules.

As a further improvement of the utility model, it also includes a video module, the video module includes a camera, a video transmission module and an image display liquid crystal; the camera is arranged in the internal control device; the video transmission module includes a video transmission module and a video The image transmission receiving module, the image transmission transmitting module is installed in the internal control device and connected with the camera, the image transmission receiving module is arranged in the external control device, and the image transmission receiving module is connected with the image transmission transmitting module and the image display liquid crystal.

As a further improvement of the utility model, the manipulator is equipped with a resistive pressure sensor at the end of each finger, and the resistive pressure sensor is connected with the first control module.

Compared with the prior art, the beneficial effects of the bionic manipulator with imitation function of the utility model are as follows:

(1) The trajectory signal of the operator's palm and arm movement is captured in real time by controlling the glove, and after being processed by the external controller and the internal controller, it drives the corresponding joint motion mechanism of the manipulator, thereby improving the operability, multi-adaptability and real-time performance of the manipulator .

(2) Each joint of each finger of the manipulator can move freely, so that the finger that needs to be moved and its bending degree can be determined according to different needs, and the dexterous grasp and fine operation of objects of different shapes and sizes can be realized.

(3) The camera is used to capture the image of the manipulator when it is working, and the image information is sent out through the image transmission module and the real-time image of the manipulator when it is working is displayed on the image display liquid crystal, so that the control is simpler and easier.

(4) Set the internal control device and the external control device separately, and transmit the control information and the real-time position information of the mechanism through the wireless module, so that it can complete the task in harsh and dangerous environments while ensuring the personal safety of the operator. It has broad application prospects in fields such as medical treatment, scientific research, and disaster relief.

(5) Both the first control module and the second control module use embedded control modules, so as to meet the needs of a large number of digital signal processing.

(6) The data display liquid crystal is adopted, so that it is convenient to display the angle information of each joint when the control glove and the manipulator are working, and it is convenient for fine operation.

(7) A resistive pressure sensor connected to the first control module is installed at the end of each finger, so that the working pressure of each finger can be obtained to confirm whether it is grasped in place.

The utility model will become clearer through the following description in conjunction with the accompanying drawings, which are used to explain the embodiments of the utility model.

Description of drawings

Figure 1 is a schematic diagram of the manipulator.

Figure 2 is a schematic diagram of a control glove.

Figure 3 is a block diagram of the controller part.

Figure 4 is a block diagram of the video module.

detailed description

Embodiments of the present invention will now be described with reference to the drawings, in which like reference numerals represent like elements.

Please refer to FIGS. 1-4 , the bionic manipulator with imitation function includes a manipulator, a control glove 2 , a controller 3 and a video module 4 .

Specifically, the manipulator 1 is made of aluminum alloy material, so it is light in weight and not easily deformed. The manipulator 1 includes a base 11 , a column 12 , a cross bar 13 , a mechanical arm 14 , a palm 15 and five fingers 16 , and the column 12 is vertically installed on the base 11 for fixing and supporting other structures. The crossbar 13 is vertically installed on the column 12 , the mechanical arm 14 is connected to the end of the crossbar 13 , the palm 15 is connected to the mechanical arm 14 , and the five fingers 16 are connected to the palm 15 . The manipulator 1 is equipped with a resistive pressure sensor at the end of each finger 16 for testing the pressure on the end of each finger 16 when working.

More specifically, the mechanical arm 14 includes a first mechanical arm joint 141 and a second mechanical arm joint 142 connected in sequence, the first mechanical arm 141 is articulated to the crossbar 13, and the second mechanical arm joint 142 is connected to The palm 15, the connection between the first mechanical arm joint 141 and the cross bar 13, the connection between the second mechanical arm joint 142 and the first mechanical arm joint 141, and the connection between the second mechanical arm joint 142 and the palm 15 are all provided. There is a drive mechanism and a first sensor, so that the robotic arm 14 constitutes a robotic arm with three rotational degrees of freedom similar to a human arm. Each finger 16 includes a first proximal knuckle 161 , a first middle knuckle 162 and a first distal knuckle 163 connected in sequence, and the first proximal knuckle 161 of each finger 16 is connected to the palm 15 . The positions where the cross bar 13 , the mechanical arm 14 , the palm 15 , the first proximal knuckle 161 , the first middle knuckle 162 and the first distal knuckle 163 are connected to each other are provided with a first sensor and a driving mechanism 1c.

More specifically, the driving mechanism 1c includes a steering gear and an ultrasonic motor. The steering gear is respectively installed at the connection between the cross bar 13 and the first mechanical arm joint 141, the connection between the second mechanical arm joint 142 and the first mechanical arm joint 141, and the connection between the second mechanical arm joint 2 and the palm 15 , used to control the movement of each joint of the mechanical arm 14 . The ultrasonic motors are respectively installed on the palm 15 and the first proximal knuckle 161 of each finger 16, the connection between the first proximal knuckle 161 of each finger 16 and the first middle knuckle 162, and the first middle knuckle 162 of each finger 16. The connection with the first distal knuckle 163 is used to control the movement of each joint of the finger 16 . The first sensor includes a first angular velocity sensor 1a and an angular acceleration sensor 1b, and the first angular velocity sensor 1a and the angular acceleration sensor 1b are respectively installed at the connection between the crossbar 13 and the first mechanical arm joint 141, and at the second mechanical arm joint 141. The connection between the arm joint 142 and the first mechanical arm joint 141, the connection between the second mechanical arm joint 142 and the palm 15, the palm 15 and the first proximal knuckle 161 of each finger 16, the first proximal knuckle of each finger 16 161 and the first middle knuckle 162, the first middle knuckle 162 and the first far knuckle 163 of each finger 16 are connected.

Specifically, the control glove 2 can be worn on the operator's hand, and it includes an operating palm 21 and five operating fingers 22 connected to the operating palm 21. Each operating finger 22 includes a second proximal knuckle 221, a second proximal knuckle, and Two middle finger joints 222 and second far finger joints 223, the second proximal finger joints 221 of each operating finger 22 are connected to the operating palm 21, the junction of the operating palm 21 and the second proximal finger joints 221, the second proximal finger joints The connection between the second middle finger joint 221 and the second middle finger joint 222 and the connection between the second middle finger joint 222 and the second distal finger joint 223 are provided with second sensors for detecting the rotation angle of each joint of the operating finger 22 . More specifically, the second sensor is the second angular velocity sensor 2a.

Specifically, the controller 3 includes an internal control device 31 and an external control device. The internal control device 31 is installed on the upper end of the column 12 , and the cross bar 13 is vertical to the column 12 and installed on the side of the internal control device 31 . The internal control device 31 is provided with an internal control board 311 for controlling the operation of the manipulator 1 and supplying power to the entire manipulator 1 . The inner control board 311 includes a first control module 3a, a driving module 3b and a first wireless transmission module 3c, and the first sensor, the driving module 3b and the first wireless transmission module 3c are all connected to the first control module 3a. The first control module 3a is an embedded control module. The first wireless transmission module 3c is used to transmit all working signals of the manipulator 1 . The resistive pressure sensor is also connected to the first control module 3a, so that it can be used to obtain the working pressure of each finger of the manipulator 1 when working, so as to confirm whether the grip is in place. The driving module 3b is a motor driving module, and the driving module 3b is connected with the driving mechanism 1c, that is, the steering gear and the ultrasonic motor. The external control device is provided with an external control board 32 for controlling the operation of the manipulator 1 . The external control board 32 includes a second control module 3d, a data display liquid crystal 3e and a second wireless transmission module 3f, and the second sensor, data display liquid crystal 3e and the second wireless transmission module 3f are all connected to the second control module 3d , the second wireless transmission module 3f is wirelessly connected to the first wireless transmission module 3c. The second control module 3d is an embedded control module. The data display liquid crystal 3e is used to display various working signals. More specifically, the signal end of the first angular velocity sensor 1a, the signal end of the angular acceleration sensor 1b, and the control end of the first wireless transmission module 3c are all connected to the IO port of the first control module 3a, and receive the external control board 32, the drive module 3b drives the corresponding ultrasonic motor to rotate through the corresponding angle, and the acquired angle information of each joint of the manipulator 1 is sent out through the first wireless transmission module 3c. The data display liquid crystal 3e is connected to the data port of the second control module 3d through the I2C communication mode, and is used to display the angle information of each joint when the control glove 2 and the manipulator 1 are working. The second wireless transmission module 3f is connected to the data port of the second control module 3d through SPI communication, and is used to receive various position information of the manipulator 1 and send various control commands to the internal control device 31 . The data input end of the second control module 3d is connected to the data output end of the second angle sensor 2a, and is used to capture and control the rotation angle of each joint of the glove 2, and send it to the inner control board 311 after processing.

Specifically, the video module 4 includes a camera 41 , a video transmission module 42 and an image display liquid crystal 43 . The camera 41 is installed in the internal control device 31 for capturing images of the manipulator 1 when it is working. The video transmission module 42 includes a video transmission module 421 and a video transmission receiving module 422 . The video transmission module 421 is installed in the internal control device 31 and connected to the camera 41 for transmitting images captured by the camera 41 . The image transmission receiving module 422 is installed in the external control device, and the image transmission receiving module 422 is connected with the image transmission transmitting module 421 for receiving the image information transmitted by the image transmission transmitting module 421 . The image display liquid crystal 43 is connected to the video transmission receiving module 422 for displaying images captured by the camera 41 when the manipulator 1 is working.

The specific control mode of the described bionic manipulator with imitation function is: the operator puts on the control glove 2 on his hand, and the control glove 2 collects the operator's gesture information (such as capturing the change of the angles of the palms of the operator) as a control input signal, then through the outer control board 32 to discriminate the gesture of the operator, and then send a control command corresponding to the gesture of the operator to the inner control board 311 of the manipulator 1, and drive the corresponding ultrasonic motor to rotate through the corresponding angle after being processed by the inner control board 311, Thereby manipulating the manipulator 1 to simulate the operator's gestures. Therefore, by controlling the glove 2, the manipulator 1 can determine the fingers that need to be moved and the degree of bending of the fingers according to different needs, realize the dexterous grasping of objects of different sizes and shapes, and can complete tasks in harsh and dangerous environments while ensuring Operator's personal safety.

The utility model has been described above in conjunction with the best embodiments, but the utility model is not limited to the above-disclosed embodiments, but should cover various modifications and equivalent combinations based on the essence of the utility model.

Claims (10)

1. there is the bionic mechanical hand imitating function, it is characterized in that, comprising: manipulator, control gloves and controller; Described manipulator comprises palm and five fingers being connected palm of mechanical arm, junctor mechanical arm, each finger comprises the nearly articulations digitorum manus connected successively, middle articulations digitorum manus and articulations digitorum manus far away, described mechanical arm, palm and the finger place of being connected to each other and point junction, each joint and be equipped with first sensor and driving mechanism; Described control gloves comprise five operation fingers of operation palm and attended operation palm, each operation finger comprises the nearly articulations digitorum manus connected successively, middle articulations digitorum manus and articulations digitorum manus far away, and described operation palm and operation are pointed junction and operation finger junction, each joint and be equipped with the second sensor; Described controller comprises inner controller and outer control device, the first control module, driver module and the first wireless transport module is provided with in described inner controller, described first sensor, driver module are all connected with the first control module with the first wireless transport module, described driver module is connected with driving mechanism, the second control module and the second wireless transport module is provided with in described outer control device, described second sensor is all connected with the second control module with the second wireless transport module, described second wireless transport module and the first wireless transport module wireless connections.

2. there is bionic mechanical hand as claimed in claim 1 that imitate function, it is characterized in that: described manipulator also comprises base, column and cross bar, described uprights vertical is arranged on base, described inner controller is arranged on the upper end of column, described cross bar vertical pillars is also arranged on the side of inner controller, described mechanical arm is connected with the end of cross bar, and the junction of described mechanical arm and cross bar is provided with described driving mechanism and first sensor.

3. there is bionic mechanical hand as claimed in claim 2 that imitate function, it is characterized in that: described mechanical arm comprises the first joint of mechanical arm and the second joint of mechanical arm that connect successively, described first joint of mechanical arm connects cross bar, described second joint of mechanical arm connects palm, and the junction of the junction of the junction of described first joint of mechanical arm and cross bar, the second joint of mechanical arm and the first joint of mechanical arm, the second joint of mechanical arm and palm is equipped with described driving mechanism and first sensor.

4. there is bionic mechanical hand as claimed in claim 3 that imitate function, it is characterized in that: described driving mechanism comprises steering wheel and ultrasound electric machine; Described steering wheel is arranged on the junction of cross bar and the first joint of mechanical arm, the second joint of mechanical arm and the junction of the first joint of mechanical arm and the junction of the second joint of mechanical arm and palm respectively; Described ultrasound electric machine is arranged on the junction of palm and each finger and the junction, each joint of each finger respectively.

5. there is bionic mechanical hand as claimed in claim 3 that imitate function, it is characterized in that: described first sensor comprises the first angular-rate sensor and angular acceleration transducer, described first angular-rate sensor and angular acceleration transducer are installed on the junction of cross bar and the first joint of mechanical arm, the junction of the second joint of mechanical arm and the first joint of mechanical arm, the junction of the second joint of mechanical arm and palm, the junction of palm and each finger and the junction, each joint respectively pointed respectively; Described second sensor is the second angular-rate sensor.

6. there is bionic mechanical hand as claimed in claim 5 that imitate function, it is characterized in that: the control end of the signal end of described first angular-rate sensor, the signal end of angular acceleration transducer, the first wireless transport module is all connected with the IO port of the first control module; Described second wireless transport module is connected with the data port of the second control module by SPI communication modes, and the data input pin of described second control module is connected with the data output end of the second angular transducer.

7. have the bionic mechanical hand imitating function as claimed in claim 6, it is characterized in that: also establish in described outer control device and data show liquid crystal, described data display liquid crystal is connected with the data port of the second control module by I2C communication modes.

8. there is bionic mechanical hand as claimed in claim 7 that imitate function, it is characterized in that: described first control module and the second control module are embedded type control module.

9. have the bionic mechanical hand imitating function as claimed in claim 1, it is characterized in that: also comprise video module, described video module comprises camera, figure transmission module and image display liquid crystal; Described camera is located in inner controller; Described figure transmission module comprises figure and passes transmitter module and figure transmitting/receiving module, described figure passes transmitter module and to be installed in inner controller and to be connected with camera, described figure transmitting/receiving module is located in outer control device, and figure transmitting/receiving module and figure pass transmitter module shows liquid crystal with image and be connected.

10. have the bionic mechanical hand imitating function as claimed in claim 1, it is characterized in that: described manipulator is equipped with resistive pressure sensor at the end of each finger, described resistive pressure sensor is connected with the first control module.