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WO2018076303A1 - 机械手及机器人 - Google Patents

机械手及机器人 Download PDF

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Publication number
WO2018076303A1
WO2018076303A1 PCT/CN2016/103855 CN2016103855W WO2018076303A1 WO 2018076303 A1 WO2018076303 A1 WO 2018076303A1 CN 2016103855 W CN2016103855 W CN 2016103855W WO 2018076303 A1 WO2018076303 A1 WO 2018076303A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
assembly
finger
fingertip
angle sensor
Prior art date
Application number
PCT/CN2016/103855
Other languages
English (en)
French (fr)
Inventor
汪志康
Original Assignee
深圳蓝胖子机器人有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳蓝胖子机器人有限公司 filed Critical 深圳蓝胖子机器人有限公司
Priority to CN201680007667.1A priority Critical patent/CN108602192B/zh
Priority to US16/308,086 priority patent/US10786907B2/en
Priority to PCT/CN2016/103855 priority patent/WO2018076303A1/zh
Publication of WO2018076303A1 publication Critical patent/WO2018076303A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B25J13/084—Tactile sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/083—Gripping heads and other end effectors having finger members with means for locking the fingers in an open or closed position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B25J9/0015—Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems

Definitions

  • the invention belongs to the technical field of robots, and in particular to a robot and a robot having the same.
  • the general dexterous hand design does not consider the installation of the sensor alone, and often only designs a simple drive structure, and then fills in the corresponding sensor afterwards.
  • a dexterous hand that does not add a sensor can also achieve the grab function, but it has great limitations, and the perception of the object cannot be raised too high.
  • the present invention is achieved by a robot comprising a connecting component and a plurality of finger assemblies, one end of each of the finger assemblies being coupled to the connecting component and the other end forming a free end away from the connecting component; each of the fingers
  • the assembly includes a plurality of sequentially connected knuckle members; each of the knuckle members includes a base module for interconnecting to implement a finger configuration, a tactile sensor mounted to the base module for sensing a grasped item, and an installation An angle sensor for the angle change information on the base module.
  • a robot provided by an embodiment of the present invention includes a robot arm and the above-mentioned robot; the robot is mounted on an execution end of the robot arm.
  • the robot connects a plurality of finger assemblies at the connection assembly, and one end of each of the finger assemblies is mounted on the connection assembly, and the other end is away from the connection assembly.
  • the manipulator is composed of modular knuckle parts, and the integration of individual knuckle parts is high, and the structure is simplified, which is beneficial to the production and production of parts and inventory management of parts.
  • FIG. 1 is a structural view of a robot provided by an embodiment of the present invention.
  • Figure 2 is a structural view of the finger assembly of Figure 1;
  • Figure 3 is a structural view of the knuckle member of Figure 2;
  • Figure 4 is an exploded view of the knuckle member of Figure 3 in one direction;
  • Figure 5 is an exploded view of the knuckle member of Figure 3 in another direction;
  • Figure 6 is a structural view of the base module of Figure 3;
  • Figure 7 is a cross-sectional view of the finger assembly of Figure 2;
  • FIG. 8 is a structural diagram of a fingertip module according to an embodiment of the present invention.
  • Figure 9 is a structural diagram of a fingertip module in another embodiment of the present invention.
  • the robot provided by the embodiment of the present invention includes a connecting component 40 and a plurality of finger assemblies 5 .
  • One end of each finger assembly 5 is connected to the connecting component 40 , and the other end forms a free end away from the connecting component 40 .
  • Each finger assembly 5 includes a plurality of knuckle members 50 that are sequentially connected.
  • Each knuckle member 50 includes a base module 52 for interconnecting to implement a finger configuration, a tactile sensor 54 mounted to the base module 52 for sensing the grasped item, and mounted to the base module 52 for obtaining angular change information Angle sensor 56.
  • the robot provided by the embodiment of the present invention connects a plurality of finger assemblies 5 on the connecting component 40, and one end of each finger component 5 is connected to the connecting component 40, and the other end is away from the connecting component 40 to form a free end, so that each finger component is formed. 5 has the freedom to stretch.
  • Each finger assembly 5 of the robot has a plurality of sequentially connected knuckle members 50, and the tactile sensor 54 and the angle sensor 56 are mounted on the base module 52 of each knuckle member 50, which is advantageous for improving the sensing ability of the robot.
  • the manipulator is composed of modular knuckle parts, and the integration of individual knuckle parts is high, and the structure is simplified, which is beneficial to the production and production of parts and inventory management of parts.
  • each of the knuckle members 50 means that when the finger assembly 5 is bent or stretched, the adjacent two knuckle members 50 are rotated relative to each other to cause an angle change.
  • each of the finger assemblies 5 is similar to each finger of the human body, and each of the phalanx members 50 sequentially connected to each of the finger assemblies 5 is similar to the knuckles of the human body, and the tactile sensor 54 and the angle sensor 56 are similar to the perceptual nerves on the knuckles.
  • each finger assembly 5 extends along the same side of the connection assembly 40 or along opposite sides of the connection assembly 40 . It can be understood that, in response to different grasping scenes, each finger assembly 5 can be disposed on the same side of the connection assembly 40, and each finger assembly 5 is disposed side by side. It is also possible that each finger assembly 5 is disposed on opposite sides of the connection assembly 40, and each finger assembly 5 is spaced apart to form Enclosed jaw structure to ensure the stability of the grab items.
  • the number of the finger assemblies 5 may be three, four or five. Of course, other numbers may be used, and are not limited thereto. Specifically, it can be flexibly set according to specific usage scenarios and needs.
  • one end of the finger assembly 5 is connected to the connection assembly 40, and the knuckle member 50 including one end of the finger assembly 5 is directly connected to the connection assembly 40, and a single finger form of a finger assembly extending on one side of a connection assembly 40 .
  • another finger assembly 5 that is indirectly coupled to the dual finger form of the connection assembly 40 by attachment to a knuckle member 50 that has been coupled to the connection assembly 40.
  • the finger assemblies 5 on opposite sides of the attachment assembly 40 include alternating distribution. For a robot having four finger assemblies 5, the finger assemblies 5 on opposite sides of the connection assembly 40 may be distributed in such a manner that two finger assemblies 5 on the same side are located between the opposite two finger assemblies 5.
  • each finger assembly 5 further includes a connecting shaft 59 connected between two adjacent base modules 52 , and the axial contact width of each base module 52 contacting the connecting shaft 59 is the same.
  • the manipulator is provided with a connecting shaft 59 between the adjacent two base modules 52 so that the adjacent two base modules 52 can rotate relative to each other, so that the adjacent two base modules 52 can be angularly changed.
  • the axial contact width of each of the base modules 52 in contact with the connecting shaft 59 is the same, so that the contact portions of the connecting shaft 59 are balanced by force, and the base module 52 is prevented from being broken due to uneven force with the connecting shaft 59.
  • the base module 52 further includes a body portion 521 for mounting the touch sensor 54 , a first connecting portion protruding along opposite sides of the body portion 521 and for connecting with the adjacent base module 52 .
  • An angle sensor 56 is attached to the second connecting portion 523 of the second connecting portion 523 and the second connecting portion 523. It can be understood that the first connecting portion 522, the body portion 521 and the second connecting portion 523 are disposed along the length direction of the finger assembly 5, and the touch sensor 54 is disposed on the body portion 521 for contacting the side of the grasped object for use. The object is captured by the touch.
  • An angle sensor 56 is attached to the side of the second connecting portion 523 to detect the angle of rotation of the adjacent two knuckle members 50.
  • the manipulator supports the support and fixation of the touch sensor 54 and the angle sensor 56 on the knuckle member 50 by providing the body portion 521, the first connecting portion 522, and the second connecting portion 523, so that the structure is compact and the adjacent knuckles are realized.
  • the interlocking between the components 50 makes the finger assembly 5 flexible.
  • the robot further includes a fingertip module 58, each finger assembly 5 having a fingertip module 58 mounted at least at its free end.
  • each finger assembly 5 is provided with a fingertip module 58, and the fingertip module 58 is located at the free end of the finger assembly 5; or, a fingertip module 58 is respectively disposed at each end of each finger assembly 5, ie One fingertip module 58 is located at the free end of the finger assembly 5, and the other fingertip module 58 is located at one end of the finger assembly 5 that is connected to the connection assembly 40, that is, each finger assembly 5 is provided with a fingertip module at each end thereof. 58.
  • the finger assembly 5 extends along both sides of the connection assembly 40 to form two fingers, two free ends are formed, and two fingertip modules 58 are respectively disposed at the two free ends.
  • the fingertip module 58 further includes a first plugging block 580a and a first fingertip cover 582a.
  • the first plugging block 580a is spaced apart and formed with two first plugging slots 581a.
  • the first plug block 580a is fitted into the base module 52.
  • the first socket 581a formed by the first plug block 580a is designed to be engaged with the first connecting portion 522 to implement a slot connection.
  • the first fingertip cover 582a is located on a side of the first plug block 580a remote from the base module 52.
  • the fingertip module 58 is coupled to a base module 52 located at a free end of the finger assembly 5 as a first connection portion 522.
  • the first connecting portion 522 is a connecting block that is spaced apart and inserted into the insertion slot 581.
  • the connecting block is disposed opposite to the plugging block 580 to realize a fitting and fixing structure, which is convenient for disassembly and installation.
  • the first fingertip cover 582a includes, but is not limited to, a curved surface.
  • first fingertip cover 582a and the first plug block 580a include, but are not limited to, made by integral molding.
  • the fingertip module 58 further includes a second plugging block 580b and a second fingertip cover 582b.
  • the second plugging block 580b is formed with a second plugging slot 581b.
  • the second plug block 580b is fitted into the base module 52.
  • the second socket 581b formed by the second connector block 580b is designed to be slot-connected to the second connection portion 523, and is connected to the second connection portion 523.
  • the second fingertip cover 582b is located at the second connection.
  • the side of block 580b is remote from the base module 52.
  • the second connecting portion 523 is a connecting block that is spaced apart and inserted into the second plugging groove 581b, and the connecting block is sandwiched between the two second plugging blocks 580b to realize a fitting and fixing structure, which is convenient. Disassembly and installation. Fingertip module 58 is connected to the base module 52 located at the free end of the finger assembly 5 as the second connecting portion 523.
  • the second fingertip cover 582b includes, but is not limited to, a curved surface.
  • the second fingertip cover 582b and the second plug block 580b include, but are not limited to, made by integral molding.
  • each second connecting portion 523 is provided with a receiving groove 524 for accommodating the angle sensor 56 on the side surface thereof, and a sliding groove for aligning with the side wall of the angle sensor 56 on the groove wall of the receiving groove 524 . 525 and a limiting slot 526 at the bottom of the receiving slot 524 for limiting the angle sensor 56.
  • the angle sensor 56 is provided with a limiting post 560 that fits in the limiting slot 526.
  • the manipulator receives the angle sensor 56 in the second connecting portion 523 by providing the receiving groove 524 on the second connecting portion 523, so that the combination of the angle sensor 56 and the base module 52 is more compact.
  • the manipulator is provided with a sliding groove 525 on the second connecting portion 523 so that the angle sensor 56 can be slid into the receiving groove 524 from one side for installation.
  • a limiting slot 526 is disposed at the bottom of the receiving slot 524.
  • the axial direction of the connecting shaft 59 is perpendicular to the longitudinal direction of the sliding groove 525, and the axial direction of the limiting post 560 coincides with the axial direction of the connecting shaft 59.
  • the main body portion 521 is provided with a mounting groove 5210 for mounting the tactile sensor 54 on the side of the object to be grasped.
  • the base module 52 further includes a cover plate 527 and is fixedly mounted on the main body portion.
  • the 521 is provided with one side of the receiving groove 524, and the cover 527 covers the angle sensor 54 in the receiving groove 524.
  • the angle sensor 56 disposed on the second connecting portion 523 is covered by the cover plate 527 of the base module adjacent thereto and is axially fixed.
  • the robot transmits the rotational motion of the knuckle member 50 into the angle sensor 56 by a connecting shaft 59 that is coupled to the adjacent two base modules 52.
  • the angle sensor 56 is coupled to one end of the connecting shaft 59.
  • the robot is embedded in the mounting groove 5210 by the tactile sensor 54 and the outer surface of the tactile sensor 54 and the body portion 521 The outer surface is flush or slightly protruded from the outer surface of the body portion 521 to reduce the volume of each knuckle member 50 and is compact in structure.
  • the manipulator is provided with a cover plate 527 to seal the angle sensor 56 in the receiving groove 524 and to fix the cover plate 527 to the body portion 521 by screwing.
  • the cover plate 527 is fixed to one side of the body portion 521 where the angle sensor 56 is disposed, and extends corresponding to the first connecting portion 522 to form a second connecting portion 523 that can cover the adjacent knuckle member 50.
  • the upper angle sensor 56 is axially fixed in parallel.
  • the touch sensor 54 further includes a circuit board 542 facing the mounting slot 5210 and a bus interface 540 electrically connected to the circuit board 542 .
  • the body portion 521 is further configured to embed the bus interface.
  • the bus interface 540 is embedded in the receiving slot 5212.
  • the bus interface 540 is mounted on the touch sensor 54 and received in the receiving slot 5212.
  • the cover 527 may further be provided with a notch 5270 for exposing the bus interface 540, so that the bus interface 540 is more firmly fixed in the embedded groove 5212 and the notch 5270.
  • the main body portion 521 is further provided with a wire trough 5214 .
  • the wire trough 5214 is disposed on a side of the main body portion 521 having the receiving groove 5212, and the wire trough 5214 forms a through hole in the direction of the first connecting portion 522 and the second connecting portion 523, respectively, and the receiving groove 5212 is connected.
  • the cable trough 5214 and the receiving groove 5212 and the receiving groove 524 are located on the same side of the main body portion 521 and communicate with each other.
  • the robot passes through a wire trough 5214 for connecting to a bus (not shown) on the bus interface 540, and can be shielded by the cover plate 527 to ensure the appearance and consistency of the entire robot, and also has a cable management. And the function of protecting the signal bus. It can be understood that the wire trough 5214 is connected to the first connecting portion 522 and the second connecting portion 523 through the two side ports.
  • the robot further includes a driving assembly 30 mounted on the connecting assembly 40 for providing a driving force for each finger assembly 5 to perform a gesture.
  • the drive assembly 30 can connect the knuckle member 50 included in the finger assembly 5 with a drive cord (not shown) to provide linkage power to the knuckle member 50 of the finger assembly 5.
  • the drive assemblies 30 corresponding to the respective finger assemblies 5 include two servo servos 32 and a housing 34 for securing the servo steering gear 32, respectively.
  • the outer casing 34 may be a closed cover that completely encloses the servo steering gear 32 of the corresponding finger assembly 5. case.
  • connection assembly 40 is located between the drive assembly 30 and the finger assembly 5.
  • the driving assembly 30 and the connecting assembly 40 are coupled to each other through a dovetail slot (not shown) and a dovetail projection 42.
  • the drive assembly 30 and the coupling assembly 40 cooperate with the dovetail projections 42 through the dovetail slots, reducing the installation space between the drive assembly 30 and the connection assembly 40, facilitating routing and making the fit between the drive assembly 30 and the connection assembly 40 stronger. And reliable, making disassembly and assembly convenient.
  • a robot provided by an embodiment of the present invention includes the robot formed by any of the above embodiments.
  • the robot is mounted on the execution end of the robot. It will be appreciated that the execution end of the robot includes the robot having the end of the robotic arm.
  • the manipulator in this embodiment has the same structure as the manipulator in each of the above embodiments, and functions the same, and will not be described herein.
  • the robot further includes a visual sensor assembly 20 coupled between the execution end and the robot and used to acquire visual information of the robot performing the action region.
  • the vision sensor assembly 20 is fixedly mounted to the fixed block structure of the assembly 10.
  • the assembly 10 is used to connect the robot to the executive end of the robot arm for engagement, similar to a human hand being a wrist joint.
  • the set of connectors 10 is provided with a fixed block structure in which the visual sensor assembly 20 is fixedly mounted.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Multimedia (AREA)
  • Manipulator (AREA)

Abstract

一种机械手，包括连接组件（40）以及多个手指组件（5），各手指组件（5）的一端连接于所述连接组件（40）上，另一端远离所述连接组件（40）形成自由端；各手指组件（5）包括多个依次连接的指节部件（50）；各指节部件（50）包括用于相互连接以实现手指构型的基体模块（52）、安装于所述基体模块（52）上并用于感知被抓取物品的触觉传感器（54）以及安装于所述基体模块（52）上并用于获取角度变化信息的角度传感器（56）。安装触觉传感器（54）和角度传感器（56）有利于提高机械手的感知能力，机械手通过模块化的指节部件（50）组成，单个指节模块集成度高，能够简化结构，利于产品的生产制作、零件库存管理。

Description

机械手及机器人 技术领域
本发明属于机器人技术领域，尤其涉及一种机械手以及具有该机械手的机器人。
背景技术
随着社会的发展，人口红利不断减少，并且老龄化的问题越来越严重。更多的重复性的工作需要由更高效的机器来替代。这对于末端执行器的功能要求也是越来越苛刻，例如实现对于人类工具的操作，物品的抓取挑拣等等。比较典型的应用是电子商务(仓库系统)领域。对于订单快速反应的商业战略需求，急需寻找替代人工进行订单反应的新方式。
随着机器人技术不断成熟，使得机器人逐渐走出了实验室，面向广大的消费群体。这就要求机器人设备的价格不能太高。对应于灵巧手的研发也是同样的思路。同时，机器人设备不能过于庞大，应该要能适应于人类的日常生活场景，包括人类使用的各种生活生产工具。设备的体积重量主要集中于驱动部分。而欠驱动灵巧手正好具有驱动器数量低于机构自由度的特点，便可以做到轻便小巧，同时也降低了控制的难度。
一般的灵巧手设计都不单独考虑传感器的安装问题，往往只是设计出简单的驱动结构，事后在补上相应的传感器。不添加传感器的灵巧手虽然也能实现抓取功能，但是具有很大的局限性，对于物体的操作，感知都无法提出太高的要求。
发明内容
本发明的目的在于提供一种机械手，旨在解决现有技术中现有技术中如何 在灵巧手中设置传感器以提高感知的技术问题。
本发明是这样实现的，一种机械手，包括连接组件以及多个手指组件，各所述手指组件的一端连接于所述连接组件上，另一端远离所述连接组件形成自由端；各所述手指组件包括多个依次连接的指节部件；各所述指节部件包括用于相互连接以实现手指构型的基体模块、安装于所述基体模块上并用于感知被抓取物品的触觉传感器以及安装于所述基体模块上并用于获取角度变化信息的角度传感器。
本发明实施例提供的一种机器人包括机械臂以及上述机械手；所述机械手安装于所述机械臂的执行末端。
本发明实施例相对于现有技术的技术效果是：该机械手通过在连接组件连接多个手指组件，且各所述手指组件的一端安装在所述连接组件上，另一端远离所述连接组件而形成自由端，以使各所述手指组件具有伸展自由；该机械手中的各手指组件具有多个依次连接的指节部件，且在各指节部件的基体模块上安装有触觉传感器和角度传感器，有利于提高机械手的感知能力。机械手通过模块化的指节部件组成，且单个指节部件集成度高，同时实现结构简化，从而有利于产品的生产制作、零件库存管理。
附图说明
图1是本发明实施例提供的机械手的结构图；
图2是图1中手指组件的结构图；
图3是图2中指节部件的结构图；
图4是图3中指节部件于一方向的分解图；
图5是图3中指节部件于另一方向的分解图；
图6是图3中基体模块的结构图；
图7是图2中手指组件的剖视图；
图8是本发明一实施例中指尖模块的结构图；
图9是本发明另一实施例中指尖模块的结构图。
附图标记说明：
10 组接件 523 第二连接部
20 视觉传感器组件 524 收容槽
22 摄像头 525 滑动槽
24 控制开关 526 限位槽
30 驱动组件 527 盖板
32 伺服舵机 5270 缺口
34 外壳 54 触觉传感器
40 连接组件 540 总线接口
5 手指组件 542 电路板
50 指节部件 56 角度传感器
52 基体模块 560 限位柱
521 本体部 58 指尖模块
5210 安装槽 580a 第一插接块
5212 容置槽 581a 第一插接槽
5214 走线槽 582a 第一指尖盖
522 第一连接部 580b 第二插接块
    581b 第二插接槽
    582b 第二指尖盖
    59 连接轴
具体实施方式
下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本发明，而不 能理解为对本发明的限制。
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。
请参照图1至图9，本发明实施例提供的机械手包括连接组件40以及多个手指组件5，各手指组件5的一端连接于连接组件40上，另一端远离连接组件40形成自由端。各手指组件5包括多个依次连接的指节部件50。各指节部件50包括用于相互连接以实现手指构型的基体模块52、安装于基体模块52上并用于感知被抓取物品的触觉传感器54以及安装于基体模块52上并用于获取角度变化信息的角度传感器56。
本发明实施例提供的机械手通过在连接组件40上连接多个手指组件5，且各手指组件5的一端连接在连接组件40上，另一端远离连接组件40而形成自由端，以使各手指组件5具有伸展自由。该机械手中的各手指组件5具有多个依次连接的指节部件50，且在各指节部件50的基体模块52上安装触觉传感器54和角度传感器56，有利于提高机械手的感知能力。机械手通过模块化的指节部件组成，且单个指节部件集成度高，同时实现结构简化，从而有利于产品的生产制作、零件库存管理。
需要说明的是，各指节部件50的角度变化信息是指当个手指组件5发生弯曲或者伸展时，相邻两指节部件50会发生相对转动而出现角度变化。
为了更清晰地说明手指组件5和指节部件50的关系，以人体仿真原理为例进行说明。各手指组件5类似于人体的各手指，各手指组件5上依次连接的各指节部件50类似于人体的指节，触觉传感器54和角度传感器56类似于指节上的感知神经。
请参照图1，进一步地，各手指组件5沿连接组件40的同一侧延伸或者沿连接组件40的相对两侧延伸。可以理解地，应对不同抓取场景，各手指组件5可以设置于连接组件40的同一侧，且各手指组件5间隔并排设置。也可以为，各手指组件5设置于连接组件40的相对两侧，且各手指组件5间隔设置，以形 成环抱式夹爪结构，以保证抓取物品的稳定性。
可以理解的是，手指组件5的数量可以为3根、4根或者5根，当然，也可以是其他数量，不限于此。具体可以根据具体使用场景及需求而灵活设置。
具体的，手指组件5的一端连接于连接组件40上，包括手指组件5一个末端的指节部件50直接连接于连接组件40上，于一个连接组件40单侧延伸的一个手指组件的单手指形式。还包括另一手指组件5通过连接于已连接至连接组件40的指节部件50上，间接连接于连接组件40的双手指形式。在该实施例中，位于连接组件40相对两侧的手指组件5包括交替分布的方式。对于具有4根手指组件5的机械手来说，位于连接组件40相对两侧的手指组件5的分布方式还可以是：同一侧的两根手指组件5位于相对侧两根手指组件5之间。
请参照图3至图7，进一步地，各手指组件5还包括连接于相邻两基体模块52之间的连接轴59，且各基体模块52上与连接轴59接触的轴向接触宽度相同。该机械手通过在相邻两基体模块52之间设置连接轴59，以使相邻两基体模块52可以相互转动，从而使得相邻两基体模块52可以发生角度变化。各基体模块52上与连接轴59接触的轴向接触宽度相同，以使连接轴59的各接触部位受力均衡，避免基体模块52因与连接轴59受力不均而造成断裂。
请参照图2至图6，进一步地，基体模块52包括用于安装触觉传感器54的本体部521、沿本体部521相对两侧突出延伸并用于与相邻基体模块52相连接的第一连接部522和第二连接部523，第二连接部523上安装有角度传感器56。可以理解地，第一连接部522、本体部521和第二连接部523沿手指组件5长度方向设置，且触觉传感器54设置于本体部521上用于接触被抓取物体的一侧，以用于感触被抓取物件。第二连接部523的侧面安装角度传感器56，以检测相邻两指节部件50的转动角度。该机械手通过设置本体部521、第一连接部522和第二连接部523以实现对指节部件50上触觉传感器54和角度传感器56的支撑和固定，使得结构紧凑，并且实现了相邻指节部件50之间的连动，使得手指组件5活动灵活。
请参照图1、图2以及图8和图9，进一步地，机械手还包括指尖模块58，各手指组件5至少于其自由端安装有一指尖模块58。可以理解地，各手指组件5上设有一个指尖模块58，且该指尖模块58位于手指组件5的自由端；或者，各手指组件5的两端分别设有一个指尖模块58，即一个指尖模块58位于手指组件5的自由端，另一个指尖模块58位于手指组件5之连接至连接组件40的一端，也就是说每个手指组件5的两端分别设有一个指尖模块58。当手指组件5沿连接组件40的两侧延伸形成两根手指的情况下，即形成两个自由端，两个指尖模块58分别设于两个自由端。
请参照图2至图8，进一步地，指尖模块58包括第一插接块580a及第一指尖盖582a，第一插接块580a间隔设置并形成有两个第一插接槽581a，第一插接块580a嵌合于基体模块52中。具体的，第一插接块580a形成的第一接插槽581a对应于第一连接部522嵌合设计，实现插槽式连接。第一指尖盖582a位于第一插接块580a之远离基体模块52的一侧。该指尖模块58与位于手指组件5自由端为第一连接部522的基体模块52连接。可以理解地，第一连接部522为间隔设置并插设于插接槽581的连接块，连接块与插接块580相对设置，实现嵌合固定的结构，便于拆卸、安装。
在该实施例中，第一指尖盖582a包括但不限于弧面状。
在该实施例中，第一指尖盖582a与第一插接块580a包括但不限于由一体成型而制成。
请参照图2至图6以及图9，进一步地，指尖模块58包括第二插接块580b及第二指尖盖582b，第二插接块580b形成有一个第二插接槽581b，第二插接块580b嵌合于基体模块52中。具体的，第二插接块580b形成的第二接插槽581b对应于第二连接部523嵌合设计，实现与第二连接部523插槽连接，第二指尖盖582b位于第二插接块580b之远离基体模块52的一侧。可以理解地，第二连接部523为间隔设置并插设于第二插接槽581b内的连接块，连接块夹设有两第二插接块580b之间，实现嵌合固定的结构，便于拆卸、安装。该指尖模块 58与位于手指组件5自由端为第二连接部523的基体模块52连接。
具体的，第二指尖盖582b包括但不限于弧面状。
具体的，第二指尖盖582b与第二插接块580b包括但不限于由一体成型而制成。
请参照图3至图6，进一步地，各第二连接部523于其侧面设有容置角度传感器56的收容槽524、位于收容槽524槽壁上以与角度传感器56侧边配合的滑动槽525以及位于收容槽524底部并用于限制角度传感器56的限位槽526，角度传感器56设有嵌合于限位槽526内的限位柱560。该机械手通过在第二连接部523上设置收容槽524，以将角度传感器56收容于第二连接部523内，使得角度传感器56与基体模块52的结合更加紧凑。该机械手通过在第二连接部523上设置滑动槽525，以使角度传感器56可以从一侧滑入收容槽524内，以便于安装。并且在收容槽524的槽底设置限位槽526，随着角度传感器56滑入滑动槽525内时，限位柱560插入限位槽526内，以使角度传感器56固定于收容槽524中，从而避免角度传感器56沿滑动槽525的长度方向移动。该机械手利用滑动槽525的外壁挡止于角度传感器56的外表面上，从而防止角度传感器56沿连接轴59的轴向移动，以及绕转动轴59的转动。
需要说明的是：连接轴59的轴向垂直于滑动槽525的长度方向，限位柱560的轴向与连接轴59的轴向一致。
请参照图3至图6，进一步地，本体部521用于接触被抓取物品的一侧设有固定安装触觉传感器54的安装槽5210，基体模块52还包括盖板527，固定安装于本体部521设有收容槽524的一侧，盖板527将角度传感器54盖设于收容槽524内。具体的，设置于第二连接部523的角度传感器56通过与其相邻的基体模块的盖板527盖舍并形成轴向固定。该机械手通过位于连接于相邻两基体模块52上的连接轴59将指节部件50的转动运动传递到角度传感器56中。可以理解地，角度传感器56连接于连接轴59的一端部上。该机械手通过将触觉传感器54嵌设于安装槽5210中，且触觉传感器54的外表面与本体部521 的外表面齐平或者略凸出于本体部521的外表面，以减小各指节部件50的体积，结构紧凑。该机械手通过设置盖板527以将角度传感器56密闭于收容槽524内并利用螺丝固定的方式将盖板527固定于本体部521上。具体的，该实施例中，盖板527固定于本体部521设有角度传感器56的一侧，并对应第一连接部522延伸，形成可盖舍相邻指节部件50的第二连接部523上的角度传感器56，并行成轴向固定。
请参照图3至图6，进一步地，触觉传感器54包括朝向安装槽5210一侧的电路板542以及电性连接于电路板542上的总线接口540，本体部521还设有用于嵌设总线接口540的容置槽5212。该总线接口540嵌设于容置槽5212内。总线接口540安装于触觉传感器54上并收容于容置槽5212内。具体的，盖板527还可设有使总线接口540外露的缺口5270，从而使总线接口540更加牢固的固定于嵌设槽5212与缺口5270内。
请参照图3至图6，进一步地，本体部521还设有走线槽5214。该实施例中，走线槽5214设于本体部521具有容置槽5212的一侧，走线槽5214于第一连接部522、第二连接部523方向分别形成通口，且与容置槽5212相通。该实施例中，走线槽5214与容置槽5212以及收容槽524位于本体部521的同侧，且互通。该机械手通过设置走线槽5214以供连接至总线接口540上的总线(未图示)穿过，并且可以利用盖板527进行遮挡，以保证整个机械手外观的整洁和一致性，还具有理线以及保护信号总线的功能。可以理解地，该走线槽5214通过两侧通口连通至第一连接部522和第二连接部523。
请参照图1，进一步地，机械手还包括安装于连接组件40上的驱动组件30，驱动组件30用于提供各手指组件5执行手势的驱动力。具体的，驱动组件30可以通过驱动绳(未图示)连接手指组件5包括的指节部件50，向手指组件5的指节部件50提供联动动力。该示例中，各手指组件5对应的驱动组件30分别包括两个伺服舵机32以及用于固定伺服舵机32的外壳34。通过设置外壳34以起到一定的固定和支撑作用，并用于对伺服舵机32起到一定保护作用。可以 理解的是，附图仅作为原理性阐述，并不用于具体限定各组件的形状、大小、比例等，例如，外壳34可以为将对应手指组件5的伺服舵机32完全包覆于内的封闭壳体。
在该实施例中，连接组件40位于驱动组件30与手指组件5之间。
请参照图1，进一步地，驱动组件30与连接组件40通过燕尾槽(未标示)和燕尾突起42配合相互连接。驱动组件30与连接组件40通过燕尾槽与燕尾突起42配合，减小了驱动组件30与连接组件40之间的安装空间，便于走线且使得驱动组件30与连接组件40之间的配合更加牢固和可靠，使得拆装方便。
请参照图1至图9，本发明实施例提供的一种机器人包括上述任意实施方式形成的机械手。机械手安装于机器人的执行末端。可以理解的是，机器人的执行末端包括机器人具有机械臂的末端。本实施例中的机械手与上述各实施例中的机械手具有相同的结构，且所起作用相同，此处不赘述。
请参照图1，进一步地，机器人还包括视觉传感器组件20，视觉传感器组件20连接于执行末端与机械手之间，并用于获取机械手执行动作区域的视觉信息。该示例中，视觉传感器组件20固定安装于组接件10的固定块结构上。
在该实施例中，组接件10用于将机械手与机械臂的执行末端相连接，起到衔接作用，类似于人手是腕关节部位。该组接件10设有固定安装视觉传感器组件20的固定块结构。
以上仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。

Claims (16)

  1. 一种机械手，其特征在于，包括连接组件以及多个手指组件，各所述手指组件的一端连接于所述连接组件上，另一端远离所述连接组件形成自由端；各所述手指组件包括多个依次连接的指节部件；各所述指节部件包括用于相互连接以实现手指构型的基体模块、安装于所述基体模块上并用于感知被抓取物品的触觉传感器以及安装于所述基体模块上并用于获取角度变化信息的角度传感器。
  2. 如权利要求1所述的机械手，其特征在于，各所述手指组件沿所述连接组件的同一侧延伸或者沿所述连接组件的相对两侧延伸。
  3. 如权利要求1所述的机械手，其特征在于，各所述手指组件还包括连接于相邻两所述基体模块之间的连接轴，且各所述基体模块上与所述连接轴接触的轴向接触宽度相同。
  4. 如权利要求1至3任意一项所述的机械手，其特征在于，各所述基体模块包括用于安装所述触觉传感器的本体部、沿所述本体部相对两侧突出延伸并用于与相邻所述基体模块相连接的第一连接部和第二连接部，所述第二连接部上安装有所述角度传感器。
  5. 如权利要求4所述的机械手，其特征在于，还包括指尖模块，各所述手指组件至少于其自由端安装有一所述指尖模块。
  6. 如权利要求5所述的机械手，其特征在于，所述指尖模块包括第一插接块及第一指尖盖，所述第一插接块间隔设置并形成有两个第一插接槽，所述第一插接块嵌合于所述基体模块中与所述第一连接部连接，所述第一指尖盖位于所述第一插接块之远离所述基体模块的一侧。
  7. 如权利要求5所述的机械手，其特征在于，所述指尖模块包括第二插接块及第二指尖盖，所述第二插接块间隔设置形成有一个第二插接槽，所述第二插接块嵌合于所述基体模块中与所述第二连接部连接，所述第二指尖盖位于所述第二插接块之远离所述基体模块的一侧。
  8. 如权利要求4所述的机械手，其特征在于，各所述第二连接部于其侧面设有容置所述角度传感器的收容槽、位于所述收容槽的槽壁上并与所述角度传感器侧边配合的滑动槽以及位于所述收容槽底部并用于限制所述角度传感器的限位槽，所述角度传感器设有嵌合于所述限位槽内的限位柱。
  9. 如权利要求8所述的机械手，其特征在于，所述本体部用于接触被抓取物品的一侧设有固定安装所述触觉传感器的安装槽。
  10. 如权利要求9所述的机械手，其特征在于，所述触觉传感器包括朝向所述安装槽一侧的电路板以及电性连接于所述电路板上的总线接口，所述本体部还设有用于嵌设所述总线接口的容置槽。
  11. 如权利要求10所述的机械手，其特征在于，所述本体部还设有走线槽，所述走线槽设于所述本体部具有所述容置槽的一侧，所述走线槽于所述第一连接部、所述第二连接部方向分别形成通口；且与所述容置槽相通。
  12. 如权利要求11所述的机械手，其特征在于，所述基体模块还包括盖板，固定安装于所述本体部设有收容槽的一侧，所述盖板将所述角度传感器盖设于所述收容槽内。
  13. 如权利要求1至3任意一项所述的机械手，其特征在于，还包括安装于所述连接组件上的驱动组件，所述驱动组件用于提供各所述手指组件执行手势的驱动力。
  14. 如权利要求13所述的机械手，其特征在于，所述驱动组件与所述连接组件通过燕尾槽和燕尾突起配合相互连接。
  15. 一种机器人，其特征在于，包括如权利要求1至14任意一项所述的机械手；所述机械手安装于所述机器人的执行末端。
  16. 如权利要求15所述的机器人，其特征在于，还包括视觉传感器组件，所述视觉传感器组件连接于所述执行末端与所述机械手之间，并用于获取所述机械手执行动作区域的视觉信息。
PCT/CN2016/103855 2016-10-28 2016-10-28 机械手及机器人 WO2018076303A1 (zh)

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CN114888833A (zh) * 2022-05-17 2022-08-12 哈尔滨工业大学 一种仿人机械手
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