法国专利FR3027246A1 MODULAR ROBOTIC FINGER FOR PREHENDING AND HANDLING DEXTRE

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专利摘要:
The invention relates to a robotic finger device comprising a base (100) forming a palm, at least one phalanx (500, 700, 900) articulated on the base (100) around two independent joints (200, 400) non-parallel at least two actuators (110, 120, 130, 140) and cable-connecting means (112, 122) respectively connecting the two actuators (110, 120) to drive elements of said two joints ( 200, 400), characterized in that the device comprises guide means (150, 151, 152) adapted to guide the cables involved in the control of each articulation (400, 600, 800) located after the first articulation (200). on the base (100), in a common plane passing through the axis (202) of this first articulation (200).
公开号:FR3027246A1
申请号:FR1459956
申请日:2014-10-16
公开日:2016-04-22
发明作者:Thomas Riviere；Marc Arsicault；Jean Pierre Gazeau；Philippe Vulliez；Said Zeghloul
申请人:Centre National de la Recherche Scientifique CNRS；Universite de Poitiers；
IPC主号:

专利说明:

[0001] TECHNICAL FIELD The present invention relates to the field of robotic fingers. The term "robotic finger" means a set of mechanical means articulated to each other in a manner similar to the phalanges of the fingers of a hand and controlled by actuators driven by external means, such as automation or processors.
[0002] As will be seen later, in the context of the present invention, different fingers can be combined to form a gripper or a robotic hand. OBJECT OF THE INVENTION The object of the present invention is to improve the performance of the known devices of robotic hands, in particular as regards the grasping of objects on the one hand, and the fine manipulation of objects at the fingertips of somewhere else. An object of the invention is in particular to propose means for producing a kinematic identical to that of a human finger. STATE OF THE ART The production of robotic fingers or hands has already given rise to a very abundant literature. Examples can be found in the following documents: Grebenstein M., "Approaching Human Performance: The Functionality 25 Driven Awiwi Robot Hand", Diss. ETH No. 20471, 2012. Iversen E.K., Khutti D.F., Johnson R.T., Biggers K.B., Jacobsen S.C., "Design of the UTAH / MIT dexterous hand," International Conference on Robotics and Automation, 1986, pp. 1520-1532. Liu et al., "Multisensory Five-Finger Dexterous Hand: The DLR / HIT 30 Hand II," IEEE / RSJ International Conference on Intelligent Robots and Systems, 2008.
[0003] S. Ueki, H. Kawasaki, T. Mouri, "Adaptive Coordinated Control of Multi-Fingered Robot Hand", Journal of Robotics and Mechatronics, Vol.21 No.1, 2009. Jun Ueda, Yutaka Ishida, Masahiro Kondo, Tsukasa Ogasawara , 5 "Development of the NAIST-Hand with Vision-based Touch Fingertip Sensor," Proceedings of the 2005 IEEE International Conference on Robotics and Automation (ICRA 2005), pp.2343-2348, 2005. N. Daoud, JP Gazeau's Zeghloul, M. Arsicault, "A real-time strategy for dexterous manipulation: Fingertips motion planning, force sensing and grasp stability," Journal of Robotics and Autonomous Systems, Vol. 60, March 2012, pp. 377-386. JP Gazeau, S. Zeghloul, G. Ramirez, "Manipulation with a polyarticulated mechanical hand: a new efficient real-time method for computing fingertip forces for a global manipulation strategy", Robotica, 15 vol.23, 2005, pp.479- 490. D. Chaigneau, M. Arsicault, JP Gazeau, S. Zeghloul, "LMS robotic hand grasp and manipulation planning (an isomorphic skeleton approach", Robotica (2008), vol.26, 2008, pp.177-188 N. Daoud , JP Gazeau S. Zeghloul, M. Arsicault, "A fast grasp 20 synthesis method for online manipulation", Journal of Robotics and Autonomous Systems, vol.59, 2011, pp.421-427 F. Touvet, N. Daoud , JP Gazeau S. Zeghloul, MA Maier, S. Eskiizmirliler, "A biomimetic reach and grasp approach for mechanical hand," Journal of Robotics and Autonomous Systems, vol.60, 2012, pp. 473-486. the details of all the solutions already proposed, we will cite below two types of robotic hands frequently quoted in the literature and generally referred to as "Shadow's Hand" and "AWIWI's Hand." 30 Shadow's Hand SHADOW's hand is a hand robotics with an anthropomorphic design, the dimensions of which are comparable to a human hand. s which may be pneumatic cylinders or electric motors according to the embodiment. The joints are actuated via a cable transmission. The hand with its 5 fingers has 20 degrees of freedom activated and 4 degrees of freedom coupled for a total of 24 joints. The amplitudes of movement are very close to the amplitudes of the human hand. Although presenting a real interest the so-called hand of Shadow presents certain limitations. The mechanics of the hand do not allow to finely control the end of the fingers in space. Indeed the abduction-adduction movement is the seat of non-linearities (mechanical games, friction), which prevent to produce precise movements of the fingers to manipulate objects in fingertips by exploiting this movement (bulb screwing for example) ) Main AWIWI or Heavy Duty Hand The Institute of Robotics and Mechatronics at the German Aerospace Center (DLR) has developed a hand that can withstand collisions with rigid objects as well as hammer blows without fear of tampering. the mechanics of the hand. The robustness of the hand was placed at the heart of the invention. The developed hand has anthropomorphic dimensions with its five fingers. These include a total of 19 joints that are actuated via 38 tendons each connected to an actuator. The control of the 38 actuators thus makes it possible to constantly control the stiffness of the tendons and to absorb significant shocks.
[0004] The main disadvantage of this hand is the high degree of actuation, since the design requires two actuators per joint to control the stiffness of the finger. This results in significant sizing and weight with a large forearm. The high friction also impacts the ability of the hand to produce fine movements at the fingertips. So far the demonstrations of fine manipulation of objects at the fingertips with this hand are non-existent. The proposed demonstrations demonstrate adaptive capture capabilities and significant interaction capabilities as the hand is able to absorb shocks. DESCRIPTION OF THE INVENTION The invention relates to a device forming a robotic finger 5 comprising a base forming a palm, at least one articulated phalanx on the base around two independent articulations not parallel to each other, at least two actuators and means of cable-based connection respectively connecting the two actuators to drive elements of said two joints, characterized in that the device 10 comprises guide means adapted to guide the cables involved in the control of each hinge located after the first hinge on the base, in a common plane passing through the axis of this first articulation. Preferably the first axis of articulation on the base constitutes an axis of abduction - adduction, while the second axis of articulation constitutes a flexion-extension axis. The aforementioned characteristic that the cables involved in the control of each hinge located after the first hinge on the base, are guided in a common plane 20 passing through the first axis of articulation, makes it possible not to modify the extending these cables between the actuator and the corresponding articulation regardless of the position of the first joint and also minimizes friction. This maximizes the mechanical efficiency and guarantees the ability to control the finger in effort and position. According to another advantageous characteristic of the present invention, the device comprises several phalanges hinged together in pairs around a single axis joint associated with a respective actuator. According to a particular embodiment, the device comprises four articulations and three phalanges. The movements then proposed are three movements of flexion-extension and a movement of abduction-adduction.
[0005] The transmission of motion between each joint and the associated actuator is provided by two transmission cables, which respectively provide a flexion or abduction movement and an extension or adduction movement.
[0006] The dimensions of the finger can be adapted according to the target application. These dimensions can at least correspond to the average dimensions of a human finger. The structure of the finger according to the invention makes it possible to install a complete instrumentation for measuring effort and position.
[0007] Each joint can integrate a joint measurement. The fingertip and phalanges can accommodate a measure of effort. A custom dressing of the finger structure, for example in the form of a shell and a coating related to the application, can be achieved through fasteners. The modularity of each finger makes it possible to assemble several fingers to build a robotic hand with several fingers. The kinematics of the hand (implantation of the fingers, number of fingers, dimensions of the fingers, in particular the length of the phalanges) can be adapted according to the target application. One can thus realize the most complex robotic hand: an anthropomorphic hand in terms of kinematics and dimensions. ADVANTAGES OF THE INVENTION The advantages of the device according to the invention comprising a cable transmission include the following: the actuators or motors can be deported out of the device, for example out of the hand, hence the possibility of reducing the size of the device and the hand and their weight for embedded use; the actuators or motors can be dimensioned easily according to the application. Dimensional constraints related to engines are non-existent. If high torques are needed, large motors can be chosen. They can for example be positioned at the shoulder of a manipulator arm, whose payload is naturally greater than for the end of an arm, via a judicious routing of the transmission cables; the natural compliance induced by each cable at a finger provides a safe interaction with the environment by absorbing some of the impact energy; the constraints on elongation of a transmission cable can be exploited in order to evaluate the interaction force between the finger and the environment. DESCRIPTION OF THE FIGURES Other characteristics, objects and advantages of the present invention will appear on reading the detailed description which follows, and with reference to the appended drawings, given by way of non-limiting examples and in which: FIG. 1 shows in its figures la and lb which arbitrarily correspond to a sagittal sectional plane and a transverse sectional plane, different axes of movements achievable by the finger according to the invention and an orthonormal reference which will be referenced in the following DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 2 represents a diagram of the articulated links contained in a finger according to the invention, FIG. 3 illustrates a perspective view of an embodiment of a finger according to the invention comprising three phalanxes. FIG. 4 shows a view of the same finger in a lateral view corresponding to a plane parallel to a sagittal plane; FIG. 5 shows a view of the same finger; according to a top view corresponding to a plane parallel to a transverse plane, - Figure 6 shows an enlarged partial view of Figure 5 and illustrates a first stage of cable guide means located in the palm base, upstream of the first articulation, FIG. 7 represents an enlarged partial view of FIG. 4 and illustrates a second stage of cable guiding means situated in the palm-forming base, between the first stage illustrated in FIG. 6 and the first articulation, FIG. 8 details in a perspective view the arrangement of cylindrical needles for guiding the transmission cables on the inlet of the first articulation; FIG. 9 represents an end view according to a frontal cutting plane, of the same needles, - Figure 10 shows a partial perspective view of the hinge assembly of the first phalanx on the base, around two non-parallel axes between them, corres laying down to abduction-adduction and flexion-extension axes, FIG. 11 represents a partial detail view of this assembly and more precisely illustrates a half-shaft equipped with diabolos serving to guide the cables, FIG. a view of a support cage of the aforementioned diabolos and a drive pulley, - Figure 13 shows a complete view of a hinge shaft corresponding to the first axis of articulation on the base, - Figure 14 represents a second partial perspective view, according to an angle of observation opposite to FIG. 10, of the articulation assembly of the first phalanx on the base, around two nonparallel axes corresponding to axes of abduction-adduction and flexion-extension, - figure 15 represents a perspective view of the complete assembly of articulation of the first phalanx on the base, around two non-parallel axes, - figure 16 represents a view of above of the complete assembly of articulation of the first phalanx on the base, around two non-parallel axes, - Figures 16bis and 16ter show two schematic sectional views of the first two joints according to two superimposed cutting planes parallel to each other and orthogonal to the first axis of articulation, - Figure 17 shows a partial perspective view of a joint between two phalanges, and illustrates in particular receiving pulleys participating in the drive and devices for adjusting the tension of the cables, - FIG. 18 represents a top view of a complete finger comprising three phalanges; FIG. 19 shows a lateral view along a sagittal plane of a multi-fingered hand according to the invention; and FIG. 20 illustrates in perspective. an embodiment of a hand with four fingers according to the invention, with possible gripping. DETAILED DESCRIPTION OF THE INVENTION The following description will be made next to an arbitrary orthonormal reference xyz in which the xz plane corresponds to a vertical sagittal plane, the xy plane corresponds to a horizontal transverse plane and the yz plane corresponds to a vertical frontal plane. FIGS. 1a, 1b and 2 show a finger 10 comprising three phalanges 500, 700 and 900: a first phalanx 500 articulated on a base which will be referenced 100 thereafter around a first articulation 200 defining a first abduction axis - adduction 202 and a second articulation 400 defining a second axis of flexion - extension 402, linked to the articulation 200 via an intermediate assembly 300, the second phalanx 700, intermediate, being articulated on the first phalanx 500 by a hinge 600 defining a third axis of flexion - extension 602 and the third phalanx 900, distal, being articulated on the second phalanx 700 by a hinge 800 defining a fourth axis of flexion - extension 802. The axis of abduction - adduction 202 extends along a vertical axis z. The flexion axes - extension 402, 602 and 802 extend along horizontal axes y parallel to each other.
[0008] At rest, in a generally aligned position, the three phalanges 500, 700 and 900 extend in a direction of slenderness in x.
[0009] The amplitude of the displacement in abduction or adduction around the axis 202 is noted q1 in FIG. 1b with respect to an arbitrary median axis of reference x. The respective flexural displacement amplitudes around the respective axes 402, 602 and 802 of the three phalanges 500, 700 and 900 with respect to a rectilinear extension position are referenced q2, q3 and q4. As indicated above, an elementary robotic finger 10 in accordance with the present invention comprises a base 100 forming a palm and at least one phalanx 500 hinged to the base 100 about two hinge pins 202 and 402 that are independent and not parallel to each other. Preferably the two axes 202 and 402 are orthogonal to each other. The finger 10 further comprises at least two actuators 110 and 120 and cable-based connection means 112, 114 and 122, 124 respectively connecting the output of the actuator 110 to the intended drive pulleys 325, 326 on the assembly 300 for the control of the first articulation 200 and the output of the actuator 120 at the first phalanx 500 for the control of the second articulation 400. In the embodiment comprising 3 phalanges 500, 700 and 20 900, the finger comprises 4 actuators 110, 120, 130 and 140 each associated with two cables 112, 114; 122, 124; 132, 134 and 142, 144. Each of the cables 112, 114; 122, 124; 132, 134 and 142, 144 is respectively connected to a drive receiving pulley 325, 326 or an element, in this case pulleys 525, 526, 725, 726 and 925, 926, phalanges 500, 700 and 900 25 for the control of a hinge axis 202, 402, 602 and 802. More precisely still according to the invention, the finger comprises guide means 150, 160 adapted to guide the cables 122, 124; 132, 134 and 142, 144 involved in the control of each articulation 400, 600 and 800 located after the first hinge axis 202 on the base, in a common sagittal plane passing through this first hinge axis 202. L base 100 may be the subject of many embodiments. According to the embodiment shown in the accompanying figures, the base 100 comprises a housing 102 which carries the actuators 110, 120, 130 and 140 so that they have their respective output axis 111, 121, 131 and 141 mounted in rotation in the housing 102, along an axis parallel to the axis z. The actuators 110, 120, 130 and 140 are preferably formed of 5 geared motors. Each output shaft 111, 121, 131 and 141 carries two axially stepped motor pulleys 113, 115, 123, 125, 133, 135, 143 and 145 on their respective axes. The housing 102 is extended on one side by a beam 104 which extends in a longitudinal direction centered on an axis of slenderness x. This axis of slenderness of the beam 104 corresponds to a median plane of symmetry of the beam which passes through all the axes of rotation of the four actuators 110, 120, 130 and 140. 135, 143 and 145. The pulleys 113, 115, 123, 125, 133, 135, 143 and 145 are located facing the beam 104. The cables 112, 114; 122, 124; 132, 134 and 142, 144 traverse 20 in the beam 104 from their respective pulleys 113, 115, 123, 125, 133, 135, 143 and 145 in the direction of the first hinge 200. As previously indicated the beam 104 comprises two stages 150, 160 of guide means adapted to guide the cables 112, 114; 122, 124; 132, 134 and 142, 144. The first stage 150 of guide means serves to guide at least the cables 122, 124; 132, 134 and 142, 144 involved in the control of each articulation 400, 600 and 800 located after the first hinge axis 202 on the base, in a common sagittal plane passing through the first axis of articulation 202. According to the Embodiment 30 shown in the figures the guide means 150 are formed of cylindrical needles extending along axes parallel to the axis z carried by the beam 104. A first end of each cable 112, 114; 122, 124; 132, 134 and 142, 144 is fixed to a respective pulley 113, 115, 123, 125, 133, It is thus provided at least two main needles 151, 152 at the output of the first stage 150 whose spacing substantially corresponds to the game functional close required to ensure a free translation of the cables 112, 114; 122, 124; 132, 134 and 142, 144, to the diameter thereof. The two main hands 151, 152 are arranged symmetrically on either side of the plane of symmetry xz of the beam 104 passing through the first axis of articulation 202. At the input of the stage 150, the cables 112, 114; 122, 124; 132, 134 and 142, 144, are separated in pairs by a distance corresponding to the accumulation of the respective radii of their respective pulleys 113, 115, 123, 125, 133, 135, 143 and 145. As can be seen in FIG. 6, the main hands 151, 152 make it possible to place all of the cables 112, 114; 122, 124; 132, 134 and 142, 144, in the common plane passing through the axis 202, at the output of the guide stage 150.
[0010] As is also seen in Figure 6 preferably the device further comprises three stages of auxiliary needles 153, 154; 155, 156 and 157, 158, upstream of the main needles 151 and 152, which respectively retain certain cables 112, 114; 122, 124; 132, 134 and 142, 144, in order to ensure a progressive convergence of pairs of cables between the main hands 151, 152. The second stage 160 of guide means is placed between the first guide stage 150 and the first articulation 200. It has the function of guiding and staging along the z-axis, the cables 112, 114; 122, 124; 132, 134 and 142, 144 at the input of the hinge 200 to prevent contact between these cables. More precisely, the guide means 160 also have the function of distributing the cables 112, 114; 122, 124; 132, 134 and 142, 144 in two groups of 4, respectively upper and lower with reference to the z axis, as seen in Figure 7. There is the upper group of 4 cables 112, 122, 132 and 142 on Figure 16a and the lower group of 4 cables 114, 124, 134 and 144 in Figure 16ter.
[0011] According to the embodiment shown in the figures, the guide means 160 are formed of cylindrical needles extending along axes parallel to the axis y carried by the beam 104. According to the preferred but nonlimiting embodiment shown in FIG. Figure 7 the device thus comprises 4 auxiliary needle stages 162, 164, 166 and 168 which guide the cables 112, 114; 122, 124; 132, 134 and 142, 144, in order to ensure the expected positioning at the input of the articulation 200. The multiplicity of the stages 162, 164, 166 and 168 is intended to ensure a gradual regrouping of the cables in the two aforementioned groups without risk contact between two cables. The precise configuration and the number of needles constituting the guide stages 162, 164, 166 and 168 can be the subject of many embodiments and will not be described in more detail below. It will be noted however that in combination the four guide stages 162, 164, 166 and 168 have needles which serve as interleaves between each pair of two adjacent cables at the output of the guide means 160 and the needles which serve as a labyrinth for certain cables successively providing external support, then an internal support, with reference to the z-height of the beam 104, to some of the cables.
[0012] It is furthermore preferably provided, at the outlet of the guide stage 160, upstream of the articulation 200, two secondary needles 151a, 152a, parallel to the above-mentioned needles 151 and 152, whose spacing also substantially corresponds to the close functional clearance required to ensure free translation of the cables 112, 114; 122, 124; 132, 134 and 142, 144, to the diameter thereof, to ensure proper positioning of the cables 112, 114; 122, 124; 132, 134 and 142, 144 at the input of the hinge 200. The two secondary needles 151a, 152a are also arranged symmetrically on either side of the plane of symmetry xz of the beam 104 passing through the first axis of articulation 202.
[0013] We will now describe the structure of the first two joints 200 and 400, particularly with reference to Figures 10 to 16.
[0014] As indicated previously preferably the first hinge 200 corresponds to an abduction-adduction joint around an axis 202 in z, while the second hinge 400 corresponds to a flexion-extension hinge about an axis 402 in y, c that is to say non-parallel to the axis 202 and preferably orthogonal to this axis 202. The two joints 200 and 400 are separated and carried by an intermediate assembly 300. Where appropriate alternatively the first joint 200 could correspond to a flexion-extension joint about an axis 202 in y, while the second articulation 400 corresponds to an abduction-adduction joint around an axis 402 in z. According to the embodiment shown in the appended figures, the intermediate assembly 300 comprises a support frame 310 whose mean plane extends, at rest, that is to say in a position centered with respect to the extreme positions of abduction and adduction, in a plane yz. The frame 310 bears respectively on its two opposite faces on either side of the mean plane in yz, the joint 200 of abduction-adduction in z and the articulation 400 of flexion-extension in y. More precisely on a first face, the frame 310 carries a saddle-shaped bridge 320 whose median plane in thickness extends in a plane xy and which rotatably supports two half-shafts or trunnions 220, 230 coaxial in z of abduction. -adduction centered on the axis 202. The journals 220, 230 are articulated on the base 100, more precisely on the end of the beam 104 by any appropriate means.
[0015] The two half shafts or trunnions 220, 230 are respectively located on either side of the bridge 320. One of the journals 220 carries a pulley 325 receiving the second end of the adduction cable 112. The pulley 325 is rotatably connected with the bridge 320 and the element 300 and thus free from rotation relative to the trunnion 220. The other half trunnion 230 carries a pulley 326 receiving the second end of the abduction cable 114. The pulley 326 is also linked to rotation with the trigger guard 320 and the element 300 and thus free from rotation relative to the trunnion 230.
[0016] The anchoring points of the cables 112 and 114 on their respective pulley 325, 326 are diametrically opposed with respect to the axis 202. As a variant, the cables 112 and 114 may be wound at least partially around the pulleys 325, 326 as shown schematically on FIGS. 16a and 16b, or even take a complete turn around these pulleys, in respectively opposite directions, and their second ends are fixed on the bridge 320 by any appropriate means as illustrated in 330 and 340 in FIGS. 16a and 16b. . In this case the pulleys 325 and 326 may be free from rotation relative to the bridge 320, on the journals 220, 230. Preferably the fastening means 330, 340 are provided with tension adjustment means as will be described later. for the cables 122, 124, 132, 134, 142 and 144. The ends of the journals 220 and 230 carry means 226, 236, such as bearings, forming rotational guide bearings of the adjacent end of the beam 104. Between the pulleys 325, 326 and the bearings 226, 236, each pin 220, 230 carries a cage 222, 232 each defining a window for the passage and guiding of the cables 122, 124; 132, 134 and 142, 144, directed to the downstream joints 400, 600 and 800.
[0017] More precisely each cage 222, 232 has two series of rotating parts, respectively coaxial, diabolo-shaped 223, 224 and 233, 234. Each series of diabolo-shaped parts 223, 224 and 233, 234 is centered on a respective axis in z. The diabolo parts 223, 224 provided in the cage 222 are symmetrical with respect to the axis 202. Similarly, the diabolo parts 233, 234 provided in the cage 232 are symmetrical with respect to the axis 202. Each series of parts in the form of diabolo 223, 224 and 233, 234 further comprises a number of pieces in the form of a diabolo equal to the number of cables to guide, respectively 122, 132, 142 and 124, 134, 144.
[0018] According to the embodiment shown in FIGS. 10, 11 and 13, each half-trunnion 220, 230 guides three cables 122, 132, 142 and 124, 134, 144. Consequently, each series of parts 223, 224 and 233, 234 in Diabolo shape has 3 diabolo-shaped pieces stacked axially in z. On the axis 202 of the abduction-adduction movement, a set of 6 diabolos positioned on the upper part of the axis is therefore provided to guide the cables 122, 132 and 142 as illustrated in FIG. 16bis and a set of 6 diabolos on the lower part of the axis to guide the cables 124, 134 and 144 as shown in Figure 16ter. Each pair of two adjacent diabolos belonging to the two series of pieces 223, 224 and 233, 234 located in a common cage 222, 232 thus define respective passages for receiving the cables 122, 132, 142 and 124, 134, 144. Each cable is thus guided between two rotating diabolos. These passages passing through a respective central axis perpendicular to the median plane of the frame 310, have a plane of symmetry which passes through the axis 202 regardless of the relative position of the intermediate assembly 300 vis-à-vis the base 100 , by relative rotation about the axis 202. Each diabolo is rotatable about its axis, on a central articulation rod connected to the cage 222 or 232, to limit the friction between the cables 122, 132, 142 and 124, 134, 144 and the diabolos. Those skilled in the art will understand that the rotational displacement of the actuator 110 in one direction applies a tensile force on the adduction cable 112 and by action on the pulley 325 and / or the bridge 320 leads to a movement of the finger in the direction of the adduction (see figure 16bis).
[0019] Conversely, the rotational displacement of the actuator 110 in the opposite direction applies a tensile force on the abduction cable 114 and by action on the pulley 326 and / or the bridge 320 leads to a displacement of the finger in the direction of abduction. (see Figure 16ter). The frame 310 also carries 2 sets of 3 pieces in diabolos 30 located respectively on either side of the bridge 320 and intended to guide the cables 122, 124; 132, 134 and 142, 144 to the swallowed joints. These diabolos are referenced 311, 312, 313 in Figure 16a and 314, 315, 316 in Figure 16ter. As can be seen in FIGS. 16a and 16ter, the cables 112 and 114 can also be guided by respective diabolos 180, 190 between their exit from the door defined by the two guide pins 151a, 152a and their entry on the receiving pulleys. 325, 326. After passing through the abduction-adduction joint 200, each of the 6 cables 122, 124; 132, 134 and 142, 144 is thus guided via a diabolo 311, 312, 313 and 314, 315, 316 to the axis of the first flexion-extension movement 400. Among these cables 122, 124; 132, 134 and 142, 144, 2 cables 122, 124 are respectively guided to pulleys 525, 526 receiving the bending and extension, integral with the axis of the first movement of flexion-extension 400. Furthermore, the frame 310 bears on its second face a bridge 350 in the form of a dihedron whose median plane extends at rest in a plane xz and which rotatably supports two half-shafts or journals 420, 430 coaxial y y flexion- extension 402 centered on the axis 402. The journals 420, 430 are articulated on the adjacent end of the phalanx 500 by any appropriate means.
[0020] The two half-shafts or journals 420, 430 are respectively located on either side of the bridge 350. One of the journals 420 carries two pulleys 422, 424 on which the cables 142 and 134 are respectively wound by traversing a tower of these pulleys. The other half pin 430 carries two pulleys 432, 434 on which the cables 144 and 132 are respectively wound by traversing a turn of these pulleys. The pulleys 422, 424 and 432, 434 are free to rotate relative to the bridge 350 about the axis 402. The dead turn of the cables made around the pulleys 422, 424 and 432, 434 guide, free in rotation around their axis, prevents the cables 132, 134 and 142, 144 from coming out of the pulleys as a function of the articular configuration of the flexion-extension movement of the phalanges.
[0021] The ends of the journals 420 and 430 carry means 426, 436, such as bearings, forming rotational guiding bearings of the adjacent end, for example in the form of clevis 520, of the first phalanx 500.
[0022] Moreover, the second end of the cables 122, 124 is fixed on this end of the first phalanx 500, on opposite sides of the axis 402, as can be seen in FIG. 15. More precisely, preferably, the two branches 522, 524 Clevis 520 carries pulleys 525, 526 centered on the axis 402, guiding the respective second end of the cables 122, 124. The pulleys 525, 526 must be rotatably connected with the yoke 520 if the ends of the cables 122, 124 are fixed on these pulleys. The pulleys 525 and 526 may be free to rotate relative to the yoke 520, about the axis 402 if the ends of the cables 122, 124 are fixed not on the aforementioned pulleys but on the yoke 520. At this level of preference the end of the first phalanx 500 adjacent to the hinge 400 further has means 530, 540 for adjusting the tension of the cables 122 and 124. These adjustment means 530, 540 can be the subject of many embodiments .
[0023] According to the particular embodiment shown in the accompanying figures, these adjustment means 530, 540 each comprise a fork 532, 542 which receives the end of a cable 122 and 124, for example such an end provided with a knot. stopping, and whose distance to the axis 402 can be adjusted by a screw 534, 544.
[0024] As can be seen in FIG. 17, cylindrical pins 517 preferably guide the cables 122 and 124 at the output of the receiving pulleys 525, 526 towards the means 530, 540 for fine-tuning the tension of the cables 122, 124. L Those skilled in the art will understand that the rotational displacement of the actuator 120 in one direction applies a tensile stress on the flexure cable 122 and by action on the end of the phalanx 500 leads to a displacement of the finger in the direction flexion. Conversely, the rotational displacement of the actuator 120 in the opposite direction applies a tensile force on the extension cable 124 and by action on the end of the phalanx 500 leads to a displacement of the finger in the direction of an extension.
[0025] Finally 4 cables 132, 142 and 134, 144 leave the second articulation, via 4 dedicated pulleys 422, 424, 432 and 434, in order to be conveyed respectively to the flexion-extension movements of the intermediate phalanx 700 and flexion- extension of the distal phalanx 900. In order to prevent these 4 cables 132, 142 and 134, 144 from coming out of the pulleys as a function of the articular configuration of the flexion-extension movement of the proximal phalanx 500, a dead turn on these guide pulleys 422, 424, 432 and 434, free in rotation on the axis of movement, is realized. The joints 600 and 800 are preferably similar to the aforementioned articulation 400. Thus, the second end or distal end of each phalanx 500 and 700 carries a bridge 550, 750 in the form of dihedron whose median plane extends in a plane xz and rotatably supports two half-shafts or respective trunnions 620, 630 and The trunnions 620, 630 and 820, 830 are hinged to the adjacent end of the following phalanx 700, 900 by any suitable means. The two half shafts or journals 620, 630 are respectively located on either side of the bridge 550. Each pin 620, 630 carries a pulley 622, 632 on which the cables 142 and 144 are respectively wound by traversing a turn of these pulleys. . The pulleys 622, 632 are free to rotate relative to the bridge 550 about the axis 602. The ends of the journals 620 and 630 carry means 626, 636, such as bearings, forming end-rotation guide bearings adjacent, for example in the form of a screed 720, the second phalanx 700.
[0026] Moreover, the second end of the cables 132, 134 is fixed on this end of the second phalanx 700, on opposite sides of the axis 602. More precisely, the two branches 722, 724 of the yoke 720 carry pulleys 725, 726 centered on the axis 602, guiding the respective second end of the cables 132, 134. At this level preferably the end of the second phalanx 700 adjacent to the hinge 600 further has means 730, 740 for adjusting the tension of the cables 132 and 134, similar to the means 530, 540 mentioned above. Those skilled in the art will understand that the rotational displacement of the actuator 130 in one direction applies a tensile stress on the flexure cable 132 and by action on the end of the phalanx 700 leads to a displacement of this phalanx of the finger in the direction of flexion.
[0027] Conversely, the rotational movement of the actuator 130 in the opposite direction applies a tensile force on the extension cable 134 and action on the end of the phalanx 700 leads to a displacement of the finger in the direction of an extension. Similarly, the two half-shafts or journals 820, 830 are located respectively on either side of the bridge 750. The ends of the journals 820 and 830 carry means 826, 836, such as bearings, forming rotational guide bearings of the adjacent end, for example in the form of clevis 920, of the third phalanx 900.
[0028] Moreover, the second end of the cables 142, 144 is fixed on this end of the third phalanx 900, on opposite sides of the axis 802. More precisely, preferably the two branches 922, 924 of the yoke 920 carries pulleys 925, 926, centered on the axis 802, guiding the respective second end of the cables 142, 144. At this level preferably the end of the third phalanx 900 adjacent the hinge 800 further has means 930, 940 for adjusting the tension of the cables 142 and 144, similar to the means 530, 540 mentioned above. Those skilled in the art will understand that the rotational displacement of the actuator 140 in one direction applies a tensile force on the flexure cable 142 and by action on the end of the phalanx 900 leads to a displacement of this phalanx of the finger in the direction of flexion. Conversely, the rotational movement of the actuator 140 in the opposite direction applies a tensile force on the extension cable 144 and by action on the end of the phalanx 900 leads to a displacement of the finger in the direction of an extension. According to the invention the transmission of the movement between each actuator 110, 120, 130 and 140 and the respective articulation 200, 400, 600 and 800 is performed by cables 112, 114; 122, 124; 132, 134 and 142, 144. Specifically there are provided two transmission cables for each hinge 200, 400, 600 and 800. Each cable 112, 114; 122, 124; 132, 134 and 142, 144 is fixed on the one hand, at a driving pulley 113, 115; 123, 125; 133, 135 and 143, 145 actuator side and secondly, at a receiving pulley 325, 326, 525, 526, 725, 726, 925, 926 side joint.
[0029] As described above, the three phalanges of a finger according to the invention are produced on the same principle. This offers the following advantages:. possibility to modulate the length of each phalanx depending on the application,. possibility of fixing a cowling,. possibility of routing the signals of the instrumentation,. possibility of integrating instrumentation for measuring position and effort. The previously described finger comprises a passage of cables on guide pulleys at the joints 400, 600 and 800. This results in cable length variations induced by the displacement in articulation of the phalanges placed downstream. However, the coupling relationships can be calculated numerically from the diameters of the pulleys and the induced cable length variations can be corrected thanks to this mechanical coupling relation between the joints of a finger and the corresponding geared motors, the coupling relation being of the type: Q = A. Q * where Q = [q1, q2, q3, q4] and represents the movements of the joints of a finger, A represents the coupling matrix of the finger and Q * = [q1, q2, q3, q4] and represents the movements of the corresponding geared motors 10. Thus all the joints can be controlled individually taking into account the coupling relations in the control in the position of the finger. The modularity in the design of the finger proposed according to the invention allows an assembly of several fingers 10 to build a robotic hand with several fingers, up to an anthropomorphic hand in terms of kinematics and dimensions The combination of several fingers can be made by placing two fingers 10 facing each other having their coaxial, or even parallel, abduction-adduction axes 202, to produce for example a two-finger clamp vis-à-vis. As illustrated in FIGS. 19 and 20, however, it is possible to assemble, on a common base 100 forming a palm, several fingers 10 having their first coaxial flexion-extension axes 402, and in comparison with a finger 10 forming a thumb, in order to propose a device allowing to have the behavior of a natural hand, up to an anthropomorphic hand. FIGS. 19 and 20 show a hand comprising three fingers 10a, 10b and 10c having their first coaxial extension and extension axes 402a, 402b and 402c and an 10d thumb whose abduction-adduction axis 202d is extends in x, ie perpendicular to the plane containing the abduction-adduction axes 202a, 202b and 202c of the aforementioned fingers, while its flexion-extension axes 402d, 602d and 802d extend in y. The fingers 10a, 10b and 10c and the thumb 10d illustrated in FIGS. 19 and 20 bear identical reference numerals to those previously used, respectively with indices a, b, c and d respectively.
[0030] According to the embodiment illustrated in FIG. 19, the actuators 110d, 120d, 130d and 140d have their axes oriented in x. The associated cables z up to the top of the base, at which said cables are deflected to 900 by appropriate return pulleys 170 in the direction of the hinge 200d of the thumb 10d.
[0031] The hand thus obtained allows all the manipulations that allows an anthropomorphic hand, for example grips by empaumement of all diameters, taken fingertips. In the context of the invention, the term "complete actuation" means a movement of each finely controlled joint in position and effort and independently of the other joints of the same finger. Of course, the present invention is not limited to the previously described embodiments, but extends to any variant within its spirit.

权利要求:
Claims (16)
[0001]
REVENDICATIONS1. Robotic finger device comprising a base (100) forming a palm, at least one phalanx (500, 700, 900) articulated on the base (100) around two independent joints (200, 400) not parallel to each other, at least two actuators (110, 120, 130, 140) and cable-based connection means (112, 114; 122, 124; 132, 134 and 142, 144) respectively connecting the two actuators (110, 120) to elements drive (325, 326, 525, 526) of said two joints (200, 400), characterized in that the device comprises guide means (150, 151, 152) adapted to guide the cables (122, 124; , 134 and 142, 144) involved in the control of each articulation (400, 600, 800) located after the first articulation (200) on the base (100), in a common plane passing through the axis (202) of this first articulation (200).
[0002]
2. Device according to claim 1, characterized in that the first axis of articulation (202) on the base (100) constitutes an axis of abduction - adduction, while the second axis of articulation (400) constitutes a bending axis - extension.
[0003]
3. Device according to one of claims 1 or 2, characterized in that the guide means (150) are formed of cylindrical needles extending along axes parallel to the first axis of articulation (202) carried by the base (100).
[0004]
4. Device according to one of claims 1 to 3, characterized in that it comprises at least two needles (151, 152, 151bis, 152bis) at the output of a guide stage (150) whose spacing corresponds substantially , to the near functional clearance required to ensure free translation of the cables (112, 114; 122, 124; 132, 134 and 142, 144), to the diameter thereof, the two needles (151, 152, 151a, 152a) being arranged symmetrically on either side of a plane of symmetry passing through the first articulation axis (202).
[0005]
5. Device according to one of claims 1 to 4, characterized in that it comprises a second stage (160) of guide means placed between the first stage (150) of the guide and the first joint (200) and whose The function is to guide and lay out the cables (112, 114, 122, 124, 132, 134 and 142, 144) at the input of the first articulation (200) in order to avoid contact between these cables.
[0006]
6. Device according to one of claims 1 to 5, characterized in that the cable ends (112, 114; 122, 124; 132, 134 and 142, 144) opposite the actuators (110, 120, 130, 140) are engaged on drive receiving pulleys (325, 326, 525, 523, 725, 726, 925, 926) respectively associated with the downstream elements (300, 500, 700, 900) of the various joints.
[0007]
7. Device according to one of claims 1 to 6, characterized in that each cable (122, 124; 132, 134 and 142, 144) involved in the control of a hinge (400,600, 800) located after the first joint (200) on the base (100), is guided between two rotating diabolos (222, 223, 232, 233).
[0008]
8. Device according to one of claims 1 to 7, characterized in that it comprises between the two joints (200, 400), a frame (310) which carries two series of pieces diabolos (222, 223, 232, 233) for guiding the cables (122, 124; 132, 134 and 142, 144) to the downstream joints.
[0009]
9. Device according to one of claims 1 to 8, characterized in that the second articulation (400) comprises two half shafts or trunnions (420, 430) which each carries two pulleys (422, 424, 432, 434) free in rotation on which the cables (132, 134, 142, 144) are respectively wound by traversing a turn of these pulleys.
[0010]
10. Device according to one of claims 1 to 9, characterized in that it comprises means 530, 540) for adjusting the tension of the cables (112, 114; 122, 124; 132, 134 and 142, 144). .
[0011]
11. Device according to claim 10, characterized in that the adjusting means (530, 540) each comprise a means (532, 542) for receiving the end of a cable (112, 114, 122, 124; , 134 and 142, 144) and means (534, 544) for adjusting the position of this receiving means (532, 542) relative to its support (300, 500, 700, 900).
[0012]
12. Device according to one of claims 1 to 11, characterized in that it comprises several phalanges (500, 700, 900) hinged together in pairs around a joint (600, 800) with a single axis associated with a respective actuator (130, 140).
[0013]
13. Device according to one of claims 1 to 12, characterized in that the motion transmission between each joint (200, 400, 600, 800) and the associated actuator (110, 120, 130, 140) is provided by two transmission cables (122, 124; 132, 134 and 142, 144), which respectively provide a flexion or abduction movement and an extension or adduction movement.
[0014]
14. Device according to one of claims 1 to 13, characterized in that it comprises a complete instrumentation for measuring effort and position, including a fingertip force measurement means.
[0015]
15. Device according to one of claims 1 to 14, characterized in that it comprises a plurality of fingers (10a, 10b, 10c, 10d) forming a gripper or a robotic hand with several fingers, for example an anthropomorphic hand in terms of kinematics and dimensions.
[0016]
16. Device according to one of claims 1 to 15, characterized in that it comprises means for memorizing the coupling relationship of the various joints (400, 600, 800) inducing a variation in length in their control chain (122). , 124, 132, 134 and 142, 144) upon activation and control of the actuators (110, 1120, 130, 140) accordingly to neutralize the induced cable length variations.

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同族专利:

公开号 | 公开日

US20170217014A1|2017-08-03|

JP2017531566A|2017-10-26|

WO2016059121A1|2016-04-21|

EP3206841B1|2018-11-07|

FR3027246B1|2019-04-12|

EP3206841A1|2017-08-23|

US10384343B2|2019-08-20|

JP6473229B2|2019-02-20|

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2015-09-28| PLFP| Fee payment|Year of fee payment: 2 |

2016-04-22| PLSC| Search report ready|Effective date: 20160422 |

2016-09-21| PLFP| Fee payment|Year of fee payment: 3 |

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2019-10-31| PLFP| Fee payment|Year of fee payment: 6 |

2021-07-09| ST| Notification of lapse|Effective date: 20210605 |

优先权:

申请号 | 申请日 | 专利标题

FR1459956|2014-10-16|

FR1459956A|FR3027246B1|2014-10-16|2014-10-16|MODULAR ROBOTIC FINGER FOR PREHENDING AND HANDLING DEXTRE|FR1459956A| FR3027246B1|2014-10-16|2014-10-16|MODULAR ROBOTIC FINGER FOR PREHENDING AND HANDLING DEXTRE|

JP2017520335A| JP6473229B2|2014-10-16|2015-10-14|Modular robot fingers for gripping and fine manipulation|

US15/518,880| US10384343B2|2014-10-16|2015-10-14|Modular robotic finger for grasping and dexterous handling|

EP15784602.3A| EP3206841B1|2014-10-16|2015-10-14|Modular robotic finger for grasping and dexterous handling|

PCT/EP2015/073800| WO2016059121A1|2014-10-16|2015-10-14|Modular robotic finger for grasping and dexterous handling|

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