Nine-active-degree-of-freedom dexterous hand

Abstract

The invention provides a nine-active-degree-of-freedom dexterous hand which comprises a base and a palm-imitating five-finger structure distributed on the base, the five-finger structure comprises a thumb end, an index finger end, a middle finger end, a ring finger end and a little finger end, the five-finger structure has active holding degrees of freedom, the thumb end has swinging and folding degrees of freedom, and the index finger end has swinging and folding degrees of freedom. The index finger end has an independent swing degree of freedom, the ring finger and the little finger share one swing degree of freedom, nine active degrees of freedom are included in total, the flexibility is high, complex movement of the hand can be achieved, the structure is simple and reliable, the linear push rod and the micro motor serve as power, the overall layout is simple, and the holding power has self-locking performance.

Description

Technical Field

[0001] The invention relates to the field of robot structures, in particular to a nine-active-freedom-degree dexterous hand. Background Art

[0002] Dexterous hands are important end effectors in robotics and are key components for achieving local precision manipulation of robots. Currently, most dexterous hands on the market have six degrees of freedom, and except for the thumb, which has two degrees of freedom, namely, gripping and folding, the remaining fingers have only one degree of freedom, gripping. This type of dexterous hand has poor adaptability and cannot perform more complex hand movements. Summary of the invention

[0003] In order to solve the problems of the prior art, the present invention provides a nine-active-degree-of-freedom dexterous hand, in which the thumb has three active degrees of freedom, namely, gripping, folding and swinging; the index finger has two active degrees of freedom, namely, gripping and swinging; the middle finger has a gripping degree of freedom; the ring finger and the little finger each have a gripping degree of freedom, and share one degree of freedom for swinging. The dexterous hand is flexible and can perform complex hand movements, and at the same time, the structural layout is compact and reliable.

[0004] The invention comprises a base and a palm-simulating five-finger structure distributed on the base, wherein the five-finger structure comprises a thumb end, an index finger end, a middle finger end, a ring finger end and a little finger end, and the five-finger structure all have active gripping freedom, the thumb end has swinging and folding freedom, the index finger end has an independent swinging freedom, and the ring finger and the little finger share one swinging freedom.

[0005] As a further improvement, the thumb end includes a thumb folding assembly, a thumb base, and a thumb swinging grip assembly.

[0006] The thumb folding assembly includes a folding linear push rod, a push rod connecting rod, a rotating fixed frame, a rotating bracket, and a reversing bevel gear. The folding linear push rod is horizontally arranged at the lowermost side of the base, and its output end is connected to the push rod connecting rod. The other end of the push rod connecting rod is matched with one side of the rotating bracket, and the other side of the rotating bracket forms a match with the extended end of the thumb base perpendicular to the palm surface; a rotating fixed frame is fixed to the lower left side of the base, and the rotating fixed frame is matched with the middle section of the rotating bracket; when the push rod of the folding linear push rod is extended and retracted, the rotating bracket drives the thumb base to fold.

[0007] The thumb swing grip assembly includes a reversing bevel gear 1, a thumb base, a reversing bevel gear 2, a gripping linear push rod, a swing motor and a thumb connecting rod assembly. The reversing bevel gear 1 is installed on a rotating bracket through a bearing, and the reversing bevel gear 2 is installed on the thumb base. The input end of the reversing bevel gear 2 is connected to the swing motor. When the swing motor is driven, the entire thumb base swings and rotates around the reversing bevel gear 1; the gripping linear push rod is arranged below the swing motor, and the gripping linear push rod and the swing motor are both located in the cavity of the thumb base. The gripping linear push rod drives the series connecting rod in the thumb connecting rod assembly to perform gripping and releasing actions.

[0008] Further improvement, the index finger end includes a thumb connecting rod assembly, an index finger grip linear push rod, a swing connecting rod, and an index finger swing linear push rod. The index finger grip linear push rod is vertically arranged on the base, and its tail is a ball bearing structure. The fixed tail bearing push rod main body rotates around the fixed end in a small range. The push rod output end of the index finger grip linear push rod is connected to the thumb connecting rod assembly, and the grip and release of the index finger are achieved by the extension and extension of the push rod; one end of the swing connecting rod is hinged to the middle part of the index finger grip linear push rod, and the other end is connected to the output end of the index finger swing linear push rod, and the swing of the index finger is achieved by the drive of the swing linear push rod.

[0009] As a further improvement, the middle finger end includes a middle finger connecting rod assembly and an index finger holding a linear push rod, and the index finger holding a linear push rod drives the middle finger connecting rod assembly to achieve holding and releasing of the middle finger connecting rod assembly.

[0010] As a further improvement, the ring finger end and the little finger end adopt an overall swinging manner, including a guide rail, a slider, a ring finger connecting rod assembly, a little finger connecting rod assembly, a swinging sliding plate, a ring finger holding linear push rod, a little finger holding linear push rod, and a swinging linear push rod; the ring finger connecting rod group and the little finger connecting rod assembly are respectively connected to the base through the guide rail and the slider; the swinging linear push rod provides a holding driving force, which is respectively connected to the ring finger holding linear push rod and the little finger holding linear push rod, the ring finger holding linear push rod controls the holding of the ring finger connecting rod assembly, and the little finger holding linear push rod controls the holding of the little finger connecting rod assembly.

[0011] As a further improvement, a cam follower is installed between the linear push rod 23 held by the ring finger and the linear push rod 24 held by the little finger, and the cam follower forms a notch with the inclined groove on the swing sliding plate 22, and the angle of the inclined groove controls the swing angle of the ring finger and the little finger.

[0012] The beneficial effects of the present invention are:

[0013] 1. The thumb of the dexterous hand has three active degrees of freedom: gripping, folding, and swinging. The index finger has two active degrees of freedom: gripping and swinging. The middle finger has a gripping degree of freedom. The ring finger and the little finger each have a gripping degree of freedom, and swinging shares one degree of freedom. It contains a total of nine active degrees of freedom, with high flexibility, and can realize complex hand movements.

[0014] 2. The structure is simple and reliable, with linear push rods and micro motors as power. The overall layout is simple, and the gripping power has self-locking performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 is a front schematic diagram of a nine-active-degree-of-freedom dexterous hand according to an embodiment of the present invention;

[0017] Figure 2 is an axonometric diagram of a nine-active-degree-of-freedom dexterous hand according to an embodiment of the present invention;

[0018] Figure 3 It is a partial schematic diagram of the thumb of a dexterous hand with nine active degrees of freedom in an embodiment of the present invention;

[0019] Figure 4 Schematic diagram of a portion of the index finger of a nine-active-degree-of-freedom dexterous hand in an embodiment of the present invention.

[0020] The figure includes: 1. base, 2. folding linear push rod, 3. push rod connecting rod, 4. rotating fixed frame, 5. rotating bracket, 6. reversing bevel gear one, 7. thumb base, 8. reversing bevel gear two, 9. holding linear push rod, 10. swinging motor, 11. thumb connecting rod assembly, 12. index finger connecting rod assembly, 13. index finger holding linear push rod, 14. swinging connecting rod, 15. index finger swinging linear push rod, 16. middle finger connecting rod assembly, 17. index finger holding linear push rod, 18. guide rail, 19. slider, 20. ring finger connecting rod assembly, 21. little finger connecting rod assembly, 22. swinging sliding plate, 23. ring finger holding linear push rod, 24. little finger holding linear push rod, 25. swinging linear push rod. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] A specific embodiment of the present invention is as follows Figure 1-4 As shown, the dexterous hand is arranged on the base 1 as a whole, and the five fingers are distributed in a manner similar to a human palm. The thumb end includes a folding linear push rod 2, a push rod connecting rod 3, a rotating fixed frame 4, a rotating bracket 5, a reversing bevel gear 1 6, a thumb base 7, a reversing bevel gear 2 8, a gripping linear push rod 9, a swing motor 10 and a thumb connecting rod assembly 11. The folding linear push rod 2 is horizontally arranged at the bottom of the base 1, and its output end is connected to a push rod connecting rod 3. The other end of the push rod connecting rod 3 is matched with a pin hole parallel to the palm surface of the rotating bracket 5. The middle section of the rotating bracket 5 is also matched with the rotating fixed frame 4. The rotating fixed frame 4 is fixed to the lower left side of the base 1. The other side of the rotating bracket 5 is matched with a pin hole perpendicular to the palm surface with the extended end of the thumb base 7. When the push rod of the folding linear push rod 2 is extended and retracted, the rotating bracket 5 drives the entire thumb part to fold. The reversing bevel gear 1 6 is mounted on the rotating bracket 5 through a bearing, and the reversing bevel gear 2 8 is mounted on the thumb base 7. The input end of the reversing bevel gear 2 8 is connected to a swing motor 10. When the swing motor 10 is driven, the entire thumb base 7 drives the thumb assembly to swing and rotate around the reversing bevel gear 1 6. In addition, the holding linear push rod 9 is arranged below the swing motor 10. Both are located in the cavity of the thumb base 7. The holding linear push rod 9 can drive the series connecting rod in the thumb connecting rod assembly 11 to perform actions such as holding and releasing.

[0023] The index finger end of the dexterous hand has two degrees of freedom, namely, holding and swinging, and includes a thumb link assembly 12, an index finger holding linear push rod 13, a swing link 14, and an index finger swinging linear push rod 15. The index finger holding linear push rod 13 is vertically arranged on the base 1, and its tail is a ball bearing structure. The main body of the push rod with the fixed tail bearing can rotate around the fixed end in a small range. The output end of the push rod is connected to the thumb link assembly 12, and the holding and releasing of the index finger are realized by the extension and extension of the push rod. In addition, one end of the swing link 14 is hinged to the middle part of the index finger holding linear push rod 13, and the other end is connected to the output end of the index finger swinging linear push rod 15, and the swing of the index finger is realized by the drive of the push rod.

[0024] The middle finger end includes a middle finger connecting rod assembly 16 and an index finger holding linear push rod 17. Like the index finger end, the connecting rod can be held and released by driving the index finger holding linear push rod 17. The ring finger end and the little finger end swing as a whole, including a guide rail 18, a slider 19, a ring finger connecting rod assembly 20, a little finger connecting rod assembly 21, a swinging sliding plate 22, a ring finger holding linear push rod 23, a little finger holding linear push rod 24, and a swinging linear push rod 25. Similarly, the ring finger holding linear push rod 23 and the little finger holding linear push rod 24 respectively control the holding of the ring finger connecting rod assembly 20 and the little finger connecting rod assembly 21. A cam follower is installed between the two push rods and forms a groove with the inclined groove on the swing sliding plate 22. The angles of the two inclined grooves on the swing sliding plate 22 can control the swinging angles of the ring finger and the little finger. The swinging power is provided by the swinging linear push rod 25. In addition, the structure is supported by the guide rail 18 and the slider 19.

[0025] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, the above is only a preferred embodiment of the present invention. Since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited to this. Any technician familiar with the technical field is within the technical scope disclosed by the present invention. For ordinary technicians in the technical field, changes or replacements that can be easily thought of should be covered within the protection scope of the present invention without departing from the principle of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A nine-active-degree-of-freedom dexterous hand, characterized by: The invention comprises a base and a five-finger structure imitating a palm distributed on the base. The five-finger structure comprises a thumb end, an index finger end, a middle finger end, a ring finger end and a little finger end. The five-finger structure has active grasping freedom. The thumb end has swing and folding freedom, the index finger end has an independent swinging freedom, and the ring finger and the little finger share one swinging freedom.

2. The nine-active-degree-of-freedom dexterous hand according to claim 1, characterized in that: The thumb end comprises a thumb folding component, a thumb base, and a thumb swinging grip component.

3. The nine-active-degree-of-freedom dexterous hand according to claim 2, characterized in that: The thumb folding assembly includes a folding linear push rod, a push rod connecting rod, a rotating fixed frame, a rotating bracket, and a reversing bevel gear. The folding linear push rod is horizontally arranged at the lowermost side of the base, and its output end is connected to the push rod connecting rod. The other end of the push rod connecting rod is matched with one side of the rotating bracket, and the other side of the rotating bracket forms a match with the extended end of the thumb base perpendicular to the palm surface; a rotating fixed frame is fixed to the lower left side of the base, and the rotating fixed frame is matched with the middle section of the rotating bracket; when the push rod of the folding linear push rod is extended and retracted, the rotating bracket drives the thumb base to fold.

4. The nine-active-degree-of-freedom dexterous hand according to claim 2 or 3, characterized in that: The thumb swing grip assembly includes a reversing bevel gear 1, a thumb base, a reversing bevel gear 2, a gripping linear push rod, a swing motor and a thumb connecting rod assembly. The reversing bevel gear 1 is installed on a rotating bracket through a bearing, and the reversing bevel gear 2 is installed on the thumb base. The input end of the reversing bevel gear 2 is connected to the swing motor. When the swing motor is driven, the entire thumb base swings and rotates around the reversing bevel gear 1; the gripping linear push rod is arranged below the swing motor, and the gripping linear push rod and the swing motor are both located in the cavity of the thumb base. The gripping linear push rod drives the series connecting rod in the thumb connecting rod assembly to perform gripping and releasing actions.

5. The nine-active-degree-of-freedom dexterous hand according to claim 1, characterized in that: The index finger end includes a thumb connecting rod assembly, an index finger gripping linear push rod, a swing connecting rod, and an index finger swinging linear push rod. The index finger gripping linear push rod is vertically arranged on a base, and its tail is a ball bearing structure. The main body of the fixed tail bearing push rod rotates around the fixed end in a small range. The push rod output end of the index finger gripping linear push rod is connected to the thumb connecting rod assembly, and the gripping and releasing of the index finger are realized by the extension and extension of the push rod; one end of the swing connecting rod is hinged to the middle part of the index finger gripping linear push rod, and the other end is connected to the output end of the index finger swinging linear push rod, and the swinging of the index finger is realized by the drive of the swinging linear push rod.

6. The nine-active-degree-of-freedom dexterous hand according to claim 1, characterized in that: The middle finger end comprises a middle finger connecting rod assembly and an index finger holding linear push rod, and the index finger holding linear push rod drives the middle finger connecting rod assembly to achieve holding and releasing of the middle finger connecting rod assembly.

7. The nine-active-degree-of-freedom dexterous hand according to claim 1, characterized in that: The ring finger end and the little finger end adopt an overall swinging manner, including a guide rail, a slider, a ring finger connecting rod assembly, a little finger connecting rod assembly, a swinging sliding plate, a ring finger holding linear push rod, a little finger holding linear push rod, and a swinging linear push rod; the ring finger connecting rod group and the little finger connecting rod assembly are respectively connected to the base through the guide rail and the slider; the swinging linear push rod provides a holding driving force, and is respectively connected to the ring finger holding linear push rod and the little finger holding linear push rod, the ring finger holding linear push rod controls the holding of the ring finger connecting rod assembly, and the little finger holding linear push rod controls the holding of the little finger connecting rod assembly.

8. The nine-active-degree-of-freedom dexterous hand according to claim 7, characterized in that: A cam follower is installed between the linear push rod held by the ring finger and the linear push rod held by the little finger. The cam follower forms a notch with the inclined groove on the swing sliding plate, and the angle of the inclined groove controls the swing angle of the ring finger and the little finger.

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