Hand-imitated two-finger grabbing multi-mode mechanism for multi-mode movement of grabbed object

Abstract

The invention belongs to the field of humanoid robots, and discloses a humanoid hand two-finger grabbing multi-mode mechanism for multi-mode movement of a grabbed object, which comprises a humanoid palm base frame, a first finger kinematic chain and a second finger kinematic chain, the first finger kinematic chain comprises a plurality of first finger joint rotating pairs, and the second finger kinematic chain comprises a plurality of second finger joint rotating pairs; the first finger kinematic chain comprises a plurality of first finger joint rotating pairs, the rotating axes of the first finger joint rotating pairs have at least two different extending directions, the second finger kinematic chain comprises a plurality of second finger joint rotating pairs, and the rotating axes of the second finger joint rotating pairs have at least two different extending directions. A first finger kinematic chain and a second finger kinematic chain which clamp a predetermined object are used as a multi-mode switchable connecting rod mechanism, and a transition mode posture and three pinching motion modes of a plane 4R mechanism, an orthogonal Bricard mechanism and a plane symmetry 6R mechanism are formed through motion of a plurality of mechanism rotation pairs. A clamped object achieves 4R connecting rod curve track movement, orthogonal Bricard mechanism space connecting rod curve track movement and plane symmetry 6R mechanism connecting rod curve track movement, and all modes can be switched through transition modes.

Description

Technical Field

[0001] The invention belongs to the field of humanoid robots, and in particular relates to a humanoid hand two-finger grasping multi-mode mechanism for multi-mode movement of grasped objects. Background Art

[0002] The human hand is a perfect tool created by nature. In the field of humanoid robots, the dexterous humanoid hand has multiple multi-joint fingers that can adapt to a variety of grasping and manipulation tasks. It can be installed at the end of a robotic arm to become a dexterous manipulation tool or used as a human prosthesis, and has great social application value.

[0003] The existing technology has only conducted research on the humanoid hand's ability to complete fingertip grasping and enveloping grasping of objects. Based on the humanoid hand's grasping function, humanoid hands with different numbers of joints and drives are designed. There are mainly low-joint under-actuated humanoid hands with enveloping grasping function designed to reduce manufacturing costs, and fully-driven humanoid dexterous hands designed to achieve precise grasping of objects. Specifically, the main function of the "fingers" of current mechanical humanoid hand operations is to stably "clamp" a predetermined object to a three-dimensional predetermined position, and move the predetermined object to a predetermined position through a robotic arm or the seventh axis.

[0004] However, the above operation mode has exposed the following deficiencies during implementation: 1. The robot arm or the seventh axis that occupies a larger space not only requires an additional larger space and a larger energy supply, which is obviously not conducive to the optimal implementation of small space working conditions, but also has high energy and space costs; 2. The robot arm or the seventh axis is a motion mechanism, which also poses a hidden danger of personal injury; 3. If there are multiple moving paths for moving the predetermined object, more complex software is required, which also increases the cost.

[0005] The above-mentioned humanoid hand design does not conduct research on the multi-mode motion of objects operated in coordination with the humanoid hand. The humanoid hand does not have the function of operating objects for multi-mode motion. Without changing the structure of the humanoid hand, the humanoid hand cannot operate objects to move on multiple predetermined trajectories. In order to realize the dexterous operation function of objects by a humanoid hand, the humanoid hand should be able to operate objects for multi-mode motion. Summary of the invention

[0006] In view of the deficiencies in the prior art, the present invention provides a two-finger grasping multi-mode mechanism that simulates the multi-mode movement of grasped objects, which can realize the multi-mode movement of objects that simulates the collaboration of human hands through simple motors and connecting rod components, and can easily realize the movement operation of multiple movement paths for predetermined objects without the need for a robotic arm. It can also quickly and conveniently switch between multiple modes, that is, it can quickly and conveniently realize multiple movement paths.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] A human-like two-finger grasping multi-mode mechanism with multi-mode motion towards a grasped object, used for pinching a predetermined object, characterized in that it comprises a palm-like frame, a first finger motion chain, comprising two coupled near-palm rotation pairs, and a plurality of first finger joint rotation pairs corresponding to human finger joints, the first finger motion chain is arranged on the palm-like frame through the near-palm rotation pair coupling, and the rotation axes of the plurality of first finger joint rotation pairs have at least two different extension directions, a second finger motion chain comprises a plurality of second finger joint rotation pairs corresponding to human finger joints, the second finger motion chain is coupled to the palm-like frame through a second finger joint rotation pair, the rotation axes of the plurality of second finger joint rotation pairs have at least two different extension directions, and the free end of the first finger motion chain and the free end of the second finger motion chain are brought close to each other and respectively press the surface of the predetermined object, thereby clamping the predetermined object, wherein the first finger motion chain and the second finger motion chain holding the predetermined object are moved to the imitation palm frame and the second finger motion chain are moved to the imitation palm frame and the imitation palm frame, respectively press the surface of the predetermined object, thereby clamping the predetermined object, wherein the first finger motion chain and the second finger motion chain holding the predetermined object are moved to the imitation palm frame and the imitation palm frame, respectively press the surface of the predetermined object ... The invention relates to a multi-modal switchable linkage mechanism, wherein a first finger joint rotation pair, a second finger joint rotation pair and a proximal palm rotation pair are all used as mechanism rotation pairs. The multi-modal switchable linkage mechanism forms a transitional mode posture and multiple pinching motion modes through the actions of multiple mechanism rotation pairs. When the multi-modal switchable linkage mechanism forms a transitional mode posture, the centers of the rotation axes of all the first finger joint rotation pairs and the center of the rotation axis of at least one second finger joint rotation pair are collinear, and at least one first finger joint rotation pair and all the second finger joint rotation pairs are in a singular configuration, and the multi-modal switchable linkage mechanism is in a singular configuration. When the multi-modal switchable linkage mechanism forms a transitional mode posture, the multi-modal switchable linkage mechanism switches between two different pinching motion modes through the actions of a predetermined mechanism rotation pair, and when the multi-modal switchable linkage mechanism operates in different pinching motion modes, the movement modes of the multi-modal switchable linkage mechanism are different.

[0009] Preferably, the mechanism rotation pairs of the present invention are composed of a driving motor and a connecting rod member arranged on the driving motor, and two adjacent mechanism rotation pairs are coupled by the connecting rod member, and the connecting rod member located at the free end of the first finger motion chain and the connecting rod member located at the free end of the second finger motion chain press the surface of the predetermined object, thereby forming a clamp for the predetermined object.

[0010] Furthermore, the rotation axes of multiple proximal palm rotation pairs have two extension directions, both of which extend horizontally and are perpendicular to each other. The rotation axes of multiple first finger joint rotation pairs and multiple second finger joint rotation pairs both have two extension directions, and the extension directions of the rotation axes of two adjacent first finger joint rotation pairs are different; the extension directions of the rotation axes of two adjacent second finger joint rotation pairs are different.

[0011] Furthermore, the proximal palm rotation pairs are respectively the first finger root rotation pair and the second finger root rotation pair, the number of the first finger joint rotation pairs is three, namely the first joint rotation pair, the first middle joint rotation pair and the first end joint rotation pair, the number of the second finger joint rotation pairs is three, namely the second joint rotation pair, the second middle joint rotation pair and the second end joint rotation pair, the first finger root rotation pair is arranged on the simulated palm base, the connecting rod components of the first finger root rotation pair and the second finger root rotation pair are respectively the first finger root connecting rod and the second finger root connecting rod, the first joint rotation pair is arranged on the second finger root connecting rod, the connecting rod components of the first joint rotation pair, the first middle joint rotation pair and the first end joint rotation pair are respectively the first joint connecting rod, the first middle joint connecting rod and the first end joint connecting rod, and the second joint rotation pair is arranged on the simulated palm base. On the palm base, the connecting rod components of the second joint rotation pair, the second middle joint rotation pair and the second end joint rotation pair are respectively the second joint connection rod, the second middle joint connection rod and the second end joint connection rod, and the linear interval between the second finger root rotation pair and the second joint rotation pair is fitted into an imitation palm interval connection rod, the imitation palm interval connection rod, the second finger root connection rod, the first joint connection rod, the first middle joint connection rod and the second joint connection rod are equal in length, the second middle joint connection rod is equal to half of the second joint connection rod, and when the first end joint connection rod and the second end joint connection rod clamp a predetermined object and the two joint connections are in a straight line, the clamping interval occupied by the predetermined object between the first end joint connection rod and the second end joint connection rod is used as the clamping length, and the first end joint connection rod, the second end joint connection rod and the clamping length are equal to the second middle joint connection rod.

[0012] Furthermore, the pinching motion mode is a planar 4R motion mode, an orthogonal Bricard motion mode and a plane-symmetric 6R motion mode. When the multi-modal switchable linkage mechanism is in the planar 4R motion mode, the multi-modal switchable linkage mechanism performs a planar linkage motion, and the first joint rotation pair, the first end joint rotation pair, the second joint rotation pair, and the second end joint rotation pair all rotate, and the rotation axes are parallel to each other and perpendicular to the plane of motion, and the rotation angles of the first joint rotation pair, the first end joint rotation pair, and the second end joint rotation pair are respectively functions of the rotation angle of the second joint rotation pair; when the multi-modal switchable linkage mechanism is in the orthogonal Bricard motion mode, the multi-modal switchable linkage mechanism performs a spatial linkage motion, and the second finger root rotation pair, the first root joint rotation pair, the first middle joint rotation pair, the first end joint rotation pair, the second root joint rotation pair, and the second middle joint rotation pair all rotate, and the rotation angles of the first joint rotation pair, the first end joint rotation pair, and the second joint rotation pair The same, the rotation angles of the second finger root rotation pair, the first middle joint rotation pair and the second middle joint rotation pair are the same, and the rotation angles of the second finger root rotation pair, the first joint rotation pair, the first middle joint rotation pair, the first end joint rotation pair and the second middle joint rotation pair are all functions of the rotation angle of the second joint rotation pair; when the multi-modal switchable linkage mechanism is in the plane-symmetric 6R motion mode, the multi-modal switchable linkage mechanism performs spatial linkage motion, the first end joint link is parallel to the first middle joint link, the second finger root rotation pair, the first joint rotation pair, the first middle joint rotation pair, the second joint rotation pair, the second middle joint rotation pair and the second end joint rotation pair all rotate, the rotation angle of the first joint rotation pair is equal to the rotation angle of the second joint rotation pair, the rotation angle of the first middle joint rotation pair is equal to the rotation angle of the second middle joint rotation pair, and the second finger root rotation pair, the first joint rotation pair, the first middle joint rotation pair, the second middle joint rotation pair and the second end joint rotation pair are all functions of the rotation angle of the second joint rotation pair.

[0013] Furthermore, the multi-modal switchable linkage mechanism in the transition mode posture and the palm-simulating spacing link as a whole have a planar triangle configuration, the second finger root link and the palm-simulating spacing link form one side of the planar triangle, the first joint link and the first middle joint link form one side of the planar triangle, the first end joint link, the clamping length, the second end joint link, the second middle joint link and the second joint form one side of the planar triangle.

[0014] Furthermore, when the multi-modal switchable linkage mechanism forms a transitional modal posture in the planar 4R motion mode, the second finger root rotation pair rotates along the first predetermined rotation direction, and when the second finger root link and the imitation palm interval link are not colinear, the second joint rotation pair rotates along the second predetermined rotation direction, and the multi-modal switchable linkage mechanism switches from the planar 4R motion mode to the orthogonal Bricard motion mode; when the multi-modal switchable linkage mechanism forms a transitional modal posture in the orthogonal Bricard motion mode, the second joint rotation pair rotates in the opposite direction along the second predetermined rotation direction, and the multi-modal switchable linkage mechanism switches from the orthogonal Bricard motion mode to Planar 4R motion mode; when the multi-modal switchable link mechanism forms a transitional mode posture in the planar 4R motion mode, the first end joint rotation pair is driven to rotate so that the first end joint link is parallel to the first middle joint link, so that the multi-modal switchable link mechanism switches from the transitional mode posture to the switching pre-mode posture, when the multi-modal switchable link mechanism is in the switching pre-mode posture, the second finger root rotation pair rotates along the first predetermined rotation direction, when the second finger root link and the imitation palm interval link are not colinear, the second root joint rotation pair rotates along the second predetermined rotation direction, and the multi-modal switchable link mechanism switches from the planar 4R motion mode to the plane symmetric 6R motion mode;

[0015] When the multi-modal switchable linkage mechanism forms a switching pre-modal posture with a plane-symmetric 6R motion mode, the first end-joint rotation pair rotates in the opposite direction so that the first end-joint link and the first middle joint link are in a straight line, thereby forming a transitional modal posture. When the multi-modal switchable linkage mechanism is in the transitional modal posture, the second joint rotation pair rotates in the opposite direction along the second predetermined rotation direction, and the multi-modal switchable linkage mechanism switches to a planar 4R motion mode.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. Because the human-hand two-finger grasping multi-mode mechanism for multi-mode motion of grasped objects of the present invention comprises a palm-simulating base, a first finger kinematic chain and a second finger kinematic chain, the first finger kinematic chain comprises two proximal palm rotation pairs and a plurality of first finger joint rotation pairs, the rotation axes of the plurality of first finger joint rotation pairs have at least two different extension directions, the second finger kinematic chain comprises a plurality of second finger joint rotation pairs, the rotation axes of the plurality of second finger joint rotation pairs have at least two different extension directions, the first finger kinematic chain and the second finger kinematic chain holding a predetermined object are used as a multi-mode switchable connecting rod mechanism, the first finger joint rotation pair, the second finger joint rotation pair and the proximal palm rotation pair are all used as mechanism rotation pairs, and the multi-mode switchable The connecting rod mechanism forms transitional modal postures and multiple pinching motion modes through the actions of multiple mechanism rotation pairs. Through the actions of the predetermined mechanism rotation pairs, the multi-mode switchable connecting rod mechanism switches between two different pinching motion modes, that is, on the one hand, the multi-mode mechanism of two-finger grasping of the human hand facing the multi-mode motion of the grasped object can reduce the large-scale and complex motion of the robot arm in space, and can realize the precise operation between local cells; the planning and design of the grasping mechanism is simpler and more effective; the safety of the operation is improved, and the risk of collision injury caused by the robot arm to people is reduced; energy saving and low carbon reduce energy consumption, and it is suitable for working environments with limited space; on the other hand, it has high precision and strong flexibility, and the human hand can flexibly switch through the mechanism 4R, bricard 6R, and face-symmetric 6R modes to accurately realize the multi-mode trajectory of the grasped object, including 4R plane connecting rod motion trajectory, bricard 6R space connecting rod motion trajectory, and face-symmetric 6R mode switching space connecting rod motion connecting rod trajectory; the plane and space specific curve trajectories can be realized respectively according to the expected requirements; different connecting rod point trajectory curves can also be realized by changing different positions of the grasped object. It has strong flexibility and is suitable for the operation of small batches of objects of various varieties. Therefore, the present invention can realize multi-mode movement of objects that simulates human hands through simple motors and connecting rod components, and can easily realize the movement operation of multiple movement paths for predetermined objects without the need for a robotic arm, and can quickly and conveniently switch between multiple modes, that is, can quickly and conveniently realize multiple movement paths. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of a human-like hand of a two-finger human-like hand grasping multi-mode mechanism for multi-mode motion of grasped objects according to an embodiment of the present invention;

[0019] Figure 2 It is a schematic diagram of a multi-mode mechanism for grasping an object with two fingers imitating a human hand and capable of multi-mode motion of grasped objects according to an embodiment of the present invention;

[0020] Figure 3 Schematic diagram of a multi-modal switchable link mechanism and a palm-simulating spacer link according to an embodiment of the present invention;

[0021] Figure 4It is a schematic diagram of a multi-mode switchable connecting rod mechanism in a planar 4R motion mode according to an embodiment of the present invention;

[0022] Figure 5 It is a schematic diagram of a multi-mode switchable linkage mechanism in an embodiment of the present invention in an orthogonal Bricard 6R motion mode;

[0023] Figure 6 It is a schematic diagram of a multi-mode switchable connecting rod mechanism in a plane-symmetric 6R motion mode according to an embodiment of the present invention;

[0024] Figure 7 It is a schematic diagram of a multi-mode switchable linkage mechanism in a transition mode posture according to an embodiment of the present invention;

[0025] Figure 8 It is a schematic diagram of a multi-modal switchable linkage mechanism in a switching pre-modal posture according to an embodiment of the present invention.

[0026] In the figure: 100, a two-finger grasping multi-mode mechanism imitating a human hand with multi-mode motion towards a grasped object, 10, a palm-imitation base, 20, a first finger kinematic chain, 21, a first finger root rotation pair, 21a, a first finger root connecting rod, 22, a second finger root rotation pair, 22a, a second finger root connecting rod, 22b, a palm-imitation spacing connecting rod, 23, a first joint rotation pair, 23a, a first joint connecting rod, 24, a first middle joint rotation pair, 24a, a first middle joint connecting rod, 25, a first end joint rotation pair, 25a, a first end joint connecting rod, 30, a second finger kinematic chain, 31, a second joint rotation pair, 31a, a second joint connecting rod, 32, a second middle joint rotation pair, 32a, a second middle joint connecting rod, 33, a second end joint rotation pair, 33a, a second end joint connecting rod, M, a predetermined object. DETAILED DESCRIPTION

[0027] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the following embodiments, in conjunction with the accompanying drawings, specifically illustrate the multi-mode mechanism of the present invention that imitates the two-finger grasping of a human hand for multi-mode movement of grasped objects. It should be noted that the description of these implementation methods is used to help understand the present invention, but does not constitute a limitation of the present invention.

[0028] like Figure 1 to Figure 2 As shown, the multi-mode mechanism 100 imitating human hand with two fingers grasping in multi-mode motion facing the grasped object in this embodiment is used to hold the predetermined object M. Specifically, the multi-mode mechanism 100 imitating human hand with two fingers grasping in multi-mode motion facing the grasped object corresponds to the imitation of a normal human hand as shown in FIG. Figure 1, where the last two joints in a normal person's hand are merged into a "fitting joint", and two "fitting joints" are used to replace the base of the index finger, and the rotation planes of all joints of a finger of a normal person's hand are in one plane, and the rotation planes of all "fitting joints" of the same "fitting finger" are at least two planes.

[0029] The human-hand-simulating two-finger grasping multi-mode mechanism 100 with multi-mode motion towards the grasped object includes a palm-simulating base 10, a first finger motion chain 20 and a second finger motion chain 30. In this embodiment, the first finger motion chain 20 and the second finger motion chain 30 are "fitting fingers" corresponding to the thumb and index finger of a normal human hand, respectively.

[0030] The first finger motion chain 20 includes two coupled proximal palm rotation pairs and three first finger joint rotation pairs corresponding to human thumb joints. The first finger motion chain is arranged on the imitation palm base 10 through the proximal palm rotation pair coupling, and the rotation axes of the two proximal palm rotation pairs have two extension directions. The two extension directions formed by the rotation axes of the two proximal palm rotation pairs are both extended horizontally and perpendicular to each other. The rotation axes of the three first finger joint rotation pairs have two different extension directions, and the two extension directions of the rotation axes of all the first finger joint rotation pairs are perpendicular to each other, and the extension directions of the rotation axes of two adjacent first finger joint rotation pairs are different. Specifically, the proximal palm rotation pair and the first joint rotation pair are the "fitting joints" of the "fitting thumb".

[0031] The second finger kinematic chain 30 includes three second finger joint rotation pairs corresponding to the human index finger joints. The second finger kinematic chain is coupled to the artificial palm base 10 through a second finger joint rotation pair. The rotation axes of the multiple second finger joint rotation pairs have two different extension directions, and the extension directions of the rotation axes of two adjacent second finger joint rotation pairs are different. Specifically, the second joint rotation pair is a "fitting joint".

[0032] The free end of the first finger motion chain 20 and the free end of the second finger motion chain 30 clamp the predetermined object M by approaching each other and pressing the surface of the predetermined object M respectively.

[0033] The first finger motion chain 20 and the second finger motion chain 30 for clamping the predetermined object M are used as a multi-modal switchable connecting rod mechanism, and the first finger joint rotation pair, the second finger joint rotation pair and the proximal palm rotation pair are all used as mechanism rotation pairs, and the mechanism rotation pairs are all composed of a driving motor and a connecting rod component arranged on the driving motor, and two adjacent mechanism rotation pairs are coupled through the connecting rod component.

[0034] That is, the link member located at the free end of the first finger motion chain 20 and the link member located at the free end of the second finger motion chain 30 clamp the predetermined object M by pressing the surface of the predetermined object M.

[0035] The two proximal palm rotation pairs are respectively a first finger root rotation pair 21 and a second finger root rotation pair 22 , and the three first finger joint rotation pairs are respectively a first root joint rotation pair 23 , a first middle joint rotation pair 24 and a first end joint rotation pair 25 .

[0036] The first finger base rotation pair 21 is arranged on the artificial palm base 10, and the connecting rod components of the first finger base rotation pair 21 and the second finger base rotation pair 22 are respectively the first finger base connecting rod 21a and the second finger base connecting rod 22a, the first joint rotation pair 23 is arranged on the second finger base connecting rod 22a, and the connecting rod components of the first joint rotation pair 23, the first middle joint rotation pair 24 and the first end joint rotation pair 25 are respectively the first joint connecting rod 23a, the first middle joint connecting rod 24a and the first end joint connecting rod 25a.

[0037] The three second finger joint revolving pairs are respectively a second root joint revolving pair 31 , a second middle joint revolving pair 32 and a second end joint revolving pair 33 .

[0038] The second joint rotation pair 31 is disposed on the artificial palm base 10 , and the connecting rod components of the second joint rotation pair 31 , the second middle joint rotation pair 32 and the second end joint rotation pair 33 are the second joint connecting rod 31 a , the second middle joint connecting rod 32 a and the second end joint connecting rod 33 a respectively.

[0039] The linear spacing distance between the second finger base rotation pair and the second joint rotation pair is fitted into the simulated palm spacing link 22b. Specifically, after the predetermined object M is actually pinched, the first finger base rotation pair will no longer move, and the spatial movement of the predetermined object M can be achieved only through the remaining mechanism rotation pairs. Therefore, the minimum linear spacing distance between the second finger base rotation pair and the second joint rotation pair can be regarded as a rigid component, namely the simulated palm spacing link 22b.

[0040] like Figure 3 As shown, the palm spacing link 22b, the second finger root link 22a, the first joint link 23a, the first middle joint link 24a and the second joint link 31a are of equal length, and the second middle joint link 32a is equal to half of the second joint link 31a.

[0041] When the first end joint link 25a and the second end joint link 33a clamp the predetermined object M, and the two joint links are in a straight line, the clamping interval occupied by the predetermined object M between the first end joint link 25a and the second end joint link 33a is taken as the clamping length, and the total length of the first end joint link 25a, the second end joint link 33a and the clamping length is equal to the second middle joint link 32a.

[0042] The multi-modal switchable linkage mechanism forms transitional modal postures and multiple pinching motion modes through the actions of multiple mechanism rotation pairs.

[0043] like Figures 4 to 6 As shown, the pinching motion modes are planar 4R motion mode, orthogonal Bricard motion mode and plane symmetric 6R motion mode. When the multi-modal switchable linkage mechanism operates in different pinching motion modes, the motion modes of the multi-modal switchable linkage mechanism are different, so that the movement trajectories formed by the predetermined objects being pinched are all different.

[0044] When the multi-modal switchable linkage mechanism is in the planar 4R motion mode, the multi-modal switchable linkage mechanism performs planar 4R linkage motion, and the first joint rotation pair 23, the first end joint rotation pair 25, the second joint rotation pair 31, and the second end joint rotation pair 33 all rotate, and the rotation axes of the four rotation pairs are parallel to each other and perpendicular to the plane of motion, and the rotation angles of the first joint rotation pair 23, the first end joint rotation pair 25, and the second end joint rotation pair 33 are respectively functions of the rotation angle of the second joint rotation pair 31. Specifically, at this time, the rotation axes of the second finger root rotation pair 22, the first middle joint rotation pair 24, and the second middle joint rotation pair 24 are all located in the plane of motion, and the three rotation pairs are all rigidified and do not rotate.

[0045] When the multi-modal switchable linkage mechanism is in the orthogonal Bricard motion mode, the multi-modal switchable linkage mechanism performs spatial linkage motion, and the second finger root rotation pair 22, the first joint rotation pair 23, the first middle joint rotation pair 24, the first end joint rotation pair 25, the second joint rotation pair 31 and the second middle joint rotation pair 32 all rotate, the first joint rotation pair 23, the first end joint rotation pair 24 and the second joint rotation pair 31 have the same rotation angle, the second finger root rotation pair 22, the first middle joint rotation pair 24 and the second middle joint rotation pair 32 have the same rotation angle, and the second finger root rotation pair 22, the first joint rotation pair 23, the first middle joint rotation pair 24, the first end joint rotation pair 25 and the second middle joint rotation pair 32 are respectively functions of the rotation angle of the second joint rotation pair 31.

[0046] When the multi-modal switchable linkage mechanism is in the plane-symmetric 6R motion mode, the multi-modal switchable linkage mechanism performs spatial linkage motion, the first end joint link 25a is parallel to the first middle joint link 24a, that is, the first end joint link 25a is overlapped with half of the first middle joint link 24a, the second finger root rotation pair 22, the first joint rotation pair 23, the first middle joint rotation pair 24, the second joint rotation pair 31, the second middle joint rotation pair 32 and the second end joint rotation pair 33 all rotate, the rotation angle of the first joint rotation pair 23 is equal to the rotation angle of the second joint rotation pair 31, the rotation angle of the first middle joint rotation pair 24 is equal to the rotation angle of the second middle joint rotation pair 32, and the second finger root rotation pair 22, the first joint rotation pair 23, the first middle joint rotation pair 24, the second middle joint rotation pair 32 and the second end joint rotation pair 33 are all functions of the rotation angle of the second joint rotation pair 31, respectively.

[0047] like Figure 7 As shown, the multi-modal switchable link mechanism in the transitional mode posture and the palm-simulating spacing link have a planar triangular configuration as a whole.

[0048] The second finger root link 22a and the palm spacing link 22b form one side of a plane triangle, the first joint link 23a and the first middle joint link 24a form one side of a plane triangle, the first end joint link 25a, the clamping length, the second end joint link 33a, the second middle joint link 32a and the second joint link 31a form one side of a plane triangle.

[0049] That is, when the multi-modal switchable linkage mechanism forms a transitional modal posture, the centers of the rotation axes of all first finger joint rotation pairs and the center of the rotation axis of a second finger joint rotation pair are collinear, and the first end joint rotation pair 25, the second end joint rotation pair 33, the second middle joint rotation pair 32 and the second root joint rotation pair 31 are all in a singular position, and the multi-modal switchable linkage mechanism is in a singular position.

[0050] When the multi-mode switchable link mechanism forms a transitional mode posture, the multi-mode switchable link mechanism switches between two different pinching motion modes through the action of a predetermined mechanism rotation pair.

[0051] When the multi-modal switchable linkage mechanism forms a transitional modal posture in a planar 4R motion mode, the second finger root rotation pair 22 rotates along a first predetermined rotation direction. When the second finger root link 22a and the palm-simulation spacing link 22b are not colinear, that is, the co-planar characteristics of the triangular configuration of the transitional modal posture are destroyed, the second joint rotation pair 22 rotates along a second predetermined rotation direction, and the multi-modal switchable linkage mechanism switches from a planar 4R motion mode to an orthogonal Bricard motion mode.

[0052] Conversely, when the multi-modal switchable linkage mechanism forms a transitional modal posture in the orthogonal Bricard motion mode, the second joint rotation pair 22 rotates reversely along the second predetermined rotation direction, and the multi-modal switchable linkage mechanism switches from the orthogonal Bricard motion mode to the planar 4R motion mode.

[0053] When the multi-mode switchable link mechanism forms a transitional mode posture in the plane 4R motion mode, the first end joint rotation pair 25 is driven to rotate so that the first end joint link 25a is parallel to the half of the first middle joint link 24a to form an overlap, so that the multi-mode switchable link mechanism switches from the transitional mode posture to the following: Figure 8 The switching pre-modal posture is shown.

[0054] When the multi-modal switchable linkage mechanism is in a switching pre-modal posture, the second finger root rotation pair 22 rotates along a first predetermined rotation direction. When the second finger root link and the palm-simulation interval link are not colinear, that is, the co-planar characteristics of the triangular configuration of the transitional modal posture are destroyed, the second joint rotation pair 22 rotates along a second predetermined rotation direction, and the multi-modal switchable linkage mechanism switches from a planar 4R motion mode to a plane-symmetric 6R motion mode.

[0055] Conversely, when the multi-modal switchable link mechanism forms a switching pre-modal posture in a plane-symmetric 6R motion mode, the first end-joint rotation pair 22 rotates in the opposite direction so that the first end-joint link 25a and the first middle joint link 24a are unfolded and in a straight line, thereby forming a transitional modal posture.

[0056] When the multi-mode switchable linkage mechanism is in the transition mode posture, the second joint rotation pair 22 rotates reversely along the second predetermined rotation direction, and the multi-mode switchable linkage mechanism is switched to the planar 4R motion mode.

[0057] The above-mentioned implementation modes are preferred cases of the present invention and are not used to limit the protection scope of the present invention. Various deformations or modifications that can be made by ordinary technicians in this field without creative work within the scope of the attached claims are still within the protection scope of this patent.

Claims

1. A multi-mode grasping mechanism imitating two fingers of a human hand with multi-mode motion towards the grasped object, used for grasping a predetermined object, characterized in that: include: Imitation palm base, The first finger kinematic chain comprises two coupled proximal palm rotation pairs and a plurality of first finger joint rotation pairs corresponding to human finger joints. The first finger kinematic chain is arranged on the artificial palm base frame through the coupling of the proximal palm rotation pairs, and the rotation axes of the plurality of first finger joint rotation pairs have at least two different extension directions. The second finger kinematic chain comprises a plurality of second finger joint rotation pairs corresponding to human finger joints, the second finger kinematic chain is coupled to the artificial palm base through one of the second finger joint rotation pairs, the rotation axes of the plurality of second finger joint rotation pairs have at least two different extension directions, and the free ends of the first finger kinematic chain and the second finger kinematic chain are approached to each other and respectively press the surface of the predetermined object, thereby clamping the predetermined object. The first finger kinematic chain and the second finger kinematic chain holding the predetermined object are used as a multi-modal switchable link mechanism, and the first finger joint rotation pair, the second finger joint rotation pair and the near-palm rotation pair are all used as mechanism rotation pairs. The multi-modal switchable link mechanism forms transitional modal postures and multiple pinching motion modes through the actions of multiple rotation pairs of the mechanism. When the multi-mode switchable linkage mechanism forms the transitional mode posture, the centers of the rotation axes of all the first finger joint rotation pairs and the center of the rotation axis of at least one second finger joint rotation pair are collinear, and at least one first finger joint rotation pair and all the second finger joint rotation pairs are in a singular position, and the multi-mode switchable linkage mechanism is in a singular position, When the multi-modal switchable linkage mechanism forms the transitional modal posture, the multi-modal switchable linkage mechanism switches between two different pinching motion modes through the predetermined action of the rotation pair of the mechanism, and when the multi-modal switchable linkage mechanism operates in different pinching motion modes, the movement mode of the multi-modal switchable linkage mechanism is different.

2. The multi-mode mechanism for grasping an object with two fingers imitating a human hand and capable of multi-mode motion according to claim 1, characterized in that: in, The mechanism rotation pairs are each composed of a driving motor and a connecting rod component arranged on the driving motor, and two adjacent mechanism rotation pairs are coupled through the connecting rod component. The link member located at the free end of the first finger motion chain and the link member located at the free end of the second finger motion chain clamp the predetermined object by pressing the surface of the predetermined object.

3. The multi-mode mechanism for grasping an object with two fingers imitating a human hand and having multi-mode motions according to claim 2, characterized in that: in, The rotation axes of the plurality of proximal palm rotation pairs have two extension directions, both of which extend horizontally and are perpendicular to each other. The rotation axes of the plurality of first finger joint rotation pairs and the plurality of second finger joint rotation pairs each have two extending directions, The rotation axes of two adjacent first finger joint rotation pairs extend in different directions; and the rotation axes of two adjacent second finger joint rotation pairs extend in different directions.

4. The multi-mode mechanism for grasping an object with two fingers imitating a human hand and having multi-mode motions according to claim 3, characterized in that: in, The proximal palm rotation pairs are respectively the first finger root rotation pair and the second finger root rotation pair, the number of the first finger joint rotation pairs is three, namely the first root joint rotation pair, the first middle joint rotation pair and the first end joint rotation pair, the number of the second finger joint rotation pairs is three, namely the second root joint rotation pair, the second middle joint rotation pair and the second end joint rotation pair, The first finger root rotation pair is arranged on the artificial palm base, the connecting rod components of the first finger root rotation pair and the second finger root rotation pair are respectively the first finger root connecting rod and the second finger root connecting rod, the first joint rotation pair is arranged on the second finger root connecting rod, the connecting rod components of the first joint rotation pair, the first middle joint rotation pair and the first end joint rotation pair are respectively the first joint connecting rod, the first middle joint connecting rod and the first end joint connecting rod, the second joint rotation pair is arranged on the artificial palm base, the connecting rod components of the second joint rotation pair, the second middle joint rotation pair and the second end joint rotation pair are respectively the second joint connecting rod, the second middle joint connecting rod and the second end joint connecting rod, The linear distance between the second finger base revolute pair and the second root joint revolute pair is fitted into a simulated palm spacing link, The palm-simulation interval link, the second finger root link, the first joint link, the first middle joint link and the second joint link are equal in length, the second middle joint link is equal to half of the second joint link, and when the first end joint link and the second end joint link clamp the predetermined object and the two joint links are in a straight line, the clamping interval occupied by the predetermined object between the first end joint link and the second end joint link is taken as the clamping length, and the first end joint link, the second end joint link and the clamping length are equal to the second middle joint link.

5. The multi-mode mechanism for grasping an object with two fingers imitating a human hand and having multi-mode motions according to claim 4, characterized in that: in, The pinching motion modes are planar 4R motion modes, orthogonal Bricard motion modes and plane symmetric 6R motion modes. When the multi-mode switchable linkage mechanism is in the planar 4R motion mode, the multi-mode switchable linkage mechanism performs planar linkage motion, the first root joint rotation pair, the first end joint rotation pair, the second root joint rotation pair, and the second end joint rotation pair all rotate, the rotation axes are parallel to each other and perpendicular to the motion plane, and the rotation angles of the first root joint rotation pair, the first end joint rotation pair, and the second end joint rotation pair are respectively functions of the rotation angle of the second root joint rotation pair; When the multi-modal switchable linkage mechanism is in the orthogonal Bricard motion mode, the multi-modal switchable linkage mechanism performs spatial linkage motion, the second finger root rotation pair, the first root joint rotation pair, the first middle joint rotation pair, the first end joint rotation pair, the second root joint rotation pair and the second middle joint rotation pair all rotate, the first root joint rotation pair, the first end joint rotation pair and the second root joint rotation pair have the same rotation angle, the second finger root rotation pair, the first middle joint rotation pair and the second middle joint rotation pair have the same rotation angle, and the second finger root rotation pair, the first root joint rotation pair, the first middle joint rotation pair, the first end joint rotation pair and the second middle joint rotation pair are respectively functions of the rotation angle of the second root joint rotation pair; When the multi-modal switchable linkage mechanism is in the plane-symmetric 6R motion mode, the multi-modal switchable linkage mechanism performs spatial linkage motion, the first end-joint link is parallel to the first middle joint link, the second finger root rotation pair, the first root joint rotation pair, the first middle joint rotation pair, the second root joint rotation pair, the second middle joint rotation pair and the second end-joint rotation pair all rotate, the rotation angle of the first root joint rotation pair is equal to the rotation angle of the second root joint rotation pair, the rotation angle of the first middle joint rotation pair is equal to the rotation angle of the second middle joint rotation pair, and the second finger root rotation pair, the first root joint rotation pair, the first middle joint rotation pair, the second middle joint rotation pair and the second end-joint rotation pair are all functions of the rotation angle of the second root joint rotation pair, respectively.

6. The multi-mode mechanism for grasping an object with two fingers imitating a human hand and having multi-mode motions according to claim 5, characterized in that: in, The multi-mode switchable link mechanism in the transitional mode posture and the palm-simulating spacer link have a planar triangular configuration as a whole, The second finger root link and the palm-simulation spacing link form one side of the plane triangle, the first joint link and the first middle joint link form one side of the plane triangle, the first end joint link, the clamping length, the second end joint link, the second middle joint link and the second joint form one side of the plane triangle.

7. The multi-mode mechanism for grasping an object with two fingers imitating a human hand and having multi-mode motions according to claim 6, characterized in that: in, When the multi-modal switchable linkage mechanism forms the transitional modal posture in the planar 4R motion mode, the second finger root rotation pair rotates along a first predetermined rotation direction, and when the second finger root link and the palm-simulation interval link are not colinear, the second root joint rotation pair rotates along a second predetermined rotation direction, and the multi-modal switchable linkage mechanism switches from the planar 4R motion mode to the orthogonal Bricard motion mode; When the multi-modal switchable linkage mechanism forms the transitional modal posture in the orthogonal Bricard motion mode, the second joint rotation pair rotates reversely along the second predetermined rotation direction, and the multi-modal switchable linkage mechanism switches from the orthogonal Bricard motion mode to the planar 4R motion mode; When the multi-modal switchable link mechanism forms the transitional mode posture in the planar 4R motion mode, the first end-joint rotation pair is driven to rotate so that the first end-joint link is parallel to the first middle-joint link, so that the multi-modal switchable link mechanism switches from the transitional mode posture to the pre-switching mode posture, When the multi-mode switchable link mechanism is in the switching pre-mode posture, the second finger root rotation pair rotates along the first predetermined rotation direction, and when the second finger root link and the imitation palm spacing link are not colinear, the second root joint rotation pair rotates along the second predetermined rotation direction, and the multi-mode switchable link mechanism switches from the planar 4R motion mode to the plane symmetric 6R motion mode; When the multi-modal switchable link mechanism forms the switch pre-modal posture in the plane-symmetric 6R motion mode, the first end-joint rotation pair rotates inversely so that the first end-joint link and the first middle joint link are in a straight line, thereby forming the transitional modal posture. When the multi-modal switchable linkage mechanism is in the transitional mode posture, the second joint rotation pair rotates reversely along the second predetermined rotation direction, and the multi-modal switchable linkage mechanism is switched to the planar 4R motion mode.

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