Rigid-flexible coupling line driven twenty-degree-of-freedom bionic dexterous hand device

Abstract

The invention relates to the technical field of bionic mechanical arms, in particular to a rigid-flexible coupling line driven twenty-degree-of-freedom bionic dexterous hand device which comprises a far-end knuckle, a middle-end knuckle, a near-end knuckle, palm fingers, an air bag, a palm support, a ball pair, a connecting piece, a control part support, a first connecting assembly, a second connecting assembly, a third connecting assembly and a control assembly. The far-end knuckles and the middle-end knuckles are connected through first connecting assemblies, the near-end knuckles and the middle-end knuckles are connected through second connecting assemblies, the palm fingers and the near-end knuckles are connected through third connecting assemblies, the palm conducts folding movement through inflation and deflation of an air bag, and through the rigid-flexible coupling design, complete decoupling of the degree of freedom is achieved; all the joints can move completely and independently, the joints do not influence one another, kinematics modeling can be conducted in the driving process, the motion control compensation amount of all the driving steering engines is calculated, and the adaptability and flexibility of the driving steering engines in the complex environment are improved.

Description

Technical Field

[0001] The invention relates to the technical field of bionic mechanical arms, and in particular to a rigid-flexible coupled wire-driven twenty-degree-of-freedom bionic dexterous hand device. Background Art

[0003] In the prior art, a patent application with the authorization publication number CN112405577A discloses a rigid-flexible coupled multi-degree-of-freedom humanoid dexterous hand, including flexible fingers, a rigid support shell, a rigid palm joint, a rigid wrist joint and a drive control system, wherein the flexible fingers, the rigid palm joint and the rigid wrist joint are fixed on the rigid support shell to form the physical structure of the dexterous hand. The drive control system receives serial port data and distributes control signals to the pneumatic drive and the electric drive according to the serial port data, coordinates and controls the movement of the flexible fingers, the rigid palm joint and the rigid wrist joint, has simple transmission, is more adaptable to grasping different objects, has a stronger load-grasping capacity than general soft human hands, and is more stable in grasping.

[0004] The above-mentioned robot in the prior art has limited degrees of freedom and cannot independently control and move each joint, resulting in an inability to adapt to the grasping requirements of different objects and complex hand movements. Summary of the invention

[0005] The purpose of the present invention is to provide a rigid-flexible coupled wire-driven twenty-degree-of-freedom bionic dexterous hand device, which aims to solve the problem in the prior art that each joint cannot be independently controlled and moved, resulting in the inability to adapt to the grasping requirements of different objects and complex hand movements.

[0006] To achieve the above-mentioned purpose, the present invention provides a rigid-flexible coupled line-driven twenty-degree-of-freedom bionic dexterous hand device, comprising a distal knuckle, a middle knuckle, a proximal knuckle, a metacarpophalangeal, an airbag, a palm support, a ball pair, a connector, a control part support, a first connecting component, a second connecting component, a third connecting component and a control component, wherein the distal knuckle is rotatably connected to the middle knuckle and is located at one end of the middle knuckle, the first connecting component is arranged between the distal knuckle and the middle knuckle, the proximal knuckle is rotatably connected to the middle knuckle and is located at an end of the middle knuckle away from the distal knuckle, and the second connecting component is arranged at the Between the middle knuckle and the distal knuckle, the third connecting component is connected to the proximal knuckle, the metacarpophalangeal is connected to the third connecting component, the palm support is detachably connected to the metacarpophalangeal and is located at the end of the metacarpophalangeal away from the third connecting component, the ball pair is detachably connected to the palm support and is located on the inner wall of the palm support, the airbag is fixedly connected to the metacarpophalangeal and is located on one side of the metacarpophalangeal, the control part support is arranged on one side of the metacarpophalangeal, the two ends of the connecting member are detachably connected to the palm support and the control part support respectively, and the control component is arranged on the inner wall of the control part support.

[0007] Among them, the first connecting assembly includes a first bolt, a first bearing, a first nut, a first steel wire rope and a first torsion spring, the first bearing is fixedly connected to the middle finger joint and is located on the inner wall of the middle finger joint, the first bolt is movably connected to the first bearing and is located on the inner wall of the first bearing, and the first bolt passes through the distal finger joint, the first nut is threadedly connected to the first bolt and is located on the outer wall of the first bolt, the distal finger joint is provided with the first torsion spring, and the first torsion spring is rotatably matched with the middle finger joint, the first steel wire rope is wound around the outer wall of the distal finger joint, and the first steel wire rope is adapted to the middle finger joint.

[0008] Wherein, the first connecting assembly further includes two first gaskets, both of which are detachably connected to the first bolt and are respectively located on both sides of the first bearing.

[0009] Among them, the second connecting assembly includes a second bolt, a second bearing, a second nut, a second steel wire rope and a second torsion spring, the second bearing is fixedly connected to the proximal knuckle and is located on the inner wall of the proximal knuckle, the second bolt is movably connected to the second bearing and is located on the inner wall of the second bearing, and the second bolt passes through the middle knuckle, the second nut is threadedly connected to the second bolt and is located on the outer wall of the second bolt, the middle knuckle is provided with the second torsion spring, and the second torsion spring is rotatably matched with the proximal knuckle, and the second steel wire rope is wound around the outer wall of the distal knuckle.

[0010] Wherein, the second connecting assembly further includes two second gaskets, both of which are detachably connected to the second bolt and are respectively located on both sides of the second bearing.

[0011] Among them, the third connecting component includes a metacarpophalangeal joint, a metacarpophalangeal cover, a third bearing, a third steel wire rope and a fourth steel wire rope. The metacarpophalangeal joint is rotatably connected to the proximal phalanx and is located at the end of the proximal phalanx away from the middle phalanx. The metacarpophalangeal cover is detachably connected to the metacarpophalangeal joint and is located on the outer side wall of the metacarpophalangeal joint. The metacarpophalangeal cover is detachably connected to the metacarpophalangeal joint and is located at the end of the metacarpophalangeal joint away from the palm support. The third bearing is fixedly connected to the metacarpophalangeal joint and is located on the outer side wall of the metacarpophalangeal joint, and the third bearing is adapted to the proximal phalanx. The third steel wire rope and the fourth steel wire rope are arranged on the outer side wall of the proximal phalanx, and the third steel wire rope and the fourth steel wire rope respectively penetrate the metacarpophalangeal cover.

[0012] Wherein, the control assembly includes a first steering gear frame, a second steering gear frame, a third steering gear frame, a first steering gear, a second steering gear, a third steering gear, a first steering gear disc, a second steering gear disc and a third steering gear disc, the first steering gear frame is detachably connected to the control part bracket and is located above the control part bracket, the second steering gear frame is detachably connected to the control part bracket and is located above the control part bracket, the third steering gear frame is detachably connected to the control part bracket and is located above the control part bracket, the first steering gear is detachably connected to the first steering gear frame and is located below the first steering gear frame, the second steering gear is detachably connected to the second steering gear frame The frame is detachably connected to the second steering gear frame and is located below the second steering gear frame, the third steering gear is detachably connected to the third steering gear frame and is located below the first steering gear frame, the first steering gear disc is fixedly connected to the first steering gear and is located above the first steering gear, and the first steering gear disc is adapted to the first steel wire rope, the second steering gear disc is fixedly connected to the second steering gear and is located above the second steering gear, and the second steering gear disc is adapted to the second steel wire rope, the third steering gear disc is fixedly connected to the third steering gear and is located above the third steering gear, and the third steering gear disc is adapted to the third steel wire rope and the fourth steel wire rope respectively.

[0013] Wherein, the control part bracket has a plurality of circular holes.

[0014] The present invention discloses a rigid-flexible coupled wire-driven twenty-degree-of-freedom bionic dexterous hand device, wherein the distal knuckles are connected to the middle knuckles by the first connecting component, the proximal knuckles are connected to the middle knuckles by the second connecting component, the metacarpophalanges are connected to the proximal knuckles by the third connecting component, the metacarpophalanges are connected to the palm support by the ball pair, and the five fingers of the palm are closed by the inflation and deflation of the airbag. The device has one active degree of freedom as a whole, and the control component is used for overall control. Through this rigid-flexible coupled design, complete decoupling of the degrees of freedom is achieved, and each joint can move completely independently without affecting each other. Kinematic modeling can also be performed on the driving process, and the motion control compensation amount of each driving servo is calculated to improve its adaptability and flexibility in complex environments. This is particularly important for the application of robotics in unstructured environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0016] Figure 1 It is a structural schematic diagram of a rigid-flexible coupled wire-driven twenty-degree-of-freedom bionic dexterous hand device of the present invention.

[0017] Figure 2 It is a schematic diagram of the front plan view of the structure of the rigid-flexible coupled wire-driven twenty-degree-of-freedom bionic dexterous hand device of the present invention.

[0018] Figure 3 The present invention Figure 2 Schematic diagram of the structure in another direction.

[0019] Figure 4 It is a schematic diagram of the structure of the rigid-flexible coupled wire-driven twenty-degree-of-freedom bionic dexterous hand device as viewed from above of the present invention.

[0020] Figure 5 The present invention Figure 4 Schematic diagram of the structure in another direction.

[0021] Figure 6 It is a partial structural schematic diagram of the rigid-flexible coupled wire-driven twenty-degree-of-freedom bionic dexterous hand device of the present invention.

[0022] Figure 7 It is a structural schematic diagram of the distal interphalangeal joint of the present invention.

[0023] Figure 8 It is a structural schematic diagram of the proximal interphalangeal joint of the present invention.

[0024] Fig. 9 It is a structural schematic diagram of the metacarpophalangeal joint of the present invention.

[0025] Fig.10 It is a structural cross-sectional view of the distal interphalangeal joint of the present invention.

[0026] Fig.11 It is a structural cross-sectional view of the proximal interphalangeal joint of the present invention.

[0027] Fig.12 It is a structural cross-sectional view of the metacarpophalangeal joint of the present invention.

[0028] Fig.13 It is a schematic structural diagram of the distal phalanx of the present invention.

[0029] Fig.14 It is a structural schematic diagram of the middle finger joint of the present invention.

[0030] Fig.15 It is a schematic structural diagram of the proximal phalanx of the present invention.

[0031] Fig.16 It is a structural schematic diagram of the metacarpophalangeal joint of the present invention.

[0032] Fig.17 It is a schematic diagram of the structure of the palm and finger of the present invention.

[0033] Fig.18 It is a structural schematic diagram of the palm support of the present invention.

[0034] Fig.19 It is a structural schematic diagram of the ball pair of the present invention.

[0035] Fig. 20 It is a schematic structural diagram of the control part support of the present invention.

[0036] Fig.21 It is a structural schematic diagram of the first steering gear frame of the present invention.

[0037] Fig. 22 It is a schematic diagram of the control part of the present invention.

[0038] Fig.23 It is a structural schematic diagram of the first steering gear and the first steering gear disk of the present invention.

[0039] Fig.24 It is a transmission principle diagram of the rigid-flexible coupled wire-driven twenty-degree-of-freedom bionic dexterous hand device of the present invention.

[0040] Fig.25 It is a schematic diagram before rotation of the rigid-flexible coupled wire-driven twenty-degree-of-freedom bionic dexterous hand device of the present invention.

[0041] Fig.26 It is a schematic diagram of the rigid-flexible coupled wire-driven twenty-degree-of-freedom bionic dexterous hand device after rotation of the present invention.

[0042] 101-distal knuckle, 102-middle knuckle, 103-proximal knuckle, 104-metacarpal finger, 105-airbag, 106-palm support, 107-ball pair, 108-connector, 109-control part support, 110-first bolt, 111-first bearing, 112-first nut, 113-first wire rope, 114-first torsion spring, 115-second bolt, 116-second bearing, 117-second nut, 118-second wire rope, 119- Second torsion spring, 120-metacarpal joint, 121-metacarpal cover, 122-third bearing, 123-third steel wire rope, 124-fourth steel wire rope, 125-first servo frame, 126-second servo frame, 127-third servo frame, 128-first servo, 129-second servo, 130-third servo, 131-first servo disc, 132-second servo disc, 133-third servo disc, 134-round hole, 135-first gasket, 136-second gasket. DETAILED DESCRIPTION

[0043] See also Figures 1 to 26 ,in, Figure 1 is a structural schematic diagram of a rigid-flexible coupled wire-driven twenty-degree-of-freedom bionic dexterous hand device of the present invention, Figure 2 1 is a schematic diagram of the front plan view of the rigid-flexible coupled wire-driven twenty-degree-of-freedom bionic dexterous hand device of the present invention, Figure 3 The present invention Figure 2 The structural diagram of the other direction, Figure 4 1 is a schematic diagram of the structure of the rigid-flexible coupled wire-driven twenty-degree-of-freedom bionic dexterous hand device of the present invention when viewed from above. Figure 5 The present invention Figure 4 The structural diagram of the other direction, Figure 6 It is a partial structural schematic diagram of the rigid-flexible coupled wire-driven twenty-degree-of-freedom bionic dexterous hand device of the present invention, Figure 7 is a schematic structural diagram of the distal interphalangeal joint of the present invention, Figure 8 is a schematic structural diagram of the proximal interphalangeal joint of the present invention, Fig. 9 is a schematic structural diagram of the metacarpophalangeal joint of the present invention, Fig.10 is a structural cross-sectional view of the distal interphalangeal joint of the present invention, Fig.11 is a structural cross-sectional view of the proximal interphalangeal joint of the present invention, Fig.12 is a structural cross-sectional view of the metacarpophalangeal joint of the present invention, Fig.13 is a schematic structural diagram of the distal phalanx of the present invention, Fig.14 is a schematic structural diagram of the middle finger joint of the present invention, Fig.15 is a schematic structural diagram of the proximal phalanx of the present invention, Fig.16 2 is a schematic structural diagram of the metacarpophalangeal joint of the present invention, Fig.17 Schematic diagram of the structure of the palm and finger of the present invention, Fig.18 is a schematic structural diagram of the palm support of the present invention, Fig.19 is a schematic structural diagram of the ball pair of the present invention, Fig. 20 is a schematic diagram of the structure of the control part support of the present invention, Fig.21 is a schematic structural diagram of the first steering gear frame of the present invention, Fig. 22 is a schematic diagram of the control part of the present invention, Fig.23 is a structural schematic diagram of the first steering gear and the first steering gear disc of the present invention, Fig.24 This is a transmission principle diagram of the rigid-flexible coupled wire-driven twenty-degree-of-freedom bionic dexterous hand device of the present invention. Fig.25 : is a schematic diagram of the rigid-flexible coupled wire-driven twenty-degree-of-freedom bionic dexterous hand device before rotation of the present invention, Fig.26 It is a schematic diagram of the rigid-flexible coupled wire-driven twenty-degree-of-freedom bionic dexterous hand device after rotation of the present invention.

[0044] The present invention provides a rigid-flexible coupling line-driven twenty-degree-of-freedom bionic dexterous hand device, comprising a distal knuckle 101, a middle knuckle 102, a proximal knuckle 103, a metacarpophalangeal 104, an airbag 105, a palm support 106, a ball pair 107, a connector 108, a control part support 109, a first connecting component, a second connecting component, a third connecting component and a control component, wherein the first connecting component comprises a first bolt 110, a first bearing 111, a first nut 112, a first steel wire rope 113, a first torsion spring 114 and a first gasket 135, and the second connecting component comprises a second bolt 115 , a second bearing 116, a second nut 117, a second steel wire rope 118, a second torsion spring 119 and a second gasket 136, the third connecting component includes a metacarpophalangeal joint 120, a metacarpophalangeal cover 121, a third bearing 122, a third steel wire rope 123 and a fourth steel wire rope 124, the control component includes a first servo frame 125, a second servo frame 126, a third servo frame 127, a first servo 128, a second servo 129, a third servo 130, a first servo disk 131, a second servo disk 132 and a third servo disk 133, and the control part bracket 109 has a plurality of circular holes 134.

[0045] The distal knuckle 101 is rotatably connected to the middle knuckle 102 and is located at one end of the middle knuckle 102. The first connecting component is arranged between the distal knuckle 101 and the middle knuckle 102. The proximal knuckle 103 is rotatably connected to the middle knuckle 102 and is located at one end of the middle knuckle 102 away from the distal knuckle 101. The second connecting component is arranged between the middle knuckle 102 and the distal knuckle 101. The third connecting component is connected to the proximal knuckle 103. The metacarpophalangeal 104 is connected to the third connecting component. The palm support 106 is detachably connected to the palm support 104 and is located at one end of the palm support 104 away from the third connecting component. The ball pair 107 is detachably connected to the palm support 106 and is located on the inner wall of the palm support 106. The airbag 105 is fixedly connected to the palm support 104 and is located on one side of the palm support 104. The control part support 109 is arranged on one side of the palm support 104. The two ends of the connecting member 108 are detachably connected to the palm support 106 and the control part support 109 respectively, and the control component is arranged on the inner wall of the control part support 109.

[0046] In this embodiment, the distal knuckle 101 is connected to the middle knuckle 102 by means of the first connecting component, the proximal knuckle 103 is connected to the middle knuckle 102 by means of the second connecting component, the metacarpophalangeal 104 is connected to the proximal knuckle 103 by means of the third connecting component, the metacarpophalangeal 104 is connected to the palm support 106 by means of the ball pair 107, and the five fingers of the palm are closed by means of the inflation and deflation of the airbag 105, and the whole has one active degree of freedom, and the control component is used for the overall control. Through this rigid-flexible coupling design, the degrees of freedom are completely decoupled, and each joint can move completely independently without affecting each other. In addition, kinematic modeling can be performed during the driving process, and the motion control compensation amount of each driving servo can be calculated to improve its adaptability and flexibility in complex environments, which is particularly important for the application of robotics in unstructured environments.

[0047] Furthermore, the first bearing 111 is fixedly connected to the middle knuckle 102 and is located on the inner wall of the middle knuckle 102, the first bolt 110 is movably connected to the first bearing 111 and is located on the inner wall of the first bearing 111, and the first bolt 110 passes through the distal knuckle 101, the first nut 112 is threadedly connected to the first bolt 110 and is located on the outer wall of the first bolt 110, the first torsion spring 114 is provided on the distal knuckle 101, and the first torsion spring 114 is rotatably matched with the middle knuckle 102, the first steel wire rope 113 is wound around the outer wall of the distal knuckle 101, and the first steel wire rope 113 is adapted to the middle knuckle 102.

[0048] In this embodiment, the distal knuckle 101 and the middle knuckle 102 are connected together by the first bolt 110, the first bearing 111 and the first nut 112, and the first steel wire rope 113 is connected to the cylinder of the distal knuckle 101. When the first steel wire rope 113 contracts, the distal knuckle 101 and the middle knuckle 102 can rotate along the first bolt 110. When the first steel wire rope 113 is relaxed, the first torsion spring 114 restores the distal knuckle 101 and the middle knuckle 102 to their original state, thereby realizing a rotational freedom movement between the distal knuckle 101 and the middle knuckle 102. The winding method of the first steel wire rope 113 is as follows: Figure 7 shown.

[0049] Furthermore, the two first washers 135 are detachably connected to the first bolt 110 and are respectively located on both sides of the first bearing 111 .

[0050] In this embodiment, the two first washers 135 can better tighten the first bolt 110 and the first nut 111 , and the first washers 135 can enhance the stability of the connection and prevent the first bolt 110 from loosening or sliding.

[0051] Furthermore, the second bearing 116 is fixedly connected to the proximal knuckle 103 and is located on the inner wall of the proximal knuckle 103, the second bolt 115 is movably connected to the second bearing 116 and is located on the inner wall of the second bearing 116, and the second bolt 115 passes through the middle knuckle 102, the second nut 117 is threadedly connected to the second bolt 115 and is located on the outer wall of the second bolt 115, the middle knuckle 102 is provided with the second torsion spring 119, and the second torsion spring 119 is rotatably matched with the proximal knuckle 103, and the second steel wire rope 118 is wound around the outer wall of the distal knuckle 101.

[0052] In this embodiment, the middle finger joint 102 and the proximal finger joint 103 are connected together by the second bolt 115, the second bearing 116 and the second nut 117, and the second steel wire rope 118 is connected to the cylinder of the middle finger joint 102. When the second steel wire rope 118 is connected, the middle finger joint 102 and the proximal finger joint 103 can rotate along the second bolt 115. When the second steel wire rope 118 is relaxed, the second torsion spring 119 restores the middle finger joint 102 and the proximal finger joint 103 to their original state, thereby realizing a rotational freedom movement between the middle finger joint 102 and the proximal finger joint 103. The winding method of the second steel wire rope 118 is as follows: Figure 8 shown.

[0053] Furthermore, the two second gaskets 136 are detachably connected to the second bolt 115 and are respectively located on both sides of the second bearing 116 .

[0054] In this embodiment, the two second washers 136 can better tighten the second bolt 115 and the second nut 117 . The second washers 136 can enhance the stability of the connection and prevent the second bolt 115 from loosening or sliding.

[0055] Furthermore, the metacarpophalangeal joint 120 is rotatably connected to the proximal knuckle 103 and is located at the end of the proximal knuckle 103 away from the middle knuckle 102, the metacarpophalangeal cover 121 is detachably connected to the metacarpophalangeal joint 120 and is located at the outer wall of the metacarpophalangeal joint 120, the metacarpophalangeal cover 121 is detachably connected to the metacarpophalangeal joint 104 and is located at the end of the metacarpophalangeal joint 104 away from the palm support 106, the third bearing 122 is fixedly connected to the metacarpophalangeal joint 120 and is located at the outer wall of the metacarpophalangeal joint 120, and the third bearing 122 is adapted to the proximal knuckle 103, the third steel wire rope 123 and the fourth steel wire rope 124 are arranged on the outer wall of the proximal knuckle 103, and the third steel wire rope 123 and the fourth steel wire rope 124 respectively penetrate the metacarpophalangeal cover 121.

[0056] In this embodiment, the proximal phalanx 103 and the metacarpophalangeal joint 104 are connected together through the metacarpophalangeal joint 120 and the third bearing 122, and the metacarpophalangeal cover 121 fixes it. The third steel wire rope 123 and the fourth steel wire rope 124 are connected to the cylinder of the proximal phalanx 103. Through the contraction and relaxation of the third steel wire rope 123 and the fourth steel wire rope 124, the movement of two rotational degrees of freedom between the proximal phalanx 103 and the metacarpophalangeal joint 104 is realized together. The winding method of the third steel wire rope 123 and the fourth steel wire rope 124 is as follows: Fig. 9 shown.

[0057] Further, the first steering gear frame 125 is detachably connected to the control part bracket 109 and is located above the control part bracket 109, the second steering gear frame 126 is detachably connected to the control part bracket 109 and is located above the control part bracket 109, the third steering gear frame 127 is detachably connected to the control part bracket 109 and is located above the control part bracket 109, the first steering gear 128 is detachably connected to the first steering gear frame 125 and is located below the first steering gear frame 125, the second steering gear 129 is detachably connected to the second steering gear frame 126 and is located below the second steering gear frame 126, the third steering gear 130 is detachably connected to the third steering gear frame 131 and is located below the third steering gear frame 132. The servo frame 127 is detachably connected and is located below the first servo frame 125. The first servo disc 131 is fixedly connected to the first servo 128 and is located above the first servo 128. The first servo disc 131 is adapted to the first steel wire rope 113. The second servo disc 132 is fixedly connected to the second servo 129 and is located above the second servo 129. The second servo disc 132 is adapted to the second steel wire rope 118. The third servo disc 133 is fixedly connected to the third servo 130 and is located above the third servo 130. The third servo disc 133 is adapted to the third steel wire rope 123 and the fourth steel wire rope 124, respectively.

[0058] In this embodiment, the first steering gear frame 125, the second steering gear frame 126 and the third steering gear frame 127 are fixed to the inner bottom wall of the control part bracket 109 by screws, the first steering gear 128, the second steering gear 129 and the third steering gear 130 are respectively fixed to the corresponding first steering gear frame 125, the second steering gear frame 126 and the third steering gear frame 127, the first steel wire rope 113 is connected to the first steering gear disc 131, the second steel wire rope 118 is connected to the second steering gear disc 132, the third steel wire rope 123 and the fourth steel wire rope 124 are connected to the third steering gear disc 133. In order to prevent mutual interference between the steel wire ropes, the first steering gear frame 125, the second steering gear frame 126 and the third steering gear frame 127 are designed to have different heights.

[0059] Furthermore, the control part bracket 109 has a plurality of circular holes 134 .

[0060] In this embodiment, the plurality of circular holes 134 are used to pass the first steel wire rope 113 , the second steel wire rope 118 , the third steel wire rope 123 and the fourth steel wire rope 124 .

[0061] The rigid-flexible coupled wire-driven twenty-degree-of-freedom bionic dexterous hand device of the present invention has the following features:

[0062] 1. Improve interaction and controllability: The application in unstructured environments is increasing, and the interaction and controllability of mechanical grippers are improved.

[0063] 2. Achieve complementary advantages: Through rigid-flexible coupling design, combining the strength of the rigid structure and the compliance of the flexible structure, complementary advantages can be achieved in the same gripper system, in order to achieve the effect of 1+1>2. This design can improve the adaptability and flexibility of the gripper in complex environments while maintaining sufficient rigidity.

[0064] 3. Multi-degree-of-freedom motion and variable stiffness control: The present invention proposes a multi-degree-of-freedom variable stiffness bionic flexible dexterous hand that integrates perception and drive, which can achieve twenty degrees of freedom motion while improving the stability and adaptability of target grasping by changing the stiffness control of the fingers.

[0065] 4. Deep bionic design: Creating a dexterous robotic hand like a human hand is the pursuit of researchers. Deep bionics includes bionics of appearance, internal structure, driving and transmission principles, and bionics of the operation process of dexterous hands.

[0066] 5. Cable routing: The dexterous hand uses an innovative cable routing method, so that the wire drive system will not be disturbed during operation. This design involves careful planning of the cable layout to ensure that the cables will not be entangled or damaged during the multiple degrees of freedom of the dexterous hand. The control system can avoid the impact of different movements on the change of cable length, thereby ensuring the reliability and durability of the system. The design of this cable routing method is crucial to improving the practicality and flexibility of the dexterous hand, especially in application scenarios that need to operate in narrow or complex environments.

[0067] 6. Flexible palm and the airbag 105 expansion technology: The design of the flexible palm allows the dexterous hand to better adapt to objects of different shapes and sizes. This palm is made of silicone, which can provide better grip adaptability. The airbag 105 expansion technology refers to the design of an adjustable pneumatic chamber inside the flexible palm, which changes the stiffness or shape of the palm by controlling the gas pressure, thereby achieving fine control of the grip force. This design not only improves the grasping ability of the dexterous hand, but also allows it to be safer and more precise when handling fragile or sensitive objects.

[0068] 7. Precise control and segment compensation technology: In the design of bionic dexterous hands, precise control of finger movement is the key to achieve fine manipulation. This technology involves the precise calculation and compensation of the loosening and tightening of the wire rope during finger movement. By real-time monitoring of the position and movement state of the finger joints, the control system can calculate the precise length of the wire rope that needs to be loosened or tightened, thereby achieving precise control of the finger movement. This compensation mechanism can not only ensure the smoothness and consistency of finger movement, but also provide necessary adjustments under different operating conditions, such as grasping objects of different shapes and weights, to maintain the accuracy and reliability of the operation.

[0069] refer to Figure 24 to Figure 26 :

[0070] like Fig.24 It is a transmission principle diagram, which calculates the change in line length during finger bending, that is, the change in wire rope length when the finger joint is bent; the change in wire rope length when the finger joint is bent.

[0071] like Fig.25 When the finger joint is bent, the change in the length of the wire rope is calculated as follows. Assuming the bending angle of the finger joint is θ and the radius of the small circle of the finger joint is r1, the change in the length of the wire rope is the length of the line segment.

[0072]

[0073] like Fig.26 When the finger joint is bent, the change in the length of the wire rope is calculated as follows. Assuming the bending angle of the finger joint is θ and the radius of the small circle of the finger joint is r2, the change in the length of the wire rope is the length of the line segment.

[0074]

[0075] The rigid-flexible coupled wire-driven 20-DOF bionic dexterous hand device described above solves the limitations of traditional rigid or flexible manipulators in terms of interaction ability, output force range and controllability through innovative wiring methods, flexible palm airbag expansion technology and line segment compensation technology, and provides a dexterous hand solution with good interactivity and precise control. Through this rigid-flexible coupling design, the dexterous hand can improve its adaptability and flexibility in complex environments while maintaining sufficient rigidity, which is particularly important for the application of robotics in unstructured environments.

[0076] The above disclosure is only a preferred embodiment of the present application, and cannot be used to limit the scope of rights of the present application. Ordinary technicians in this field can understand that all or part of the processes of implementing the above embodiment and equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A rigid-flexible coupled wire-driven twenty-degree-of-freedom bionic dexterous hand device, characterized in that: The invention comprises a distal knuckle, a middle knuckle, a proximal knuckle, a metacarpophalangeal, an airbag, a palm support, a ball pair, a connector, a control part support, a first connecting component, a second connecting component, a third connecting component and a control component, wherein the distal knuckle is rotatably connected to the middle knuckle and is located at one end of the middle knuckle, the first connecting component is arranged between the distal knuckle and the middle knuckle, the proximal knuckle is rotatably connected to the middle knuckle and is located at one end of the middle knuckle away from the distal knuckle, the second connecting component is arranged between the middle knuckle and the distal knuckle, and the third connecting component is arranged between the middle knuckle and the distal knuckle. The three-connecting assembly is connected to the proximal knuckle, the metacarpophalangeal is connected to the third connecting assembly, the palm support is detachably connected to the metacarpophalangeal and is located at the end of the metacarpophalangeal away from the third connecting assembly, the ball pair is detachably connected to the palm support and is located on the inner wall of the palm support, the airbag is fixedly connected to the metacarpophalangeal and is located on one side of the metacarpophalangeal, the control part support is arranged on one side of the metacarpophalangeal, the two ends of the connecting member are detachably connected to the palm support and the control part support respectively, and the control assembly is arranged on the inner wall of the control part support.

2. The rigid-flexible coupled wire-driven twenty-degree-of-freedom bionic dexterous hand device according to claim 1, characterized in that: The first connecting assembly includes a first bolt, a first bearing, a first nut, a first steel wire rope and a first torsion spring. The first bearing is fixedly connected to the middle finger joint and is located on the inner wall of the middle finger joint. The first bolt is movably connected to the first bearing and is located on the inner wall of the first bearing. The first bolt passes through the distal finger joint. The first nut is threadedly connected to the first bolt and is located on the outer wall of the first bolt. The first torsion spring is arranged on the distal finger joint, and the first torsion spring is rotatably matched with the middle finger joint. The first steel wire rope is wound around the outer wall of the distal finger joint, and the first steel wire rope is adapted to the middle finger joint.

3. The rigid-flexible coupled wire-driven twenty-degree-of-freedom bionic dexterous hand device according to claim 2, characterized in that: The first connection assembly also includes two first gaskets, which are both detachably connected to the first bolt and are respectively located on both sides of the first bearing.

4. The rigid-flexible coupled wire-driven twenty-degree-of-freedom bionic dexterous hand device according to claim 2, characterized in that: The second connecting assembly includes a second bolt, a second bearing, a second nut, a second steel wire rope, a second torsion spring and two second washers. The second bearing is fixedly connected to the proximal knuckle and is located on the inner wall of the proximal knuckle. The second bolt is movably connected to the second bearing and is located on the inner wall of the second bearing. The second bolt passes through the middle knuckle. The second nut is threadedly connected to the second bolt and is located on the outer wall of the second bolt. The second torsion spring is arranged on the middle knuckle, and the second torsion spring is rotatably matched with the proximal knuckle. The second steel wire rope is wound around the outer wall of the distal knuckle.

5. The rigid-flexible coupled wire-driven twenty-degree-of-freedom bionic dexterous hand device according to claim 4, characterized in that: The second connection assembly also includes two second washers, which are both detachably connected to the second bolt and are respectively located on both sides of the second bearing.

6. The rigid-flexible coupled wire-driven twenty-degree-of-freedom bionic dexterous hand device according to claim 4, characterized in that: The third connecting component includes a metacarpophalangeal joint, a metacarpophalangeal cover, a third bearing, a third steel wire rope and a fourth steel wire rope. The metacarpophalangeal joint is rotatably connected to the proximal phalanx and is located at the end of the proximal phalanx away from the middle phalanx. The metacarpophalangeal cover is detachably connected to the metacarpophalangeal joint and is located on the outer side wall of the metacarpophalangeal joint. The metacarpophalangeal cover is detachably connected to the metacarpophalangeal joint and is located at the end of the metacarpophalangeal joint away from the palm support. The third bearing is fixedly connected to the metacarpophalangeal joint and is located on the outer side wall of the metacarpophalangeal joint, and the third bearing is adapted to the proximal phalanx. The third steel wire rope and the fourth steel wire rope are arranged on the outer side wall of the proximal phalanx, and the third steel wire rope and the fourth steel wire rope respectively penetrate the metacarpophalangeal cover.

7. The rigid-flexible coupled wire-driven twenty-degree-of-freedom bionic dexterous hand device according to claim 6, characterized in that: The control assembly includes a first steering gear frame, a second steering gear frame, a third steering gear frame, a first steering gear, a second steering gear, a third steering gear, a first steering gear disc, a second steering gear disc and a third steering gear disc. The first steering gear frame is detachably connected to the control part bracket and is located above the control part bracket. The second steering gear frame is detachably connected to the control part bracket and is located above the control part bracket. The third steering gear frame is detachably connected to the control part bracket and is located above the control part bracket. The first steering gear is detachably connected to the first steering gear frame and is located below the first steering gear frame. The second steering gear is detachably connected to the second steering gear frame. The third steering gear is detachably connected to the third steering gear frame and is located below the first steering gear frame. The first steering gear disc is fixedly connected to the first steering gear and is located above the first steering gear, and the first steering gear disc is adapted to the first steel wire rope. The second steering gear disc is fixedly connected to the second steering gear and is located above the second steering gear, and the second steering gear disc is adapted to the second steel wire rope. The third steering gear disc is fixedly connected to the third steering gear and is located above the third steering gear, and the third steering gear disc is adapted to the third steel wire rope and the fourth steel wire rope respectively.

8. The rigid-flexible coupled wire-driven twenty-degree-of-freedom bionic dexterous hand device according to claim 1, characterized in that: The control part bracket has a plurality of circular holes.

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