Dexterous hand finger based on connecting rod transmission, bionic mechanical arm and humanoid robot

Abstract

The invention discloses a dexterous hand finger based on connecting rod transmission, a bionic mechanical arm and a humanoid robot, belongs to the field of bionic mechanical arms, solves the problem that a transmission mechanism of an existing dexterous hand is low in response speed, and adopts the technical scheme that the dexterous hand finger mainly comprises a finger base and a finger body, a driver and a transmission mechanism in transmission connection with the driver are arranged on the finger base, the driver drives the finger body to bend and / or swing through the transmission mechanism, the transmission mechanism comprises a guide piece and a sliding block installed on the guide piece in a sliding mode, and the sliding block is in transmission connection with the finger body. A traction rope connected with the sliding block is wound on an output shaft of the driver, the driver controls the output shaft to rotate forwards and backwards so as to drag the sliding block to slide back and forth along the guiding piece through the traction rope, and then the finger body is controlled to bend and / or swing. The finger is mainly used for driving the sliding block to move through the pulling rope so as to control the finger body to bend and swing, and the response efficiency of the finger body can be improved.

Description

Technical Field

[0001] The invention demonstrates dexterous hand fingers, a bionic mechanical arm and a humanoid robot based on connecting rod transmission, and belongs to the technical field of bionic mechanical arms. Background Art

[0002] With the rapid development of artificial intelligence technology and its deep integration with the traditional robotics industry, dexterous hands, as key components for robots to perform functions and interact with humans, have received more and more attention and research. The research on bionic dexterous hands not only has great scientific significance, but also shows great potential in practical applications. The design inspiration of bionic dexterous hands comes from the morphology, structure and functional characteristics of organisms. Applying these characteristics to the design of dexterous hands has achieved a perfect integration of biology, mechanics and engineering technology. Its structural design makes the dexterous hands closer to the movement and operation of human hands, which makes it possible to achieve more natural and efficient human-computer interaction.

[0003] A traditional dexterous hand usually includes fingers, a driver and a transmission mechanism. The transmission mechanism includes a lead screw and a lead screw nut. The lead screw nut is connected to each knuckle of the finger, and the output end of the driver is connected to the lead screw. After the driver is started, the lead screw is driven to rotate. The lead screw nut slides along the axial direction of the lead screw as the lead screw rotates. The bending and swinging of the finger are achieved through the sliding of the lead screw nut. However, the transmission mechanism in which the lead screw and the lead screw nut cooperate has a slow sliding speed during operation, which makes the finger unable to respond quickly and easily affects the interaction efficiency of the dexterous hand. In addition, the lead screw is installed on the finger, and in order to simplify the transmission between the lead screw and the driver, the driver is usually fixed to the finger, which will greatly increase the overall body of the finger, making it difficult to use the finger in a small space, affecting the scope of application of the dexterous hand. Summary of the invention

[0004] The purpose of the present invention is to solve the problem of slow response speed of the transmission mechanism of the existing dexterous hand. To this end, a dexterous hand finger based on connecting rod transmission is provided, which drives the slider to move by a traction rope to control the bending and swinging of the finger body, thereby improving the response efficiency of the finger body.

[0005] To solve the above technical problems, the present invention adopts the following technical solutions:

[0006] The dexterous finger based on connecting rod transmission includes a finger base and a finger body. The finger base is provided with a driver and a transmission mechanism connected to the driver. The driver drives the finger body to bend and / or swing through the transmission mechanism. The transmission mechanism includes a first transmission member and two groups of second transmission members. The first transmission member and the second transmission member both include a guide member and a slider slidably installed on the guide member. A traction rope connected to the slider is wound around the output shaft of the driver. The driver controls the output shaft to rotate forward and reversely to drag the slider to slide reciprocatingly along the guide member through the traction rope. The finger body includes a first knuckle and a second knuckle. The slider of the first transmission member is connected to the second knuckle, and the slider of the second transmission member is connected to the first knuckle. The driver drives the second knuckle to bend through the first transmission member, and the driver drives the first knuckle to bend and / or swing through the second transmission member.

[0007] The beneficial effects of adopting the present invention are:

[0008] The transmission mechanism described in the present invention includes a guide member and a slider. A traction rope is wound around the output shaft of the driver. The driver controls the output shaft to rotate. The traction rope is wound around or released on the output shaft, thereby pulling the slider to slide along the guide member. The sliding of the slider controls the finger body to bend and / or swing, so as to realize the movement of the fingers of the dexterous hand. The driver transmits power to the slider through the traction rope. The slider can quickly respond to the power output of the driver, and while ensuring the precise transmission between the driver and the slider, the interaction efficiency of the finger body can also be improved, so that the finger body has higher sensitivity; in addition, the driver and the slider are connected by the traction rope transmission, so long-distance power transmission can be achieved by increasing the length of the traction rope, so that the driver does not need to be fixed on the fingers of the dexterous hand, and can be arranged away from the fingers of the dexterous hand, so that the fingers of the dexterous hand can maintain a small size, so that the fingers of the dexterous hand can be used in a small space, which helps to improve the flexibility of the fingers of the dexterous hand; secondly, the driver is arranged away from the fingers, so that the driver does not need to be limited by the space of the fingers, so there is no need to select a high-torque and small-sized driver, so that the selection of the driver is more flexible and diverse, and the manufacturing cost of the dexterous hand can be reduced.

[0009] Preferably, the top of the guide is rotatably connected to a first pulley, one end of the traction rope is wound around the output shaft of the driver, and the other end is wound around the first pulley and wound back to the output shaft of the driver in the opposite direction, and the traction rope is connected to the slider to drag the slider to slide back and forth along the guide. With the above technical solution, the winding directions of the two ends of the traction rope on the output shaft are opposite, and when the driver rotates, one end of the traction rope is wound around the output shaft, and the other end is released from the output shaft synchronously, and the direction of the traction rope is changed by the first pulley, so that the traction rope can be kept as tight as possible, so that the power transmission between the driver and the slider is more accurate and reliable; in addition, the driver is directly connected to the slider through the traction rope, which can reduce the energy loss of the intermediate link and help improve the transmission efficiency between the driver and the slider; secondly, the connection between the traction rope and the slider is relatively simple and is not affected by the structure of the slider, so the design of the slider is not easily restricted, and a smaller and lighter slider can be used to reduce the volume and weight of the fingers of the dexterous hand.

[0010] Preferably, the slider is fixedly connected to a connecting seat, and the connecting seat is provided with two holes for the traction rope to pass through, and the traction rope is fixedly connected to the inner wall of one of the holes. With the above technical solution, the holes can limit the traction rope and reduce the possibility of the traction rope detaching from the first pulley.

[0011] Preferably, the top of the guide is rotatably connected to a first pulley, and the traction rope includes a first traction rope and a second traction rope, the first traction rope passes over the first pulley and is connected to the upper end of the slider, and the second traction rope is connected to the lower end of the slider, and the winding directions of the first traction rope and the second traction rope on the output shaft of the driver are opposite. By adopting the above technical solution, the traction rope is divided into two sections, which can reduce the difficulty of connecting the traction rope with the slider; in addition, when the traction rope needs to be replaced, only the first traction rope or the second traction rope can be replaced, which helps to reduce the difficulty and cost of maintenance.

[0012] Preferably, the bottom end of the guide is rotatably connected to a second pulley, and the traction rope passes through both sides of the second pulley and is wound around the output shaft of the driver. With the above technical solution, the second pulley can guide and support the traction rope, so that the traction rope is not easily deviated or shaken during the transmission process, reducing the possibility of the traction rope detaching from the first pulley, and ensuring the stable sliding of the slider on the guide.

[0013] Preferably, the traction rope is sheathed with a bunching tube, which is located between the second pulley and the output shaft of the driver. With the above technical solution, the bunching tube can constrain the traction rope, limit the random shaking of the traction rope, and effectively avoid the possibility of multiple traction ropes being entangled with each other; at the same time, the bunching tube can also protect the traction rope, reduce the direct contact between the traction rope and other parts of the dexterous hand, reduce the possibility of wear of the traction rope, and help to increase the service life of the traction rope; secondly, by bunching the traction rope through the bunching tube, the laying of the traction rope can be more neat, which helps to improve the aesthetics of the fingers of the dexterous hand; in addition, the bunching tube is located between the second pulley and the output shaft of the driver, and the bunching tube can reduce the distance between the traction ropes on both sides of the second pulley, so that the traction rope can maintain stable contact with the second pulley, reduce the possibility of the traction rope detaching from the second pulley, and improve the matching stability of the traction rope and the second pulley.

[0014] Preferably, two rope grooves are arranged at intervals on the output shaft of the driver, and the traction rope is wound in the two rope grooves in different winding directions. With the above technical solution, the winding directions of the traction rope in the two rope grooves are opposite. When the driver controls the output shaft to rotate, the traction ropes in the two rope grooves are contracted and released respectively, thereby realizing bidirectional transmission. Therefore, the slider can be dragged to reciprocate by the traction rope through the forward and reverse rotation of one driver, without using two drivers, which can reduce the number of drivers used, make the space occupied by the driver smaller, and make the overall structure simpler, which helps to reduce the production cost of the dexterous hand.

[0015] Preferably, there is a gap between the guide member and the finger base, the first pulley is located between the guide member and the finger base, the slider is fixedly connected to a connecting seat, the connecting seat is located on the side of the guide member away from the finger base, the connecting seat is provided with an extension plate extending toward the finger base, and the traction rope is fixedly connected to the extension plate. With the aforementioned technical solution, the extension plate is located between the guide member and the finger base, the connecting seat is located on the side of the guide member away from the finger base, that is, the traction rope and the connecting seat are located on both sides of the guide member, respectively, thereby avoiding the possibility of mutual interference between the traction rope and the connecting seat, making the transmission between the traction rope and the connecting seat more stable and reliable.

[0016] Preferably, the two ends of the first knuckle are respectively hinged to the finger base and the second knuckle, the slider of the first transmission member is connected to the second knuckle via a cross shaft transmission, the first transmission member is used to drive the second knuckle to bend, the slider of the second transmission member is connected to the first knuckle via a cross shaft transmission, the two groups of sliders of the second transmission member slide synchronously in the same direction to drive the first knuckle to bend, and the two groups of sliders of the second transmission member slide different distances or slide in opposite directions to drive the finger body to swing. With the above technical solution, the cross shaft can achieve a universal effect, and at the same time, the assembly of the slider and the finger body is more compact through the cross shaft, which can effectively improve the assembly accuracy, make the transmission connection between the finger body and the transmission mechanism tighter and more stable, and help improve the sensitivity of the finger body.

[0017] Preferably, the finger base includes a first mounting plate, a second mounting plate, and two mounting side plates for connecting the first mounting plate and the second mounting plate. The first mounting plate, the second mounting plate, and the mounting side plates are arranged to form a receiving cavity. The first transmission member is fixed in the receiving cavity. The two sets of second transmission members are fixed on the side of the second mounting plate facing away from the receiving cavity. The first mounting plate, the second mounting plate, and the mounting side plates are each provided with at least one through hole. By adopting the above-mentioned technical solution, the first transmission member is fixed in the receiving cavity, so that the assembly of the finger base and the first transmission member is more compact, the space utilization rate of the dexterous hand fingers is improved, and it helps to reduce the volume of the dexterous hand fingers; secondly, the first mounting plate, the second mounting plate, and the mounting side plates are each provided with through holes, which can effectively reduce the overall weight of the finger base.

[0018] Preferably, the first finger joint includes a side swing link and two first finger joint links, the first finger joint link has a first hinge end, a second hinge end and a third hinge end, the middle part of the side swing link is rotatably connected to the finger base, the two ends of the side swing link are bent and extend to the first finger joint link, the two ends of the side swing link are respectively hinged to the first hinge ends of the two first finger joint links, a first rotating shaft is passed through the two second hinge ends, the cross shafts connected to the sliders of the two groups of second transmission members are hinged to the first rotating shaft, the second finger joint includes a second finger joint link, a second rotating shaft is passed through the two third hinge ends, the second finger joint link is hinged to the second rotating shaft, the first link is rotatably connected between the cross shaft connected to the slider of the first transmission member and the second finger joint link, and the second link is rotatably connected between the first rotating shaft and the first link.

[0019] Preferably, the finger body further comprises a third knuckle, the third knuckle is rotatably connected to the second knuckle connecting rod, and the third knuckle is rotatably connected to the end of the first knuckle connecting rod via a third connecting rod.

[0020] The present invention also shows a bionic robotic arm, including an arm and a dexterous hand, wherein the dexterous hand is provided with at least two fingers, wherein the fingers are dexterous hand fingers based on connecting rod transmission as described in any one of the above items, and the driver is fixed on the arm.

[0021] The present invention also shows a humanoid robot, comprising at least one bionic mechanical arm as described above.

[0022] Other features and advantages of the present invention will be disclosed in detail in the following specific embodiments and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention will be further described below in conjunction with the accompanying drawings:

[0024] Figure 1 It is a schematic structural diagram of the fingers of the dexterous hand based on connecting rod transmission of the present invention;

[0025] Figure 2 A side view of the fingers of the dexterous hand based on connecting rod transmission of the present invention;

[0026] Figure 3 It is a structural schematic diagram of a finger base and a transmission mechanism in a dexterous hand finger based on connecting rod transmission of the present invention;

[0027] Figure 4 It is a structural schematic diagram of a finger base in a dexterous hand finger based on connecting rod transmission of the present invention;

[0028] Figure 5 It is a schematic diagram of the structure of the transmission mechanism in the finger of the dexterous hand based on connecting rod transmission of the present invention;

[0029] Figure 6 It is a schematic diagram of the structure of the driver in the finger of the dexterous hand based on connecting rod transmission of the present invention;

[0030] Figure 7 It is a schematic structural diagram of the finger body in the dexterous hand finger based on connecting rod transmission of the present invention;

[0031] Figure 8 It is a schematic structural diagram of the first and second knuckles of the dexterous hand fingers based on connecting rod transmission of the present invention;

[0032] Fig. 9 It is a schematic structural diagram of the dexterous hand based on connecting rod transmission of the present invention, wherein the finger is the thumb;

[0033] Fig.10 It is a schematic diagram of the structure of the bionic mechanical arm in the present invention.

[0034] Figure numerals: 1, finger base; 11, first mounting plate; 12, second mounting plate; 13, mounting side plate; 14, through hole; 15, accommodating cavity; 2, finger body; 21, first finger joint; 211, first finger joint connecting rod; 2111, first hinge end; 2112, second hinge end; 2113, third hinge end; 212, side swing connecting rod; 213, first rotating shaft; 214, second rotating shaft; 22, second finger joint; 221, second finger joint connecting rod; 222, first connecting rod; 223, third hinge end; Second connecting rod; 224, third connecting rod; 23, third knuckle; 24, cross shaft; 31, motor seat; 32, driver; 321, output shaft; 322, rope groove; 33, traction rope; 331, first traction rope; 332, second traction rope; 333, tightening tube; 4, transmission mechanism; 41, first transmission member; 42, second transmission member; 421, guide member; 422, slider; 423, first pulley; 424, second pulley; 425, connecting seat; 426, extension plate; 5, arm. DETAILED DESCRIPTION

[0035] The technical solutions of the embodiments of the present invention are explained and described below in conjunction with the drawings of the embodiments of the present invention, but the following embodiments are only preferred embodiments of the present invention, not all. Based on the embodiments in the implementation mode, other embodiments obtained by those skilled in the art without creative work are all within the protection scope of the present invention.

[0036] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0037] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly defined.

[0038] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] Embodiment 1:

[0040] like Figures 1 to 8 As shown, this embodiment shows a dexterous finger based on connecting rod transmission, including a finger base 1, a finger body 2 and a driver 32. The finger base 1 is provided with a transmission mechanism 4 that is transmission-connected to the driver 32. The driver 32 drives the finger body 2 to bend and / or swing through the transmission mechanism 4. The transmission mechanism 4 includes a guide member 421 and a slider 422 slidably mounted on the guide member 421. The slider 422 is transmission-connected to the finger body 2. A traction rope 33 connected to the slider 422 is wound around the output shaft 321 of the driver 32. The driver 32 controls the output shaft 321 to rotate forward and reversely to drag the slider 422 to slide back and forth along the guide member 421 through the traction rope 33, thereby controlling the finger body 2 to bend and / or swing.

[0041] The transmission mechanism 4 in this embodiment includes a guide member 421 and a slider 422. A traction rope 33 is wound around the output shaft 321 of the driver 32. The driver 32 controls the output shaft 321 to rotate. The traction rope 33 is wound around or released around the output shaft 321, thereby pulling the slider 422 to slide along the guide member 421. The sliding of the slider 422 controls the finger body 2 to bend and / or swing, so as to achieve the movement of the fingers of the dexterous hand. The driver 32 transmits power to the slider 422 through the traction rope 33. The slider 422 can quickly respond to the power output of the driver 32. While ensuring the precise transmission between the driver 32 and the slider 422, the interaction efficiency of the finger body 2 can also be improved. The finger body 2 has higher sensitivity; in addition, the driver 32 and the slider 422 are connected by the traction rope 33, so by increasing the length of the traction rope 33, long-distance transmission of power can be achieved, so that the driver 32 does not need to be fixed on the fingers of the dexterous hand, and can be arranged away from the fingers of the dexterous hand, so that the dexterous hand fingers can maintain a smaller size, so that the dexterous hand fingers can be used in a small space, which helps to improve the flexibility of the dexterous hand fingers; secondly, the driver 32 is arranged away from the fingers, so that the driver 32 does not need to be restricted by the space of the fingers, so there is no need to select a high-torque and small-sized driver 32, so that the selection of the driver 32 is more flexible and diverse, which can reduce the production cost of the dexterous hand.

[0042] like Figure 3 , Figure 5 and Figure 6 As shown, the guide member 421 described in this embodiment is a long strip-shaped sliding rod, and the length direction of the guide member 421 is distributed along the length direction of the finger base 1. The upper and lower ends of the sliding rod are fixed to the finger base 1 by bolts, and the slider 422 is provided with a sliding groove for the guide member 421 to be embedded, so that the slider 422 and the guide member 421 can slide together, and the side of the slider 422 facing away from the guide member 421 is connected to a connecting seat 425, and a cross shaft 24 is installed on the upper end of the connecting seat 425, and the connecting seat 425 is transmission-connected to the finger body 2 through the cross shaft 24.

[0043] Of course, it is understandable that in other embodiments, the slide groove can also be set on the guide member 421, and the slider 422 is at least partially embedded in the slide groove so that the slider 422 is slidably connected to the guide member 421; in addition, the connecting seat 425 and the slider 422 in this embodiment are fastened together by bolts, so that the slider 422 and the connecting seat 425 can be disassembled. When the connecting seat 425 or the slider 422 needs to be replaced, only the slider 422 or the connecting seat 425 can be replaced, and the difficulty of disassembling the connecting seat 425 can also be reduced, which helps to improve maintenance efficiency; of course, it is understandable that in other embodiments, the slider 422 and the connecting seat 425 can also be an integrated structure.

[0044] like Figure 5 and Figure 6 As shown, the output end of the driver 32 in this embodiment is transmission-connected with the output shaft 321, and the outer peripheral side of the output shaft 321 is provided with at least two rope grooves 322 surrounding the circumference of the output shaft 321, and the first traction rope 331 and the second traction rope 332 are wound around the output shaft 321, one end of the first traction rope 331 and the second traction rope 332 are fixed to the output shaft 321, and are respectively wound in the two rope grooves 322 in opposite directions, and the other end is connected to the slider 422; when the driver 32 is started, the driver 32 drives the output shaft 321 to rotate, because the winding directions of the first traction rope 331 and the second traction rope 332 are opposite, so when the output shaft 321 rotates, when the first traction rope 331 is gradually wound around the output shaft 321, the second traction rope 332 is gradually released; correspondingly, when the first traction rope 331 is gradually released, the second traction rope 332 is gradually wound around the output shaft 321, and the winding and release of the first traction rope 331 and the second traction rope 332 are kept synchronous.

[0045] like Figure 3 and Figure 5As shown, the top end of the guide member 421 described in this embodiment is rotatably connected to the first pulley 423, and the first pulley 423 is in the gap between the guide member 421 and the finger base 1. The bolt connected to the top end of the guide member 421 passes through the first pulley 423, and the first pulley 423 rotates around the bolt. The first traction rope 331 passes around the first pulley 423 and is connected to the upper end of the slider 422. The second traction rope 332 extends from the output shaft 321 to the finger base 1 and is directly connected to the lower end of the slider 422. When the driver 32 drives the output shaft 321 to rotate forward, the first traction rope 331 is gradually released, and the second traction rope 332 is gradually wound around the rope groove 322. At this time, the first traction rope 331 gradually relaxes the pull on the slider 422, and the second traction rope 332 pulls the slider 422 to slide downward along the guide member 421. , while keeping the first traction rope 331 taut; when the slider 422 slides downward along the guide member 421, the rotation direction of the driver 32 is set to forward rotation, and when the driver 32 reverses, the first traction rope 331 gradually winds around the rope groove 322, and the second traction rope 332 is gradually released. At this time, the second traction rope 332 relaxes the pull on the slider 422, and the first traction rope 331 pulls the slider 422 to slide upward along the guide member 421; thereby realizing the forward and reverse rotation of the driver 32 to drag the slider 422 to slide back and forth along the guide member 421 through the traction rope 33. Since the winding and release of the first traction rope 331 and the second traction rope 332 are synchronized, the first traction rope 331 and the second traction rope 332 can be kept taut, so that the power transmission between the output shaft 321 and the slider 422 remains accurate and reliable.

[0046] In this embodiment, the driver 32 is directly connected to the slider 422 through the first traction rope 331 and the second traction rope 332, which can reduce the energy loss in the intermediate links and help improve the transmission efficiency between the driver 32 and the slider 422; secondly, the connection between the traction rope 33 and the slider 422 is relatively simple and is not affected by the structure of the slider 422. Therefore, the design of the slider 422 is not easily restricted, and a smaller and lighter slider 422 can be used to reduce the volume and weight of the fingers of the dexterous hand.

[0047] It should be noted that the traction rope 33 is wound around the output shaft 321, and one of the traction ropes 33 is connected to the upper end of the slider 422 after changing its direction through the first pulley 423, and the other traction rope 33 is directly connected to the lower end of the slider 422. Therefore, the release and winding speed of the traction rope 33 is related to the rotation speed of the output shaft 321. When the output shaft 321 rotates one circle, the length of the release and winding of the traction rope 33 is the outer circumference of the output shaft 321, and the distance that the corresponding traction rope 33 drags the slider 422 is equal to the retraction and release length of the traction rope 33, that is, after the output shaft 321 rotates one circle, the moving distance of the slider 422 is equal to the outer circumference of the output shaft 321. Therefore, the moving speed of the slider 422 is equal to the retraction and release speed of the traction rope 33. In the prior art, the transmission is carried out by the cooperation of the screw rod and the screw rod nut. After the screw rod rotates one circle, the screw rod nut only slides along the screw rod by a pitch. Therefore, in this embodiment, the sliding speed of the slider 422 relative to the lead screw nut is greatly improved, and the slider 422 is connected to the finger body 2 through the cross shaft 24. The slider 422 can directly push and pull the finger body 2 through the cross shaft 24 to move. Therefore, the faster the movement speed of the slider 422, the faster the movement of the finger body 2, so that the finger body 2 can get a quick response to improve the sensitivity of the finger body 2; in addition, in this embodiment, only one driver 32 is required to simultaneously drive the two traction ropes 33 to contract and release respectively, and then the forward and reverse rotation of one driver 32 can drag the slider 422 to reciprocate along the guide member 421 through the two traction ropes 33. There is no need to use two drivers 32, which can reduce the number of drivers 32 used, make the space occupied by the driver 32 smaller and the overall structure simpler, which helps to reduce the production cost of the dexterous hand.

[0048] The connecting seat 425 described in this embodiment is provided with an extension plate 426 extending toward the finger base 1, the first traction rope 331 is fixed at the upper end of the extension plate 426, and the first traction rope 331 is fixed at the lower end of the extension plate 426, the first traction rope 331 and the second traction rope 332 drag the extension plate 426 to drive the slider 422 to slide back and forth along the guide member 421, the extension plate 426 is located between the guide member 421 and the finger base 1, and the connecting seat 425 is located on the side of the guide member 421 away from the finger base 1, that is, the traction rope 33 and the connecting seat 425 are respectively located on both sides of the guide member 421, thereby avoiding the possibility of mutual interference between the traction rope 33 and the connecting seat 425, making the transmission between the traction rope 33 and the connecting seat 425 more stable and reliable; in addition, when the traction rope 33 needs to be replaced, only the first traction rope 331 or the second traction rope 332 can be replaced, which helps to reduce the difficulty and cost of maintenance.

[0049] Of course, it is understandable that in other embodiments, the first traction rope 331 and the second traction rope 332 may also be directly connected to the slider 422, and the first traction rope 331 and the second traction rope 332 drag the slider 422 to drive the connecting seat 425 to slide back and forth.

[0050] Of course, it is understandable that in other embodiments, the first traction rope 331 and the second traction rope 332 may also be an integral whole, that is, a traction rope 33 is wound around the output shaft 321, one end of the traction rope 33 is wound around one of the rope grooves 322 of the output shaft 321, and the other end is wound around the first pulley 423 and then wound around the other rope groove 322 in the opposite direction, and a section of the traction rope 33 between the first pulley 423 and the output shaft 321 is fixed to the extension plate 426; in addition, in other embodiments, the extension plate 426 may also be provided with two through holes for the traction rope 33 to pass through, and the traction rope 33 is fixedly connected to the inner wall of one of the through holes, and the through holes can limit the traction rope 33, thereby reducing the possibility of the traction rope 33 detaching from the first pulley 423.

[0051] In order to improve the control over the dexterous hand, the driver 32 in this embodiment is provided with a sensor for detecting the output shaft speed and the number of rotations. The sensor can be a Hall sensor. The sensor detects the speed and number of rotations of the output shaft 321, and transmits the detection result to the control component of the dexterous hand. The control component can accurately record the movement state of the finger body 2 according to the speed and number of rotations of the output shaft 321, and then adjust the movement position of the finger body 2 according to the use requirements. In addition, the speed of the driver 32 can also be adjusted to change the movement speed of the finger body 2, so that the movement of the finger body 2 is more flexible and precise.

[0052] like Figure 5 As shown, the bottom end of the guide member 421 described in this embodiment is rotatably connected to the second pulley 424, and the second pulley 424 is located in the gap between the guide member 421 and the finger base 1. The bolt connected to the bottom end of the guide member 421 passes through the second pulley 424, and the second pulley 424 rotates around the bolt. The first traction rope 331 and the second traction rope 332 pass through the two sides of the second pulley 424 respectively and are wound around the output shaft 321 of the driver 32. The second pulley 424 can guide and support the traction rope 33, so that the traction rope 33 is not easy to deviate or shake during the transmission process, reducing the possibility of the traction rope 33 detaching from the first pulley 423, and also ensuring the stable sliding of the slider 422 on the guide member 421.

[0053] In addition, in the present embodiment, the first traction rope 331 and the second traction rope 332 are sheathed with a constricting tube 333, and the first traction rope 331 and the second traction rope 332 are both in the same constricting tube 333, and the constricting tube 333 is between the second pulley 424 and the output shaft 321 of the driver 32, and the constricting tube 333 can restrain the first traction rope 331 and the second traction rope 332, and can limit the first traction rope 331 and the second traction rope 332 from shaking at will, and effectively avoid the possibility of the first traction rope 331 and the second traction rope 332 being entangled with other traction ropes 33; at the same time, the constricting tube 333 can also protect the first traction rope 331 and the second traction rope 332, reduce the direct contact between the first traction rope 331 and the second traction rope 332 and other parts of the dexterous hand, and reduce the first traction rope 331 and the second traction rope 332. 32, the possibility of wear and tear helps to increase the service life of the first traction rope 331 and the second traction rope 332; secondly, by converging the first traction rope 331 and the second traction rope 332 through the converging tube 333, the laying of the first traction rope 331 and the second traction rope 332 can be more neat, which helps to improve the aesthetics of the fingers of the dexterous hands; in addition, the converging tube 333 is located between the second pulley 424 and the output shaft 321 of the driver 32, and the converging tube 333 can reduce the distance between the first traction rope 331 and the second traction rope 332, so that the first traction rope 331 and the second traction rope 332 can maintain stable contact with the second pulley 424, reduce the possibility of the first traction rope 331 and the second traction rope 332 detaching from the second pulley 424, and improve the matching stability of the first traction rope 331 and the second traction rope 332 with the second pulley 424.

[0054] like Figure 3 and Figure 4 As shown, the transmission mechanism 4 in this embodiment includes a first transmission and two groups of second transmission members 42, and the finger base 1 includes a first mounting plate 11, a second mounting plate 12 and two mounting side plates 13 for connecting the first mounting plate 11 and the second mounting plate 12. The first mounting plate 11, the second mounting plate 12 and the two mounting side plates 13 form a cylindrical finger base 1, and the first mounting plate 11, the second mounting plate 12 and the two mounting side plates 13 are arranged to form a accommodating cavity 15. The first transmission member 41 is fixed in the accommodating cavity 15, and the two groups of second transmission members 42 are fixed on the side of the second mounting plate 12 facing away from the accommodating cavity 15; the first transmission member 41 is fixed in the accommodating cavity 15, so that the assembly of the finger base 1 and the first transmission member 41 is more compact, which improves the space utilization rate of the dexterous hand fingers and helps to reduce the volume of the dexterous hand fingers.

[0055] In addition, in order to reduce the weight of the finger base 1, at least one through hole 14 is provided on the first mounting plate 11, the second mounting plate 12 and the mounting side plate 13 in the present embodiment; it should be noted that, in the present embodiment, the through hole 14 in the second mounting plate 12 divides the second mounting plate 12 into two pieces, that is, the through hole 14 penetrates the second mounting plate 12 along the length direction of the second mounting plate 12, and the two pieces of the second mounting plate 12 are respectively fixed to the ends of the two mounting side plates 13 away from the first mounting plate 11, and the two groups of transmission parts are respectively located on both sides of the through hole 14.

[0056] like Figure 1 , Figure 2 , Figure 7 and Figure 8 As shown, the finger body 2 in this embodiment includes a first finger joint 21, a second finger joint 22 and a third finger joint 23, wherein the first finger joint 21 is hinged to the top of the finger base 1, and the second finger joint 22 is hinged to the top of the first finger joint 21, and the first finger joint 21 includes a side swing link 212 and two first finger joint links 211, the first finger joint link 211 has a first hinge end 2111, a second hinge end 2112 and a third hinge end 2113, the middle part of the side swing link 212 is rotatably connected to the first mounting plate 11 of the finger base 1, the two ends of the side swing link 212 are bent and extend to the first finger joint link 211, the two ends of the side swing link 212 are respectively hinged to the first hinge ends 2111 of the two first finger joint links 211, a first rotating shaft 213 is passed between the two second hinge ends 2112, and the cross shafts 24 connected to the sliders 422 of the two sets of second transmission members 42 are The second finger joint 22 is hinged on the first rotating shaft 213, and includes a second finger joint connecting rod 221. A second rotating shaft 214 is passed through the two third hinged ends 2113. The second finger joint connecting rod 221 is hinged to the second rotating shaft 214. The first connecting rod 222 is rotatably connected between the cross shaft 24 connected to the slider 422 of the first transmission member 41 and the second finger joint connecting rod 221, and the second connecting rod 223 is rotatably connected between the first rotating shaft 213 and the first connecting rod 222. Specifically, in this embodiment, one end of the second connecting rod 223 is rotatably connected to the first rotating shaft 213, and the other end is transmission-connected to the cross shaft 24 connected to the slider 422 of the first transmission member 41. The first connecting rod 222 is hinged to the top end of the second connecting rod 223, the third finger joint 23 is rotatably connected to the second finger joint connecting rod 221, and the third finger joint 23 is rotatably connected to the end of the first finger joint connecting rod 211 by the third connecting rod 224.

[0057] It should be noted that, in this embodiment, the first knuckle 21 simulates the knuckle at the base of a human finger, the second knuckle 22 simulates the knuckle at the middle of a human finger, and the third knuckle 23 simulates the knuckle at the tip of a human finger; the other two first knuckle connecting rods 211 can be an integrated structure.

[0058] In addition, in order to enhance the control over the movement of the finger body, a fingertip is installed at the end of the third knuckle 23 in the present embodiment, and a six-axis force sensor is arranged on the fingertip. The six-axis force sensor can detect the force acting on the contact part of the fingertip. The six-axis force sensor cooperates with the driver 32 to control and adjust the bending degree of the first knuckle 21 and the second knuckle 22, thereby realizing the function of the dexterous hand to grasp fragile objects, such as eggs, potato chips, etc., so that the dexterous hand has more precise control, so as to complete more delicate movements and improve the simulation degree of the dexterous hand.

[0059] Of course it is understandable, Fig. 9 As shown in other embodiments, the finger of the dexterous hand may also be a thumb, that is, the finger body 2 may only include the first knuckle 21 and the second knuckle 22, and the tip of the thumb is fixed at the end of the second knuckle 22.

[0060] The bending and swinging of the finger body 2 are as follows:

[0061] When the first knuckle 21 needs to be controlled to bend, the drivers 32 corresponding to the two groups of second transmission members 42 in this embodiment are started synchronously, and the two drivers 32 rotate forward synchronously to drive the slider 422 of the second transmission member 42 to slide downward along the guide member 421 through the traction rope 33. The two sliders 422 keep synchronously and slide downward along the guide member 421 in parallel. The slider 422 pulls the first rotating shaft 213 downward through the cross shaft 24, and the first rotating shaft 213 acts on the first knuckle connecting rod 211, so that the first knuckle connecting rod 211 rotates around the first hinge. The connecting end 2111 rotates downward to achieve the bending of the first finger joint 21; when it is necessary to control the first finger joint 21 to reset, the drivers 32 corresponding to the two groups of second transmission members 42 are controlled to reverse synchronously, so that the sliders 422 of the two groups of second transmission members 42 slide upward along the guide member 421 synchronously, and the slider 422 pushes the first rotation upward through the cross shaft 24, and the first rotating shaft 213 acts on the first finger joint connecting rod 211, so that the first finger joint connecting rod 211 rotates upward around the first hinge end 2111 to achieve the reset of the first finger joint 21.

[0062] When the second finger joint 22 needs to be controlled to bend, the driver 32 corresponding to the first transmission member 41 in this embodiment rotates forward, and the driver 32 drives the slider 422 of the first transmission member 41 to slide downward along the guide member 421 through the traction rope 33. The slider 422 drives the second connecting rod 223 to rotate downward around the first rotating shaft 213 through the cross shaft 24. The second connecting rod 223 pulls the first connecting rod 222 downward during the rotation process, and the first connecting rod 222 pulls the second finger joint connecting rod 221 to rotate downward around the second rotating shaft 214, so as to realize the first transmission member 41. The second knuckle 22 is bent; when it is necessary to control the reset of the second knuckle 22, the driver 32 corresponding to the first transmission member 41 is controlled to reverse, so that the slider 422 of the first transmission member 41 slides upward along the guide member 421, and the slider 422 drives the second connecting rod 223 to rotate upward around the first rotating shaft 213 through the cross shaft 24. During the rotation, the second connecting rod 223 pushes the first connecting rod 222 upward, and the first connecting rod 222 pushes the second knuckle connecting rod 221 to rotate upward around the second rotating shaft 214 to realize the reset of the second knuckle 22.

[0063] When it is necessary to control the finger body 2 to swing, the drivers 32 corresponding to the two groups of second transmission members 42 described in this embodiment are started, and the two drivers 32 control the two sliders 422 to slide at different speeds through the traction rope 33, or the two drivers 32 rotate in opposite directions to make the two sliders 422 slide in opposite directions, so that the two sliders 422 are at different heights of the guide member 421, and the two sliders 422 drive the first rotating shaft 213 to swing through the cross shaft 24, and the cross shaft 24 acts on the first finger joint connecting rod 211, and the first finger joint 21 is connected through the first hinge end 2111 to drive the side swing connecting rod 212 to rotate, thereby realizing the swing of the finger body 2; and when the two sliders 422 are restored to the same height, the finger body 2 and the finger base 1 can be restored to their original state.

[0064] Embodiment 2:

[0065] like Fig.10 As shown, this embodiment shows a bionic robotic arm, including an arm 5 and a dexterous hand, the dexterous hand is provided with at least two fingers, and the fingers are dexterous hand fingers based on connecting rod transmission as described in one of the above embodiments, and a motor seat 31 is provided on the outer peripheral side of the arm 5, and a driver 32 is fixed on the motor seat 31.

[0066] It should be noted that the dexterous hand described in this embodiment has five fingers, each of which is provided with three transmission mechanisms 4, and five mounting surfaces are provided on the outer peripheral side of the arm 5, and three drivers 32 corresponding to the same finger are installed on each mounting surface. In this embodiment, the driver 32 is arranged away from the fingers, so that the driver 32 does not need to be restricted by the space of the fingers. Therefore, there is no need to select a high-torque and small-sized driver 32. The price of a high-torque and small-sized driver 32 is relatively high, ranging from 5,000 to 6,000 yuan, and a bionic robotic arm needs to install 15 drivers 32. Setting the driver 32 on the arm 5 can expand the selection range of the driver 32, so as to facilitate the selection of a lower-priced driver 32, making the selection of the driver 32 more flexible and diverse, and also reducing the production cost of the dexterous hand.

[0067] Embodiment three:

[0068] This embodiment shows a humanoid robot, including a robot body, on which at least one bionic mechanical arm is movably mounted, and at least one of the bionic mechanical arms of the humanoid robot is the bionic mechanical arm described in the second embodiment.

[0069] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes but is not limited to the contents described in the drawings and the above specific embodiments. Any modification that does not deviate from the functional and structural principles of the present invention will be included in the scope of the claims.

Claims

1. A dexterous finger based on connecting rod transmission, comprising a finger base, a finger body and a driver, wherein the finger base is provided with a transmission mechanism connected to the driver, and the driver drives the finger body to bend and / or swing through the transmission mechanism, characterized in that: The transmission mechanism includes a first transmission member and two groups of second transmission members, the first transmission member and the second transmission member both include a guide member and a slider slidably mounted on the guide member, a traction rope connected to the slider is wound around the output shaft of the driver, the driver controls the output shaft to rotate forward and reversely to drag the slider to slide back and forth along the guide member through the traction rope, the finger body includes a first knuckle and a second knuckle, the slider of the first transmission member is transmission-connected to the second knuckle, the slider of the second transmission member is transmission-connected to the first knuckle, the driver drives the second knuckle to bend through the first transmission member, and the driver drives the first knuckle to bend and / or swing through the second transmission member.

2. The dexterous hand finger based on connecting rod transmission according to claim 1 is characterized in that: The top end of the guide member is rotatably connected to a first pulley, one end of a traction rope is wound around the output shaft of the driver, and the other end passes around the first pulley and is wound back to the output shaft of the driver in the opposite direction, and the traction rope is connected to a slider to drag the slider to slide back and forth along the guide member.

3. The dexterous hand finger based on connecting rod transmission according to claim 2 is characterized in that: The sliding block is fixedly connected to a connecting seat, and the connecting seat is provided with two through holes for the traction rope to pass through, and the traction rope is fixedly connected to the inner wall of one of the through holes.

4. The dexterous hand finger based on connecting rod transmission according to claim 1 is characterized in that: The top end of the guide member is rotatably connected to a first pulley, and the traction rope includes a first traction rope and a second traction rope. The first traction rope passes around the first pulley and is connected to the upper end of the slider, and the second traction rope is connected to the lower end of the slider. The first traction rope and the second traction rope are wound in opposite directions on the output shaft of the driver.

5. The dexterous hand finger based on connecting rod transmission according to claim 2 or 4, characterized in that: The bottom end of the guide member is rotatably connected to a second pulley, and the traction rope is wound around the output shaft of the driver after passing through both sides of the second pulley.

6. The dexterous finger based on connecting rod transmission according to claim 5 is characterized in that: The traction rope is sheathed with a convergence tube, which is located between the second pulley and the output shaft of the driver.

7. The dexterous hand finger based on connecting rod transmission according to claim 2 or 4, characterized in that: Two rope grooves are arranged at intervals on the output shaft of the driver, and the traction rope is wound in the two rope grooves in different winding directions respectively.

8. The dexterous finger based on connecting rod transmission according to claim 2 or 4, characterized in that: There is a gap between the guide member and the finger base, the first pulley is located between the guide member and the finger base, the slider is fixedly connected to a connecting seat, the connecting seat is located on the side of the guide member away from the finger base, the connecting seat is provided with an extension plate extending toward the finger base, and the traction rope is fixedly connected to the extension plate.

9. The dexterous hand finger based on connecting rod transmission according to claim 1, characterized in that: The two ends of the first knuckle are respectively hinged to the finger base and the second knuckle, the slider of the first transmission member is connected to the second knuckle via a cross-axis transmission, the first transmission member is used to drive the second knuckle to bend, the slider of the second transmission member is connected to the first knuckle via a cross-axis transmission, the two groups of sliders of the second transmission members slide synchronously in the same direction to drive the first knuckle to bend, and the two groups of sliders of the second transmission members slide different distances or slide in opposite directions to drive the finger body to swing.

10. The dexterous hand finger based on connecting rod transmission according to claim 9, characterized in that: The finger base includes a first mounting plate, a second mounting plate and two mounting side plates for connecting the first mounting plate and the second mounting plate. The first mounting plate, the second mounting plate and the mounting side plates are arranged to form a receiving cavity. The first transmission member is fixed in the receiving cavity. The two groups of second transmission members are both fixed on the side of the second mounting plate facing away from the receiving cavity. The first mounting plate, the second mounting plate and the mounting side plates are each provided with at least one through hole.

11. The dexterous hand finger based on connecting rod transmission according to claim 9, characterized in that: The first finger joint includes a side swing link and two first finger joint links, the first finger joint link has a first hinge end, a second hinge end and a third hinge end, the middle part of the side swing link is rotatably connected to the finger base, the two ends of the side swing link are bent and extend to the first finger joint link, the two ends of the side swing link are respectively hinged to the first hinge ends of the two first finger joint links, a first rotating shaft is passed between the two second hinge ends, the cross shafts connected to the sliders of the two groups of second transmission members are hinged to the first rotating shaft, the second finger joint includes a second finger joint link, a second rotating shaft is passed between the two third hinge ends, the second finger joint link is hinged to the second rotating shaft, a first link is rotatably connected between the cross shaft connected to the slider of the first transmission member and the second finger joint link, and a second link is rotatably connected between the first rotating shaft and the first link.

12. The dexterous finger based on connecting rod transmission according to claim 11, characterized in that: The finger body also includes a third finger joint, the third finger joint is rotatably connected to the second finger joint connecting rod, and the third finger joint is rotatably connected to the end of the first finger joint connecting rod through a third connecting rod.

13. A bionic robotic arm, comprising an arm and a dexterous hand, wherein the dexterous hand is provided with at least two fingers, characterized in that: The finger is a dexterous hand finger based on connecting rod transmission as described in any one of claims 1 to 12, and the driver is fixed on the arm.

14. A humanoid robot comprising at least one bionic mechanical arm as claimed in claim 13.

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