Spatial parallel connection rod hand mechanism and human-shaped hand

Abstract

The invention discloses a spatial parallel connection rod hand mechanism, which relates to the technical field of robots, and comprises a palm fixing piece, a thumb module and a four-finger module which are sequentially arranged on the palm fixing piece, and parallel connection rod systems which are respectively arranged on the thumb module and the four-finger module, the multi-degree-of-freedom, multi-fingertip-force and multi-moment grabbing movement of the human-shaped hand is achieved through the parallel connecting rod system. The invention further provides a humanoid hand which is used for a humanoid robot or a human body artificial limb. The robot is compact in structure, close to a human hand, good in dynamic responsiveness, capable of conducting real-time synchronous operation, good in load capacity, flexible in action and capable of executing various finger-to-finger motions.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a spatial parallel link hand mechanism and a humanoid hand. Background Art

[0002] The related technologies of humanoid robots have developed rapidly, and among them, the dexterous hand is one of the core execution systems of humanoid robots. The dexterous hand can imitate the complex movements of the human hand to complete complex tasks such as grasping, controlling, and adjusting objects. The research on the robot dexterous hand is one of the key technologies for developing intelligent humanoid robots, and the core indicators include the finger tip pressure, grasping force, number of degrees of freedom, and range of degrees of freedom of the dexterous hand.

[0003] Currently, the finger pressure and dexterity of existing dexterous hand mechanisms are both limited. There are very few dexterous hand mechanisms that have both a large number of degrees of freedom and strong finger tip forces. Traditional dexterous hands usually adopt wire drive or the stable reduction ratio drive of motors and reducers, and do not have variable torque performance, resulting in insufficient torque during the grasping process, and causing problems such as loose grasping when grasping objects. And directly selecting motors with corresponding mechanical properties according to the torque parameters required for each joint will have many difficulties in terms of cost and design.

[0004] Therefore, the technical personnel in this field are committed to developing a spatial parallel link hand mechanism with a large number of degrees of freedom, strong finger tip forces, and variable torque. Summary of the Invention

[0005] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is how to increase the degrees of freedom of the humanoid hand of a humanoid robot, increase the finger tip force of its fingers, and improve the variability of its torque.

[0006] To achieve the above object, the present invention provides a spatial parallel link hand mechanism, including a palm fixing member, a thumb module and a four-finger module sequentially arranged on the palm fixing member, and a parallel link system respectively arranged on the thumb module and the four-finger module, and realizing the grasping motion of the humanoid hand with multiple degrees of freedom, multiple finger tip forces, and multiple torques through the parallel link system.

[0007] Further, the thumb module includes a thumb tip phalanx sub-module and a thumb root sequentially connected, and the thumb module is arranged on the palm fixing member through the thumb root.

[0008] Further, the thumb root includes a thumb root power source, a thumb root power transmission component, a thumb root parallel link system sequentially connected, and a thumb root angle potentiometer arranged on the thumb root power transmission component.

[0009] Further, the power source at the base of the thumb is a DC motor, which is closely arranged at the root of the palm. The power transmission component at the base of the thumb includes a bevel gear train and a side-mounted cylindrical gear train connected in sequence. The parallel link system at the base of the thumb is a spatial parallel four-bar linkage. The parallel link system at the base of the thumb includes a driving link and a driven link. The driving link and the driven link are coaxially arranged, and its rotating shaft has two degrees of freedom, and a Hooke joint is used to achieve linkage.

[0010] Further, the fingertip phalanx sub-module of the thumb includes a thumb fingertip and a thumb phalanx connected in sequence, a power source for the fingertip phalanx of the thumb arranged inside the thumb phalanx, a power transmission component for the fingertip phalanx of the thumb arranged on the thumb phalanx, and an angle potentiometer for the fingertip phalanx of the thumb arranged on the power transmission component for the fingertip phalanx of the thumb; the thumb fingertip is a soft rubber pad, the thumb fingertip and the thumb phalanx share a power source, the power source for the fingertip phalanx of the thumb is a DC motor, and the power transmission component for the fingertip phalanx of the thumb is a bevel gear train or a crown gear train.

[0011] Further, the four-finger module includes a fingertip phalanx sub-module of the four fingers and the roots of the four fingers connected in sequence. The four-finger module is arranged on the palm fixing member through the roots of the four fingers.

[0012] Further, the roots of the four fingers include a power source for the roots of the four fingers, a power transmission component for the roots of the four fingers, a parallel link system for the roots of the four fingers, and an angle potentiometer for the roots of the four fingers arranged on the power transmission component for the roots of the four fingers. All moving parts of the power transmission component for the roots of the four fingers and the parallel link system for the roots of the four fingers are gathered on the same side, and limiting mechanisms are arranged on both sides of the roots of the four fingers.

[0013] Further, the power source for the roots of the four fingers is a DC motor, and it is a dual-motor. The dual-motors in the parallel part of the joints of the roots of the four fingers are closely arranged. The power transmission component for the roots of the four fingers is a bevel gear train and a side-mounted cylindrical gear train. The transmission ratio of the cylindrical gear train is 1:1. The parallel link system for the roots of the four fingers is a spatial parallel four-bar linkage. The parallel link system for the roots of the four fingers includes a driving link and a driven link. The driving link and the driven link are coaxially arranged. The root of the joint of the four-finger module is connected through a ball joint. The ball joint adopts a structure of a copper sleeve nested with a steel ball, and the joint of the roots of the four fingers is connected by a Hooke joint.

[0014] Furthermore, the four-finger fingertip phalanx sub-module includes a four-finger fingertip and a four-finger phalanx connected in sequence, a four-finger fingertip phalanx power source arranged inside the phalanx, a four-finger fingertip phalanx power transmission component, a four-finger fingertip phalanx parallel linkage system, and a four-finger fingertip phalanx angle potentiometer arranged on the four-finger fingertip phalanx power transmission component; the four-finger fingertip is a soft rubber pad, the four-finger fingertip and the four-finger phalanx are mutually coupled, the four-finger fingertip and the four-finger phalanx share a power source, the four-finger fingertip phalanx power source is a DC motor, the four-finger fingertip phalanx power transmission component is a bevel gear train, and the four-finger fingertip phalanx parallel linkage system is a spatial parallel four-link system.

[0015] Furthermore, the present invention also provides a humanoid hand, which includes the above-mentioned spatial parallel linkage hand mechanism. The width of the palm of the humanoid hand is 100 mm, there is 1 thumb module, there are 4 four-finger modules, the thumb module has 4 active degrees of freedom, the four-finger module has 3 active degrees of freedom, the humanoid hand has 16 active degrees of freedom and 4 passive degrees of freedom, and the humanoid hand is used for humanoid robots or as a human prosthesis.

[0016] Compared with the prior art, the present invention has the following advantages: compact structure, the palm width is 100 mm, and the overall hand size is close to that of a human hand; good dynamic responsiveness, the driving rope transmission delay ≤ 50 ms, and the signal input reaches 90% of the steady state at the end displacement, which can ensure the synchronization of real-time operation; has good load capacity, the finger fingertip pressure ≥ 10 N, and the end fingertip force changes in real time with the grasping action; dexterous movement, each finger has at least 3 active degrees of freedom, the finger has 16 active degrees of freedom and 4 passive degrees of freedom, and can perform various opposing finger movements.

[0017] The following will further illustrate the concept, specific structure and technical effects generated by the present invention in conjunction with the drawings, so as to fully understand the purpose, features and effects of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall assembly structure of a preferred embodiment of the present invention;

[0019] Figure 2 It is a schematic diagram of the thumb module structure of a preferred embodiment of the present invention;

[0020] Figure 3 It is a schematic diagram of the partial structure of the phalanx of the thumb module of a preferred embodiment of the present invention;

[0021] Figure 4 It is a schematic diagram of the partial structure of the root of the thumb module of a preferred embodiment of the present invention;

[0022] Figure 5 It is a schematic diagram of the lateral structure of the four-finger module of a preferred embodiment of the present invention;

[0023] Figure 6 Schematic diagram of the bottom structure of the four-finger module according to a preferred embodiment of the present invention;

[0024] Figure 7 Schematic diagram of the three-dimensional structure of the left side of the four-finger module according to a preferred embodiment of the present invention;

[0025] Figure 8 Schematic diagram of the root drive structure of the four-finger module according to a preferred embodiment of the present invention.

[0026] Wherein: 1 - thumb module, 2 - four-finger module, 3 - palm fixing member, 4 - thumb motor, 5 - thumb cylindrical gear train, 6 - thumb phalanx, 7 - thumb fingertip, 8 - thumb root parallel link system, 9 - crown gear train, 10 - thumb bevel gear train, 11 - thumb fingertip phalanx angle potentiometer, 12 - four-finger root cylindrical gear train, 13 - four-finger root parallel link system, 14 - four-finger module PCB control board, 15 - four-finger phalanx driven link, 16 - four-finger ball hinge, 17 - four-finger motor, 18 - four-finger phalanx, 19 - four-finger fingertip, 20 - four-finger bevel gear train, 21 - four-finger angle potentiometer, 22 - four-finger root driving link. Detailed implementation manners

[0027] The preferred embodiments of the present invention are introduced below with reference to the accompanying drawings of the specification to make its technical content clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the protection scope of the present invention is not limited to the embodiments mentioned in the text.

[0028] In the drawings, components with the same structure are denoted by the same reference numerals, and components with similar structures or functions are denoted by similar reference numerals. The size and thickness of each component shown in the drawings are arbitrarily shown, and the present invention does not limit the size and thickness of each component. To make the drawings clearer, the thickness of some parts in the drawings is appropriately exaggerated.

[0029] As Figure 1 shown, the present invention discloses a spatial parallel link hand mechanism, which includes a palm fixing member 3, a thumb module 1 and a four-finger module 2 mounted on the palm fixing member 3. There is 1 thumb module 1 and 4 four-finger modules 2, and the thumb module 1 and the 4 four-finger modules 2 form a five-finger configuration of the robot dexterous hand spatial parallel link hand mechanism.

[0030] As Figures 2 - 4 shown, the thumb module 1 is shown. The thumb module 1 includes a thumb fingertip phalanx sub-module and a thumb root connected in sequence, and the thumb module 1 is mounted on the palm fixing member 3 through the thumb root.

[0031] The base of the thumb includes a power source for the base of the thumb, a power transmission component for the base of the thumb, a parallel linkage system 8 for the base of the thumb, and a potentiometer for the angle of the base of the thumb mounted on the power transmission component for the base of the thumb, which are connected in sequence. Among them, the power source for the base of the thumb is a DC motor, which is fixed to the root of the palm in a closely arranged form. The power transmission component for the base of the thumb includes a bevel gear train and a side-mounted cylindrical gear train connected in sequence. The parallel linkage system 8 for the base of the thumb is a spatial parallel four-bar linkage system. The parallel linkage system 8 for the base of the thumb includes an active link and a driven link. The active link and the driven link are coaxially arranged, and their rotating shafts have two degrees of freedom, and a Hooke joint is used to achieve linkage. The DC motor transmits power to the active link of the parallel linkage system 8 for the base of the thumb through the bevel gear train and the cylindrical gear train, and through the angle control of the potentiometer for the angle of the base of the thumb, it is used to realize the movement of the joint of the base of the thumb.

[0032] The fingertip phalanx sub-module of the thumb includes a thumb fingertip 7 and a thumb phalanx 6 connected in sequence, a power source for the fingertip phalanx of the thumb installed inside the thumb phalanx 6, a power transmission component for the fingertip phalanx of the thumb installed on the thumb phalanx 6, and a potentiometer for the angle of the fingertip phalanx of the thumb installed on the power transmission component for the fingertip phalanx of the thumb. The thumb fingertip 7 is a soft rubber pad, the power source for the fingertip phalanx of the thumb is a DC motor, the thumb fingertip 7 and the thumb phalanx 6 share the DC motor, the power transmission component for the fingertip phalanx of the thumb is a bevel gear train or a crown gear train 9, and the DC motor drives through the power transmission component for the fingertip phalanx of the thumb and the angle control of the potentiometer for the angle of the fingertip phalanx of the thumb, which is used to realize the movement of the thumb phalanx 6 and the thumb fingertip 7.

[0033] As Figures 5 - 8 Shown is the four-finger module 2. The four-finger module 2 includes a fingertip phalanx sub-module of the four fingers and the roots of the four fingers connected in sequence. The four-finger module 2 is installed on the palm fixing member 3 through the roots of the four fingers.

[0034] The four-finger root of the finger includes a four-finger root power source, a four-finger root power transmission component, a four-finger root parallel link system 13, and a four-finger root angle potentiometer installed on the four-finger root power transmission component, which are connected in sequence. The four-finger root power source is a DC motor, and it is a dual-motor. The dual-motors in the parallel part of the four-finger root joint are closely arranged. The four-finger root power transmission component is a bevel gear system and a side-mounted cylindrical gear system. The transmission ratio of the cylindrical gear system is 1:1. The four-finger root parallel link system 13 is a spatial parallel four-link system. The four-finger root parallel link system 13 includes an active link and a driven link. The active link and the driven link are coaxially configured. The root of the four-finger module joint is connected by a spherical hinge. The spherical hinge adopts a structure of a copper sleeve nested with a steel ball. The four-finger root joint is connected by a Hooke joint. The DC motor transmits power to the four-finger root parallel link system 13 through the bevel gear system and the cylindrical gear system, realizes the movement of the double links on the same axis, and through the synchronous and asynchronous movements of the above link system and the angle control of the four-finger root angle potentiometer, is used to realize the finger bending or finger shaking of the four-finger module finger root joint. The above structure can simplify the system complexity, and at the same time make all the moving parts of the mechanism gather on the same side, thus facilitating the layout of electronic components and subsequent more designs. In addition, to ensure that the active link will not cross the dead point under special circumstances, thus changing the relationship of the four-finger root parallel link system 13, limit mechanisms are provided on both sides to ensure that the link will not cross the dead point position.

[0035] The four-finger fingertip phalanx sub-module includes a four-finger fingertip 19 and a four-finger phalanx 18, a four-finger fingertip phalanx power source installed inside the four-finger phalanx 18, a four-finger fingertip phalanx power transmission component, a four-finger fingertip phalanx parallel link system, and a four-finger fingertip phalanx angle potentiometer installed on the four-finger fingertip phalanx power transmission component, which are connected in sequence. The four-finger fingertip 19 is a soft rubber pad. The four-finger fingertip phalanx power source is a DC motor. The four-finger fingertip phalanx power transmission component is a bevel gear system. The four-finger fingertip phalanx parallel link system is a spatial parallel four-link system, which is used for the linkage of the phalanx joint and the fingertip joint. The four-finger fingertip 19 and the four-finger phalanx 18 are mutually coupled. The four-finger fingertip 19 and the four-finger phalanx 18 share a DC motor. The motor transmits power to the four-finger fingertip phalanx parallel link system through the four-finger fingertip phalanx power transmission component, and through the angle control of the four-finger fingertip phalanx angle potentiometer, is used to realize the movement of the joints of the four-finger fingertip 19 and the four-finger phalanx 18.

[0036] In production, for the above spatial parallel link hand mechanism, the gears of the gear train are manufactured by powder metallurgy process, the spherical hinge is manufactured by pressing deformation process. For the soft rubber part, the replica 3D printing technology or ordinary die manufacturing is adopted, and other parts are manufactured by traditional machining or wire cutting process.

[0037] The spatial parallel link hand mechanism of the present invention has a compact structure. The palm is 100 mm wide, and the overall hand size is close to that of a human hand. It has good dynamic responsiveness, with the driving rope transmission delay ≤ 50 ms, and the signal input reaches 90% of the steady state at the end displacement, which can ensure the synchronization of real-time operation. It has good load capacity, with the finger tip pressure ≥ 10 N, and the end finger tip force increases with the increase of the finger bending amplitude. It is dexterous in movement. Each finger has at least 3 active degrees of freedom, the thumb module has 4 active degrees of freedom, each four-finger module has 3 active degrees of freedom, with a total of 16 active degrees of freedom and 4 passive degrees of freedom, and can perform various finger-opposing movements.

[0038] The present invention also provides a humanoid hand, which uses the above-mentioned spatial parallel hand mechanism and can be quickly assembled onto the humanoid arm of a humanoid robot for use as an end effector, or can be used as a human prosthesis, and can also be used in scientific research experiments, debugging, and R & D of grasping, execution operations, and testing of humanoid hands, prosthetic hands, etc.

[0039] The preferred specific embodiments of the present invention have been described in detail above. It should be understood that those of ordinary skill in the art can make many modifications and variations based on the concept of the present invention without creative labor. Therefore, all technical solutions that can be obtained by those skilled in the art in the technical field of the present invention through logical analysis, reasoning, or limited experiments based on the concept of the present invention on the basis of the prior art shall fall within the protection scope determined by the claims.

Claims

1. A spatial parallel link hand mechanism, characterized in that: The invention comprises a palm fixing part, a thumb module and a four-finger module which are sequentially arranged on the palm fixing part, and a parallel connecting rod system which are respectively arranged on the thumb module and the four-finger module. The parallel connecting rod system is used to realize the grasping movement of the humanoid hand with multiple degrees of freedom, multiple fingertip forces and multiple torques.

2. The spatial parallel link hand mechanism according to claim 1, characterized in that: The thumb module comprises a thumb tip knuckle submodule and a thumb base which are connected in sequence, and the thumb module is arranged on the palm fixing member through the thumb base.

3. The spatial parallel link hand mechanism as claimed in claim 2, characterized in that: The thumb base comprises a thumb base power source, a thumb base power transmission component, a thumb base parallel connecting rod system and a thumb base angle potentiometer arranged on the thumb base power transmission component which are connected in sequence.

4. The spatial parallel link hand mechanism as claimed in claim 3, characterized in that: The power source of the thumb base is a DC motor, which is closely arranged at the base of the palm. The power transmission component of the thumb base includes a bevel gear system and a side cylindrical gear system connected in sequence. The thumb base parallel connecting rod system is a spatial parallel four-bar system. The thumb base parallel connecting rod system includes an active connecting rod and a driven connecting rod. The active connecting rod and the driven connecting rod are coaxially arranged, and the rotating shaft has two degrees of freedom. The linkage is realized by a Hooke's joint.

5. The spatial parallel link hand mechanism as claimed in claim 2, characterized in that: The thumb fingertip knuckle submodule includes a thumb fingertip and a thumb knuckle connected in sequence, the thumb fingertip is a soft rubber pad, a thumb fingertip knuckle power source arranged inside the thumb knuckle, a thumb fingertip knuckle power transmission component arranged on the thumb knuckle, and a thumb fingertip knuckle angle potentiometer arranged on the thumb fingertip knuckle power transmission component; the thumb fingertip and the thumb knuckle share a power source, the thumb fingertip knuckle power source is a DC motor, and the thumb fingertip knuckle power transmission component is a bevel gear system or a crown gear system.

6. The spatial parallel link hand mechanism according to claim 1, characterized in that: The four-finger module comprises four-finger fingertip knuckle submodules and four-finger roots which are connected in sequence, and the four-finger module is arranged on the palm fixing component through the four-finger roots.

7. The spatial parallel link hand mechanism as claimed in claim 6, characterized in that: The four-finger root includes a four-finger root power source, a four-finger root power transmission component, a four-finger root parallel connecting rod system and a four-finger root angle potentiometer arranged on the four-finger root power transmission component, which are connected in sequence. All moving parts of the four-finger root power transmission component and the four-finger root parallel connecting rod system are gathered on the same side, and limiting mechanisms are arranged on both sides of the four-finger root.

8. The spatial parallel link hand mechanism as claimed in claim 7, characterized in that: The power source of the four-finger root is a DC motor, and it is a dual motor. The dual motors of the parallel part of the four-finger root joint are tightly arranged. The power transmission components of the four-finger root are a bevel gear system and a side-mounted cylindrical gear system. The transmission ratio of the cylindrical gear system is 1:

1. The four-finger root parallel connection rod system is a spatial parallel four-bar system. The four-finger root parallel connection rod system includes an active connection rod and a driven connection rod. The active connection rod and the driven connection rod are coaxially arranged. The root of the four-finger module joint is connected by a ball joint. The ball joint adopts a copper sleeve nested steel ball structure. The four-finger root joint is connected by a Hooke's hinge.

9. The spatial parallel link hand mechanism as claimed in claim 6, characterized in that: The four-finger fingertip knuckle submodule includes four fingertips and four finger knuckles connected in sequence, a four-finger fingertip knuckle power source arranged inside the knuckles, a four-finger fingertip knuckle power transmission component, a four-finger fingertip knuckle parallel connecting rod system and a four-finger fingertip knuckle angle potentiometer arranged on the four-finger fingertip knuckle power transmission component; the four-finger fingertips are soft rubber pads, the four-finger fingertips and the four-finger knuckles are coupled to each other, the four-finger fingertips and the four-finger knuckles share a power source, the four-finger fingertip knuckle power source is a DC motor, the four-finger fingertip knuckle power transmission component is a bevel gear system, and the four-finger fingertip knuckle parallel connecting rod system is a spatial parallel four-connecting rod system.

10. A humanoid hand, characterized in that: It comprises a spatial parallel-link hand mechanism as described in any one of claims 1 to 9, the palm width of the humanoid hand is 100 mm, there is one thumb module, there are four four-finger modules, the thumb module has 4 active degrees of freedom, the four-finger module has 3 active degrees of freedom, the humanoid hand has 16 active degrees of freedom and 4 passive degrees of freedom, and the humanoid hand is used for a humanoid robot or as a human prosthesis.

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