Multi-degree-of-freedom humanoid robot dexterous hand

Abstract

A multi-degree-of-freedom humanoid robot dexterous hand belongs to the technical field of robot dexterous hands, the dexterous hand is provided with five fingers, the rear side of each finger is provided with an upper-layer driving module and a lower-layer driving module, the upper-layer driving modules are used for driving the fingers to curl up and stretch, the upper-layer driving modules and the fingers form an integral structure, and the lower-layer driving modules are used for driving the fingers to curl up and stretch out. The lower-layer driving module is used for driving the whole structure to swing left and right and rotate in a three-dimensional mode, the bottom of the lower-layer driving module is fixedly connected with the outer wall of a shell at the palm portion of the dexterous hand, and the upper-layer driving module and the lower-layer driving module do not interfere with each other. And the lower-layer driving module is used for controlling finger actions through a connecting rod rotating table structure. According to different action stress states of the fingers, a layered and modularized driving layout scheme is innovatively designed, on the premise that the space layout is effectively saved, two additional degrees of freedom can be added to each finger, and the flexibility and grabbing precision of the dexterous hand are greatly improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of robotic dexterous hands, and particularly relates to a multi-degree-of-freedom humanoid robotic dexterous hand. Background Art

[0002] At present, humanoid robotic dexterous hands generally adopt a combination of linear actuators and link systems to achieve finger actuation. Since linear actuators integrate components such as motors, reducers, and encoders, the overall size of the actuators is relatively large. If two actuators are arranged in layers, the thickness of the entire dexterous hand will be much larger than the size of a normal human hand. Arranging them side by side front and back will make the width or length of the dexterous hand too large.

[0003] Therefore, when designing the finger layout, each enterprise reduces the number of actuators used and only arranges linear actuators at the rear end of the fingers, resulting in a great limitation on the degrees of freedom of the fingers. Most domestic dexterous hands have only six active degrees of freedom, that is, each finger except the thumb has only one degree of freedom, and the entire dexterous hand can only perform simple planar grasping actions, seriously affecting finger flexibility and grasping accuracy. Summary of the Invention

[0004] The present invention discloses a multi-degree-of-freedom humanoid robotic dexterous hand. According to the different force states of each finger movement, an innovative hierarchical modular drive layout scheme is designed. On the premise of effectively saving space layout, it can achieve an additional two degrees of freedom of movement for each finger, greatly improving the flexibility and grasping accuracy of the dexterous hand.

[0005] To achieve the above object, the technical solution of the present invention is:

[0006] A multi-degree-of-freedom humanoid robotic dexterous hand, the dexterous hand is provided with five fingers, and an upper drive module and a lower drive module are provided on the rear side of each finger. The upper drive module is used to drive the finger to curl and extend, and together with the finger forms an overall structure. The lower drive module is used to drive the overall structure to swing left and right and rotate three-dimensionally. The bottom of the lower drive module is fixedly connected to the outer wall of the housing at the palm of the dexterous hand. The upper drive module and the lower drive module do not interfere with each other, and the lower drive module controls the finger movement through a link rotary table structure.

[0007] Preferably, the upper drive module is connected to the finger root through a finger base. The link rotary table structure includes a rotary table and three groups of link mechanisms provided at the bottom of the rotary table. The rotary table is fixedly connected to the finger base.

[0008] Preferably, the turntable is located inside the finger base. The lower layer drive module includes a housing, the bottom of the housing is fixedly connected to the outer wall of the housing at the palm part of the dexterous hand. Inside the housing, a first cup motor and a second cup motor are arranged side by side. Output shafts of the first cup motor and the second cup motor are integrally connected with a worm A and a worm B respectively. A rotating shaft is arranged vertically between the worm A and the worm B. The root of the rotating shaft is rotatably connected to the bottom of the housing. A first worm gear and a second worm gear are arranged on the rotating shaft from bottom to top in sequence. The first worm gear is fixedly connected to the rotating shaft and meshed with the worm A. A bushing is arranged at the central hole of the second worm gear. The bushing is rotatably connected to the rotating shaft. The bushing is also fixedly connected to the bottom of the housing through a connecting member to restrict the axial movement of the bushing. The upper end of the bushing is rotatably connected to the connecting member. The second worm gear is meshed with the worm B. The three groups of link mechanisms respectively include: a first link mechanism connected to the outer wall of the bushing, a second link mechanism and a third link mechanism connected to the outer wall of the rotating shaft and located above the bushing. In the initial state, the adjacent interval angles of the three groups of link mechanisms are the same and the turntable is in a horizontal posture. At the top of one end of the housing, there is an outlet for the three groups of link mechanisms to pass through.

[0009] Preferably, the first link mechanism, the second link mechanism and the third link mechanism have the same structure, and each includes a first link located below and a second link located above. The rod body A of the first link is arranged vertically. At the lower end of the rod body A, a first connecting part is arranged radially along the rotating shaft. The first connecting part is fixedly connected to the outer wall of the rotating shaft or the outer wall of the bushing. The upper end of the rod body A inclines radially outward along the rotating shaft and forms a second connecting part. The second link is a V-shaped structure. The middle part of the V-shaped structure forms a rod body B. The bottom of the rod body B is integrally connected with a rod body C. The end of the rod body C is hinged to the second connecting part through a first hinge shaft. The top of the rod body B is integrally connected with a rod body D. The top of the rod body D is hinged to a preset hinge seat at the bottom of the turntable through a second hinge shaft. The axis of the first hinge shaft intersects the axis of the rotating shaft obliquely. The axis of the second hinge shaft is arranged radially along the rotating shaft and intersects the axis of the rotating shaft horizontally.

[0010] A control method for a multi-degree-of-freedom humanoid robot dexterous hand includes:

[0011] (1) The upper layer drive module drives the finger to perform curling and stretching actions;

[0012] (2) The first cup motor and the second cup motor operate synchronously and keep the interval angles of the three groups of link mechanisms the same, so as to drive the finger to perform left and right swinging actions;

[0013] (3) The first cup motor stops operating, and the second cup motor performs reciprocating rotation actions, so as to realize the reciprocating three-dimensional rotation actions of the finger.

[0014] Preferably, in the control method (3), if the turntable is not at the highest position at the initial position, then without the first coreless motor moving, as the second coreless motor drives the bushing to rotate, the first link A and the second link A of the first link mechanism gradually transition to the highest dimension. At the same time, the second link mechanism and the third link mechanism follow and gradually transition to the lowest dimension. During this process, the turntable rotates in the same direction driven by the first link mechanism, realizing the three-dimensional rotation of the finger from a low position on one side with the turntable as the fulcrum; then the first link mechanism continues to rotate in the reverse direction driven by the bushing, the height of the first link mechanism transitions to the lowest dimension, while the second link mechanism and the third link mechanism gradually transition to the highest dimension. During this process, the reverse three-dimensional rotation of the finger is realized; among them, the highest dimension refers to the highest dimension that the link mechanism can reach during its own rotation, and the lowest dimension refers to the lowest dimension that the link mechanism can reach during its own rotation.

[0015] The beneficial effects of a multi-degree-of-freedom humanoid robot dexterous hand of the present invention are as follows:

[0016] 1. The present invention adopts a new type of hierarchical modular layout scheme, which solves the problem of limited degrees of freedom of the current dexterous hand. The upper layer drive module adopts a form of cooperation between a linear actuator and a link, meeting the usage requirements of the finger gripping force. For actions such as finger side swing and three-dimensional rotation that require relatively small driving forces, a lower layer drive module integrating a coreless micro motor and a worm and worm gear is designed and developed. Moreover, the link system in the lower layer drive module has high flexibility and stability. Different operating states of the coreless motors can achieve multiple motion effects, significantly improving the flexibility and motion accuracy of the dexterous hand.

[0017] 2. Although the lower layer drive module and the upper layer drive module are in an upper and lower structure, the space between the linear actuator in the upper layer drive module and the finger structure is fully utilized, effectively controlling the size of the entire dexterous hand, making the dexterous hand closer to the size of the human hand, and enabling the actions it realizes to be closer to the functions of the human hand. Description of the Drawings

[0018] Figure 1 Overall structure diagram of a multi-degree-of-freedom humanoid robot dexterous hand;

[0019] Figure 2 Internal structure diagram of a multi-degree-of-freedom humanoid robot dexterous hand;

[0020] Figure 3 Overall structure diagram of the lower layer drive module;

[0021] Figure 4 Internal structure diagram of the lower layer drive module;

[0022] Figure 5Structure diagram of the connecting rod system of the lower-layer driving module;

[0023] Figure 6 Partial structure enlarged view of the connecting rod rotating table structure of the present invention.

[0024] In the figure: 1. Upper-layer driving module; 2. Lower-layer driving module; 3. Finger base; 2-1. First cup motor; 2-2. Second cup motor; 2-3. Third connecting rod mechanism; 2-4. Second connecting rod mechanism; 2-5. First connecting rod mechanism; 2-6. Worm A; 2-7. First worm gear; 2-8. Rotating shaft; 2-9. Worm B; 2-10. Second worm gear; 2-11. Bush; 2-12. Rotating table; 2-13. Connecting piece; 2-14. Outlet; 2-3-1. First connecting rod C; 2-3-2. Second connecting rod C; 2-5-1. First connecting rod A; 2-5-2. Second connecting rod A. Specific implementation manners

[0025] The following description is only for the preferred embodiments of the present invention and is not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0026] The following embodiments can be understood as separately expressing a part of the local structure or method of the present invention, or can also be understood as a combination of the embodiments to explain the connotation of the structure or method of a larger scope of the present invention.

[0027] Embodiment 1

[0028] A multi-degree-of-freedom humanoid robot dexterous hand, as Figure 1-6 shown, the dexterous hand is provided with 5 fingers, and an upper-layer driving module 1 and a lower-layer driving module 2 are arranged on the rear side of each finger. The upper-layer driving module 1 is used to drive the fingers to perform curling and stretching actions and form an overall structure together with the fingers. The lower-layer driving module 2 is used to drive the overall structure to perform left-right swinging and three-dimensional rotating actions. The bottom of the lower-layer driving module 2 is fixedly connected to the outer wall of the shell at the palm part of the dexterous hand. The upper-layer driving module 1 and the lower-layer driving module 2 do not interfere with each other. The lower-layer driving module 2 controls the finger actions through a connecting rod rotating table structure.

[0029] In this embodiment, since the finger and the upper driving module 1 form an integral structure, when the finger swings and rotates, the upper driving module is in a follow-up state. Therefore, the driving of the finger by the lower driving module 2 is actually the driving of the integral structure formed by the lower driving module and the finger, so it will not interfere with the driving of the finger by the upper driving module. Among them, the upper driving module is used to drive the finger to curl or extend to achieve grasping and releasing actions. The specific driving form can adopt various dexterous hand structures in the prior art that can achieve this function, such as a finger transmission system of a humanoid robot disclosed in the patent document with the application number CN202411601596.0. The focus of the present invention is to elaborate on the structure and function of the lower driving module 2, and the unmentioned content is solved by the existing solutions. Among them, the lower driving module 2 can provide an additional 2 degrees of freedom for each finger, namely left and right swinging and three-dimensional rotation.

[0030] Embodiment 2

[0031] As Figure 1 、 2 As shown in FIGS. 3, the upper driving module 1 is connected to the finger root through the finger base 3. The link rotating table structure includes a rotating table 2-12 and three groups of link mechanisms provided at the bottom of the rotating table 2-12. The rotating table 2-12 is fixedly connected to the finger base.

[0032] As Figure 3As shown, the rotating table 2-12 is located inside the finger base 3, and the set depth should consider the required range of three-dimensional rotation of the fingers; the lower layer driving module 2 includes a housing, the bottom of the housing is fixedly connected to the outer wall of the housing at the palm part of the dexterous hand, and a first cup motor 2-1 and a second cup motor 2-2 are arranged side by side inside the housing. The output shafts of the first cup motor 2-1 and the second cup motor 2-2 are integrally connected with a worm A 2-6 and a worm B 2-9 respectively. A rotating shaft 2-8 is arranged vertically between the worm A 2-6 and the worm B 2-9. The root of the rotating shaft 2-8 is rotationally connected to the bottom of the housing. A first worm gear 2-7 and a second worm gear 2-10 are arranged on the rotating shaft 2-8 from bottom to top in sequence. The first worm gear 2-7 is fixedly connected to the rotating shaft 2-8 and meshed with the worm A 2-6. A bushing 2-11 is arranged at the central hole of the second worm gear 2-10. The bushing 2-11 is rotationally connected to the rotating shaft 2-8. The bushing is also fixedly connected to the bottom of the housing through a connecting member 2-13 to restrict the axial movement of the bushing 2-11. The upper end of the bushing and the connecting member is rotationally connected. The second worm gear 2-10 is meshed with the worm B 2-9 (that is, the second cup motor is actually slightly higher than the first cup motor). The three sets of link mechanisms respectively include: a first link mechanism 2-5 connected to the outer wall of the bushing 2-11, a second link mechanism 2-4 and a third link mechanism 2-3 connected to the outer wall of the rotating shaft and located above the bushing 2-11. In the initial state, the adjacent interval angles of the three sets of link mechanisms are the same and the rotating table is in a horizontal posture. An outlet 2-14 for the three sets of link mechanisms to pass through is arranged at the top of one end of the housing.

[0033] Embodiment 3

[0034] As Figure 3-6 shown, the structures of the first link mechanism, the second link mechanism, and the third link mechanism are the same, and each includes a first link (first link A 2-5-1, first link B, and first link C 2-3-1) located below and a second link (second link A 2-5-2, second link B, and second link C 2-3-2) located above. The rod body A of the first link is arranged vertically. The lower end of the rod body A is provided with a first connecting portion radially along the rotating shaft 2-8. The first connecting portion is fixedly connected to the outer wall of the rotating shaft 2-8 or the outer wall of the bushing 2-11. The upper end of the rod body A is inclined radially outward along the rotating shaft and forms a second connecting portion. The second link is a V-shaped structure. The middle part of the V-shaped structure forms a rod body B. The bottom of the rod body B is integrally connected with a rod body C. The end of the rod body C is hinged to the second connecting portion through a first hinge shaft. The top of the rod body B is integrally connected with a rod body D. The top of the rod body D is hinged to a preset hinge seat at the bottom of the rotating table through a second hinge shaft. The axis of the first hinge shaft intersects the axis of the rotating shaft obliquely. The axis of the second hinge shaft is arranged radially along the rotating shaft and intersects the axis of the rotating shaft horizontally.

[0035] In this embodiment, as Figure 5 shown, when the second connecting rod rotates around the first hinge axis, in fact, the height of the top of the second connecting rod is constantly changing. Among them, the rotation trajectory of the top of the second connecting rod is an inclined circle, and when the total height of the entire connecting rod mechanism reaches the top quadrant point of the circle at the top of the second connecting rod, that is, when the mid-sections of the first connecting rod and the second connecting rod are coplanar, the total height of the entire connecting rod mechanism reaches the highest. And when the top of the second connecting rod is located at the lower quadrant point of the circle, the entire connecting rod mechanism is at the lowest height.

[0036] Embodiment 4

[0037] Based on the above embodiments, this embodiment discloses a control method for a multi-degree-of-freedom dexterous hand of a humanoid robot, as Figure 1-6 shown, including:

[0038] (1) The upper layer drive module drives the fingers to perform curling and stretching actions; the specific principle and structure are detailed in the prior art content;

[0039] (2) The first coreless motor and the second coreless motor operate synchronously and keep the included angles between the three sets of connecting rod mechanisms the same, so as to drive the fingers to perform left and right swinging actions; since in the initial state, the adjacent included angles of the three sets of connecting rod mechanisms are the same and the rotating platform is in a horizontal posture, when rotating synchronously in the same direction, the fingers swing to one side, and when rotating synchronously in the opposite direction, the fingers swing to the other side, that is, the left and right swinging of the fingers is realized;

[0040] (3) The first coreless motor stops operating, and the second coreless motor base performs reciprocating rotational actions, so as to realize the fingers performing reciprocating three-dimensional rotational actions.

[0041] In the control method (3) described above, as Figure 6 shown, if the rotating platform is not at the highest position at the initial position, then when the first coreless motor does not move, as the second coreless motor drives the bushing to rotate, the first connecting rod and the second connecting rod of the first connecting rod mechanism 2-5 gradually transition to the highest dimension. At the same time, the second connecting rod mechanism and the third connecting rod mechanism follow (following means that only the second connecting rod B and the second connecting rod C rotate to one side due to the rotation of the rotating disk) and gradually transition to the lowest dimension. During this process, the rotating platform rotates in the same direction driven by the first connecting rod mechanism, realizing the three-dimensional rotation of the fingers from a low position on one side with the rotating platform as the fulcrum; then the first connecting rod mechanism continues to rotate in the reverse direction driven by the bushing, the height of the first connecting rod mechanism transitions to the lowest dimension, and the second connecting rod mechanism and the third connecting rod mechanism gradually transition to the highest dimension. During this process, the reverse three-dimensional rotation of the fingers is realized; among them, the highest dimension refers to the highest dimension that the connecting rod mechanism can reach during its own rotation, and the lowest dimension refers to the lowest dimension that the connecting rod mechanism can reach during its own rotation.

Claims

1. A multi-degree-of-freedom humanoid robot dexterous hand, characterized in that: The described dexterous hand is provided with 5 fingers. An upper driving module and a lower driving module are arranged on the rear side of each finger. The upper driving module is used to drive the finger to perform curling and stretching actions and form an integral structure with the finger. The lower driving module is used to drive the integral structure to perform left - right swinging and three - dimensional rotation actions. The bottom of the lower driving module is fixedly connected to the outer wall of the housing at the palm part of the dexterous hand. The upper driving module and the lower driving module do not interfere with each other. The lower driving module realizes the control of the finger actions through a connecting rod rotating platform structure.

2. The multi-degree-of-freedom humanoid robot dexterous hand according to claim 1, characterized in that: The upper driving module is connected to the finger root through a finger base. The connecting rod rotating platform structure includes a rotating platform and 3 groups of connecting rod mechanisms arranged at the bottom of the rotating platform. The rotating platform is fixedly connected to the finger base.

3. The dexterous hand of a multi-degree-of-freedom humanoid robot according to claim 2, characterized in that: The rotating platform is located inside the finger base. The lower driving module includes a housing. The bottom of the housing is fixedly connected to the outer wall of the housing at the palm part of the dexterous hand. A first cup - shaped motor and a second cup - shaped motor are arranged in parallel in the housing. The output shafts of the first cup - shaped motor and the second cup - shaped motor are integrally connected with a worm A and a worm B respectively. A rotating shaft is arranged vertically between the worm A and the worm B. The root of the rotating shaft is rotatably connected to the bottom of the housing. A first worm gear and a second worm gear are arranged on the rotating shaft from bottom to top in sequence. The first worm gear is fixedly connected to the rotating shaft and meshed with the worm A. A bushing is arranged at the central hole of the second worm gear. The bushing is rotatably connected to the rotating shaft. The bushing is also fixedly connected to the bottom of the housing through a connecting piece to restrict the axial movement of the bushing. The upper end of the bushing is rotatably connected to the connecting piece. The second worm gear is meshed with the worm B. The 3 groups of connecting rod mechanisms respectively include: a first connecting rod mechanism connected to the outer wall of the bushing, a second connecting rod mechanism and a third connecting rod mechanism connected to the outer wall of the rotating shaft and located above the bushing. In the initial state, the adjacent interval angles of the 3 groups of connecting rod mechanisms are the same and the rotating platform is in a horizontal posture. An outlet for the 3 groups of connecting rod mechanisms to pass through is arranged at the top of one end of the housing.

4. The multi-degree-of-freedom dexterous hand of a humanoid robot according to claim 3, characterized in that: The first connecting rod mechanism, the second connecting rod mechanism and the third connecting rod mechanism have the same structure and both include a first connecting rod located below and a second connecting rod located above. The rod body A of the first connecting rod is arranged vertically. The lower end of the rod body A is provided with a first connecting part along the radial direction of the rotating shaft. The first connecting part is fixedly connected to the outer wall of the rotating shaft or the outer wall of the bushing. The upper end of the rod body A is inclined radially outward along the rotating shaft and forms a second connecting part. The second connecting rod is a V - shaped structure. The middle part of the V - shaped structure forms a rod body B. The bottom of the rod body B is integrally connected with a rod body C. The end of the rod body C is hinged to the second connecting part through a first hinge shaft. The top of the rod body B is integrally connected with a rod body D. The top of the rod body D is hinged to a preset hinge seat at the bottom of the rotating platform through a second hinge shaft. The axis of the first hinge shaft intersects the axis of the rotating shaft obliquely. The axis of the second hinge shaft is arranged along the radial direction of the rotating shaft and intersects the axis of the rotating shaft horizontally.

5. The control method of a multi-degree-of-freedom humanoid robot dexterous hand as described in claim 4, characterized in that, Including: (1) The upper driving module drives the finger to perform curling and stretching actions; (2) The first coreless motor and the second coreless motor operate synchronously and maintain the same angular interval for the three sets of link mechanisms, thereby driving the finger to perform a left-right swinging motion; (3) The first coreless motor stops operating, and the second coreless motor base performs a reciprocating rotational motion, thereby enabling the finger to perform a reciprocating three-dimensional rotational motion.

6. The control method of a multi-degree-of-freedom humanoid robot dexterous hand according to claim 5, characterized in that: In the control method (3) described above, if the turntable is not at the highest position at the initial position, then with the second coreless motor driving the bushing to rotate while the first coreless motor remains stationary, the first link A and the second link A of the first link mechanism gradually transition to the highest dimension. At the same time, the second link mechanism and the third link mechanism follow and gradually transition to the lowest dimension. During this process, the turntable rotates in the same direction driven by the first link mechanism, realizing the three-dimensional rotation of the finger from a low position on one side with the turntable as the fulcrum; furthermore, the first link mechanism continues to rotate in the reverse direction driven by the bushing, the height of the first link mechanism transitions to the lowest dimension, while the second link mechanism and the third link mechanism gradually transition to the highest dimension. During this process, the reverse three-dimensional rotation of the finger is realized; among them, the highest dimension refers to the highest dimension that the link mechanism can reach during its own rotation, and the lowest dimension refers to the lowest dimension that the link mechanism can reach during its own rotation.

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