A bionic manipulator driving structure and driving method

Abstract

The present invention discloses a bionic manipulator driving structure, wherein five finger assemblies are connected to a palm assembly, and the palm assembly is connected to a forearm; the forearm skeleton is formed by docking two skeletons of a hollow structure, and a plurality of clamping positions are arranged in the skeleton for correspondingly installing a groove wheel and fixing a guide tube; the finger servo and the wrist swing servo are arranged in the hollow structure of the forearm skeleton, and the finger traction rope and the wrist swing traction rope are both passed through their respective traction rope pipes, one end of the finger traction rope is connected to the finger end knuckle, and the other end is connected to the finger servo through a groove wheel, one end of the wrist swing traction rope is connected to the wrist swing groove wheel, and the other end is connected to the wrist swing servo, and the wrist rotation motor is arranged at the rear end of the forearm. The present invention can select a large torque motor to the maximum extent, the wrist is swung by articulation, and the forearm is rotated and placed rearward to make the wrist structure simple and reduce the cost; the cross array layout of the servo makes effective use of space and greatly increases the finger load; the guide tube is flexibly arranged to make full use of the forearm space.

Description

Technical Field

[0001] The invention relates to a bionic manipulator driving structure and a driving method, belonging to the field of robots. Background Art

[0002] Existing bionic manipulators that can imitate the full range of movements of human fingers and wrists have to consider the wrist swing and rotation mechanism, and the main layout is to place micro motors in the narrow space between the palm and fingers, making the structure complex, the torque small, the load capacity weak, and the practicality poor. Summary of the invention

[0003] In order to overcome the above-mentioned deficiencies of the prior art, the present invention provides a bionic manipulator driving structure that is as flexible and powerful as a human hand, and provides a driving method thereof.

[0004] In order to achieve the above technical objectives, the technical solution adopted by the present invention is: a bionic manipulator drive structure, including five finger assemblies, a palm assembly and a forearm, the five finger assemblies are connected to the palm assembly, and the palm assembly is connected to the forearm; no motor is set in the finger assembly and the palm assembly, only a traction rope pipeline is set, the forearm is composed of a forearm skeleton and an external shell, the forearm skeleton is composed of two hollow structure skeletons connected to each other, and a number of clamping positions are set in the skeleton for corresponding installation of groove wheels and fixed guide tubes; the finger servo and the wrist swing servo are set in the hollow structure of the forearm skeleton, the finger traction rope and the wrist swing traction rope are both passed through their respective traction rope pipelines, one end of the finger traction rope is connected to the finger end knuckle, and the other end is connected to the finger servo through the groove wheel, one end of the wrist swing traction rope is connected to the wrist swing groove wheel, and the other end is connected to the wrist swing servo, the wrist rotation motor is set at the rear end of the forearm, and the finger movement, wrist swing, wrist rotation or a combination of the above movements are realized by controlling the finger servo, the wrist servo and the wrist rotation motor.

[0005] Each finger assembly is driven by an independent finger servo through a grooved wheel and a traction rope. The movement of the five finger assemblies is completed by the finger servo set in the forearm driving the finger traction rope. The wrist swing is completed by the servo set in the forearm driving the wrist traction rope. The wrist rotation is achieved by the rotating motor located at the rear end of the forearm driving the rotating forearm to achieve wrist rotation.

[0006] Furthermore, the palm assembly includes an outer palm back plate and an inner palm frame plate, an inner palm plate is arranged on the inner palm frame plate, a traction rope guide groove for the fingers is arranged in the inner palm frame plate, a wrist swinging groove wheel and a wrist rotating shaft are arranged on the inner palm frame plate close to the forearm side, the wrist swinging groove wheel is installed on the wrist rotating shaft, a plurality of finger root fixing seats are arranged close to the finger side, the outer palm back plate is buckled on the inner palm frame plate, so that the traction rope guide groove constitutes a traction rope pipeline.

[0007] Furthermore, the inner metacarpal skeleton plate at the lower part of the wrist shaft is a fan-shaped opening, and the finger traction rope will not change in length due to the rotation of the shaft after passing through the axis.

[0008] Furthermore, each finger assembly includes a plurality of finger joints, one end of two adjacent finger joints is hinged, one end of the finger joint close to the palm assembly is installed on the finger root fixing seat, and an elastic reset piece is arranged on the back of the finger joint.

[0009] The finger bending of the finger assembly is pulled by the internal finger traction rope, and the finger straightening is reset by the elastic silicone installed on the back of the finger.

[0010] Furthermore, six finger servos are provided, five of which are directly connected to the finger traction rope to control the bending of the finger, and the other one is fixed on the knuckle at the base of the thumb through the tightening of the thumb's mouth, and an elastic reset part is provided between the outside of the thumb and the palm for opening the thumb's mouth; one wrist swing servo is provided, and the palm is swung around the wrist rotation axis as the center through the circular traction rope, and the circular traction rope is fixed with screws at the center points of the two semicircles; the seven servos are arranged in an array with the output shafts crossed left and right, so as to effectively arrange the traction ropes and guide tubes.

[0011] Furthermore, one wrist swing groove wheel is provided, five finger traction rope guide grooves are located on one side of the wrist swing groove wheel, and the tiger's mouth tightening traction rope guide groove is located on the other side of the wrist swing groove wheel; the finger traction rope inside the palm is installed in a traction rope pipeline formed by the traction rope guide grooves on the two half palms, one end of the finger traction rope is installed on the groove wheel of the corresponding finger servo, the end is pressed into the steering wheel boss on the upper part of the groove wheel by the rope pressing screw, and the other end passes through the guide tube and the guide groove inside the palm and is fixed to the end of the corresponding finger; one end of the guide tube is fixed to the inner side frame of the forearm, and the other end is fixed to the cross bracket, and the cross bracket is fixed to the inner side frame of the forearm near the wrist.

[0012] Furthermore, the wrist swing traction rope uses a synchronous belt, and the wrist swing groove wheel on the palm and the steering wheel driving the wrist swing are synchronous wheels.

[0013] Furthermore, the guide tube is a polytetrafluoroethylene tube or a nylon tube, which can not only limit the length of the traction rope, but also be placed at a set position in the forearm frame so that both ends of the traction rope are tangent to the force direction.

[0014] The beneficial technical effects of the present invention are:

[0015] 1. The hand drive motor is arranged inside the forearm, so a high torque motor can be used to the maximum extent;

[0016] 2. The wrist is hinged to only meet the swinging motion, and the forearm is rotated and placed backward, which makes the wrist structure simple and reduces the cost;

[0017] 3. The cross-array layout of the servos in the forearm makes effective use of space and greatly increases the finger load;

[0018] 4. The guide tube is made of self-lubricating material and is flexibly arranged according to the spatial position, which can make full use of the internal space of the forearm, is easy to install, and maximizes the transmission efficiency of the traction rope. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention is further described below in conjunction with the accompanying drawings.

[0020] Figure 1 It is a structural schematic diagram of the present invention;

[0021] Figure 2 A partial exploded schematic diagram of the result of the present invention;

[0022] Figure 3 It is a schematic diagram of the structure of the inner palm frame plate of the present invention.

[0023] In the figure: 1. palm assembly, 2. finger traction rope, 3. forearm, 30. forearm frame, 31. wrist swing groove wheel, 32. wrist rotation axis, 33. inner palm plate, 34. traction rope guide groove, 35. finger root fixing seat, 36. fan-shaped opening, 4. guide tube, 5. finger steering wheel, 6. finger traction rope (inside forearm), 7. steering wheel boss, 8. rope pressing screw, 9. steering gear, 10. flange, 11. wrist rotation motor, 12. elbow joint body, 13. inner forearm frame, 14. wrist swing traction rope, 15. cross bracket, 16. finger assembly. DETAILED DESCRIPTION

[0024] like Figure 1 , 2 3, a bionic manipulator driving structure, comprising five finger assemblies 16, a palm assembly 1 and a forearm 3, wherein the five finger assemblies 16 are connected to the palm assembly 1, and the palm assembly 1 is connected to the forearm 3; no motor is provided in the finger assembly 16 and the palm assembly 1, only a traction rope pipeline is provided, the forearm 3 is composed of a forearm skeleton 30 and an external shell, the forearm skeleton 30 is formed by connecting two hollow structure skeletons, and a plurality of clamping positions are provided in the skeleton for correspondingly installing a groove wheel and fixing a guide tube 4; the finger servo 5 and the wrist swing servo are provided Placed in the hollow structure of the forearm skeleton 30, the finger traction rope 2 and the wrist swing traction rope 14 are both passed through their respective traction rope pipes, one end of the finger traction rope 2 is connected to the finger end knuckle, and the other end is connected to the finger servo 5 through a groove wheel, one end of the wrist swing traction rope 14 is connected to the wrist swing groove wheel 31, and the other end is connected to the wrist swing servo, and the wrist rotation motor 11 is arranged at the rear end of the forearm 3. By controlling the finger servo, wrist servo and wrist rotation motor 11, finger movement, wrist swing, wrist rotation or a combination of the above movements can be realized.

[0025] The wrist rotation motor 11 of the forearm is connected to the elbow joint body 12 at the rear to connect with the upper arm. The wrist rotation is driven by the reduction servo motor integrated machine near the elbow joint at the rear end of the forearm. The reduction servo motor integrated machine is a pre-existing device and does not need to be designed. It can be directly purchased and assembled for use. The wrist rotation motor 11 is connected to the forearm through the flange 10.

[0026] Each finger assembly 16 is driven by an independent finger servo through a grooved wheel and a traction rope. The movement of the five finger assemblies 16 is completed by the finger servo set in the forearm driving the finger traction rope, the wrist swing is completed by the servo set in the forearm driving the wrist traction rope, and the wrist rotation is achieved by the rotating motor located at the rear end of the forearm driving the rotating forearm to realize the wrist rotation.

[0027] The palm assembly 1 includes an outer palm back plate and an inner palm frame plate, an inner palm plate 33 is arranged on the inner palm frame plate, a traction rope guide groove 34 for the fingers is arranged in the inner palm frame plate, a wrist swing groove wheel 31 and a wrist shaft 32 are arranged on the inner palm frame plate close to the forearm side, the wrist swing groove wheel 31 is installed on the wrist shaft 32, and a plurality of finger root fixing seats 35 are arranged close to the finger side, the outer palm back plate is buckled on the inner palm frame plate, so that the traction rope guide groove 34 constitutes a traction rope pipeline.

[0028] The inner palm frame plate below the wrist shaft 32 is a fan-shaped opening 36, and the finger traction rope will not change in length due to the rotation of the shaft after passing through the axis.

[0029] Each finger assembly 16 includes a plurality of finger joints, one end of two adjacent finger joints is hinged, one end of the finger joint close to the palm assembly is mounted on a fixing seat at the root of the finger, and an elastic reset member is arranged on the back of the finger joint. The finger of the finger assembly is bent by the internal finger traction rope, and the finger is straightened by the elastic silicone installed on the back of the finger.

[0030] Six finger servos are provided, five of which are directly connected to the finger traction rope to control the bending of the fingers, and the other one is fixed on the knuckle at the base of the thumb through the traction rope tightened by the thumb's mouth to control the tightening of the thumb's mouth, and an elastic reset part is provided between the outside of the thumb and the palm for opening the thumb's mouth; one wrist swing servo is provided, which pulls the palm to swing around the wrist rotation axis through a circular traction rope, and the circular traction rope is located at the center points of the two semicircles and is fixed with screws; the seven servos are arranged in an array with the output shafts crossed left and right, so as to effectively arrange the traction ropes and guide tubes.

[0031] A wrist swing groove wheel 31 is provided, and five finger traction rope guide grooves are located on one side of the wrist swing groove wheel, and the tiger's mouth tightening traction rope guide groove is located on the other side of the wrist swing groove wheel; the finger traction rope inside the palm is installed in a traction rope pipeline formed by the traction rope guide grooves on the two half palms, one end of the finger traction rope is installed on the groove wheel of the corresponding finger steering gear, and the end is pressed into the steering wheel boss 7 on the upper part of the groove wheel by the rope pressing screw 8, and the other end passes through the guide tube and the guide groove inside the palm and is fixed to the end of the corresponding finger; one end of the guide tube 4 is fixed on the inner side skeleton 13 of the forearm, and the other end is fixed on the cross bracket 15, and the cross bracket 15 is fixed on the inner side skeleton 13 of the forearm near the wrist.

[0032] The wrist swing traction rope uses a synchronous belt, and the wrist swing groove wheel on the palm and the steering wheel that drives the wrist swing are synchronous wheels.

[0033] The guide tube 4 is a polytetrafluoroethylene tube or a nylon tube, which can not only limit the length of the traction rope, but also be placed in the forearm frame at a set position so that both ends of the traction rope are tangent to the force direction.

[0034] The beneficial technical effects of the present invention are:

[0035] 1. The hand drive motor is arranged inside the forearm, so a high torque motor can be used to the maximum extent;

[0036] 2. The wrist is hinged to only meet the swinging motion, and the forearm is rotated and placed backward, which makes the wrist structure simple and reduces the cost;

[0037] 3. The cross-array layout of the servos in the forearm makes effective use of space and greatly increases the finger load;

[0038] 4. The guide tube is made of self-lubricating material and is flexibly arranged according to the spatial position, which can make full use of the internal space of the forearm, is easy to install, and maximizes the transmission efficiency of the traction rope.

[0039] The embodiments disclosed in the present invention are only used as explanations of the present invention and are not intended to limit the features of the present invention. Simple replacements and modifications based on the present invention fall within the protection scope of the present invention.

Claims

1. A bionic manipulator driving structure, comprising five finger components, a palm component and a forearm, characterized in that: The five finger assemblies are connected to the palm assembly, and the palm assembly is connected to the forearm; no motor is set in the finger assembly and the palm assembly, only a traction rope pipeline is set, the forearm is composed of a forearm frame and an external shell, the forearm frame is composed of two hollow structure frames connected together, and a number of clamping positions are set in the frame for fixing the guide tube; the finger servo and the wrist swing servo are set in the hollow structure of the forearm frame, the finger traction rope and the wrist swing traction rope are both passed through their respective traction rope pipelines, one end of the finger traction rope is connected to the finger end knuckle, and the other end is connected to the finger servo through a groove wheel, one end of the wrist swing traction rope is connected to the wrist swing groove wheel, and the other end is connected to the wrist swing groove wheel. The wrist swing servo is connected to the wrist rotation motor, and the wrist rotation motor is arranged at the rear end of the forearm. By controlling the finger servo, wrist servo and wrist rotation motor, finger movement, wrist swing, wrist rotation or a combination of the above movements can be realized; the palm assembly includes an outer palm back plate and an inner palm frame plate, the inner palm frame plate is provided with an inner palm plate, a traction rope guide groove for the finger is arranged in the inner palm frame plate, a wrist swing groove wheel and a wrist shaft are arranged on the inner palm frame plate close to the forearm, the wrist swing groove wheel is installed on the wrist shaft, a plurality of finger root fixing seats are arranged on the inner palm frame plate close to the finger side, the outer palm back plate is buckled on the inner palm frame plate, The traction rope guide groove forms a traction rope pipeline; six finger servos are arranged, five of which are directly connected to the finger traction rope to control the bending of the finger, and the other one is fixed on the base knuckle of the thumb through the traction rope tightening the thumb, and an elastic reset piece is arranged between the outside of the thumb and the palm for opening the thumb; one wrist swing servo is arranged, and the palm is swung around the wrist shaft as the center through the circular traction rope, and the circular traction rope is fixed at the center points of the two semicircles with screws; the seven servos are arranged in an array with the output shaft crossed left and right, so as to effectively arrange the traction rope and the guide tube; the wrist swing groove A wheel is provided, five finger traction rope guide grooves are located on one side of the wrist swing groove wheel, and the tiger's mouth tightening traction rope guide groove is located on the other side of the wrist swing groove wheel; the finger traction rope inside the palm is installed in a traction rope pipeline formed by the traction rope guide grooves on the two half palms, one end of the finger traction rope is installed on the groove wheel of the corresponding finger steering gear, the end is pressed into the steering wheel boss on the upper part of the groove wheel by a rope pressing screw, and the other end passes through the guide tube and the guide groove inside the palm and is fixed to the end of the corresponding finger; one end of the guide tube is fixed on the inner side frame of the forearm, and the other end is fixed on the cross bracket, and the cross bracket is fixed to the inner side frame of the forearm near the wrist.

2. The bionic manipulator driving structure according to claim 1, characterized in that: The inner palm frame plate at the lower part of the wrist rotating shaft is a fan-shaped opening, and the finger traction rope will not change in length due to the rotation of the rotating shaft after passing through the axis.

3. The bionic manipulator driving structure according to claim 1, characterized in that: Each finger assembly includes a plurality of finger joints, one end of two adjacent finger joints is hinged, one end of the finger joint close to the palm assembly is installed on the finger root fixing seat, and an elastic reset piece is arranged on the back of the finger joint.

4. The bionic manipulator driving structure according to claim 1, characterized in that: The wrist swing traction rope uses a synchronous belt, and the wrist swing groove wheel on the palm and the steering wheel driving the wrist swing are synchronous wheels.

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