A bionic dexterous hand

Abstract

The invention relates to the technical field of bionic robots, and discloses a bionic dexterous hand, comprising a palm component, a main finger and a plurality of auxiliary fingers; the palm component comprises a hand base and a power device, and the main finger and the auxiliary finger both comprise a front end knuckle, a middle knuckle and a terminal knuckle; the power device comprises a first driving device and a second driving device, the first driving device is transmission-connected to a swing component, the second driving device is transmission-connected to a flexion-extension component, the flexion-extension component is hinged to the swing component, the terminal knuckle of the main finger is hinged to the flexion-extension component, and the flexion-extension component is transmission-hinged to the middle knuckle of the main finger through a first connecting rod; the power device also comprises a plurality of third driving devices for driving the auxiliary fingers to move, the terminal knuckle of the auxiliary finger is hinged to the third driving devices, and the middle knuckle is hinged to the hand base through a first connecting rod; the front end knuckle and the terminal knuckle of the main finger and the auxiliary finger are respectively hinged through a second connecting rod, so as to simplify the transmission and improve the flexibility of the bionic finger.

Description

Technical Field

[0001] The invention relates to the technical field of bionic robots, and in particular to a bionic dexterous hand. Background Art

[0002] With the development of science and technology, especially in the past decade, the application fields of robots have been continuously broadened, and have moved from the field of industrial manufacturing to various fields of social life such as medical treatment, smart home, smart travel, cultural and creative entertainment, etc. More and more humanoid robots and manipulators have entered people's daily lives.

[0003] Robot arms first appeared in the field of industrial robots. They are high-tech automated production equipment that uses program control to replace workers in carrying, grasping, and assembling materials. Their main advantage is that they can repeat the same action and never feel tired under normal circumstances. As an extension of human limbs, bionic mechanical dexterous hands are expected to be able to perform flexible and precise grasping and gripping operations similar to those of humans. However, due to technical limitations such as transmission technology, sensor systems, and control systems, their current development status in terms of functions, bionic structural principles, and motion characteristics is still somewhat different from people's expectations and needs.

[0004] Application No. 201680007659.7 announced "a dexterous robotic hand" that uses a servo to drive a rope to pull multiple fingers to bend in order to achieve the grasping action of a human hand. The servo is characterized by being a highly integrated component that integrates control, drive, power, and execution. It has the advantages of simple structure and easy control. At the same time, it also has some shortcomings, such as the output torque is too small. This so-called dexterous robotic hand announced in the patent is too bloated and clumsy in the palm due to the integration of 5 servos and rope drive mechanisms. Moreover, the similarity between its manipulator and a real human hand is too different. It can only be regarded as a manipulator that meets the grasping function on an automated production line or equipment, and it is not dexterous.

[0005] The domestic patent with application number 201910100172.9 discloses "a robotic hand". The information and model announced show that its main structure is basically similar to that of a real hand. It has 5 fingers, and the finger layout is not much different from that of a real hand. The public information describes it as a stepper motor plus a worm gear structure, which drives the fingers to rotate and realizes the finger flexion to complete the grasping action. Its structure is relatively complex and difficult to layout in a limited space. Therefore, its index finger and middle finger share a set of drive mechanisms, the ring finger and little finger share a set of drive mechanisms, and the thumb uses a set of drive mechanisms. It can basically complete the pinching, grasping and other actions of the hand, but it still lacks some functions compared to the 5 fingers of a real person being driven separately.

[0006] The domestic patent with application number 201810319044.9 discloses "a dexterous robotic hand". The information and model announced show that its main structure is similar to that of a real human hand in some places but also has some differences. It has 5 fingers. In order to achieve a larger grasping range, the rotation axes of the fourth and fifth fingers are set in the palm. As a result, it achieves a grasping range that ordinary robotic hands cannot achieve. And its driving mode is that each finger root joint has a set of electromagnetic coupling mechanism, which generates electromagnetic attraction by energizing the coil and then cooperates with the friction wheel and tendon rope to drive the finger root joint to rotate. After power failure, the finger root joint is reset by the reset spring. The joint action is driven by the friction wheel installed inside the finger joint, and the tendon rope driving the finger root joint to rotate is guided to the terminal finger joint, ensuring that the terminal finger joint and the finger root joint are driven approximately synchronously. The finger root joint is reset by the spring, and the other finger joints are reset by the tension of the elastic rubber rope installed inside the finger joint. The hand is stronger than the general mechanical dexterous hand in achieving the function, but its transmission process is too complicated, and there are hidden dangers in the safety and stability of the magnet and coil. The elastic reset element used in the other finger joints is an elastic rubber band, which has extremely poor weatherability and will rot due to oxidation after one to two months of use. It not only needs to be replaced, but also is not easy to clean. Therefore, in order to achieve the grasping range and function of the real hand in terms of grasping ability, its realization method and process are slightly weak and the degree of intelligence is low. It is called a robot dexterous hand and there is indeed some room for improvement.

[0007] The domestic invention patent with application number 201610520941.7 discloses "a bionic prosthetic hand". Its main vision is to meet the functional needs of hands in daily life of people with limb disabilities. In order to reduce weight, 3D printing materials and structures are used to minimize the weight of the structure itself. The five bionic fingers shown in the information are basically similar to the five fingers of a real person. In order to reduce weight, only the thumb is rotated inward and outward to meet the hand grasping function, and the other four fingers are driven by a motor to flex and extend at the same time. Its working principle is that the motor drives the traction rope to drive the four fingers to flex, and the spring and elastic band, commonly known as rubber band, cooperate to drive the fingers to passively extend and reset. The elasticity of the elastic band is its biggest safety hazard. It can only be said that it can only meet the most basic grasping function of a hand. According to the information announced, there is no relevant description of its other bionic functions of a real person.

[0008] Domestic patent application number 201610566197.4 discloses "a bionic manipulator". The information published in the patent announcement shows that its main structure is that the five fingers are driven by five cylinders and multi-stage connecting rods to achieve the same flexion and extension movements as the fingers. The pneumatic drive requires a complete system of compressed air preparation, energy storage, and drive movement. Its portability and the scope of applicable scenarios of the product are extremely narrow. According to the structural diagram published in the patent announcement, it is still a manipulator that has not yet evolved fully in the field of industrial automation, and it is far from being a bionic manipulator.

[0009] In summary, most of the bionic hands in the prior art cannot meet the requirements of bionic form due to technical and structural reasons, and the transmission efficiency, finger flexibility and grasping stability are all poor. Summary of the invention

[0010] In order to solve one or more technical problems in the prior art, or at least provide a beneficial choice, the present invention provides a bionic dexterous hand, simplifies the transmission structure, and improves the flexibility of bionic fingers.

[0011] The present invention discloses a bionic dexterous hand, comprising a palm component, a main finger that is bionic to the thumb, and a plurality of auxiliary fingers that cooperate with the main finger to grasp;

[0012] The palm assembly includes a hand base and a power device installed on the hand base, and the main fingers and auxiliary fingers each include a front knuckle, a middle knuckle and a terminal knuckle that are hinged to each other in sequence;

[0013] The power device comprises a first driving device and a second driving device for driving the main finger to move, the first driving device is transmission-connected to the swing assembly, the second driving device is transmission-connected to the flexion-extension assembly, the flexion-extension assembly is hinged to the swing assembly to rotate along the hinge point under the action of the second driving device, the terminal knuckle of the main finger is hinged to the flexion-extension assembly, and the flexion-extension assembly is transmission-connected to the middle knuckle of the main finger through the first connecting rod;

[0014] The power device further comprises a plurality of third driving devices for driving each of the auxiliary fingers to move, the terminal knuckles of the auxiliary fingers are hinged to the third driving devices, and the middle knuckles are hinged to the hand base via a first connecting rod;

[0015] The front end knuckles and the terminal end knuckles of the main finger and the auxiliary finger are respectively hinged through a second connecting rod.

[0016] As an optimal technical solution for a bionic dexterous hand, the output end of the first driving device is hinged with a spur rack, and the swinging assembly is provided with an arc-shaped tooth portion meshing with the spur rack. The first driving device drives the spur rack to move to drive the swinging assembly to swing along the arc of the arc-shaped tooth portion.

[0017] As an optimal technical solution for a bionic dexterous hand, the output end of the second driving device is hinged with a bevel rack, the flexion and extension assembly is provided with a bevel tooth portion meshing with the bevel rack, the bevel tooth portion is arranged around the hinge point between the flexion and extension assembly and the swing assembly, and the second driving device drives the bevel rack to move to drive the flexion and extension assembly to rotate around the hinge point.

[0018] As an optimal technical solution for a bionic dexterous hand, the swing component is provided with a slide groove, the bevel rack is slidably arranged in the swing component, and the second driving device drives the bevel rack to reciprocate along the slide groove to drive the flexion and extension component to rotate forward or reversely around the hinge point.

[0019] As a preferred technical solution for a bionic dexterous hand, the flexion and extension assembly also includes a swing arm extending radially along the oblique tooth portion, and the swing arm is provided with a hinge hole hinged to the terminal knuckle and a hinge hole hinged to the middle knuckle.

[0020] As a preferred technical solution for a bionic dexterous hand, the palm assembly further comprises a first bearing mounting seat fixed to the hand base, and the first driving device is fixed to the first bearing mounting seat via a joint bearing;

[0021] As an optimal technical solution for a bionic dexterous hand, the palm assembly further includes a second bearing mounting seat fixed to the hand base, and the second drive device is fixed to the second bearing mounting seat via a joint bearing.

[0022] As an optimal technical solution for a bionic dexterous hand, the palm assembly also includes a third bearing mounting seat fixed to the hand base, and the plurality of third driving devices are all fixed to the third bearing mounting seat.

[0023] As an optimal technical solution for a bionic dexterous hand, the third driving device is fixed to the third bearing mounting seat via a joint bearing.

[0024] As a preferred technical solution of a bionic dexterous hand, it also includes a control device, and a force sensor electrically connected to the control device is provided on the inner side of at least one of the front knuckle, the middle knuckle and the terminal knuckle;

[0025] As an optimal technical solution for a bionic dexterous hand, it also includes a control device, and the power device is provided with a force sensor electrically connected to the control device.

[0026] As a preferred technical solution for a bionic dexterous hand, the palm component is externally coated with a flexible pad;

[0027] As an optimal technical solution for a bionic dexterous hand, the main finger and the auxiliary finger are provided with flexible pads.

[0028] Due to the adoption of the above technical solution, the present invention has the following beneficial effects:

[0029] 1. The bionic dexterous hand disclosed in the present application has a finger part divided into a main finger and an auxiliary finger. The main finger and the auxiliary finger cooperate to hold and grasp objects, and the bionic movements of the human hand are completed in combination with the palm assembly, and the movement accuracy is high. The main finger and the auxiliary finger each include three knuckles, so that the three degrees of freedom of each finger can be met with the cooperation of other fingers, thereby improving flexibility. In the transmission structure, the terminal knuckle of the main finger is hinged with the palm assembly, and the terminal knuckle, the middle knuckle and the front knuckle are hinged in sequence to form a joint structure that imitates human fingers. The middle knuckle of the auxiliary finger is hinged with the palm assembly through a first connecting rod, and the front knuckle is hinged with the terminal knuckle through a second connecting rod. The third driving device can drive the terminal knuckle of the auxiliary finger to move, and drive the middle knuckle and the front knuckle to move in turn. When the middle knuckle cooperates with the hand base, the middle knuckle can rotate within the preset rotation range of the first connecting rod, and when the front knuckle cooperates with the terminal knuckle, the front knuckle can rotate within the preset rotation range of the second connecting rod. The main finger of the present application is driven by the first drive device and the second drive device to realize the swing and flexion and extension movement of the bionic thumb. The flexion and extension component is installed on the swing component. As the swing component swings inward and outward under the action of the first drive device, the flexion and extension component also moves accordingly, and drives the flexion and extension of the main finger under the action of the second drive device. The flexion and extension component is hinged with the terminal knuckle of the main finger, and is also hinged with the middle knuckle. Therefore, when the flexion and extension component moves, it can simultaneously drive the terminal knuckle and the middle knuckle of the main finger to move. Combined with the structure in which the terminal knuckle and the front knuckle are hinged through the second connecting rod, the dexterous flexion and extension movement of the main finger is realized. Through the above structure, the driving structure and linkage structure of the bionic dexterous hand are simplified, the flexibility of the finger movement is guaranteed, and because the knuckles and the knuckles and the driving device are all connected by connecting rods, the reliability of the transmission is greatly improved.

[0030] 2. This application sets force sensors on the main fingers and auxiliary fingers to implement precise force control of the grasping process through feedback data, thereby achieving precise force control when ingesting, grasping, and holding objects. Moreover, since each finger of this application is divided into three knuckles, setting multiple force sensors as needed can further improve the bionic simulation performance of grip force. In addition, this application is also provided with a force sensor connected to the power device to directly detect the force at the force-applying end to improve the accuracy of force detection.

[0031] 3. The flexible pads provided on the palm assembly, main fingers, and auxiliary fingers of the present application can form elastic abutment with the contacting parts of the objects, which can reduce the collision energy during the grasping process, avoid damage to the equipment or objects, and ensure stable grasping of objects, prevent objects from falling off, and ensure reliable grasping.

[0032] 4. When the present application drives the main finger to swing, it relies on the linear motor to drive the spur rack to move, and then drives the swing assembly to swing through the spur rack. The space required to drive the main finger to swing is only the space for the spur rack to move and the space required for the swing assembly to swing. At the same time, when driving the main finger to flex and extend, it relies on the linear motor to drive the helical rack to move. Since the helical rack is slidably set in the swing assembly and can move with the swing assembly, when the main finger needs to flex and extend to grasp, the helical rack is used to drive the flexion and extension assembly to swing and drive each finger joint to move. The two motion transmission structures of swinging and flexion and extension are integrated, which significantly reduces the space occupation compared to the traditional motor drive or cylinder drive structure, and the transmission is more efficient and reliable.

[0033] 5. Since ordinary bearings can only limit the rotation of components along one axis, the power devices of the present application are fixed on the bearing seats through ball bearings, which can not only rotate around the axis but also retain the swing freedom of the other two axes, thereby compensating for manufacturing errors and increasing the scope of use of the structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0035] Figure 1 Schematic diagram of the structure of a bionic dexterous hand in one embodiment of the present invention (1).

[0036] Figure 2 Schematic diagram of the structure of a bionic dexterous hand in one embodiment of the present invention (2).

[0037] Figure 3 This is a partial cross-sectional view (1) of a bionic dexterous hand in one embodiment of the present invention.

[0038] Figure 4 This is a partial cross-sectional view (2) of a bionic dexterous hand in one embodiment of the present invention.

[0039] Figure 5 Schematic diagram of the driving structure of the main fingers of the bionic dexterous hand in one embodiment of the present invention.

[0040] Figure 6 Schematic diagram of the explosion of the main fingers of the bionic dexterous hand in one embodiment of the present invention.

[0041] Figure 7This is an exploded schematic diagram of the auxiliary finger part driving structure of the palm component of a bionic dexterous hand in one embodiment of the present invention.

[0042] Figure 8 It is a partial schematic diagram of the auxiliary fingers of the bionic dexterous hand in one embodiment of the present invention.

[0043] Fig. 9 Schematic diagram of an explosion of auxiliary fingers of a bionic dexterous hand in one embodiment of the present invention.

[0044] Description of reference numerals:

[0045] 1-first connecting rod, 2-second connecting rod, 3-flexible pad, 4-force sensor, 5-main finger, 6-auxiliary finger, 7-end knuckle, 8-middle knuckle, 9-front knuckle, 10-palm assembly, 101-hand base, 1011-sliding mounting groove, 102-power device, 1021-first driving device, 1022-second driving device, 1023-third driving device, 103-swinging assembly, 1031-arc-shaped tooth portion, 1032-slide groove, 104-flexion and extension assembly, 1041-oblique tooth portion, 1042-swing arm, 105-adapter, 106-spur rack, 107-needle bearing, 108-oblique rack, 109-hinge hole, 110-first bearing mounting seat, 111-second bearing mounting seat, 112-third bearing mounting seat, 113-spherical bearing. DETAILED DESCRIPTION

[0046] In order to more clearly illustrate the overall concept of the present invention, a detailed description is given below in an exemplary manner in conjunction with the accompanying drawings.

[0047] It should be noted that many specific details are set forth in the following description to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0048] In addition, in the description of the present invention, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential" 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, and do not indicate or imply 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 a limitation on the present invention.

[0049] 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 one; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. However, if it is indicated as a direct connection, it means that the two connected bodies are not connected through a transition structure, but are connected to form a whole through a connecting structure. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0050] In the present invention, unless otherwise clearly specified and limited, the first feature "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in an appropriate manner in any one or more embodiments or examples.

[0051] The specific plans adopted are:

[0052] Example 1

[0053] like Figure 1 , Figure 2 As shown, a bionic dexterous hand disclosed in this embodiment includes a palm assembly 10, a main finger 5 that is bionic to the thumb, and a plurality of auxiliary fingers 6 that cooperate with the main finger 5 to grasp. The auxiliary fingers 6 can be structurally designed with reference to the hand shape of the human body to meet the flexibility of hand activities, and the auxiliary fingers 6 can be bionic to the four fingers of the human hand, including the index finger, middle finger, ring finger and little finger.

[0054] like Figure 3 , Figure 4As shown, the palm assembly 10 includes a hand base 101 and a power device 102 installed on the hand base 101. The hand base 101 is used to install and fix the power device 102, and to install and position the main finger 5 and the auxiliary finger 6. In addition, the hand base 101 is also used to install other components. In order to ensure dexterity, the bionic dexterous hand involved in this embodiment has a high degree of freedom in the finger parts. In order to be closer to the human hand shape, the main finger 5 and the auxiliary finger 6 include a front knuckle 9, a middle knuckle 8 and a terminal knuckle 7 that are hinged to each other in sequence. Each finger is driven by the power device 102, and the five fingers have a total of 15 degrees of freedom to meet dexterity. The main finger 5 and the auxiliary finger 6 are used to hold together to achieve the acquisition, grasping and holding of objects, and the palm assembly 10 is combined to complete the bionic movements of the human hand with high movement accuracy. The main finger 5 and the auxiliary finger 6 each include three knuckles, so that the three degrees of freedom of each finger can be met for coordination with other fingers, thereby improving flexibility.

[0055] The power device 102 includes a first drive device 1021 and a second drive device 1022 for driving the main finger 5 to move. The first drive device 1021 is connected to the swing assembly 103 by transmission, and the second drive device 1022 is connected to the flexion and extension assembly 104 by transmission, so as to realize the swing and flexion and extension movement of the bionic thumb. The flexion and extension assembly 104 is hinged to the swing assembly 103 so as to rotate along the hinge point under the action of the second drive device 1022. The terminal knuckle 7 of the main finger 5 is hinged to the flexion and extension assembly 104, and the flexion and extension assembly 104 is hinged to the middle knuckle 8 of the main finger 5 through the first connecting rod 1. The front knuckle 9 of the main finger 5 is hinged to the terminal knuckle 7 through the second connecting rod 2. During the rotation of the flexion and extension assembly 104, while driving the terminal knuckle 7 to rotate, it also drives the middle knuckle 8 to rotate along the hinge point with the first connecting rod 1. Multiple knuckles are linked to each other, thereby imitating the joint structure of human fingers and forming the effect of finger flexion and extension.

[0056] The power device 102 also includes a plurality of third drive devices 1023 for driving each auxiliary finger 6 to move. The terminal knuckle 7 of the auxiliary finger 6 is hinged to the third drive device 1023, and the middle knuckle 8 is hinged to the hand base 101 through the first connecting rod 1; the front knuckle 9 of the auxiliary finger 6 is hinged to the terminal knuckle 7 through the second connecting rod 2. The middle knuckle 8 of the auxiliary finger 6 is hinged to the palm assembly 10 through the first connecting rod 1, and the front knuckle 9 is hinged to the terminal knuckle 7 through the second connecting rod 2. The third drive device 1023 can drive the terminal knuckle 7 of the auxiliary finger 6 to move, and in turn drive the middle knuckle 8 and the front knuckle 9 to move. When the middle knuckle 8 cooperates with the hand base 101, the middle knuckle 8 can rotate within the preset rotation range of the first connecting rod 1, and when the front knuckle 9 cooperates with the terminal knuckle 7, the front knuckle 9 can rotate within the preset rotation range of the second connecting rod 2.

[0057] As the swing assembly 103 swings inward and outward under the action of the first drive device 1021, the flexion and extension assembly 104 also moves accordingly, and drives the flexion and extension of the main finger 5 under the action of the second drive device 1022. The flexion and extension assembly 104 is hinged to the terminal knuckle 7 of the main finger 5, and is also hinged to the middle knuckle 8. Therefore, when the flexion and extension assembly 104 moves, it can simultaneously drive the terminal knuckle 7 and the middle knuckle 8 of the main finger 5 to move. Combined with the structure in which the terminal knuckle 7 and the front knuckle 9 are hinged through the second connecting rod 2, the dexterous flexion and extension of the main finger 5 is realized. Through the above structure, the driving structure and linkage structure of the bionic dexterous hand are simplified, the flexibility of finger movement is guaranteed, and since the knuckles and the knuckles and the driving device are all connected by connecting rods, the reliability of the transmission is greatly improved.

[0058] Example 2

[0059] like Figure 4 , Figure 5 , Figure 7 As shown, in combination with Example 1, in a bionic dexterous hand disclosed in this embodiment, the main finger 5 is driven by a rack structure, and the thumb has a swing-out, adduction degree of freedom and a flexion, extension degree of freedom, wherein the flexion, extension movement mechanism is coupled and arranged on the swing-out rotation mechanism. Specifically, the output end of the first driving device 1021 is hinged with a spur rack 106, and the hand base 101 is provided with a sliding installation groove 1011 of the spur rack 106. The first driving device 1021 drives the spur rack 106 hinged through the adapter 105 to reciprocate in the sliding installation groove 1011. The swing assembly 103 is rotatably mounted on the hand base 101 through a needle bearing 107, and is provided with an arc-shaped tooth portion 1031 meshing with the spur rack 106. The first driving device 1021 drives the spur rack 106 to move to drive the swing assembly 103 to swing along the arc of the arc-shaped tooth portion 1031.

[0060] In this embodiment, the first driving device 1021 is preferably a linear motor to save space occupied by the palm assembly 10 and achieve dexterity in movement in a small space.

[0061] When the main finger 5 of the present embodiment swings, the linear motor drives the spur rack 106 to move, and then drives the swing assembly 103 to swing through the spur rack 106. The space required to drive the main finger 5 to swing is only the space for the movement of the spur rack 106 and the space required for the swing assembly 103 to swing, which greatly optimizes the space occupied by the driving mechanism.

[0062] Example 3

[0063] like Figure 4 , Figure 5 , Figure 7As shown, in combination with Example 1, in a bionic dexterous hand disclosed in this embodiment, the second drive device 1022 is flexibly connected to the hand base 101, and the output end of the second drive device 1022 is hinged with a 45° bevel rack 108 through a transmission adapter 105, and the flexion and extension assembly 104 is provided with a bevel tooth portion 1041 meshing with the bevel rack 108, and the bevel tooth portion 1041 is arranged around the hinge point of the flexion and extension assembly 104 and the swing assembly 103. The second drive device 1022 drives the bevel rack 108 to move to drive the flexion and extension assembly 104 to rotate around the hinge point. When driving the main finger 5 to flex and extend, the linear motor is used to drive the bevel rack 108 to move. Since the bevel rack 108 is slidably set in the swing component 103 and can move with the swing component 103, when the main finger 5 needs to flex and extend to grasp, the bevel rack 108 drives the flexion and extension component 104 to swing and drive each finger joint to move. The two motion transmission structures of swinging and flexion and extension are integrated. Compared with the traditional motor drive or cylinder drive structure, it significantly reduces the space occupancy and the transmission is more efficient and reliable.

[0064] Further, such as Figure 5 As shown, in one embodiment, the swing assembly 103 is provided with a slide groove 1032, the bevel rack 108 is slidably disposed in the swing assembly 103, and the second driving device 1022 drives the bevel rack 108 to reciprocate along the slide groove 1032 to drive the flexion and extension assembly 104 to rotate forward or reversely around the hinge point. The bevel rack 108 and the flexion and extension assembly 104 are meshed and driven in the slide groove 1032 of the swing assembly 103 through a 45° gear rack pair, and the linear motion of the bevel rack 108 is converted into the rotational motion of the flexion and extension assembly 104.

[0065] Furthermore, if Figure 5 As shown, in one embodiment, the flexion and extension assembly 104 further includes a swing arm 1042 extending radially along the oblique tooth portion 1041 , and the swing arm 1042 is provided with a hinge hole 109 hinged to the terminal knuckle 7 and a hinge hole 109 hinged to the middle knuckle 8 .

[0066] Combined with Figure 6At the far end of the flexion and extension assembly 104, there is a hinge hole 109 for the terminal knuckle 7 of the main finger 5, which is fixedly connected to the terminal knuckle 7 of the main finger 5 through a knurled pin, and the terminal knuckle 7 of the main finger 5 and the middle knuckle 8 are rotatably hinged and fixed through a large flat head screw nut. Below the hinge hole 109 for the terminal knuckle 7 of the flexion and extension assembly 104, there is a hinge hole 109 for the first connecting rod 1, which is rotatably connected to the first connecting rod 1 of the middle knuckle 8 of the main finger 5 through a knurled pin. The front knuckle 9 and the terminal knuckle 7 are hinged through the second connecting rod 2. The flexion and extension joint movement of the main finger 5 can be realized by driving the second driving device 1022, and the outward swing and inward swing joint movement of the main finger 5 can be realized by driving the first driving device 1021. The linkage between the first driving device 1021 and the second driving device 1022 can realize the joint movement of the main finger 5 that conforms to the biological movement characteristics of the thumb. When driving the main finger 5 to flex and extend, the linear motor is used to drive the bevel rack 108 to move. Since the bevel rack 108 is slidably set in the swing component 103 and can move with the swing component 103, when the main finger 5 needs to flex and extend to grasp, the bevel rack 108 drives the flexion and extension component 104 to swing and drive each finger joint to move. The two motion transmission structures of swinging and flexion and extension are integrated. Compared with the traditional motor drive or cylinder drive structure, it significantly reduces the space occupancy and the transmission is more efficient and reliable.

[0067] Example 4

[0068] like Figure 5 As shown, in combination with Example 1, in a bionic dexterous hand disclosed in this embodiment, the palm assembly 10 also includes a first bearing mounting seat 110 fixed to the hand base 101. Since ordinary bearings can only limit the rotation of components along one axis, the first drive device 1021 is fixed to the first bearing mounting seat 110 through a joint bearing 113. Similarly, in another embodiment, the palm assembly 10 also includes a second bearing mounting seat 111 fixed to the hand base 101, and the second drive device 1022 is fixed to the second bearing mounting seat 111 through a joint bearing 113. After adopting the joint bearing 113, the first drive device 1021 and the second drive device 1022 can not only rotate around the axis, but also retain the swing freedom of the other two axes, so that the manufacturing error can be compensated and the scope of use of the structure can be increased.

[0069] Example 5

[0070] like Figure 7As shown, in combination with Example 1, in a bionic dexterous hand disclosed in this embodiment, the palm assembly 10 also includes a third bearing mounting seat 112 fixed to the hand base 101. Since the structure and driving form of the auxiliary finger 6 are similar, multiple third driving devices 1023 are all fixed to the third bearing mounting seat 112. The multiple third driving devices 1023 are fixed through the bearing mounting seat, which simplifies the assembly process and improves the structural integration.

[0071] Further, such as Figure 7 As shown, in one embodiment, the third driving device 1023 is fixed to the third bearing mounting seat 112 through the joint bearing 113. The third driving device 1023 can rotate around the axis, so that the auxiliary finger 6 can adaptively fine-tune the posture of holding the object according to the shape of the object, compensate for manufacturing errors, and increase the scope of use of the structure.

[0072] Example 6

[0073] like Figure 5 , Figure 7 As shown, in combination with Example 1, in a bionic dexterous hand disclosed in this embodiment, in order to improve the reliability of grasping and holding objects, a control device is also included, and at least one of the front knuckle 9, the middle knuckle 8 and the terminal knuckle 7 is provided with a force sensor 4 electrically connected to the control device on the inner side; similarly, in another embodiment, the power device 102 is provided with a force sensor 4 electrically connected to the control device. It can be understood by those skilled in the art that the control device can be correspondingly arranged inside the palm assembly 10 or outside the palm assembly 10, and this embodiment does not specifically limit the arrangement position of the control device. A force feedback sensor is arranged at the tail of the linear motor, and the principle of the action and reaction force of the contact object is used, according to the physical process of the interaction force at the moment of contact between the manipulator and the object, and the corresponding resistance value change of the force sensors 4 built into the five fingers is used to collect the appearance of the touched object, so as to estimate the shape and mass of the held object and determine the implementation of the picking up, grasping and holding object movement. The force sensor 4 integrated at the tail of the power device 102 can ensure that precise force control is achieved in the process of realizing the joint movement of the fingers that conforms to the characteristics of biological animals.

[0074] Example 7

[0075] like Figure 6 , Fig. 9As shown, in combination with Example 1, in a bionic dexterous hand disclosed in this embodiment, in order to avoid damage to the object caused by direct rigid grasping of the object when grasping the object, the palm component 10 is coated with a flexible pad 3 on the outside; similarly, in one embodiment, the main finger 5 and the auxiliary finger 6 are also provided with a flexible pad 3. Elastic rubber materials are provided on the palm, back of the hand, and belly of the fingers, which are used to estimate the shape and texture information of the object through the resistance feedback value and the position information of the motor when grasping fragile and flexible objects, so as to ensure that when grasping fragile objects, the object can be grasped steadily without breaking the fragile object, and when grasping soft objects, the object can be grasped gently without breaking, so as to achieve the lightness and calmness, rigidity and flexibility of a real hand.

[0076] like Figure 3-Figure 9As shown, in combination with the aforementioned embodiments, the specific structure of the main finger 5 is as follows: the first driving device 1021 of the main finger 5 is flexibly fixedly connected to the first bearing mounting seat 110 of the hand base 101 through the joint bearing 113 at the tail, the output shaft of the first driving device 1021 is connected to the swing assembly 103 through the adapter 105 and the spur rack 106 hinged by rivets, the spur rack 106 is engaged with the transmission swing assembly 103 to drive the swing assembly 103 to swing, and the swing assembly 103 is provided with a slide groove 1032. The second driving device 1022 is flexibly fixedly connected to the second bearing mounting seat 111 of the hand base 101 through the joint bearing 113 at the tail end. The output shaft of the second driving device 1022 is hinged to the bevel rack 108 through the adapter 105. The bevel rack 108 is slidably set in the slide groove 1032 of the swing component 103. Since the second driving device 1022 is fixed on the second bearing mounting seat 111 through the joint bearing 113, the swing component 103 can drive the bevel rack 108 to adaptively adjust its position in the slide groove 1032 while swinging. The bevel rack 108 is engaged with the flexion and extension component 104, and the second driving device 1022 drives the bevel rack 108 to reciprocate in the slide groove 1032, which can drive the flexion and extension component 104 to rotate around the axis. The flexion and extension assembly 104 is hinged to the hinge hole 109 of the terminal knuckle 7 of the main finger 5 through a knurled pin, the terminal knuckle 7 and the middle knuckle 8 are rotationally connected through a screw nut, the proximal end of the first connecting rod 1 is rotationally connected to the flexion and extension assembly 104 through a knurled pin, the distal end of the first connecting rod 1 is rotationally connected to the middle knuckle 8 through a knurled pin, and the hinge hole 109 of the second connecting rod 2 is provided directly below the mounting holes of the terminal knuckle 7 and the middle knuckle 8, the proximal end of the second connecting rod 2 is rotationally connected to the hinge hole 109 of the terminal knuckle 7 through a knurled pin, the middle knuckle 8 is rotationally connected to the front knuckle 9 through a knurled pin, and the distal end of the second connecting rod 2 is rotationally connected to the front knuckle 9 through a knurled pin shaft. The finger pad and the back of the terminal knuckle 7 are respectively embedded with a flexible pad 3, the finger pad and the back of the middle knuckle 8 are respectively embedded with a flexible pad 3, and the end of the front knuckle 9 is embedded with a flexible pad 3. By driving the first driving device 1021 and the second driving device 1022 , the composite movement of the swing and flexion and extension of the main finger 5 can be realized.

[0077] The specific structure of the auxiliary finger 6 is as follows: the third drive device 1023 of the auxiliary finger 6 is flexibly fixedly connected to the third bearing mounting seat 112 of the hand base 101 through the joint bearing 113 at the tail end, the output shaft of the third drive device 1023 is hinged to the through-hole knurled pin of the mounting hole of the terminal knuckle 7 of the auxiliary finger 6 through the adapter 105, the terminal knuckle 7 is hinged to the hand base 101 through a long knurled pin shaft, the terminal knuckle 7 and the middle knuckle 8 are rotationally connected through a screw nut, the proximal end of the first connecting rod 1 is rotationally connected to the hand base 101 through a long knurled pin shaft, the distal end of the first connecting rod 1 is rotationally connected to the middle finger through a knurled pin, there is a mounting hole of the second connecting rod 2 directly below the mounting holes of the terminal knuckle 7 and the middle knuckle 8, the proximal end of the second connecting rod 2 is rotationally connected to the mounting hole of the terminal knuckle 7 through a knurled pin, the middle knuckle 8 is rotationally connected to the front end knuckle 9 through a knurled pin, and the distal end of the second connecting rod 2 is rotationally connected to the front end knuckle 9 through a knurled pin shaft. The finger pads and backs of the terminal knuckles 7 are respectively embedded with flexible pads 3, the finger pads and backs of the middle knuckles 8 are respectively embedded with flexible pads 3, and the end of the front knuckles 9 is embedded with flexible pads 3. By driving the third driving device 1023 to reciprocate, the auxiliary finger 6 can be flexed and extended to reciprocate.

[0078] The present application discloses a bionic dexterous hand, in which the 15 degrees of freedom of the five fingers are driven by six linear motors respectively, wherein the thumb is driven by two linear motors in combination with two gear rack pairs to realize the outward swing and flexion and extension movement of the thumb, and the other four fingers are converted into the flexion and extension movement of the fingers by a multi-link mechanism through the linear motion output by the linear motor, thereby realizing the movement of the fingers such as picking up, grasping, and holding objects. The bionic dexterous hand with force sensing capability provided by the present application replaces the tendons of the finger parts with a compact linear servo motor, and integrates a force sensor 4 between the servo motor and the terminal knuckle 7, which can accurately realize the biomechanical functions of the hand, and has achieved a high imitation of human hands in terms of both form and spirit in terms of bionic structure and bionic motion characteristics.

[0079] The technical solution protected by the present invention is not limited to the above-mentioned embodiments. It should be pointed out that the combination of the technical solution of any one embodiment with the technical solution of one or more other embodiments is within the protection scope of the present invention. Although the present invention has been described in detail above with general descriptions and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to it based on the present invention. Therefore, these modifications or improvements made on the basis of not departing from the spirit of the present invention all belong to the scope of protection claimed by the present invention.

Claims

1. A bionic dexterous hand, characterized in that: It comprises a palm component, a main finger which is bionic as a thumb, and a plurality of auxiliary fingers which cooperate with the main finger to grasp; The palm assembly includes a hand base and a power device installed on the hand base, and the main fingers and auxiliary fingers each include a front knuckle, a middle knuckle and a terminal knuckle that are hinged to each other in sequence; The power device comprises a first driving device and a second driving device for driving the main finger to move, the first driving device is transmission-connected to the swing assembly, the second driving device is transmission-connected to the flexion-extension assembly, the flexion-extension assembly is hinged to the swing assembly to rotate along the hinge point under the action of the second driving device, the terminal knuckle of the main finger is hinged to the flexion-extension assembly, and the flexion-extension assembly is transmission-connected to the middle knuckle of the main finger through the first connecting rod; The power device further comprises a plurality of third driving devices for driving each of the auxiliary fingers to move, the terminal knuckles of the auxiliary fingers are hinged to the third driving devices, and the middle knuckles are hinged to the hand base via a first connecting rod; The front end knuckles and the terminal knuckles of the main finger and the auxiliary finger are respectively hinged via a second connecting rod; The output end of the second driving device is hinged with a bevel rack, the flexion-extension assembly is provided with a bevel tooth portion meshing with the bevel rack, the bevel tooth portion is arranged around the hinge point between the flexion-extension assembly and the swing assembly, and the second driving device drives the bevel rack to move to drive the flexion-extension assembly to rotate around the hinge point; The swing assembly is provided with a slide groove, the bevel rack is slidably arranged in the swing assembly, and the second driving device drives the bevel rack to reciprocate along the slide groove to drive the flexion and extension assembly to rotate forward or reversely around the hinge point; The flexion and extension assembly also includes a swing arm extending radially along the oblique tooth portion, and the swing arm is provided with a hinge hole hinged to the terminal knuckle and a hinge hole hinged to the middle knuckle.

2. The bionic dexterous hand according to claim 1, characterized in that: The output end of the first driving device is hinged with a spur rack, and the swing assembly is provided with an arc-shaped tooth portion meshing with the spur rack. The first driving device drives the spur rack to move to drive the swing assembly to swing along the arc of the arc-shaped tooth portion.

3. The bionic dexterous hand according to claim 1, characterized in that: The palm assembly further comprises a first bearing mounting seat fixed to the hand base, and the first driving device is fixed to the first bearing mounting seat via a joint bearing; And / or, the palm assembly further includes a second bearing mounting seat fixed to the hand base, and the second driving device is fixed to the second bearing mounting seat via a joint bearing.

4. The bionic dexterous hand according to claim 1, characterized in that: The palm assembly also includes a third bearing mounting seat fixed to the hand base, and the plurality of third driving devices are all fixed to the third bearing mounting seat.

5. The bionic dexterous hand according to claim 4, characterized in that: The third driving device is fixed to the third bearing mounting seat through a spherical bearing.

6. The bionic dexterous hand according to claim 1, characterized in that: It also includes a control device, wherein at least one of the front knuckle, the middle knuckle and the terminal knuckle is provided with a force sensor electrically connected to the control device on its inner side; And / or, the power device is provided with a force sensor electrically connected to the control device.

7. The bionic dexterous hand according to claim 1, characterized in that: The palm component is externally covered with a flexible pad; And / or, the primary finger and the auxiliary finger are provided with flexible pads.

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