A multi-mode anthropomorphic manipulator integrating a driving link and a coupling rope

Abstract

The present invention discloses a multi-mode anthropomorphic manipulator integrating a driving link and a coupling rope, which relates to a humanoid manipulator for limb-disabled patients. The manipulator is composed of a driving link mechanism and a coupling rope mechanism. The main driving motor drives the link transmission mechanism as the power mechanism for the movement of the manipulator. The coupling rope and the link together form a cross-coupling mechanism to enable the anthropomorphic coupling movement of the three finger joints. By controlling the length and tension state of the coupling rope through a micro-motor, the functions of non-coupling, fixed-coupling, and variable-coupling adaptive under-actuated grasping can be integrated. Moreover, the coupling ratio between the finger joints can present different variation laws according to the grasped object, greatly enhancing the anthropomorphism and grasping space of the prosthetic hand. The present invention combines the advantages of the link transmission and the rope transmission mechanisms, with a strong overall structural rigidity, a large grasping force, flexible operation, and high anthropomorphism and multiple grasping modes.

Description

Technical Field

[0001] The present invention belongs to the field of humanoid manipulators, and particularly relates to a multi-mode anthropomorphic manipulator integrating a driving link and a coupling rope. Background Art

[0002] An underactuated mechanism refers to a type of mechanism in which the number of actuators is less than the degrees of freedom of the mechanism. It omits some driving elements and can meet the requirements of full actuation, reducing weight and saving energy consumption at the same time. Therefore, it has great advantages in the application of manipulators. Currently, this type of mechanism has become one of the main directions in the design of humanoid manipulators, and common design schemes include coupled manipulators, adaptive underactuated manipulators, and coupled adaptive underactuated manipulators.

[0003] The proximal phalanx, middle phalanx, and distal phalanx of a coupled manipulator are coupled to each other, and the three phalanges rotate simultaneously at a fixed coupling ratio under the drive of a motor. The motion process of a coupled manipulator is relatively similar to that of a human hand, with high anthropomorphism. However, when any phalanx of the manipulator touches an object, the remaining phalanges will no longer be able to move, and it is impossible to achieve enveloping grasping of the object.

[0004] In an adaptive underactuated manipulator, one degree of freedom is constrained by an elastic element. Before the manipulator touches an object, the elastic element constrains the manipulator to maintain its initial shape, and the three phalanges of the manipulator rotate together as a whole. When the proximal phalanx touches an object, the original degree of freedom is constrained, and under the drive of a motor, the elastic element is stretched, releasing a new degree of freedom, enabling the middle phalanx and the distal phalanx to continue to envelop and grasp the object until all phalanges are in contact with the object. The adaptive underactuated manipulator can achieve enveloping grasping of an object, and has a large grasping space, which is particularly beneficial for grasping large flat objects. However, before the phalanges touch an object, there is no relative movement between them, the action is rigid, the anthropomorphism is poor, and it is impossible to complete an empty fist grip.

[0005] In recent years, most humanoid manipulators belong to coupled adaptive underactuated manipulators. This type of manipulator combines the advantages of coupled manipulators and adaptive underactuated manipulators. Before the manipulator touches an object, the phalanges rotate simultaneously at a fixed coupling ratio, with certain anthropomorphic characteristics. When the proximal phalanx touches an object, a new degree of freedom is released through the elastic element, and the remaining phalanges can continue to move to complete the enveloping grasping of the object.

[0006] In most of the existing coupled adaptive underactuated manipulators, they are mostly pure link or pure cable drives. For the link drive type manipulator, there are problems such as non-fixed transmission ratio, large weight, and large volume. For the cable drive type manipulator, there are problems such as poor rigidity, easy cable relaxation, and small fingertip grasping force, resulting in unstable grasping of the manipulator, high maintenance rate, and short service life. In recent years, some studies have proposed to integrate the link mechanism and the cable mechanism, making comprehensive use of the advantages of the link drive and the cable drive mechanisms, such as Patent CN212650954U, a prosthetic hand that improves the stability of grasping actions, and Patent CN209827112U, a combined underactuated bionic prosthetic finger with a driving cable and a four-link mechanism. However, most of the existing manipulators with combined link and cable drives use the cable mechanism as the drive, and the link mechanism only plays the role of coupling between finger joints. There is still a large room for improvement in terms of the rigidity of the transmission mechanism, the energy transfer efficiency, and the fingertip grasping force of the manipulator. In addition, the coupling ratios between the proximal phalanx and the middle phalanx, and between the middle phalanx and the distal phalanx of the existing coupled adaptive underactuated manipulator are fixed values during the bending and grasping motion of the manipulator, as well as under different grasping methods (such as empty fist grasping, enveloping grasping, and pinching grasping, etc.). However, when the real human hand actually moves, the coupling ratios between the proximal phalanx and the middle phalanx, and between the middle phalanx and the distal phalanx will change continuously with the grasping motion of the human hand, and the variation laws of the coupling ratios are also different under different grasping methods. Summary of the Invention

[0007] The purpose of the present invention is to overcome the deficiencies in the prior art and provide a multi-mode anthropomorphic manipulator with a combined drive link and coupling cable. This manipulator is composed of a drive link mechanism and a coupling cable mechanism, integrating the advantages of the link drive mechanism, which is stable and reliable and has a large fingertip grasping force, and the cable drive mechanism, which is light in weight, small in volume, and highly flexible. By controlling the length and tension state of the coupling cable with a micro motor, the functions of uncoupled adaptive underactuated grasping, fixed-coupling adaptive underactuated grasping, and variable-coupling adaptive underactuated grasping are integrated. Moreover, the coupling ratio between finger joints can show different variation laws according to the grasped object, greatly enhancing the anthropomorphism and grasping space of the manipulator.

[0008] The present invention adopts the following technical solutions:

[0009] A multi-mode anthropomorphic manipulator with integrated drive link and coupling rope, which consists of a base, a drive link mechanism and a coupling rope mechanism. The drive link mechanism includes a main drive motor, a reducer, a small spur gear, a large spur gear, a near joint shaft, a middle joint shaft, a far joint shaft, a near finger joint execution link, a near finger joint drive link, a near finger joint link shaft, a near finger joint transmission link, a near joint torsion spring, a middle finger joint drive link, a middle finger joint execution link, a middle finger joint transmission link, a middle finger joint link shaft, a middle joint torsion spring, a far finger joint execution link and a far finger joint link shaft. The coupling rope mechanism includes a micro motor, a small reduction gear, a large reduction gear, a rope winding central shaft, a near finger joint rope winding sheave, a middle finger joint rope winding sheave, a near finger joint coupling rope, a middle finger joint coupling rope, a reversing shaft, a near finger joint coupling shaft and a middle finger joint coupling shaft.

[0010] In the drive link mechanism of the present invention, the near finger joint execution link is fixedly connected to the near finger joint, the middle finger joint execution link is fixedly connected to the middle finger joint, and the far finger joint execution link is fixedly connected to the far finger joint. The near finger joint and the middle finger joint are rotationally connected through the middle joint shaft, and the middle finger joint and the far finger joint are rotationally connected through the far joint shaft. The main drive motor is fixedly connected to the base, the output shaft of the main drive motor is connected to the input shaft of the reducer, the output shaft of the reducer is connected to the small spur gear by a key, the small spur gear meshes with the large spur gear, and the large spur gear is connected to the near joint shaft by a key. One end of the near finger joint drive link is fixedly connected to the near joint shaft, and the other end is rotationally connected to one end of the near finger joint transmission link through the near finger joint link shaft. The other end of the near finger joint transmission link is rotationally connected to one end of the middle finger joint drive link through the middle finger joint link shaft. The other end of the middle finger joint drive link is rotationally connected to one end of the near finger joint execution link through the middle joint shaft, and the other end of the near finger joint execution link is rotationally connected to the near joint shaft. One end of the middle finger joint transmission link is rotationally connected to the middle finger joint link shaft, and the other end is rotationally connected to one end of the far finger joint execution link through the far finger joint link shaft. The other end of the far finger joint execution link is rotationally connected to one end of the middle finger joint execution link through the far joint shaft, and the other end of the middle finger joint execution link is rotationally connected to the middle joint shaft. The two ends of the near joint torsion spring are respectively connected to the near finger joint drive link and the near finger joint execution link, and the two ends of the middle joint torsion spring are respectively connected to the middle finger joint drive link and the middle finger joint execution link.

[0011] The axes of the near joint shaft, the near finger joint link shaft, the middle joint shaft, the middle finger joint link shaft, the far joint shaft and the far finger joint link shaft are parallel to each other. The numbers of the near finger joint drive link, the near finger joint transmission link, the near finger joint execution link, the middle finger joint transmission link and the middle finger joint execution link are all two, and they are symmetrically distributed left and right.

[0012] In the coupling rope mechanism of the present invention, the micro-motor is fixedly connected to the base. The output shaft of the micro-motor is key-connected to the small reduction gear. The small reduction gear meshes with the large reduction gear, and the large reduction gear is key-connected to the rope winding central shaft. The large reduction gear, the near finger joint rope winding sheave, and the middle finger joint rope winding sheave are coaxially connected and are all fixed to the rope winding central shaft. The reversing shaft and the near finger joint coupling shaft are both fixed to the base, and the middle finger joint coupling shaft is fixed to the near finger joint. One end of the near finger joint coupling rope is wound around the near finger joint rope winding sheave, and the other end is first reversed by the reversing shaft, then bypasses the near finger joint coupling shaft, and finally is fixed to the middle finger joint link shaft. One end of the middle finger joint coupling rope is wound around the middle finger joint rope winding sheave, and the other end is first reversed by the reversing shaft, then bypasses the middle finger joint coupling shaft, and finally is fixed to the far finger joint link shaft.

[0013] The near finger joint coupling rope of the present invention, together with the near finger joint actuating link, the middle finger joint driving link, and the base, constitutes a cross-coupling mechanism. When the manipulator performs a grasping motion, the near finger joint and the middle finger joint rotate together in a coupled motion. The coupling ratio is the rotational speed ratio between the two finger joints and is determined by the length of the near finger joint coupling rope between the near finger joint coupling shaft and the middle finger joint link shaft. The middle finger joint coupling rope, together with the middle finger joint actuating link, the far finger joint actuating link, and the near finger joint, constitutes a cross-coupling mechanism. When the manipulator performs a grasping motion, the middle finger joint and the far finger joint rotate together in a coupled motion. The coupling ratio is determined by the length of the middle finger joint coupling rope between the middle finger joint coupling shaft and the far finger joint link shaft. The lengths and tension states of the near finger joint coupling rope and the middle finger joint coupling rope are controlled by the micro-motor through the near finger joint rope winding sheave and the middle finger joint rope winding sheave respectively. When the micro-motor is not powered on, the near finger joint coupling rope and the middle finger joint coupling rope are in a relaxed state. At this time, the manipulator is in a non-coupled adaptive underactuated grasping mode, and the three finger joints of the manipulator rotate together as a whole. Only after the near finger joint touches an object, the middle finger joint will rotate relative to the near finger joint. After the middle finger joint touches an object, the far finger joint will rotate relative to the middle finger joint. When the micro-motor is powered on and self-locked, the near finger joint coupling rope and the middle finger joint coupling rope are tensioned and have a fixed length. At this time, the manipulator is in a fixed-coupling adaptive underactuated grasping mode. When the manipulator performs a grasping motion, the near finger joint and the middle finger joint, and the middle finger joint and the far finger joint move according to different coupling ratios respectively. When the micro-motor rotates together with the main driving motor, under the pulling force of the middle finger joint driving link and the far finger joint actuating link, the near finger joint coupling rope and the middle finger joint coupling rope are loosened and lengthened from the near finger joint rope winding sheave and the middle finger joint rope winding sheave respectively. At this time, the manipulator is in a variable-coupling adaptive underactuated grasping mode. When the manipulator performs a grasping motion, the coupling ratios between the near finger joint and the middle finger joint, and the middle finger joint and the far finger joint change with the length of the coupling rope.

[0014] In the present invention, when the micro motor rotates together with the main drive motor, the manipulator is in a variable coupling adaptive under-actuated grasping mode. In this mode, during the initial movement, the coupling ratio between the proximal phalanx and the middle phalanx is α0, and the coupling ratio between the middle phalanx and the distal phalanx is β0. As the speed ratio λ of the micro motor and the main drive motor increases, the coupling ratios between the proximal phalanx and the middle phalanx, and between the middle phalanx and the distal phalanx increase accordingly. When the speed ratio increases to λ1, the middle phalanx and the distal phalanx reach the maximum coupling ratio β max , when the speed ratio exceeds λ1, the coupling rope of the middle phalanx becomes slack because the speed of loosening from the rope groove wheel of the middle phalanx is too fast, resulting in the loss of the coupling effect between the middle phalanx and the distal phalanx. When the speed ratio increases to λ2, the proximal phalanx and the middle phalanx reach the maximum coupling ratio α max , when the speed ratio exceeds λ2, the coupling rope of the proximal phalanx becomes slack, resulting in the loss of the coupling effect between the proximal phalanx and the middle phalanx. Among them, by changing the speed of the micro motor, the coupling ratios α and β can show different variation laws.

[0015] The technical advantages and beneficial effects of the present invention are as follows:

[0016] The present invention adopts a rod-rope integrated transmission mechanism. The main drive motor drives the connecting rod transmission mechanism as the power mechanism for the movement of the manipulator. The coupling rope and the connecting rod together form a cross-coupling mechanism, enabling the three phalanges to perform anthropomorphic coupling motion. This mechanism combines the advantages of the connecting rod transmission mechanism, which is stable and reliable, and has a large fingertip grasping force, with the advantages of the rope transmission mechanism, which is light in weight, small in volume, and highly flexible.

[0017] The present invention can control the length and tension state of the coupling rope through the micro motor, realizing the function of integrating non-coupling adaptive under-actuated grasping, fixed-coupling adaptive under-actuated grasping, and variable-coupling adaptive under-actuated grasping. Moreover, the coupling ratio between the phalanges can show different variation laws according to the grasped object, greatly enhancing the anthropomorphism and grasping space of the manipulator. When the micro motor is not powered on, the coupling rope fails, and the manipulator is in a non-coupling adaptive under-actuated grasping mode. In this mode, the grasping space of the manipulator is the largest, which is particularly beneficial for grasping large-plane and large-volume objects. When the micro motor is powered on and self-locked, the coupling rope is tightened and the length is fixed, and the manipulator is in a fixed-coupling adaptive under-actuated grasping mode. In this mode, the three phalanges are in full contact with the object, and the grasping is stable and reliable, which is particularly beneficial for enveloping and grasping most medium-volume cylindrical and spherical objects in daily life. When the micro motor rotates together with the main drive motor, the coupling rope loosens from the rope groove wheel and becomes longer, and the manipulator is in a variable-coupling adaptive under-actuated grasping mode. In this mode, the kinematic characteristics of the manipulator are closest to those of the human hand, with high anthropomorphism, and it is particularly beneficial for lifting common bag-shaped and hook-shaped objects in daily life, as well as cooperating with the thumb to pinch and grasp small objects of various shapes. Description of the Drawings

[0018] Figure 1 This is the schematic diagram of the mechanism of the present invention.

[0019] Figure 2 This is a partial structure diagram of a specific implementation of the present invention.

[0020] Figure 3 This is the overall structure diagram of a specific implementation of the present invention.

[0021] Figure 4 This is the front view of a specific implementation of the present invention.

[0022] Figure 5 This is the graph of the change rule of the interphalangeal coupling ratio of a specific implementation of the present invention.

[0023] Figure 6 This is the schematic diagram of the process of empty hand clenching of a specific implementation of the present invention.

[0024] Figure 7 This is the schematic diagram of the process of grasping a large flat object of a specific implementation of the present invention (uncoupled adaptive underactuated mode).

[0025] Figure 8 This is the schematic diagram of the process of envelope grasping of a specific implementation of the present invention (fixed-coupling adaptive underactuated mode).

[0026] Figure 9 This is the schematic diagram of the process of lifting a bag-shaped object of a specific implementation of the present invention (variable-coupling adaptive underactuated mode).

[0027] Figure 10 This is the schematic diagram of the process of releasing an object of a specific implementation of the present invention.

[0028] 1 - Base, 2 - Main drive motor, 3 - Reducer, 4 - Small spur gear, 5 - Large spur gear, 6 - Proximal joint axis, 7 - Proximal phalanx drive link, 8 - Proximal phalanx link axis, 9 - Proximal phalanx transmission link, 10 - Middle phalanx link axis, 11 - Middle phalanx drive link, 12 - Middle joint axis, 13 - Proximal phalanx actuator link, 14 - Middle phalanx transmission link, 15 - Distal phalanx link axis, 16 - Distal phalanx actuator link, 17 - Distal joint axis, 18 - Middle phalanx actuator link, 19 - Proximal joint torsion spring, 20 - Middle joint torsion spring, 21 - Proximal phalanx, 22 - Middle phalanx, 23 - Distal phalanx, 24 - Micro motor, 25 - Small reduction gear, 26 - Large reduction gear, 27 - Rope winding central axis, 28 - Proximal phalanx rope winding sheave, 29 - Middle phalanx rope winding sheave, 30 - Proximal phalanx coupling rope, 31 - Middle phalanx coupling rope, 32 - Reversing axis, 33 - Proximal phalanx coupling axis, 34 - Middle phalanx coupling axis, 35 - Sensor, 36 - Object. Detailed implementation manners

[0029] The following further describes in detail the specific embodiments of the present invention in conjunction with the accompanying drawings and embodiments, but the method of the present invention is not limited to the following embodiments.

[0030] A multi-mode anthropomorphic manipulator integrating a driving link and a coupling rope provided by the present invention has a mechanism principle as Figure 1 shown. The partial structure diagram, overall structure diagram, and front view of the specific structure are respectively as Figure 2 , Figure 3 and Figure 4 shown, and it mainly consists of a base 1, a driving link mechanism, and a coupling rope mechanism. In this embodiment, the driving link mechanism includes a main driving motor 2, a reducer 3, a small spur gear 4, a large spur gear 5, a proximal joint shaft 6, a middle joint shaft 12, a distal joint shaft 17, a proximal phalanx execution link 13, a proximal phalanx driving link 7, a proximal phalanx link shaft 8, a proximal phalanx transmission link 9, a proximal joint torsion spring 19, a middle phalanx driving link 11, a middle phalanx execution link 18, a middle phalanx transmission link 14, a middle phalanx link shaft 10, a middle joint torsion spring 20, a distal phalanx execution link 16, and a distal phalanx link shaft 15. The coupling rope mechanism includes a micro motor 24, a small reduction gear 25, a large reduction gear 26, a rope winding central shaft 27, a proximal phalanx rope winding sheave 28, a middle phalanx rope winding sheave 29, a proximal phalanx coupling rope 30, a middle phalanx coupling rope 31, a reversing shaft 32, a proximal phalanx coupling shaft 33, and a middle phalanx coupling shaft 34.

[0031] In this embodiment, the near phalanx actuating link 13 in the driving link mechanism is fixedly connected to the near phalanx 21, the middle phalanx actuating link 18 is fixedly connected to the middle phalanx 22, and the far phalanx actuating link 16 is fixedly connected to the far phalanx 23. The near phalanx 21 and the middle phalanx 22 are rotatably connected through the middle joint axis 12, and the middle phalanx 22 and the far phalanx 23 are rotatably connected through the far joint axis 17. The main driving motor 2 is fixedly connected to the base 1. The output shaft of the main driving motor 2 is connected to the input shaft of the reducer 3. The output shaft of the reducer 3 is key-connected to the small spur gear 4. The small spur gear 4 meshes with the large spur gear 5. The large spur gear 5 is key-connected to the near joint axis 6. One end of the near phalanx driving link 7 is fixedly connected to the near joint axis 6, and the other end is rotatably connected to one end of the near phalanx transmission link 9 through the near phalanx link axis 8. The other end of the near phalanx transmission link 9 is rotatably connected to one end of the middle phalanx driving link 11 through the middle phalanx link axis 10. The other end of the middle phalanx driving link 11 is rotatably connected to one end of the near phalanx actuating link 13 through the middle joint axis 12. The other end of the near phalanx actuating link 13 is rotatably connected to the near joint axis 6. One end of the middle phalanx transmission link 14 is rotatably connected to the middle phalanx link axis 10, and the other end is rotatably connected to one end of the far phalanx actuating link 16 through the far phalanx link axis 15. The other end of the far phalanx actuating link 16 is rotatably connected to one end of the middle phalanx actuating link 18 through the far joint axis 17. The other end of the middle phalanx actuating link 18 is rotatably connected to the middle joint axis 12. The two ends of the near joint torsion spring 19 are respectively connected to the near phalanx driving link 7 and the near phalanx actuating link 13, and the two ends of the middle joint torsion spring 20 are respectively connected to the middle phalanx driving link 11 and the middle phalanx actuating link 18.

[0032] In this embodiment, the axes of the near joint axis 6, the near phalanx link axis 8, the middle joint axis 12, the middle phalanx link axis 10, the far joint axis 17 and the far phalanx link axis 15 are parallel to each other. The numbers of the near phalanx driving link 7, the near phalanx transmission link 9, the near phalanx actuating link 13, the middle phalanx transmission link 14 and the middle phalanx actuating link 18 are all two, and they are symmetrically distributed on the left and right.

[0033] In this embodiment, the micro motor 24 in the coupling rope mechanism is fixedly connected to the base 1. The output shaft of the micro motor 24 is key-connected to the small reduction gear 25. The small reduction gear 25 meshes with the large reduction gear 26. The large reduction gear 26 is key-connected to the rope winding central shaft 27. The large reduction gear 26, the near finger joint rope winding sheave 28 and the middle finger joint rope winding sheave 29 are coaxially connected and are all fixed to the rope winding central shaft 27. The reversing shaft 32 and the near finger joint coupling shaft 33 are both fixed to the base 1. The middle finger joint coupling shaft 34 is fixed to the near finger joint 21. One end of the near finger joint coupling rope 30 is wound around the near finger joint rope winding sheave 28, and the other end is first reversed by the reversing shaft 32, then bypasses the near finger joint coupling shaft 33, and finally is fixed to the middle finger joint connecting rod shaft 10. One end of the middle finger joint coupling rope 31 is wound around the middle finger joint rope winding sheave 29, and the other end is first reversed by the reversing shaft 32, then bypasses the middle finger joint coupling shaft 34, and finally is fixed to the far finger joint connecting rod shaft 15.

[0034] In this embodiment, the near finger joint coupling rope 30, the near finger joint actuating link 13, the middle finger joint driving link 11 and the base 1 together form a cross-coupling mechanism, such that when the manipulator performs a grasping motion, the near finger joint 21 and the middle finger joint 22 rotate together, showing a coupled motion. The coupling ratio is the rotational speed ratio between the two finger joints and is determined by the length of the near finger joint coupling rope 30 between the near finger joint coupling shaft 33 and the middle finger joint connecting rod shaft 10. The middle finger joint coupling rope 31, the middle finger joint actuating link 18, the far finger joint actuating link 16 and the near finger joint together form a cross-coupling mechanism, such that when the manipulator performs a grasping motion, the middle finger joint 22 and the far finger joint 23 rotate together, showing a coupled motion. The coupling ratio is determined by the length of the middle finger joint coupling rope 31 between the middle finger joint coupling shaft 34 and the far finger joint connecting rod shaft 15.

[0035] In this embodiment, the lengths and tension states of the proximal phalanx coupling rope 30 and the middle phalanx coupling rope 31 are controlled by the micro motor 24 through the proximal phalanx rope winding sheave 28 and the middle phalanx rope winding sheave 29 respectively. When the micro motor 24 is not powered on, the proximal phalanx coupling rope 30 and the middle phalanx coupling rope 31 are in a relaxed state. At this time, the manipulator is in an uncoupled adaptive underactuated grasping mode, and the three phalanges of the manipulator rotate together as a whole. Only after the proximal phalanx touches an object, the middle phalanx 22 will rotate relative to the proximal phalanx 21. After the middle phalanx 22 touches an object, the distal phalanx 23 will rotate relative to the middle phalanx 22. In this mode, the grasping space of the manipulator is the largest, which is particularly beneficial for grasping large-plane and large-volume objects. When the micro motor 24 is powered on and self-locked, the proximal phalanx coupling rope 30 and the middle phalanx coupling rope 31 are tensioned and their lengths are fixed. At this time, the manipulator is in a fixed-coupling adaptive underactuated grasping mode. When the manipulator performs a grasping motion, the proximal phalanx 21 and the middle phalanx 22, and the middle phalanx 22 and the distal phalanx 23 move according to different coupling ratios respectively. In this mode, the three phalanges are in full contact with the object, and the grasping is stable and reliable, which is particularly beneficial for enveloping and grasping most medium-volume columnar and spherical objects in daily life. When the micro motor 24 rotates with the main drive motor 2, under the pulling force of the middle phalanx drive link 11 and the distal phalanx execution link 16, the proximal phalanx coupling rope 30 and the middle phalanx coupling rope 31 are loosened from the proximal phalanx rope winding sheave 28 and the middle phalanx rope winding sheave 29 respectively and become longer. At this time, the manipulator is in a variable-coupling adaptive underactuated grasping mode. When the manipulator performs a grasping motion, the coupling ratios between the proximal phalanx 21 and the middle phalanx 22, and the middle phalanx 22 and the distal phalanx 23 change with the change of the length of the coupling rope. In this mode, the kinematic characteristics of the manipulator are closest to those of the human hand, with high anthropomorphism, and it is particularly beneficial for lifting common bag-shaped and hook-shaped objects in daily life, and for cooperating with the thumb to pinch and grasp small objects of various shapes.

[0036] In this embodiment, when the micro motor 24 rotates with the main drive motor 2, the manipulator is in a variable-coupling adaptive underactuated grasping mode. The coupling ratio change curve of the phalanges in this mode is as Figure 5 shown. At the initial motion, the coupling ratio between the proximal phalanx 21 and the middle phalanx 22 is α0, and the coupling ratio between the middle phalanx 22 and the distal phalanx 23 is β0. As the speed ratio λ of the micro motor 24 and the main drive motor 2 increases, the coupling ratios between the proximal phalanx 21 and the middle phalanx 22, and the middle phalanx 22 and the distal phalanx 23 increase accordingly. When the speed ratio increases to λ1, the middle phalanx 22 and the distal phalanx 23 reach the maximum coupling ratio β max . When the speed ratio exceeds λ1, the middle phalanx coupling rope 31 is loosened from the middle phalanx rope winding sheave 29 too fast, causing the middle phalanx coupling rope 31 to become a relaxed state, resulting in the loss of the coupling effect between the middle phalanx 22 and the distal phalanx 23. When the speed ratio increases to λ2, the proximal phalanx 21 and the middle phalanx 22 reach the maximum coupling ratio αmax ; When the speed ratio exceeds λ2, the near finger joint coupling rope 30 becomes slack, resulting in the loss of the coupling effect between the near finger joint 21 and the middle finger joint 22. Among them, by changing the speed of the micro motor 24, the coupling ratios α and β can show different variation laws, so that the manipulator can be applied to a variety of application scenarios.

[0037] An embodiment of the multi-mode anthropomorphic manipulator integrating a driving link and a coupling rope according to the present invention, the specific movement and object grasping process are combined Figure 6 、 Figure 7 、 Figure 8 and Figure 9 are described as follows:

[0038] Such as Figure 6 is a common empty fist clenching process when the manipulator of this embodiment does not contact the object. At this time, the manipulator is in a variable coupling adaptive underactuated grasping mode. In this mode, the main drive motor 2 drives the near finger joint drive link 7 to rotate around the near joint axis 6 after being decelerated by the gear. The near finger joint drive link 7 pushes the middle finger joint drive link 11 through the near finger joint transmission link 9, and pushes the near finger joint execution link 13 to rotate through the near joint torsion spring 19. The middle finger joint drive link 11 pushes the far finger joint execution link 16 through the middle finger joint transmission link 14, and pushes the middle finger joint execution link 18 to rotate through the middle joint torsion spring 20. As the micro motor 24 rotates, the near finger joint coupling rope 30 is loosened from the near finger joint around the rope groove wheel 28 and becomes longer. Under the constraint of the near finger joint coupling rope 30, the near finger joint 21 and the middle finger joint 22 move together with a variable coupling ratio. At the same time, the middle finger joint coupling rope 31 is loosened from the middle finger joint around the rope groove wheel 29 and becomes longer. Under the constraint of the middle finger joint coupling rope 31, the middle finger joint 22 and the far finger joint 23 move together with a variable coupling ratio.

[0039] Such as Figure 7For the grasping process of large-plane and large-volume objects in this embodiment, the micro motor 24 is not powered on, the ropes are in a relaxed state, the near-knuckle coupling rope 30 and the middle-knuckle coupling rope 31 fail, and the manipulator is in a non-coupled adaptive underactuated grasping mode. In this mode, the grasping space of the manipulator is the largest, which is particularly beneficial for grasping large-plane and large-volume objects. Driven by the main drive motor 2, its near knuckle 21, middle knuckle 22 and far knuckle 23 rotate together as a whole. When the near knuckle 21 touches the object 36, the near knuckle 21 is restricted from continuing to rotate. Driven by the main drive motor 2, the near-knuckle drive link 7 continues to rotate around the near joint axis 6, and the near joint torsion spring 19 is compressed. The middle-knuckle drive link 11 is pushed to continue rotating around the middle joint axis 12 through the near-knuckle transmission link 9. Constrained by the middle joint torsion spring 20, the middle knuckle 22 and the far knuckle 23 maintain their initial shapes and continue to rotate. When the middle knuckle 22 also touches the object 36, the middle knuckle 22 is restricted, and the main drive motor 2 continues to drive the near-knuckle drive link 7 to rotate. The near joint torsion spring 19 is further compressed, and the middle joint torsion spring 20 is also compressed. The far-knuckle actuator link 16 is pushed to continue rotating around the far joint axis 17 through the near-knuckle transmission link 9 and the middle-knuckle transmission link 14 until the far knuckle 23 also contacts the object 36.

[0040] Such as Figure 8For the process of enveloping and grasping an object in this embodiment, the micro motor 24 is energized and self-locked, the rope is in a tensioned state and its length is fixed, and the manipulator is in a fixed-coupling adaptive underactuated grasping mode. In this mode, the three finger joints are in full contact with the object, and the grasping is stable and reliable, which is especially beneficial for enveloping and grasping most medium-sized cylindrical and spherical objects in daily life. Before the manipulator touches the object 36, the main drive motor 2 drives the proximal finger joint drive link 7 to rotate around the proximal joint axis 6, and transmits the power to the middle finger joint 22 and the distal finger joint 23 through the proximal finger joint transmission link 9 and the middle finger joint transmission link 14 respectively. Under the constraint of the proximal finger joint coupling rope 30 and the middle finger joint coupling rope 31, the proximal finger joint 21, the middle finger joint 22 and the distal finger joint 23 rotate together with a fixed coupling ratio. When the proximal finger joint 21 first touches the object 36, the proximal finger joint is restricted from further rotation. At this time, the sensor 35 arranged on the surface of the proximal finger joint 21 in contact with the object 36 sends a signal to the controller, and the controller controls the micro motor 24 to rotate together with the main drive motor 2, so that the proximal finger joint coupling rope 30 is loosened from the proximal finger around the rope groove wheel 28 under the pulling of the middle finger joint link shaft 10, releasing the constraint of the proximal finger joint coupling rope 30 on the proximal finger joint 21 and the middle finger joint 22. Under the drive of the main drive motor 2, the proximal finger joint drive link 7 continues to rotate, the proximal joint torsion spring 19 is compressed, and the middle finger joint drive link 11 is pushed through the proximal finger joint transmission link 9. Under the constraint of the middle finger joint coupling rope 31, the middle finger joint 22 and the distal finger joint 23 continue to rotate around the proximal finger joint 21 in a coupled state. When the middle finger joint 22 also touches the object 36, the middle finger joint 22 is restricted from further rotation, and the micro motor 24 continues to rotate together with the main drive motor 2, so that the middle finger joint coupling rope 31 is loosened from the middle finger around the rope groove wheel 29 under the pulling of the distal finger joint link shaft 15, releasing the constraint of the middle finger joint coupling rope 31 on the middle finger joint 22 and the distal finger joint 23, and the proximal finger joint coupling rope 30 is further loosened from the proximal finger around the rope groove wheel 28. Under the drive of the main drive motor 2, the proximal finger joint drive link 7 pushes the distal finger joint execution link 16 to continue to rotate through the proximal finger joint transmission link 9 and the middle finger joint transmission link 14 until the distal finger joint 23 also contacts the object 36.

[0041] Such as Figure 9For the process of lifting a bag-shaped object in this embodiment, the micro motor 24 rotates together with the main drive motor 2. The near-knuckle coupling rope 30 and the middle-knuckle coupling rope 31 are respectively loosened from the near-knuckle rope groove wheel 28 and the middle-knuckle rope groove wheel 29 and become longer. The manipulator is in a variable-coupling adaptive underactuated grasping mode. In this mode, the kinematic characteristics of the manipulator are closest to those of the human hand, with high anthropomorphism, and it is particularly beneficial for lifting common bag-shaped and hook-shaped objects in daily life, as well as cooperating with the thumb to pinch and grasp small objects of various shapes. When the manipulator does not contact the object, under the constraint of the near-knuckle coupling rope 30 and the middle-knuckle coupling rope 31, the near-knuckle 21, the middle-knuckle 22 and the far-knuckle 23 rotate together in a coupled state, and the coupling ratio between the knuckles changes with the length of the coupling rope. When the far-knuckle 23 passes through the handle of the bag and the middle-knuckle 22 is in full contact with the handle, the near-knuckle 21, the middle-knuckle 22 and the far-knuckle 23 maintain the existing grasping posture and lift the object upward under the action of the human arm force.

[0042] As Figure 10 For the process of releasing the grasped object in this embodiment, the main drive motor 2 drives the near joint shaft 6 to reverse. The near joint shaft 6 drives the near-knuckle drive link 7 to reverse. The near-knuckle drive link 7 drives the middle-knuckle drive link 11 and the far-knuckle execution link to reverse through the near-knuckle transmission link 9 and the middle-knuckle transmission link 14 respectively. The deformation amounts of the near joint torsion spring 19 and the middle joint torsion spring 20 decrease accordingly. At the same time, the micro motor 24 reverses together with the main drive motor 2, driving the near-knuckle rope groove wheel 28 and the middle-knuckle rope groove wheel 29 to reverse, and respectively winding and tightening the near-knuckle coupling rope 30 and the middle-knuckle coupling rope 31. Under the action of the middle-knuckle coupling rope 31 and the middle-knuckle transmission link 14, the far-knuckle 23 separates from the object 36 first. Subsequently, under the action of the near-knuckle coupling rope 30, the middle-knuckle drive link 11 and the middle joint torsion spring 20, the middle-knuckle 22 separates from the object 36. Finally, under the action of the near-knuckle drive link 7 and the near joint torsion spring 19, the near-knuckle 21 also separates from the object 36, and the three knuckles continue to reverse until they return to the initial state.

Claims

1. A multi-mode anthropomorphic manipulator integrating a driving link and a coupling rope, characterized in that: The manipulator consists of a base (1), a driving link mechanism and a coupling rope mechanism. The driving link mechanism includes a main driving motor (2), a reducer (3), a small spur gear (4), a large spur gear (5), a near joint shaft (6), a middle joint shaft (12), a far joint shaft (17), a near finger joint execution link (13), a near finger joint driving link (7), a near finger joint link shaft (8), a near finger joint transmission link (9), a near joint torsion spring (19), a middle finger joint driving link (11), a middle finger joint execution link (18), a middle finger joint transmission link (14), a middle finger joint link shaft (10), a middle joint torsion spring (20), a far finger joint execution link (16) and a far finger joint link shaft (15); the coupling rope mechanism includes a micro motor (24), a small reduction gear (25), a large reduction gear (26), a rope winding central shaft (27), a near finger joint rope winding sheave (28), a middle finger joint rope winding sheave (29), a near finger joint coupling rope (30), a middle finger joint coupling rope (31), a reversing shaft (32), a near finger joint coupling shaft (33) and a middle finger joint coupling shaft (34).

2. The multi-mode anthropomorphic manipulator integrating a driving link and a coupling rope according to claim 1, characterized in that: The near phalanx actuating link (13) in the driving link mechanism is fixedly connected to the near phalanx (21), the middle phalanx actuating link (18) is fixedly connected to the middle phalanx (22), and the distal phalanx actuating link (16) is fixedly connected to the distal phalanx (23); the near phalanx (21) is rotatably connected to the middle phalanx (22) through the middle joint axis (12), and the middle phalanx (22) is rotatably connected to the distal phalanx (23) through the distal joint axis (17); the main driving motor (2) is fixedly connected to the base (1), the output shaft of the main driving motor (2) is connected to the input shaft of the reducer (3), the output shaft of the reducer (3) is key-connected to the small spur gear (4), the small spur gear (4) meshes with the large spur gear (5), and the large spur gear (5) is key-connected to the near joint axis (6); one end of the near phalanx driving link (7) is fixedly connected to the near joint axis (6), and the other end is rotatably connected to one end of the near phalanx transmission link (9) through the near phalanx link axis (8). The other end of the near phalanx transmission link (9) is rotatably connected to one end of the middle phalanx driving link (11) through the middle phalanx link axis (10). The other end of the middle phalanx driving link (11) is rotatably connected to one end of the near phalanx actuating link (13) through the middle joint axis (12), and the other end of the near phalanx actuating link (13) is rotatably connected to the near joint axis (6); one end of the middle phalanx transmission link (14) is rotatably connected to the middle phalanx link axis (10), and the other end is rotatably connected to one end of the distal phalanx actuating link (16) through the distal phalanx link axis (15). The other end of the distal phalanx actuating link (16) is rotatably connected to one end of the middle phalanx actuating link (18) through the distal joint axis (17), and the other end of the middle phalanx actuating link (18) is rotatably connected to the middle joint axis (12); both ends of the near joint torsion spring (19) are respectively connected to the near phalanx driving link (7) and the near phalanx actuating link (13), and both ends of the middle joint torsion spring (20) are respectively connected to the middle phalanx driving link (11) and the middle phalanx actuating link (18); The axes of the near joint axis (6), the near phalanx link axis (8), the middle joint axis (12), the middle phalanx link axis (10), the distal joint axis (17) and the distal phalanx link axis (15) are parallel to each other; the numbers of the near phalanx driving link (7), the near phalanx transmission link (9), the near phalanx actuating link (13), the middle phalanx transmission link (14) and the middle phalanx actuating link (18) are all two, and they are symmetrically distributed on the left and right.

3. The multi-mode anthropomorphic manipulator integrating a driving link and a coupling rope according to claim 1, characterized in that: The micro-motor (24) in the coupling rope mechanism is fixedly connected to the base (1). The output shaft of the micro-motor (24) is connected to the small reduction gear (25) by a key. The small reduction gear (25) meshes with the large reduction gear (26), and the large reduction gear (26) is connected to the rope winding central shaft (27) by a key. The large reduction gear (26), the proximal phalanx rope winding sheave (28) and the middle phalanx rope winding sheave (29) are coaxially connected and are all fixed to the rope winding central shaft (27). The reversing shaft (32) and the proximal phalanx coupling shaft (33) are fixed to the base (1), and the middle phalanx coupling shaft (34) is fixed to the proximal phalanx (21). One end of the proximal phalanx coupling rope (30) is wound around the proximal phalanx rope winding sheave (28), and the other end is first reversed by the reversing shaft (32), then bypasses the proximal phalanx coupling shaft (33), and finally is fixed to the middle phalanx connecting rod shaft (10). One end of the middle phalanx coupling rope (31) is wound around the middle phalanx rope winding sheave (29), and the other end is first reversed by the reversing shaft (32), then bypasses the middle phalanx coupling shaft (34), and finally is fixed to the distal phalanx connecting rod shaft (15). The described proximal phalanx coupling rope (30) and the proximal phalanx actuating link (13), the middle phalanx driving link (11) and the base (1) together form a cross-coupling mechanism, such that when the manipulator performs a grasping motion, the proximal phalanx (21) and the middle phalanx (22) rotate together, showing a coupled motion, and its coupling ratio is the rotational speed ratio between the two phalanges, which is determined by the length of the proximal phalanx coupling rope (30) between the proximal phalanx coupling shaft (33) and the middle phalanx link shaft (10); the middle phalanx coupling rope (31) and the middle phalanx actuating link (18), the distal phalanx actuating link (16) and the proximal phalanx together form a cross-coupling mechanism, such that when the manipulator performs a grasping motion, the middle phalanx (22) and the distal phalanx (23) rotate together, showing a coupled motion, and its coupling ratio is determined by the length of the middle phalanx coupling rope (31) between the middle phalanx coupling shaft (34) and the distal phalanx link shaft (15); the lengths and the tension states of the proximal phalanx coupling rope (30) and the middle phalanx coupling rope (31) are controlled by the micro motor (24) respectively through the proximal phalanx rope winding pulley (28) and the middle phalanx rope winding pulley (29). When the micro motor (24) is not powered on, the proximal phalanx coupling rope (30) and the middle phalanx coupling rope (31) are in a slack state. At this time, the manipulator is in a non-coupled adaptive underactuated grasping mode, and the three phalanges of the manipulator rotate together as a whole. Only after the proximal phalanx touches an object, the middle phalanx (22) will rotate relative to the proximal phalanx (21). After the middle phalanx (22) touches an object, the distal phalanx (23) will rotate relative to the middle phalanx (22); when the micro motor (24) is powered on and self-locked, the proximal phalanx coupling rope (30) and the middle phalanx coupling rope (31) are tensioned and the lengths are fixed. At this time, the manipulator is in a fixed-coupling adaptive underactuated grasping mode. When the manipulator performs a grasping motion, the proximal phalanx (21) and the middle phalanx (22), the middle phalanx (22) and the distal phalanx (23) move according to different coupling ratios respectively; when the micro motor (24) rotates together with the main drive motor (2), under the pulling forces of the middle phalanx driving link (11) and the distal phalanx actuating link (16), the proximal phalanx coupling rope (30) and the middle phalanx coupling rope (31) are loosened from the proximal phalanx rope winding pulley (28) and the middle phalanx rope winding pulley (29) respectively and become longer. At this time, the manipulator is in a variable-coupling adaptive underactuated grasping mode. When the manipulator performs a grasping motion, the coupling ratios between the proximal phalanx (21) and the middle phalanx (22), the middle phalanx (22) and the distal phalanx (23) change with the change of the length of the coupling rope.

4. The multi-mode anthropomorphic manipulator integrating a driving link and a coupling rope according to claim 3, characterized in that: When the micro motor (24) rotates together with the main drive motor (2), the manipulator is in a variable coupling adaptive underactuated grasping mode. In this mode, at the initial movement, the coupling ratio between the proximal phalanx (21) and the middle phalanx (22) is α0, and the coupling ratio between the middle phalanx (22) and the distal phalanx (23) is β0. As the speed ratio λ of the micro motor (24) and the main drive motor (2) increases, the coupling ratios between the proximal phalanx (21) and the middle phalanx (22), and between the middle phalanx (22) and the distal phalanx (23) increase accordingly. When the speed ratio increases to λ1, the middle phalanx (22) and the distal phalanx (23) reach the maximum coupling ratio β max , when the speed ratio exceeds λ1, the middle phalanx coupling rope (31) becomes slack due to the too fast release speed from the middle phalanx winding sheave (29), resulting in the loss of coupling between the middle phalanx (22) and the distal phalanx (23); when the speed ratio increases to λ2, the proximal phalanx (21) and the middle phalanx (22) reach the maximum coupling ratio α max , when the speed ratio exceeds λ2, the proximal phalanx coupling rope (30) becomes slack, resulting in the loss of coupling between the proximal phalanx (21) and the middle phalanx (22); among them, by changing the speed of the micro motor (24), the coupling ratios α and β can show different variation laws.

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