Underactuated manipulator for training cricket serve

Abstract

The present invention provides an under-actuated manipulator device for training cricket serves, which includes a finger assembly, a finger drive assembly, an inter-finger linkage assembly, and a thumb drive assembly. In the finger drive assembly, the second rotating wheel connects the first joint wheel, the first tensioning wheel, the second joint wheel, the second tensioning wheel, and the third joint wheel in sequence through a tendon rope. In the inter-finger linkage assembly, the second micro motor is connected to the middle part of the second transmission gear, and the second transmission gear is connected in sequence through the fifth transmission gear, the third transmission gear, the fourth transmission gear, the sixth transmission gear, and the seventh transmission gear; in the thumb drive assembly, the first micro motor is connected to the first end of the first transmission gear, and the second end of the first transmission gear is connected in sequence through the eighth transmission gear, the bevel gear, and the rotating shaft. The present invention adopts under-actuated control to simplify the mechanical structure and control complexity while ensuring the precise setting of the serving action, and the serving posture is comprehensive and highly personalized.

Description

Technical Field

[0001] The present invention relates to the technical field of motion simulation devices, and in particular to an under-actuated manipulator device for training cricket serve. Background Art

[0002] Currently, existing cricket serving machines are primarily categorized as cricket-specific machines and general-purpose machines for smaller balls like tennis. Most operate by mechanically propelling the ball in a straight line, or by differentially rotating rollers that squeeze and spin the ball, causing it to bounce after hitting the ground. In recent years, in-depth research has been conducted on serving machines, enabling the ball to rotate on its own, making the serving effect more realistic than in real-world training scenarios. However, due to the unique shape of a cricket ball, a batsman cannot determine the ball's path after hitting the ground simply by observing the serving posture. Furthermore, existing serving machines offer uncontrollable serving postures and a limited number of them. Therefore, the development of a cricket serving robot to replace manual serving is crucial. Summary of the Invention

[0003] In response to the problems existing in the prior art, the present invention provides an under-actuated manipulator device for training cricket serves, in which the joint motions of the first finger assembly, the second finger assembly, and the third finger assembly are respectively controlled by an inter-finger linkage assembly, the bending motion of a single finger assembly is individually controlled by a finger drive assembly located at different finger assemblies, and the abduction and adduction of the thumb assembly are controlled by a thumb drive assembly, thereby not only controlling the serving posture to fully simulate the serving of a server, but also basically realizing all serving postures. On the basis of completing the serving action, the finger drive assembly uses an under-actuated scheme of a linear drive tendon to drive multiple joint wheels, thereby simplifying the mechanical structure of the entire device, and having the characteristics of light weight, small size, easy operation and use, and a high degree of intelligence and integration.

[0004] The present invention provides an under-actuated manipulator device for training cricket serves, which includes a finger assembly, a finger drive assembly, an inter-finger linkage assembly and a thumb drive assembly; the finger assembly includes a thumb assembly, a first finger assembly, a second finger assembly, a third finger assembly and a separable friction wheel assembly, and the ends of the third joint of the first finger unit in the first finger assembly and the third joint of the second finger unit in the second finger assembly are respectively provided with separable friction wheel assemblies; the separable friction wheel assembly includes a fingertip micro motor, a reduction gear box, a friction wheel housing, a first friction wheel connecting rod, a second friction wheel connecting rod, a friction wheel separator and a spring, the output shaft of the fingertip micro motor is connected to the central axis of the friction wheel housing through the reduction gear box, the first mounting end and the second mounting end of the friction wheel separator are respectively connected to the first ends of the first friction wheel connecting rod and the second friction wheel connecting rod, and the two ends of the spring are respectively connected to the third mounting end of the friction wheel separator and the mounting end of the friction wheel housing. The finger drive assembly includes a first joint wheel, a first tensioning wheel, a second joint wheel, a second tensioning wheel, a third joint wheel, a linear drive, a connecting piece and a rotating wheel. The linear drive is connected to the middle part of the rotating wheel through the connecting piece. The mounting ends of the first joint wheel, the second joint wheel and the third joint wheel are respectively connected to the pins connecting the first finger joint and the second finger joint, the pins connecting the second finger joint and the third finger joint, and the pins of the third finger joint. The first tensioning wheel and the second tensioning wheel are respectively located at the long hole fixed ends of the first finger joint and the second finger joint. The rotating wheel connects the first joint wheel, the first tensioning wheel, the second joint wheel, the second tensioning wheel and the third joint wheel in sequence through a tendon rope. The inter-finger linkage assembly includes a second micro motor, a second transmission gear, a third transmission gear, a fourth transmission gear, a fifth transmission gear, a sixth transmission gear and a seventh transmission gear. The output shaft of the second micro motor is connected to the middle part of the second transmission gear, the second transmission gear is connected to the first end of the fifth transmission gear through a belt, the second end of the fifth transmission gear is connected to the first end of the third transmission gear, the second end of the third transmission gear is connected to the first end of the fourth transmission gear, the second end of the fourth transmission gear is connected to the first end of the sixth transmission gear, and the second end of the sixth transmission gear is connected to the seventh transmission gear.The thumb drive assembly includes a coupling, a rotating shaft, a first bevel gear, a first micro motor, a second bevel gear, an eighth transmission gear and a first transmission gear. The output shaft of the first micro motor is connected to the first end of the first transmission gear through a coupling, the second end of the first transmission gear is connected to the first end of the first bevel gear through the eighth transmission gear, the second end of the first bevel gear is meshed with the first end of the second bevel gear, the second end of the second bevel gear is connected to the first mounting end of the rotating shaft, the second mounting end of the rotating shaft is connected to the first fixed end of the first mounting plate, and the third mounting end of the rotating shaft is connected to the second end of the thumb base joint.

[0005] Preferably, it also includes a palm shell, a side shell, a back of the hand shell, a camera module, a core processor, a second mounting plate, a third mounting plate, and a first mounting plate, the first mounting end of the palm shell is connected to the mounting end of the side shell, the second mounting end of the palm shell is connected to the mounting end of the back of the hand shell, the second mounting plate and the third mounting plate are respectively located inside the palm shell, the first mounting plate is located inside the side shell, and the camera module and the core processor are respectively connected to the first fixed end and the second fixed end of the third mounting plate.

[0006] Preferably, the thumb assembly includes a first joint of the thumb unit, a second joint of the thumb unit, a third joint of the thumb unit and a thumb base joint, the first end of the thumb base joint is connected to the first end of the first joint of the thumb unit, the second end of the first joint of the thumb unit is connected to the first end of the second joint of the thumb unit, and the second end of the second joint of the thumb unit is connected to the third joint of the thumb unit.

[0007] Preferably, the first finger assembly includes the third joint of the first finger unit, the second joint of the first finger unit, the first joint of the first finger unit and the first base joint, the first end of the first base joint is connected to the first end of the first joint of the first finger unit, the second end of the first joint of the first finger unit is connected to the first end of the second joint of the first finger unit, the second end of the second joint of the first finger unit is connected to the third joint of the first finger unit, and the second end of the first base joint is connected to the first mounting end of the second mounting plate.

[0008] Preferably, the second finger assembly includes the third joint of the second finger unit, the second joint of the second finger unit, the first joint of the second finger unit and the second base joint, the first end of the second base joint is connected to the first end of the first joint of the second finger unit, the second end of the first joint of the second finger unit is connected to the first end of the second joint of the second finger unit, the second end of the second joint of the second finger unit is connected to the third joint of the second finger unit, and the second end of the second base joint is connected to the second mounting end of the second mounting plate.

[0009] Preferably, the third finger assembly includes the first joint of the third finger unit, the second joint of the third finger unit, the third joint of the third finger unit and the third base joint, the first end of the third base joint is connected to the first end of the first joint of the third finger unit, the second end of the first joint of the third finger unit is connected to the first end of the second joint of the third finger unit, the second end of the second joint of the third finger unit is connected to the third joint of the third finger unit, and the second end of the third base joint is connected to the third mounting end of the second mounting plate.

[0010] Preferably, in the finger drive assembly, the linear drive includes a first linear drive, a second linear drive, a third linear drive and a fourth linear drive, the connecting member includes a fourth connecting member, a third connecting member, a second connecting member and a first connecting member, and the rotating wheel includes a first rotating wheel and a second rotating wheel.

[0011] Preferably, in the finger drive assembly, the movements of the first joint wheel, the first tensioning wheel, the second joint wheel, the second tensioning wheel, the third joint wheel and the rotating wheel are on the same plane, and there are four finger drive assemblies, which are respectively located on the thumb assembly, the first finger assembly, the second finger assembly and the third finger assembly.

[0012] Preferably, in the inter-finger linkage assembly, the second transmission gear is connected to the fixed end of the third mounting plate, and the fixed ends of the third transmission gear, the fourth transmission gear, the fifth transmission gear, the sixth transmission gear and the seventh transmission gear are respectively connected to the fixed end of the second mounting plate.

[0013] Compared with the prior art, the present invention has the following advantages:

[0014] 1. The under-actuated manipulator device of the present invention consists of a thumb assembly, a first finger assembly, a second finger assembly and a third finger assembly. All four fingers are under-actuated by tendon ropes driven by a linear drive. A single linear drive controls the bending of three finger joints in each finger assembly, wherein an inter-finger linkage assembly is added at the root joints of the three fingers. The second micro motor and related transmission gears are used to realize the separation of the first and second finger assemblies and the following movement of the third finger assembly with the second finger assembly, and to avoid collision between fingers. The first micro motor drives the thumb to rotate around the rotation axis to increase flexibility.

[0015] 2. The present invention drives the separate friction wheel assembly through the fingertip micro motor, and realizes the engagement of the upper and lower separated bodies of the separate friction wheel assembly through the contact between the finger and the cricket ball. When the ball needs to be hit inward, the friction wheel is controlled to rotate, simplifying the action of the finger moving the ball while realizing the inward movement of the ball.

[0016] 3. The present invention fully integrates the entire control system and finger drive components into the interior of the under-actuated manipulator device, reducing the volume of the entire under-actuated manipulator device to a size similar to that of a human hand, thereby better simulating the movements of the human hand and facilitating observation by trainees.

[0017] 4. The visual module located in the palm of the manipulator has the functions of distance measurement, roughness recognition and posture recognition. After recognition, it controls different numbers of motors to complete the grasping of the specific posture of the cricket and realize different serving postures.

[0018] 5. The present invention uses a variety of composite materials to make the shell to simulate the surface parameters of human hands. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a front view of the under-actuated manipulator device for training cricket serve of the present invention;

[0020] Figure 2 A structural diagram of a thumb assembly in an under-actuated manipulator device for training cricket serve according to the present invention;

[0021] Figure 3 This is a first structural diagram of the interior of an under-actuated manipulator device for training cricket serve according to the present invention;

[0022] Figure 4 A second structural diagram of the interior of the under-actuated manipulator device for training cricket serve according to the present invention;

[0023] Figure 5 A structural diagram of a finger drive assembly in an under-actuated manipulator device for training cricket serve according to the present invention;

[0024] Figure 6This is a structural diagram of the inter-finger linkage assembly of the under-actuated manipulator device for training cricket serve of the present invention;

[0025] Figure 7 A structural diagram of a thumb drive assembly in an under-actuated manipulator device for training cricket serve according to the present invention;

[0026] Figure 8 A structural diagram of a separate friction wheel assembly in an under-actuated manipulator device for training cricket serve according to the present invention;

[0027] Figure 9 This is a structural diagram of the under-actuated manipulator device for grasping used for training cricket serve of the present invention.

[0028] Main reference numerals:

[0029] Palm shell 1, side shell 2, thumb unit first knuckle 3, thumb unit second knuckle 4, thumb unit third knuckle 5, third finger unit first knuckle 6, third finger unit second knuckle 7, third finger unit third knuckle 8, second finger unit third knuckle 9, first finger unit third knuckle 10, second finger unit second knuckle 11, first finger unit second knuckle 12, second finger unit first knuckle 13, first finger unit first knuckle 14, back of hand shell 15, fourth linear drive 16, coupling 17, first rotating wheel 18, rotating shaft 19, first bevel gear 20, second bevel gear 21, first transmission gear 22, camera module 23, core processor 24, third finger root joint 25, second finger root joint 26, separate friction wheel assembly 27, friction wheel housing 271, first friction wheel connecting rod 272, second friction wheel connecting rod 273, friction wheel separator 274, spring 275, first finger base joint 28, first micro motor 29, first joint wheel 30, first tensioning wheel 31, second joint wheel 32, second tensioning wheel 33, third joint wheel 34, first linear drive 35, second micro motor 36, second transmission gear 37, third transmission gear 38, fourth transmission gear 39, fifth transmission gear 40, sixth transmission gear 41, seventh transmission gear 42, second linear drive 43, third linear drive 44, second mounting plate 45, third mounting plate 46, first mounting plate 47, first connecting part 51, thumb base joint 52, fingertip micro motor 53, reduction gear 55, eighth transmission gear 56, second rotating wheel 57. DETAILED DESCRIPTION

[0030] To fully describe the technical content, structural features, objectives and effects of the present invention, the following is a detailed description with reference to the accompanying drawings.

[0031] An underactuated manipulator device for training cricket serves, such as Figure 1 and Figure 9As shown, the device comprises a housing and control assembly, a finger assembly, a finger drive assembly, an inter-finger linkage assembly, and a thumb drive assembly. An underactuated manipulator device with an integrated vision module 23 is connected to the selected manipulator arm to form a pitching manipulator. The connection utilizes a combination of physical meshing and a mechanical spiral locking mechanism. The underactuated manipulator device utilizes a four-finger manipulator structure, with the primary humanoid grasping process performed by the first, second, and thumb assemblies, while the third finger assembly facilitates the grasping process.

[0032] The housing and control assembly includes a palm housing 1, a side housing 2, a back-of-hand housing 15, a camera module 23, a core processor 24, a second mounting plate 45, a third mounting plate 46, and a first mounting plate 47. The first mounting plate 47, the second mounting plate 45, and the third mounting plate 46 are all composite housings made of multiple materials. The first mounting plate 47, the second mounting plate 45, and the third mounting plate 46 serve as the security locations of the main components and are connected to each other by screws. The palm housing 1 and the back-of-hand housing 15 are all connected to each other by screws. The first mounting end of the palm housing 1 is connected to the first mounting end of the side housing 2, the second mounting end of the palm housing 1 is connected to the first mounting end of the back-of-hand housing 15, and the second mounting end of the side housing 2 is connected to the second mounting end of the back-of-hand housing 15. The second mounting plate 45 and the third mounting plate 46 are respectively located inside the palm housing 1, and the first mounting plate 47 is located inside the side housing 2. The camera module 23 and the core processor 24 are respectively connected to the first and second fixed ends of the third mounting plate 46 by screws.

[0033] The camera module 23 and core processor 24 respectively control the extension and retraction of the linear actuators, the rotation of the micromotors, and the rotation of the fingertip micromotors. The main controller also controls the camera module 23. The core processor 24 performs distance and direction recognition on the images captured by the camera module 23. Once the under-actuated manipulator approaches the cricket, the first, second, third, and fourth linear actuators 35, 43, 44, and 16 respectively act on the tendons, pulling them to grasp the cricket, thereby achieving control of the under-actuated manipulator.

[0034] Finger components, such as Figure 1 and Figure 3 As shown, the robot comprises a thumb assembly, a first finger assembly, a second finger assembly, a third finger assembly, and a detachable friction wheel assembly 27. Separate friction wheel assemblies 27 are provided at the ends of the third joint 10 of the first finger unit of the first finger assembly and the third joint 9 of the second finger unit of the second finger assembly. The first, second, and third finger assemblies are evenly spaced apart on the under-actuated manipulator. Position sensors are located at each finger joint, and pressure sensors are located on the palm-facing side of the second and third joints of the first and second finger assemblies.

[0035] The motor shaft is fixedly connected to the protruding end with a connector, the gear is meshed with the rack on the second mounting plate, and the second and third joints have torsion springs to help the fingers return to a straight state;

[0036] The thumb assembly is driven by dual motors to achieve dual-degree-of-freedom motion. While the fourth linear actuator 16 controls the bending of the thumb assembly, a first micro motor 29 is added to control the rotation of the thumb assembly around the axis on the palm side. Figure 1 As shown, it includes the first joint 3 of the thumb unit, the second joint 4 of the thumb unit, the third joint 5 of the thumb unit and the thumb base joint 52, the first end of the thumb base joint 52 is connected to the first end of the first joint 3 of the thumb unit, the second end of the first joint 3 of the thumb unit is connected to the first end of the second joint 4 of the thumb unit, and the second end of the second joint 4 of the thumb unit is connected to the third joint 5 of the thumb unit.

[0037] First finger component, such as Figure 1 As shown, it includes the third joint 10 of the first finger unit, the second joint 12 of the first finger unit, the first joint 14 of the first finger unit and the first base joint 28, the first end of the first base joint 28 is connected to the first end of the first joint 14 of the first finger unit, the second end of the first joint 14 of the first finger unit is connected to the first end of the second joint 12 of the first finger unit, the second end of the second joint 12 of the first finger unit is connected to the third joint 10 of the first finger unit, and the second end of the first base joint 28 is hinged to the first mounting end of the second mounting plate 45.

[0038] The second finger assembly, such as Figure 1 As shown, it includes the third joint 9 of the second finger unit, the second joint 11 of the second finger unit, the first joint 13 of the second finger unit and the second base joint 26. The first end of the second base joint 26 is connected to the first end of the first joint 13 of the second finger unit, the second end of the first joint 13 of the second finger unit is connected to the first end of the second joint 11 of the second finger unit, the second end of the second joint 11 of the second finger unit is connected to the third joint 9 of the second finger unit, and the second end of the second base joint 26 is hinged to the second mounting end of the second mounting plate 45.

[0039] The third finger assembly, such as Figure 1 As shown, it includes the first joint 6 of the third finger unit, the second joint 7 of the third finger unit, the third joint 8 of the third finger unit and the third finger base joint 25, the first end of the third finger base joint 25 is connected to the first end of the first joint 6 of the third finger unit, the second end of the first joint 6 of the third finger unit is connected to the first end of the second joint 7 of the third finger unit, the second end of the second joint 7 of the third finger unit is connected to the third joint 8 of the third finger unit, and the third end of the third finger base joint 25 is hinged to the third mounting end of the second mounting plate 45.

[0040] The separate friction wheel assembly 27 can be combined with the friction wheel housing 271 and will not fall off when the friction wheel separation body 274 receives pressure from the cricket ball. Figure 8 As shown, the fingertip micromotor 53 includes a reduction gearbox 55, a friction wheel housing 271, a first friction wheel connecting rod 272, a second friction wheel connecting rod 273, a friction wheel separator 274, and a spring 275. The output of the fingertip micromotor 53 is decelerated by the reduction gearbox 55 and transmitted to the separate friction wheel assembly 27 located in the first finger assembly or the second finger assembly. The output shaft of the fingertip micromotor 53 is connected to the central axis of the friction wheel housing 271 through the reduction gearbox 55. The first and second mounting ends of the friction wheel separator 271 are respectively connected to the first ends of the first friction wheel connecting rod 272 and the second friction wheel connecting rod 273. The two ends of the spring 275 are respectively connected to the third mounting end of the friction wheel separator 274 and the mounting end of the friction wheel housing 271.

[0041] Finger-actuated components, such as Figure 5 As shown, it includes a first articulated wheel 30, a first tensioning wheel 31, a second articulated wheel 32, a second tensioning wheel 33, a third articulated wheel 34, a linear drive, a connecting piece and a rotating wheel. The movements of the first articulated wheel 30, the first tensioning wheel 31, the second articulated wheel 32, the second tensioning wheel 33, the third articulated wheel 34 and the rotating wheel are on the same plane. The linear drive includes a first linear drive 35, a second linear drive 43, a third linear drive 44 and a fourth linear drive 16. The first linear drive 35, the second linear drive 43, the third linear drive 44 and the fourth linear drive 16 respectively drive the bending of the first finger assembly, the second finger assembly, the third finger assembly and the thumb assembly. The linear drive is matched with a gear coupling and engages with a rack to complete the driving speed conversion from direct motion to rotation; the connecting member includes a fourth connecting member, a third connecting member, a second connecting member and a first connecting member 51. The fourth connecting member 48, the third connecting member, the second connecting member and the first connecting member 51 are respectively located at the installation positions of the first finger assembly, the second finger assembly, the third finger assembly and the thumb assembly. The rotating wheel includes a first rotating wheel 18 and a second rotating wheel 57. The first rotating wheel 18 is located at the thumb assembly position, and the second rotating wheel 57 is located at the first finger assembly, the second finger assembly and the third finger assembly with the same structure.

[0042] Furthermore, there are four finger drive assemblies, which are respectively located in the thumb assembly, the first finger assembly, the second finger assembly and the third finger assembly, and individually drive the bending of each finger of the finger assembly. The specific implementation process is: the linear drive is connected to the middle part of the rotating wheel through the connecting part, and the mounting ends of the first joint wheel 30, the second joint wheel 32 and the third joint wheel 34 are respectively connected to the pins connecting the first and second joints, the pins connecting the second and third joints, and the pins of the third joints. The first tensioning wheel 31 and the second tensioning wheel 33 are respectively located at the long hole fixed ends of the first and second joints. The rotating wheel connects the first joint wheel 30, the first tensioning wheel 31, the second joint wheel 32, the second tensioning wheel 33 and the third joint wheel 34 in sequence through tendon ropes.

[0043] The inter-finger linkage assembly completes the joint opening and closing movement of the middle finger of the under-actuated manipulator device through the internal and external meshing of gears and the belt transmission without collision. Figure 4 and Figure 6 As shown, it includes a second micro motor 36, a second transmission gear 37, a third transmission gear 38, a fourth transmission gear 39, a fifth transmission gear 40, a sixth transmission gear 41 and a seventh transmission gear 42. The third transmission gear 38, the sixth transmission gear 41 and the seventh transmission gear 42 are respectively located at the positions where the first finger root joint 28, the second finger root joint 26 and the third finger root joint 25 are connected to the second mounting plate 45, and power is transmitted through belt drive. The second transmission gear 37 is connected to the fixed end of the third mounting plate 46, and the fixed ends of the third transmission gear 38, the fourth transmission gear 39, the fifth transmission gear 40, the sixth transmission gear 41 and the seventh transmission gear 42 are respectively connected to the fixed end of the second mounting plate 45. The output shaft of the second micro motor 36 is connected to the middle part of the second transmission gear 37, the second transmission gear 37 is connected to the first end of the fifth transmission gear 40 through a belt, the second end of the fifth transmission gear 40 is connected to the first end of the third transmission gear 38, the second end of the third transmission gear 38 is connected to the first end of the fourth transmission gear 39, the second end of the fourth transmission gear 39 is connected to the first end of the sixth transmission gear 41, and the second end of the sixth transmission gear 41 is connected to the seventh transmission gear 42.

[0044] Thumb drive components, such as Figure 2 and Figure 7As shown, it includes a coupling 17, a rotating shaft 19, a first bevel gear 20, a first micro motor 29, a second bevel gear 21, an eighth transmission gear 56 and a first transmission gear 22. The output shaft of the first micro motor 29 is connected to the first end of the first transmission gear 22 through the coupling 17, the second end of the first transmission gear 22 is connected to the first end of the first bevel gear 20 through the eighth transmission gear 56, the second end of the first bevel gear 20 is meshed with the first end of the second bevel gear 21, the second end of the second bevel gear 21 is connected to the first mounting end of the rotating shaft 19, the second mounting end of the rotating shaft 19 is connected to the first fixed end of the first mounting plate 47, and the third mounting end of the rotating shaft 19 is connected to the second end of the thumb base joint 52.

[0045] The following is a further description of an under-actuated manipulator device for training cricket serve according to the present invention in conjunction with an embodiment:

[0046] Example 1: Single finger independent working mode (taking the first finger component as an example):

[0047] In the first finger assembly, since the first linear drive 35 is connected to the second rotating wheel 57 through the first connecting member 51, the second rotating wheel 57 can rotate around the rotating axis of the first connecting member 51, the first end of the tendon rope is welded to the second rotating wheel 57, and after passing around the second rotating wheel 57, it passes around the first joint wheel 30, the first tensioning wheel 31, the second joint wheel 32, the second tensioning wheel 33 and the third joint wheel 34 in sequence, and the second end of the tendon rope is welded to the third joint wheel 34. The winding method is as follows: Figure 5 shown.

[0048] When the first linear drive 35 is shortened, that is, the first connecting member 51 moves in the direction away from the third joint 10 of the first finger unit, the second rotating wheel 57 rotates to realize the tensioning of the tendon rope, and the length of the tendon rope is shortened, so that the third joint 10 of the first finger unit, the second joint 12 of the first finger unit and the first joint 14 of the first finger unit are bent in turn, thereby realizing under-driven control of the first finger assembly and bending the first finger assembly; conversely, when the first linear drive 35 is extended, the second rotating wheel 57 rotates in the opposite direction, the length of the tendon rope is extended, and the first finger assembly is restored to its initial state.

[0049] Example 2: Independent working mode of thumb assembly:

[0050] Start the first micro motor 29, and the first transmission gear 22 connected to the first micro motor 29 drives the eighth transmission gear 56 through a belt. Since the first bevel gear 20 and the eighth transmission gear 56 are fixed, the first bevel gear 20 and the second bevel gear 21 connected to the rotating shaft 19 are transmitted, and the rotation of the rotating shaft 19 realizes the abduction and adduction of the thumb base joint 52; at the same time, the fourth linear drive 16 is connected to the fourth connecting member 48 through the coupling 17, and the first rotating wheel 18 is axially fixed on the fourth connecting member 48 and can rotate around the axis of the fourth connecting member 48. The first end of the tendon rope is welded to the first rotating wheel 18. After passing around the first rotating wheel 18, it passes through the small hole below the thumb base joint 52 and passes around the first joint wheel 30, the first tensioning wheel 31, the second joint wheel 32, the second tensioning wheel 33 and the third joint wheel 34 in turn. The second end of the tendon rope is welded to the third joint wheel 34, and the bending and extension of the thumb assembly are completed by shortening or extending the fourth linear drive 16. The first micro motor 29 and the fourth linear drive 16 can work independently or simultaneously, and the working mode is determined by the gripping posture of the cricket.

[0051] Example 3: Underactuated manipulator grasps and releases a cricket ball through finger drive components and thumb drive components:

[0052] The camera module 23 is used to judge the distance of the cricket, the posture of the cricket seams and the roughness of the two sides of the cricket seams and other parameters, and the core processor 24 is used to control the under-actuated manipulator device to move to the appropriate distance. The third linear drive 44 begins to shorten, pulling the tendon rope controlled by it to bend the third finger assembly. At this time, the first micro motor 29 is started to rotate, and the first transmission gear 22 connected to the first micro motor 29 drives the eighth transmission gear 56 through the belt. Since the first bevel gear 20 and the eighth transmission gear 56 are fixed, the first bevel gear 20 and the second bevel gear 21 connected to the rotating shaft 19 are driven, and the rotation of the rotating shaft 19 is realized. Now the thumb base joint 52 is adducted to a certain angle corresponding to the posture, and at the same time, the first linear drive 35, the second linear drive 43 and the fourth linear drive 16 are respectively controlled to pull the corresponding controlled tendons, so that the first finger assembly, the second finger assembly and the thumb assembly are bent at the same time, until the sensor reaches a certain value and stops pulling, and the cricket grabbing action is completed; when serving the cricket, the first linear drive 35, the second linear drive 43 and the fourth linear drive 16 are respectively controlled to drive in the opposite direction, and the first finger assembly, the second finger assembly and the thumb assembly are extended at the same time, the serving action is completed, and all drives return to their initial positions.

[0053] Example 4: Underactuated manipulator grasps and releases a cricket ball through an inter-finger linkage assembly and a finger drive assembly:

[0054] The camera module 23 is used to judge the distance of the cricket, the posture of the cricket seams and the roughness of the two sides of the cricket seams and other parameters, and the core processor 24 is used to control the under-actuated manipulator device to move to the appropriate distance. The third linear drive 44 begins to shorten, pulling the tendon rope controlled by it to bend the third finger assembly. At this time, the second micro motor 36 is started to rotate, and the second transmission gear 37 connected to the second micro motor 36 rotates. The second transmission gear 37 rotates the fifth transmission gear 40 through the belt. The third transmission gear 38 is transmitted to the fifth transmission gear 40 through the belt. The fifth transmission gear 40 is internally meshed with the fourth transmission gear 39 and externally meshed with the sixth transmission gear 41. When the fifth transmission gear 40 rotates, the sixth transmission gear 41 is engaged with the fifth transmission gear 40. The wheel 41 rotates in the opposite direction to the fourth transmission gear 39, and the sixth transmission gear 41 is transmitted to the seventh transmission gear 42 through the belt, so that a certain angle is finally generated between the first finger assembly and the second finger assembly, and the third finger assembly and the second finger assembly rotate in the same direction, so that the under-actuated manipulator device is opened; at the same time, the first linear drive 35 and then the second linear drive 43 are controlled to pull the tendon rope respectively, so that the first finger assembly and the second finger assembly are bent at the same time, until the sensor stops pulling after reaching a certain value, and the cricket grabbing action is completed; when serving the cricket, the first linear drive 35 and the second linear drive 43 are driven in the opposite direction, the first finger assembly and the second finger assembly are extended, the serving action is completed, and all drives return to their initial positions.

[0055] Example 5: An under-actuated manipulator grasps and releases a cricket ball through an inter-finger linkage assembly, a thumb drive assembly, and a finger drive assembly:

[0056] The camera module 23 is used to judge the distance of the cricket, the posture of the cricket seams and the roughness of the two sides of the cricket seams and other parameters, and the core processor 24 is used to control the under-actuated manipulator device to move to the appropriate distance. The third linear drive 44 pulls the tendon rope controlled by it to bend the third finger assembly to the limit state. At this time, the second micro motor 36 is started to rotate, driving the third transmission gear 38 to rotate. The third transmission gear 38 is transmitted to the fifth transmission gear 40 through a belt. The fifth transmission gear 40 is internally meshed with the fourth transmission gear 39 and externally meshed with the sixth transmission gear 41. When the fifth transmission gear 40 rotates, the sixth transmission gear 41 rotates in the opposite direction to the fourth transmission gear 39. The sixth transmission gear 41 is driven by the belt. The belt is transmitted to the seventh transmission gear 42, and finally a certain angle is generated between the first finger assembly and the second finger assembly, and the third finger assembly rotates in the same direction as the second finger assembly, so that the under-actuated manipulator device is opened; at this time, the first micro motor 29 is started to rotate, and the first transmission gear 22 connected to the first micro motor 29 and the first transmission gear 22 connected to the first micro motor 29 drive the eighth transmission gear 56 to transmit through the belt. Since the first bevel gear 20 and the eighth transmission gear 56 are fixed, the first bevel gear 20 and the second bevel gear 21 connected to the rotating shaft 19 are transmitted. The rotation of the rotating shaft 19 realizes the inward retraction of the thumb base joint 52 to a certain angle corresponding to the posture, and at the same time controls the first straight The linear drive 35, the second linear drive 43 and the fourth linear drive 16 respectively pull the corresponding tendons to bend the first finger assembly, the second finger assembly and the thumb assembly at the same time. At this time, the spring 275 in the separate friction wheel assembly 27 located on the first finger assembly and the second finger assembly is compressed after contacting the cricket ball, the friction wheel separation body 274 moves up, the first friction wheel connecting rod 272 and the second friction wheel connecting rod 273 rotate towards each other, the first friction wheel connecting rod 272 and the second friction wheel connecting rod 273 are clamped toward the center, and the separate friction wheel assembly 27 is locked. The sensor stops pulling after reaching a certain value, and the cricket ball grabbing action is completed. When serving the cricket ball, the third knuckle of the first finger unit is at this time. 10 contacts the cricket with the third joint 9 of the second finger unit, the corresponding linear drive stops moving, the fingertip micro motor 53 inside the first finger assembly rotates, and is decelerated by the reduction gear box 55 inside the third joint 10 of the first finger unit, so that the separate friction wheel assembly 27 rotates, and the friction wheel separation body 274 moves downward, and the friction wheel contacts and rubs the cricket to realize the rotation of the cricket, which is equivalent to the finger-pushing action. The first linear drive 35, the second linear drive 43 and the fourth linear drive 16 drive in reverse, the first finger assembly, the second finger assembly and the thumb assembly extend, the serving action is completed, the fingertip micro motor 53 stops rotating, all drives return to their initial positions, and the under-actuated manipulator device returns to its original state.

[0057] The embodiments described above are merely descriptions of preferred implementations of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the scope of protection determined by the claims of the present invention.

Claims

1. An underactuated manipulator device for training cricket serve, comprising a finger assembly, a finger drive assembly, an inter-finger linkage assembly, and a thumb drive assembly, characterized in that: The finger assembly includes a thumb assembly, a first finger assembly, a second finger assembly, a third finger assembly and a separate friction wheel assembly. The ends of the third finger joint of the first finger unit in the first finger assembly and the third finger joint of the second finger unit in the second finger assembly are respectively provided with separate friction wheel assemblies; the separate friction wheel assembly includes a fingertip micro motor, a reduction gear box, a friction wheel housing, a first friction wheel connecting rod, a second friction wheel connecting rod, a friction wheel separating body and a spring. The output shaft of the fingertip micro motor is connected to the central axis of the friction wheel housing through the reduction gear box. The third finger joint of the friction wheel separating body is connected to the central axis of the friction wheel housing through the reduction gear box. The first mounting end and the second mounting end are rotatably connected to the first end of the first friction wheel connecting rod and the first end of the second friction wheel connecting rod respectively, and the two ends of the spring are respectively connected to the third mounting end of the friction wheel separation body and the mounting end of the friction wheel housing; the friction wheel separation body can move up and down relative to the friction wheel housing; the first friction wheel connecting rod and the second friction wheel connecting rod are used to rotate towards each other when the friction wheel separation body moves up to lock the split friction wheel assembly; the thumb assembly includes a first knuckle of the thumb unit and a thumb base joint, and the first end of the thumb base joint is connected to the first end of the first knuckle of the thumb unit; The finger drive assembly includes a first joint wheel, a first tensioning wheel, a second joint wheel, a second tensioning wheel, a third joint wheel, a linear drive, a connecting piece and a rotating wheel, wherein the linear drive is connected to the middle part of the rotating wheel through the connecting piece, and the mounting ends of the first joint wheel, the second joint wheel and the third joint wheel are respectively connected to the pins connecting the first finger joint and the second finger joint, the pins connecting the second finger joint and the third finger joint, and the pins of the third finger joint, the first tensioning wheel and the second tensioning wheel are respectively fixed ends of the long holes located at the first finger joint and the second finger joint, and the rotating wheel connects the first joint wheel, the first tensioning wheel, the second joint wheel, the second tensioning wheel and the third joint wheel in sequence through a tendon rope; The inter-finger linkage assembly includes a second micro motor, a second transmission gear, a third transmission gear, a fourth transmission gear, a fifth transmission gear, a sixth transmission gear and a seventh transmission gear, wherein the output shaft of the second micro motor is connected to the middle portion of the second transmission gear, the second transmission gear is connected to the first end of the fifth transmission gear through a belt, the second end of the fifth transmission gear is connected to the first end of the third transmission gear, the second end of the third transmission gear is connected to the first end of the fourth transmission gear, the second end of the fourth transmission gear is connected to the first end of the sixth transmission gear, and the second end of the sixth transmission gear is connected to the seventh transmission gear; The thumb drive assembly includes a coupling, a rotating shaft, a first bevel gear, a first micro motor, a second bevel gear, an eighth transmission gear and a first transmission gear. The output shaft of the first micro motor is connected to the first end of the first transmission gear through a coupling, the second end of the first transmission gear is connected to the first end of the first bevel gear through the eighth transmission gear, the second end of the first bevel gear is meshed with the first end of the second bevel gear, the second end of the second bevel gear is connected to the first mounting end of the rotating shaft, the second mounting end of the rotating shaft is connected to the first fixed end of the first mounting plate, and the third mounting end of the rotating shaft is connected to the second end of the thumb base joint.

2. The under-actuated manipulator device for training cricket serve according to claim 1, characterized in that: It also includes a palm shell, a side shell, a back of the hand shell, a camera module, a core processor, a second mounting plate, a third mounting plate, and a first mounting plate. The first mounting end of the palm shell is connected to the mounting end of the side shell, the second mounting end of the palm shell is connected to the mounting end of the back of the hand shell, the second mounting plate and the third mounting plate are respectively located inside the palm shell, the first mounting plate is located inside the side shell, and the camera module and the core processor are respectively connected to the first fixed end and the second fixed end of the third mounting plate.

3. The under-actuated manipulator device for training cricket serve according to claim 1, characterized in that: The thumb assembly further includes a second joint of a thumb unit and a third joint of a thumb unit. The second end of the first joint of the thumb unit is connected to the first end of the second joint of the thumb unit, and the second end of the second joint of the thumb unit is connected to the third joint of the thumb unit.

4. The under-actuated manipulator device for training cricket serve according to claim 1, characterized in that: The first finger assembly includes the third joint of the first finger unit, the second joint of the first finger unit, the first joint of the first finger unit and the first base joint, the first end of the first base joint is connected to the first end of the first joint of the first finger unit, the second end of the first joint of the first finger unit is connected to the first end of the second joint of the first finger unit, the second end of the second joint of the first finger unit is connected to the third joint of the first finger unit, and the second end of the first base joint is connected to the first mounting end of the second mounting plate.

5. The under-actuated manipulator device for training cricket serve according to claim 1, characterized in that: The second finger assembly includes the third joint of the second finger unit, the second joint of the second finger unit, the first joint of the second finger unit and the second base joint. The first end of the second base joint is connected to the first end of the first joint of the second finger unit, the second end of the first joint of the second finger unit is connected to the first end of the second joint of the second finger unit, the second end of the second joint of the second finger unit is connected to the third joint of the second finger unit, and the second end of the second base joint is connected to the second mounting end of the second mounting plate.

6. The under-actuated manipulator device for training cricket serve according to claim 1, characterized in that: The third finger assembly includes the first joint of the third finger unit, the second joint of the third finger unit, the third joint of the third finger unit and the third base joint, the first end of the third base joint is connected to the first end of the first joint of the third finger unit, the second end of the first joint of the third finger unit is connected to the first end of the second joint of the third finger unit, the second end of the second joint of the third finger unit is connected to the third joint of the third finger unit, and the second end of the third base joint is connected to the third mounting end of the second mounting plate.

7. The under-actuated manipulator device for training cricket serve according to claim 1, characterized in that: In the finger drive assembly, the linear drive includes a first linear drive, a second linear drive, a third linear drive and a fourth linear drive, the connecting member includes a fourth connecting member, a third connecting member, a second connecting member and a first connecting member, and the rotating wheel includes a first rotating wheel and a second rotating wheel.

8. The under-actuated manipulator device for training cricket serve according to claim 1, characterized in that: In the finger drive assembly, the movements of the first joint wheel, the first tensioning wheel, the second joint wheel, the second tensioning wheel, the third joint wheel and the rotating wheel are on the same plane. There are four finger drive assemblies, which are respectively located on the thumb assembly, the first finger assembly, the second finger assembly and the third finger assembly.

9. The under-actuated manipulator device for training cricket serve according to claim 1, characterized in that: In the inter-finger linkage assembly, the second transmission gear is connected to the fixed end of the third mounting plate, and the fixed ends of the third transmission gear, the fourth transmission gear, the fifth transmission gear, the sixth transmission gear and the seventh transmission gear are respectively connected to the fixed end of the second mounting plate.

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