Modular underactuated manipulator

Abstract

The application provides a modular underactuated manipulator, which comprises a palm base and five modular fingers, the five modular fingers each have a bending freedom and a deflection freedom, and are fixed to the palm base in a plug-in mode; the modular finger comprises a finger segment, a joint connecting piece, a side swing joint, a motor seat and a gear driving and coupling device; the motor seat comprises a motor and a motor fixing shell; the gear driving and coupling device comprises a plurality of transmission gears and a gear differential device; the motor drives the gear driving and coupling device to realize the bending action and the side swing action of the five modular fingers. The bending action and the side swing action of the fingers are realized by two motor driven gear differential devices, the coupling bending among the three finger segments of the fingers is realized by the transmission gears and the gear coupling device, and the human-like grabbing action of the fingers is completed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a modular underactuated manipulator. BACKGROUND

[0002] In recent years, with the rapid development of robot-related technologies, robots can interact with the surrounding environment, help humans complete more delicate and dexterous tasks, and their involvement has become more extensive, which has led to increasing attention in the field of robot grasping and dexterous manipulation. Manipulators, as the end of robot operation, provide feasibility for robot fine operation and dexterous operation, and play an indispensable role in the automation of robots, and are one of the core components of modern robots.

[0003] Existing manipulators are mainly divided into fully actuated manipulators and underactuated manipulators. The mainstream direction of early international research on manipulators is fully actuated hands, aiming to explore the working principle of human hands and replicate the functions of human hands. Each joint of a fully actuated manipulator has an independent motor drive, has more degrees of freedom, but its disadvantages are also obvious, the mechanical structure is complex and bulky, and the control difficulty is great, so these hands have great limitations and are difficult to commercialize or popularize to other fields. In order to reduce the weight, volume and control difficulty of robot hands, domestic and foreign scholars have focused on underactuated manipulators. Underactuated manipulators are robots with fewer control inputs than system degrees of freedom, have the advantages of light weight, low cost and low energy consumption, and have become the main research direction of manipulators. However, underactuated hands also have disadvantages: lack of dexterity, can only perform simple grasping tasks and cannot well manipulate control objects. These shortcomings limit the popularization and application of underactuated robot hands. Due to the characteristics of manipulators, whether it is a fully actuated hand or an underactuated hand, the internal structure or installation method is very complex, and existing manipulators mostly use ropes as tendon drives, which makes installation or maintenance and upgrading difficult, the fingers move unstably, the disassembly and assembly efficiency is low, and the application scenarios are limited, which is one of the problems that need to be solved in the field of manipulators at present. SUMMARY

[0004] The present application provides a modular underactuated manipulator, which aims to solve the technical problems of complex internal structure, complex installation method, difficult installation, maintenance and upgrading, unstable finger movement, low disassembly and assembly efficiency, and limited application scenarios in the background art.

[0005] In order to achieve the above purpose, the present application provides a modular underactuated manipulator, which comprises a palm base and five modular fingers, each of the five modular fingers has a bending degree of freedom and a deflection degree of freedom, and is fixed to the palm base in a plug-in manner.

[0006] The modular finger comprises finger segments, joint connecting members, side swing joints, motor seats and gear driving and coupling devices, adjacent finger segments are connected through the joint connecting members, the finger segments of the modular finger are connected with the side swing joints, the side swing joints are connected with the motor seats, and the modular finger is fixed in the palm base through the motor seats in a plug-in mode;

[0007] The motor seat comprises two motors, motor hole site seats and circuit board seats, the motor hole site seats are fixedly connected with the circuit board seats to form the base of the modular finger, and the base is used for being inserted into the palm base, the gear driving and coupling device comprises a plurality of transmission gears and a gear differential device, the transmission gears are connected in a gear matching mode and arranged in the finger segments, the joint connecting members and the side swing joints, the transmission gears at the roots of the finger segments are connected with the gear differential device, and the gear differential device is fixedly connected with the motors;

[0008] The motors drive the gear driving and coupling device to realize the bending action and the side swing action of the five modular fingers. Preferably, the finger segments comprise a distal phalanx, a middle phalanx and a proximal phalanx which are sequentially connected through the joint connecting members, the proximal phalanx is connected with the gear differential device through a side swing joint, and the proximal phalanx and the side swing joint of the modular finger are connected.

[0009] Preferably, the middle phalanx comprises a middle phalanx coupling layer, a middle phalanx coupling cover, a middle phalanx driving cover and a middle phalanx driving layer which are arranged to form a hollow tubular structure, the transmission gears are arranged on the opposite inner sides of the middle phalanx coupling layer and the middle phalanx driving layer, and the middle phalanx coupling cover and the middle phalanx driving cover are arranged on the other two sides of the transmission gears.

[0010] The transmission gears comprise a middle phalanx coupling fixed gear arranged on a coupling side, two middle phalanx coupling inert transmission gears, a middle phalanx coupling elastic gear, a middle phalanx driving inert gear arranged on a driving side and arranged in parallel with the coupling side, and a fixed driving gear arranged on an end portion; the transmission gears on the coupling side and the transmission gears on the driving side are arranged in parallel and correspondingly.

[0011] On the coupling side, one side of the middle phalanx coupling fixed gear is fixedly connected with the proximal phalanx, the other side of the middle phalanx coupling fixed gear is connected with the middle phalanx coupling inert transmission gears in a gear matching mode, the two middle phalanx coupling inert transmission gears are connected in a gear matching mode, and the middle phalanx coupling elastic gear is elastically connected with the distal phalanx through a tension spring.

[0012] On the driving side, one end of the middle phalange driving inert gear which is hingedly connected to the middle phalange driving layer is connected to the fixed driving gear in a gear matching manner, and the other end of the middle phalange driving inert gear is connected to the proximal phalange driving inert gear fixed in the middle phalange driving layer in a gear matching manner.

[0013] Preferably, the proximal phalange includes a proximal phalange coupling layer, a proximal phalange coupling cover, a proximal phalange driving cover and a proximal phalange driving layer, and the transmission gear is arranged on the opposite inner sides of the proximal phalange coupling layer and the proximal phalange driving layer, and the proximal phalange coupling cover and the proximal phalange driving cover are arranged on the other two sides of the transmission gear.

[0014] The transmission gear includes a proximal phalange coupling elastic gear, a proximal phalange coupling inert transmission gear and a proximal phalange coupling fixed gear arranged on the coupling side, and a driving gear and a plurality of proximal phalange driving inert gears hingedly connected to each other arranged on the driving side and corresponding to the coupling side, and one of the proximal phalange coupling fixed gears is fixedly arranged in the joint connecting piece.

[0015] On the coupling side, one end of the proximal phalange coupling elastic gear is connected to the side swing joint through a sliding groove, the other end of the proximal phalange coupling elastic gear is connected to one end of the proximal phalange coupling inert transmission gear in a gear matching manner, the other end of the proximal phalange coupling inert transmission gear is connected to one end of the proximal phalange coupling fixed gear in a gear matching manner, and the other end of the proximal phalange coupling fixed gear is fixedly connected to the middle phalange coupling fixed gear of the middle phalange.

[0016] On the driving side, one end of the proximal phalange driving inert gear is hingedly connected to the driving gear, the other end of the proximal phalange driving inert gear is connected to the middle phalange driving inert gear fixed in the middle phalange driving layer in a gear matching manner, and the driving gear is connected to the gear differential device in a gear matching manner.

[0017] Preferably, the joint connecting piece includes a joint connecting plate arranged between the middle phalange and the proximal phalange.

[0018] Preferably, the side swing joint comprises a left side swing joint, a right side swing joint, a spring, a motion ring and a pin shaft, the proximal phalanx coupling elastic gear one end is connected with the motion ring of the elastic device installed on the side swing joint through a sliding slot, the left side swing joint and the right side swing joint are symmetrically arranged, two springs and a motion ring are arranged on the left side swing joint, the spring and the motion ring are sleeved on the pin shaft and are hinged with the left side swing joint, the spring is symmetrically sleeved on the pin shaft on both sides of the motion ring and is provided with a certain pre-tightening force, and the left side swing joint and the right side swing joint are fixedly connected. When the power transmitted by the motor is transmitted to the distal joint through the gear differential device and then transmitted to the coupling side gear through a plurality of transmission gears, when the power is less than the pre-tightening force of the spring, the proximal phalanx coupling elastic gear will be fixed, under the rotation of the proximal phalanx coupling inert transmission gear and the proximal phalanx coupling fixed gear, the coupling bending action of the proximal phalanx is realized; when the power is greater than the pre-tightening force of the spring, the proximal phalanx coupling elastic gear will rotate, so that the coupling motion relationship of the proximal phalanx changes, and the self-adaptation to the shape of the object is realized.

[0019] Preferably, in addition to comprising a motor hole seat, a circuit board seat and two motors, the motor seat further comprises a motor fixing plate, the side swing joint and the motor fixing plate are hinged together through a pin shaft, the motor fixing plate is fixedly connected with the motor hole seat and the circuit board seat, and the side swing joint and the motor seat are connected with each other through the motor fixing plate.

[0020] Preferably, the gear differential device comprises two power input bevel gears, two double-sided bevel gears, a planetary bevel gear and an output bevel gear.

[0021] The two power input bevel gears are respectively fixedly connected with the two motors, one side of the two double-sided bevel gears is respectively connected with the two power input bevel gears in a gear matching mode, the planetary bevel gear is arranged between the two double-sided bevel gears and is hingedly connected with the other side of the two double-sided bevel gears, the planetary bevel gear comprises a cylindrical portion, the planetary bevel gear is connected with the output bevel gear through the cylindrical portion, and synchronous rotation and power transmission of the planetary bevel gear and the output bevel gear are realized.

[0022] By controlling the rotating direction and speed of the two motors, the control of the revolution and rotation of the planetary bevel gear is realized; the rotation of the planetary bevel gear drives the rotation of the side swing joint, so that the side swing action of the modularized finger is realized; the revolution of the planetary bevel gear realizes the rotary bending action of the finger joint.

[0023] Preferably, the palm base comprises an inner palm, an outer palm and a palm seat, and the inner palm, the outer palm and the palm seat surround to form the palm base.

[0024] The application provides a kind of modular underactuated manipulator. The manipulator of the application is composed of five identical modular fingers and palm components. Each finger has three bending degrees of freedom and one yawing degree of freedom, so the five-fingered hand has twenty degrees of freedom. According to the biological and kinematic characteristics of human hand, two motors are designed as input control modules to drive the transmission chain of four degrees of freedom of the modular finger. The bending and yawing actions of the finger are realized by the differential gear driven by the two motors, and the middle phalanx and distal phalanx are coupled by the gear transmission chain and elastic coupling device to realize the coupled bending and complete the human-like grasping action of the finger. By assembling the modular fingers according to the distribution characteristics of human hand, a five-fingered hand with high robustness and convenient disassembly and assembly can be obtained to replace human hand to complete the grasping operation task. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 Structure diagram of a preferred embodiment of a modular underactuated manipulator of the application;

[0026] Figure 2 Structure diagram of a modular finger of a preferred embodiment of a modular underactuated manipulator of the application;

[0027] Figure 3 Structure diagram of the coupling side of a modular finger of a preferred embodiment of a modular underactuated manipulator of the application;

[0028] Figure 4 Structure diagram of the driving side of a modular finger of a preferred embodiment of a modular underactuated manipulator of the application;

[0029] Figure 5 Structure diagram of a differential gear device of a preferred embodiment of a modular underactuated manipulator of the application;

[0030] Figure 6 Structure diagram of a proximal phalanx spring device of a preferred embodiment of a modular underactuated manipulator of the application;

[0031] Figure 7 Structure diagram of a distal phalanx spring device of a preferred embodiment of a modular underactuated manipulator of the application;

[0032] Figure 8 Structure diagram of the installation of motor seat and differential gear device of a preferred embodiment of a modular underactuated manipulator of the application;

[0033] 1-modular finger, 2-inner palm, 3-palm seat, 4-outer palm;

[0034] 11 - distal phalanx, 12 - middle phalanx, 13 - proximal phalanx, 14 - side swing joint, 15 - motor seat, 16 - gear differential device;

[0035] 1201 - middle phalanx coupling layer, 1202 - middle phalanx coupling cover, 1203 - middle phalanx driving cover, 1204 - middle phalanx driving layer, 1205 - middle phalanx coupling fixed gear, 1206, 1207 - middle phalanx coupling inert transmission gear, 1208 - middle phalanx coupling elastic gear, 1209 - middle phalanx driving inert gear, 1210 - fixed driving gear, 1211 - tension spring;

[0036] 1301 - proximal phalanx coupling layer, 1302 - proximal phalanx coupling cover, 1303 - proximal phalanx driving cover, 1304 - proximal phalanx driving layer, 1305 - proximal phalanx coupling elastic gear, 1306 - proximal phalanx coupling inert transmission gear, 1307 - proximal phalanx coupling fixed gear, 1308 - driving gear, 1309 - proximal phalanx driving inert gear;

[0037] 1401 - left side swing joint, 1402 - right side swing joint, 1403 - spring, 1404 - movement ring, 1405 - pin shaft;

[0038] 1501 - motor hole seat, 1502 - circuit board seat, 1503 - motor, 1504 - motor fixing plate;

[0039] 1601 - power input bevel gear, 1602 - double-sided bevel gear, 1603 - planetary bevel gear, 1604 - output bevel gear. DETAILED DESCRIPTION

[0040] In order to make the technical problems, technical solutions and advantages to be solved by the present application more clear, the following will be described in detail in combination with the drawings and specific embodiments.

[0041] The present application provides a modular underactuated manipulator aiming at the existing problems.

[0042] In one embodiment, as shown in Figure 1 、 Figure 2 、 Figure 3 and Figure 4 , a modular underactuated manipulator includes a palm base and five modular fingers 1, each of the five modular fingers 1 has a bending degree of freedom and a deflection degree of freedom, and is insertedly fixed to the palm base.

[0043] The palm base includes an inner palm 2, an outer palm 4 and a palm seat 3, and the inner palm 2, the outer palm 4 and the palm seat 3 surround to form the palm base.

[0044] The modular finger 1 comprises finger segments, joint connecting members, a side swing joint 14, a motor seat 15, and a gear driving and coupling device. The adjacent finger segments are connected through the joint connecting members. The finger segments of the modular finger 1 are connected with the side swing joint 14. The side swing joint 14 is connected with the motor seat 15. The modular finger 1 is fixed to the palm base through the motor seat 15 in a plug-in mode.

[0045] The finger segments comprise a distal finger segment 11, a middle finger segment 12, and a proximal finger segment 13 connected through the joint connecting members in sequence. The proximal finger segment 13 is connected with the gear differential device 16 through the side swing joint 14. The proximal finger segment 13 of the modular finger 1 is connected with the side swing joint 14.

[0046] The motor seat 15 comprises two motors 1503, a motor hole seat 1501, and a circuit board seat 1502. The motor hole seat 1501 and the circuit board seat 1502 are fixedly connected to form a base of the modular finger 1 for being plugged into the palm base. The gear driving and coupling device comprises a plurality of transmission gears and a gear differential device 16. The transmission gears are connected in a gear matching mode and arranged in the finger segments, the joint connecting members, and the side swing joint 14. The transmission gears at the root of the finger segments are connected with the gear differential device 16. The gear differential device 16 is fixedly connected with the motor 1503.

[0047] The motor 1503 drives the gear driving and coupling device to realize five bending actions and side swing actions of the modular finger 1.

[0048] The middle finger segment 12 comprises a hollow tubular middle finger segment coupling layer 1201, a middle finger segment coupling cover 1202, a middle finger segment driving cover 1203, and a middle finger segment driving layer 1204. The transmission gears are arranged on the opposite inner sides of the middle finger segment coupling layer 1201 and the middle finger segment driving layer 1204. The middle finger segment coupling cover 1202 and the middle finger segment driving cover 1203 are arranged on the other two sides of the transmission gears.

[0049] The transmission gears comprise a middle finger segment coupling fixed gear 1205 arranged on the coupling side, two middle finger segment coupling inert transmission gears 1206 and 1207, a middle finger segment coupling elastic gear 1208, a middle finger segment driving inert gear 1209 arranged on the driving side and corresponding to the coupling side, and a fixed driving gear 1210 arranged on the end portion. The gears on the coupling side correspond to and are arranged in parallel with the transmission gears on the driving side. The thicknesses of the two middle finger segment coupling inert transmission gears 1206 and 1207 are different. The gears arranged on the coupling side are 1205, 1206, 1207, and 1208.

[0050] As shown in FIG. 1, the modular finger 1 comprises a plurality of finger segments, a plurality of joint connecting members, a side swing joint 14, a motor seat 15, and a gear driving and coupling device. Figure 7As shown, the middle phalanx coupling elastic gear 1208 and the tension spring 1211 constitute the far phalanx elastic device.

[0051] As shown, on the coupling side, one side of the middle phalanx coupling fixed gear 1205 is fixedly connected with the proximal phalanx 13, and the other side of the middle phalanx coupling fixed gear 1205 is connected with the middle phalanx coupling idle gear 1206 in a gear matching manner, the two middle phalanx coupling idle gears 1206 and 1207 are connected with each other in a gear matching manner, and the middle phalanx coupling elastic gear 1208 is elastically connected with the far phalanx 11 through the tension spring 1211. Figure 3 As shown, on the coupling side, one side of the middle phalanx coupling fixed gear 1205 is fixedly connected with the proximal phalanx 13, and the other side of the middle phalanx coupling fixed gear 1205 is connected with the middle phalanx coupling idle gear 1206 in a gear matching manner, the two middle phalanx coupling idle gears 1206 and 1207 are connected with each other in a gear matching manner, and the middle phalanx coupling elastic gear 1208 is elastically connected with the far phalanx 11 through the tension spring 1211.

[0052] Figure 4 As shown, on the coupling side, one side of the middle phalanx coupling fixed gear 1205 is fixedly connected with the proximal phalanx 13, and the other side of the middle phalanx coupling fixed gear 1205 is connected with the middle phalanx coupling idle gear 1206 in a gear matching manner, the two middle phalanx coupling idle gears 1206 and 1207 are connected with each other in a gear matching manner, and the middle phalanx coupling elastic gear 1208 is elastically connected with the far phalanx 11 through the tension spring 1211.

[0053] As shown, the proximal phalanx 13 comprises a proximal phalanx coupling layer 1301, a proximal phalanx coupling cover 1302, a proximal phalanx driving cover 1303 and a proximal phalanx driving layer 1304, the transmission gears are arranged on the opposite inner sides of the proximal phalanx coupling layer 1301 and the proximal phalanx driving layer 1304, and the proximal phalanx coupling cover 1302 and the proximal phalanx driving cover 1303 are arranged on the other two sides of the transmission gears. Figure 2 As shown, the transmission gears comprise a proximal phalanx coupling elastic gear 1305, a proximal phalanx coupling idle gear 1306 and a proximal phalanx coupling fixed gear 1307 arranged on the coupling side, and a driving gear 1308 and a plurality of proximal phalanx driving idle gears 1309 arranged in parallel and corresponding to the coupling side arranged on the driving side; the proximal phalanx coupling fixed gear 1307 is fixedly arranged on the inner side of the joint connecting piece.

[0054] Figure 3 As shown, the transmission gears comprise a proximal phalanx coupling elastic gear 1305, a proximal phalanx coupling idle gear 1306 and a proximal phalanx coupling fixed gear 1307 arranged on the coupling side, and a driving gear 1308 and a plurality of proximal phalanx driving idle gears 1309 arranged in parallel and corresponding to the coupling side arranged on the driving side; the proximal phalanx coupling fixed gear 1307 is fixedly arranged on the inner side of the joint connecting piece. Figure 4 As shown, the transmission gears comprise a proximal phalanx coupling elastic gear 1305, a proximal phalanx coupling idle gear 1306 and a proximal phalanx coupling fixed gear 1307 arranged on the coupling side, and a driving gear 1308 and a plurality of proximal phalanx driving idle gears 1309 arranged in parallel and corresponding to the coupling side arranged on the driving side; the proximal phalanx coupling fixed gear 1307 is fixedly arranged on the inner side of the joint connecting piece.

[0055] Figure 3 ​​​As shown, on the coupling side, one end of the proximal phalanx coupling elastic gear 1305 is connected to the side swing joint 14 through a sliding groove, the other end of the proximal phalanx coupling elastic gear 1305 is gear-fitted to one end of the proximal phalanx coupling inertial transmission gear 1306, the other end of the proximal phalanx coupling inertial transmission gear 1306 is gear-fitted to one end of the proximal phalanx coupling fixed gear 1307, and the other end of the proximal phalanx coupling fixed gear 1307 is fixedly connected to the middle phalanx coupling layer (1201) of the middle phalanx 12;

[0056] like Figure 4 As shown, on the drive side, one end of a plurality of interlocking proximal knuckle drive idler gears 1309 is hinged to the drive gear 1308, and the other end of the plurality of interlocking proximal knuckle drive idler gears 1309 is connected to the middle knuckle drive idler gear 1209 fixed in the middle knuckle drive layer 1204 in a gear engagement manner. The drive gear 1308 is connected to the gear differential device 16 in a gear engagement manner.

[0057] like Figure 2 As shown, the joint connector in the modular finger 1 includes joint connecting plates 17 and 18, which are disposed between the middle phalanx 12 and the proximal phalanx 13.

[0058] like Figure 6As shown, the side swing joint 14 includes a left side swing joint 1401, a right side swing joint 1402, a spring 1403, a motion ring 1404, and a pin shaft 1405. One end of the near finger joint coupling elastic gear 1305 is connected to the motion ring 1404 of the elastic device installed on the side swing joint 14 through a sliding groove. The left side swing joint 1401 and the right side swing joint 1402 are symmetrically arranged. The left side swing joint 1401 is provided with two springs 1403 and one motion ring 1404. The spring 1403 and the motion ring 1404 are both sleeved on the pin shaft 1405 and are hinged to the left side swing joint 1401. The spring 1403 is symmetrically sleeved on the pin shaft 1405 on both sides of the motion ring 1404 and is provided with a certain pre-tightening force. The left side swing joint 1401 and the right side swing joint 1402 are fixedly connected. The spring 1403, the motion ring 1404, and the pin shaft 1405 constitute a near finger joint elastic device. When the power transmitted by the motor 1503 is transmitted to the far finger joint 11 through a plurality of transmission gears by the gear differential device 16, and then transmitted to the coupling side gear, when the power is less than the set spring pre-tightening force, the near finger joint coupling elastic gear 1305 will be fixed and not movable. Under the rotating action of the near finger joint coupling inertial transmission gear 1306 and the near finger joint coupling fixed gear 1307, the coupling bending action of the near finger joint 13 is realized. When the power is greater than the set spring pre-tightening force, the near finger joint coupling elastic gear 1305 will rotate, so that the coupling motion relationship of the near finger joint 13 changes, realizing the self-adaptation to the shape of the object.

[0059] As shown in Figure 8 The motor seat 15 includes a motor hole seat 1501, a circuit board seat 1502, two motors 1503, and a motor fixing plate 1504. The side swing joint 14 and the motor fixing plate 1504 are hinged together through a pin shaft. The motor fixing plate 1504 is fixedly connected with the motor hole seat 1501 and the circuit board seat 1502. The side swing joint 14 and the motor seat 15 are connected with each other through the motor fixing plate 1504.

[0060] As shown in Figure 5 The gear differential device 16 includes two power input bevel gears 1601, two double-sided bevel gears 1602, a planetary bevel gear 1603, and an output bevel gear 1604.

[0061] Two power input bevel gears 1601 are fixedly connected with two motors 1503 respectively, two double-sided bevel gears 1602 are connected with two power input bevel gears 1601 in gear cooperation mode on one side respectively, the planetary bevel gear 1603 is arranged between two double-sided bevel gears 1602 and is hingedly connected with two double-sided bevel gears 1602 on the other side, the planetary bevel gear 1603 includes a cylindrical portion, the planetary bevel gear 1603 is connected with the output bevel gear 1604 through the cylindrical portion, synchronous rotation and power transmission of the planetary bevel gear 1603 and the output bevel gear 1604 are realized;

[0062] By controlling the rotating direction and speed of two motors 1503, the control of the rotation and revolution of the planetary bevel gear 1603 is realized; the revolution of the planetary bevel gear 1603 drives the side swing joint 14 to rotate, and the side swing action of the modularized finger 1 is realized; the rotation of the planetary bevel gear 1603 realizes the rotary bending action of the finger joint.

[0063] The modularized underactuated manipulator provided by the application is composed of five identical modularized fingers 1 and a palm component. Each modularized finger 1 has three bending degrees of freedom and one deflection degree of freedom, so that the five-fingered hand has twenty degrees of freedom. According to the biological characteristics and kinematic characteristics of a human hand, two motors are designed as input control transmission chains of four degrees of freedom movement of the modularized finger 1. The gear differential device 16 driven by the two motors realizes the bending action and the side swing action of the finger, the middle finger joint 12 and the distal finger joint 11 are coupled and bent through the gear transmission chain and the elastic coupling device, and the human-like grasping action of the finger is completed. The five-fingered hand with high robustness can be obtained by combining and installing the modularized fingers according to the distribution characteristics of a human hand, and the grasping operation task can be completed instead of a human hand.

[0064] The manipulator is composed of five identical modularized fingers 1 and a palm component, adopts a human-like hand installation and arrangement mode, the palm component is used as a base, and the modularized fingers 1 are inserted and fixed in corresponding positions.

[0065] Each finger has three knuckles and a lateral swing joint 14, and the parts are connected by joint shaft hinged. The finger knuckle parts are symmetrically divided into driving side and coupling side, and the bending coupling action will be completed by three sets of gears, including two sets of coupling gears and one set of driving gears, which are fixed on the corresponding finger side. The distal phalanx 11 is the end of the finger, loaded with a fingertip tactile sensor to realize the acquisition of external force information by the finger; the middle phalanx 12 is fixed with a set of coupling gears on the coupling side, which contains four gears, respectively, the elastic gear near the distal phalanx 11 for elastic connection with the distal phalanx 11, the fixed gear near the proximal phalanx 13 for fixed connection with the proximal phalanx 13, and the two inertial transmission gears in the middle, to realize the coupling bending action of the distal phalanx and the middle phalanx; the proximal phalanx 13 is also fixed with a set of coupling gears on the coupling side, and the distribution of the four gears is consistent with that of the middle phalanx, to realize the coupling bending action of the middle phalanx and the proximal phalanx 13; on the driving side of the finger, a set of driving gears is installed, which penetrates the distal phalanx 11, the middle phalanx 12 and the proximal phalanx 13, contains nine gears, and is divided into three types, the driving gear fixed at the bottom of the proximal phalanx 13 and connected with the output gear of the gear differential device 16, the fixed gear fixed with the distal phalanx, and the inertial gear responsible for transmission among these gears.

[0066] The lateral swing joint 14 of the finger is hinged with the proximal phalanx 13 through a joint shaft. The gear differential device 16 is installed inside the lateral swing joint 14, including the planetary bevel gear 1603 capable of realizing rotation and revolution, the double-sided bevel gear 1602 responsible for power transmission, and the power input bevel gear 1601 fixedly connected with the motor 1503. By controlling the input of the two motors 1503, the linear combination of the bending and lateral swing actions of the finger can be completed. When the two input motors 1503 rotate synchronously in the same direction, the differential planetary bevel gear 1603 rotates to control the three bending joints of the finger to realize the bending action of the finger in a human hand coupling manner; when the two input motors 1503 rotate synchronously in opposite directions, the differential planetary bevel gear 1603 revolves to control the lateral swing joint of the finger to complete the lateral swing action.

[0067] The bottom of the modular finger 1 is the motor seat 15, which is used to fix two motors, and the circuit board is fixed on the base to realize independent control of the modular finger 1.

[0068] The elastic device (spring, i.e. the spring 1403) is arranged on the lateral swing joint 14, i.e. the proximal phalanx coupling elastic gear 1305 is connected with the elastic gear on the coupling side of the proximal phalanx 13; the elastic device at the distal phalanx 11 is connected with the elastic gear on the coupling side of the middle phalanx 12, i.e. the tension spring 1211, and the spring is arranged to make the finger have shape adaptability to objects.

[0069] Installation method: as Figure 1The illustrated under-actuated modular robot hand includes a palm base and five modular fingers 1. The five modular fingers 1 are inserted into the reserved hole positions on the palm base according to the distribution characteristics of human hands. The palm base is divided into an inner palm 2, an outer palm 4, and a palm seat 3, which are connected to each other by screws.

[0070] The five fingers 1 are the same, the distal phalanx 11 is hingedly connected with the middle phalanx 12, the middle phalanx 12 and the proximal phalanx 13 are connected through the joint connecting plates 17 and 18, the proximal phalanx 13 and the side swing joint 14 are hingedly connected with each other, the side swing joint 14 and the motor fixing plate 1504 are hingedly connected together through a pin shaft, the motor fixing plate 1504 and the motor seat 15 are connected and fixed by screws, the motor seat includes a motor hole position seat 1501 and a circuit board seat 1502, which are connected to each other by screws.

[0071] Two motors 1503 are inserted into the reserved hole positions of the motor seat 15, two power input bevel gears 1601 are fixed on the output shafts of the motors 1503 through set screws, serving as transmission gears for the power input function of the gear differential device 16; two double-sided bevel gears 1602 are fixed on the pin shafts of the hinged side swing joints 14 and the motor fixing plate 1504 through set screws, located inside the side swing joints 14, and form gear cooperation with the power input bevel gears 1601; the two double-sided bevel gears 1602 and the planetary bevel gear 1603 located therebetween constitute gear cooperation, the cylindrical part of the planetary bevel gear 1603 forms shaft hole cooperation with the reserved hole position in the center of the side swing joint 14, and the tail end of the cylindrical part is fixedly connected with the output bevel gear 1604, realizing synchronous rotation and power transmission of the planetary bevel gear 1603 and the output bevel gear 1604;

[0072] The side swing joints 14 of the fingers are symmetrically divided into left side swing joints 1401 and right side swing joints 1402, two springs 1403 and a motion ring 1404 are installed on the left side swing joint 1401, the springs 1403 and the motion ring 1404 are sleeved on the pin shaft 1405 and hingedly connected with the left side swing joint 1401, the springs 1403 are distributed and installed on both sides of the motion ring 1404, the left side swing joint 1401 and the right side swing joint 1402 are fixed by screws;

[0073] The finger section of the modular finger 1 is symmetrically divided into a coupling side and a driving side. The proximal phalanx coupling side of the finger includes two layers, a proximal phalanx coupling layer 1301 on which gears are installed and a proximal phalanx coupling cover 1302. Four gears are installed inside the proximal phalanx coupling layer 1301, including a proximal phalanx coupling elastic gear 1305 that is engaged with a motion ring 1404, a proximal phalanx coupling fixed gear 1307 that is fixedly connected to the middle phalanx 12 by a screw, and a proximal phalanx coupling inert transmission gear 1306 that is responsible for transmission. The four gears are hingedly connected to the proximal phalanx coupling layer 1301 and the proximal phalanx coupling cover 1302 by a pin shaft. The middle phalanx coupling side of the finger is also divided into a middle phalanx coupling layer 1201 and a middle phalanx coupling cover 1202, and four gears are also installed inside, including a middle phalanx coupling fixed gear 1205 that is fixedly connected to the proximal phalanx 13 by a screw, a middle phalanx coupling elastic gear 1208 that is elastically connected to the distal phalanx 11, and a middle phalanx coupling inert transmission gear 1206 and 1207 that are responsible for transmission. The four gears are hingedly connected to the middle phalanx coupling layer 1201 and the coupling cover 1202 by a pin shaft. The middle phalanx coupling fixed gear 1205 and the middle phalanx coupling inert transmission gear 1206 are located on the inside of the proximal joint coupling gear set and are installed inside the middle joint coupling cover 1202. The thickness of the middle joint coupling inert transmission gear 1207 is the sum of the thicknesses of the proximal phalanx coupling fixed gear 1307 and the middle phalanx coupling fixed gear 1205, and is installed in the reserved hole positions of the middle phalanx coupling layer 1201 and the middle phalanx coupling cover 1202. The proximal phalanx coupling layer 1301 and the middle phalanx coupling layer 1201 are hingedly connected by a pin shaft, and the outer surfaces of the two parts are hingedly connected to the left joint plate 17 to strengthen the connection strength. A tension spring 1211 is installed between the middle phalanx coupling elastic gear 1208 and the distal phalanx 11, and the ends of the tension spring 1211 pull one end of each of the two parts. Figure 4 The driving side of the finger is installed with nine gears, including a driving gear 1308 that is engaged with an output bevel gear 1604, seven driving inert gears 1309 and 1209 that are responsible for transmission, as shown in FIG. 13, and a fixed driving gear 1210 that is fixedly connected to the distal phalanx 11 by a screw. The nine gears are hingedly connected to the driving side of the finger by a pin shaft. The driving side of the finger is divided into a proximal phalanx driving layer 1304, a proximal phalanx driving cover 1303, a middle phalanx driving layer 1204, and a middle phalanx driving cover 1203. The four parts are hingedly connected by a pin shaft. The proximal phalanx driving layer 1304 and the middle phalanx driving layer 1204 are hingedly connected by a pin shaft, and the outer surfaces thereof are hingedly connected to the right joint plate 18.

[0074] Working mode: the upper computer sends instructions to the control chip of the finger circuit board, the chip reacts, controls the rotation of the two motors 1503, the motor 1503 rotates to drive the power input bevel gear 1601 fixed on the motor output shaft to rotate, the power input bevel gear 1601 transmits power to the planetary bevel gear 1602 through the gear differential device 16, and the rotation direction and speed of the two motors 1503 are controlled to realize the control of the rotation and revolution of the planetary bevel gear 1602. The revolution of the planetary bevel gear 1602 will drive the side swing joint 14 to rotate through the cooperation of the hole shaft of the side swing joint 14, realizing the side swing action of the modularized finger 1;The rotation of the planetary bevel gear 1602 will realize power transmission through the cooperation of the output bevel gear 1604 and the driving gear 1308, so that the driving gear 1308 rotates, and the power is further transmitted to the fixed driving gear 1210 through the driving idler gear, and under the action of the fixed cooperation, the far finger joint 11 rotates, and the middle finger joint 12 and the near finger joint 13 are coupled to move under the action of the two sets of coupling gears, realizing the coupled bending action of the three finger joints of the finger. Through the coordinated control of different fingers, various gestures and operations of the five-finger hand can be realized.

[0075] The modular underactuated manipulator provided by the application has the following beneficial effects:

[0076] (1) The robot manipulator of the application adopts a human-like modular design, and all driving mechanisms, transmission mechanisms, circuit boards and the like are integrated in the finger, so that the finger is highly integrated and modularized, the volume is reduced, the structure is compact, different numbers of fingers are quickly combined according to different requirements, the target manipulator can be obtained, the maintenance and upgrading efficiency is greatly improved, and the application scene is expanded.

[0077] (2) The gear driving coupling mode is adopted, the gear cooperation relationship is ingeniously used to realize the operation of the finger, the waste of motor power can be greatly avoided, the coupling relationship is very stable when the finger is freely bent and moved, i.e. when it does not touch the object, the position control is accurate, and the finger has strong robustness, and the coupling device has self-adaptability to the shape of the object.

[0078] (3) The differential device is adopted in the finger power transmission device, so that the linear combination of the bending and side swing actions of the finger is realized through the two motors 1503, the space utilization rate in the hand is reduced, the volume of the finger is reduced, and the mechanical properties are realized. The effect of superposition increase.

[0079] The gear driving mode adopted by the modular underactuated manipulator provided in the application completes power transmission and control from the motor 1503 to the fingers, and has the advantages of accurate control and high robustness. In addition, a tendon driving mode using a rope can also be adopted, and only a more stable and accurate wiring mode needs to be designed to achieve the same function and achieve the same effect. By using gears as transmission components, the original tendon driving mode is replaced, and all components are integrated in a finger, so that the finger is highly integrated and modular, and the dexterity and robustness are considered, and the maintenance and upgrade efficiency of the manipulator is significantly improved.

[0080] The above is the preferred embodiment of the application. It should be noted that for those skilled in the art, without departing from the principles of the application, several improvements and refinements can be made, which should also be considered within the scope of protection of the application.

Claims

1. A modular underactuated manipulator, characterized by, The hand palm base and five modular fingers (1) are inserted and fixed to the hand palm base, and the five modular fingers (1) have bending and deflection degrees of freedom; The modular finger (1) comprises finger segments, joint connecting members, side swing joints (14), motor seats (15) and gear driving and coupling devices, the adjacent finger segments are connected through the joint connecting members, the finger segments of the modular finger (1) are connected with the side swing joints (14), the side swing joints (14) are connected with the motor seats (15), and the modular finger (1) is inserted and fixed to the hand palm base through the motor seats (15); The motor seat (15) comprises two motors (1503), a motor hole site seat (1501) and a circuit board seat (1502), the motor hole site seat (1501) and the circuit board seat (1502) are fixedly connected, forming a base of the modular finger (1) for being inserted into the hand palm base, the gear driving and coupling devices comprise a plurality of transmission gears and gear differential devices (16), the plurality of transmission gears are connected in a gear matching mode and arranged in the finger segments, the joint connecting members and the side swing joints (14), the transmission gears at the root of the finger segments are connected with the gear differential devices (16), and the gear differential devices (16) are fixedly connected with the motors (1503); The motors (1503) drive the gear driving and coupling devices to realize the bending and side swing actions of the five modular fingers (1); The finger segments comprise a distal phalanx (11), a middle phalanx (12) and a proximal phalanx (13) connected through the joint connecting members in sequence, the proximal phalanx (13) is connected with the gear differential devices (16) through the side swing joints (14), and the proximal phalanx (13) of the modular finger (1) is connected with the side swing joints (14); The middle phalanx (12) comprises a middle phalanx coupling layer (1201) formed in a hollow tubular shape, a middle phalanx coupling cover (1202), a middle phalanx driving cover (1203) and a middle phalanx driving layer (1204); the transmission gears are arranged on the opposite inner sides of the middle phalanx coupling layer (1201) and the middle phalanx driving layer (1204), and the middle phalanx coupling cover (1202) and the middle phalanx driving cover (1203) are arranged on the other two sides of the transmission gears; The transmission gears comprise a middle phalanx coupling fixed gear (1205) arranged on a coupling side, two middle phalanx coupling idle transmission gears (1206), (1207), a middle phalanx coupling elastic gear (1208), a middle phalanx driving idle gear (1209) arranged on a driving side and corresponding and parallel to the coupling side, and a fixed driving gear (1210) arranged at an end portion; In the coupling side, one side of the middle phalanx coupling fixed gear (1205) is fixedly connected with the proximal phalanx (13), and the other side of the middle phalanx coupling fixed gear (1205) is connected with the middle phalanx coupling idle transmission gear (1206) in a gear matching manner, two middle phalanx coupling idle transmission gears (1206), (1207) are connected with each other in a gear matching manner, and the middle phalanx coupling elastic gear (1208) is elastically connected with the distal phalanx (11) through a tension spring (1211); In the driving side, a plurality of middle phalanx driving idle gears (1209) hinged to the middle phalanx driving layer (1204) are connected with the fixed driving gear (1210) in a gear matching manner at one end, and are connected with a proximal phalanx driving idle gear (1309) fixed in the middle phalanx driving layer (1204) in a gear matching manner at the other end.

2. The modular underactuated manipulator according to claim 1, wherein, The proximal phalanx (13) comprises a proximal phalanx coupling layer (1301), a proximal phalanx coupling cover (1302), a proximal phalanx driving cover (1303) and a proximal phalanx driving layer (1304) which are arranged to form a hollow tubular structure; the transmission gear is arranged on the opposite inner sides of the proximal phalanx coupling layer (1301) and the proximal phalanx driving layer (1304), and the proximal phalanx coupling cover (1302) and the proximal phalanx driving cover (1303) are arranged on the other two sides of the transmission gear; The transmission gear comprises a proximal phalanx coupling elastic gear (1305), a proximal phalanx coupling idle transmission gear (1306) and a proximal phalanx coupling fixed gear (1307) arranged on the coupling side, and a driving gear (1308) and a plurality of proximal phalanx driving idle gears (1309) arranged in parallel on the driving side and corresponding to the coupling side; one of the proximal phalanx coupling fixed gears (1307) is fixedly arranged in the joint connecting member; In the coupling side, one end of the proximal phalanx coupling elastic gear (1305) is connected with the side swing joint (14) through a sliding groove, the other end of the proximal phalanx coupling elastic gear (1305) is connected with one end of the proximal phalanx coupling idle transmission gear (1306) in a gear matching manner, the other end of the proximal phalanx coupling idle transmission gear (1306) is connected with one end of the proximal phalanx coupling fixed gear (1307) in a gear matching manner, and the other end of the proximal phalanx coupling fixed gear (1307) is fixedly connected with the middle phalanx coupling layer (1201) of the middle phalanx (12); In the driving side, one end of the plurality of proximal phalanx driving idle gears (1309) is hingedly connected with the driving gear (1308), the other end of the plurality of proximal phalanx driving idle gears (1309) is connected with the middle phalanx driving idle gear (1209) fixed in the middle phalanx driving layer (1204) in a gear matching manner, and the driving gear (1308) is connected with the gear differential device (16) in a gear matching manner.

3. The modular underactuated manipulator of claim 2, wherein, The joint connecting piece comprises joint connecting plates (17) and (18) arranged between the middle finger joint (12) and the proximal finger joint (13).

4. The modular underactuated manipulator of claim 3, wherein, The side swing joint (14) comprises a left side swing joint (1401), a right side swing joint (1402), a spring (1403), a movement ring (1404), and a pin shaft (1405). One end of the proximal finger joint coupling elastic gear (1305) is connected to the movement ring (1404) of the elastic device installed on the side swing joint (14) through a sliding groove. The left side swing joint (1401) and the right side swing joint (1402) are symmetrically arranged. Two springs (1403) and one movement ring (1404) are arranged on the left side swing joint (1401). The spring (1403) and the movement ring (1404) are both sleeved on the pin shaft (1405) and are hinged to the left side swing joint (1401). The spring (1403) is symmetrically sleeved on the pin shaft (1405) on both sides of the movement ring (1404) and is provided with a certain pre-tightening force. The left side swing joint (1401) and the right side swing joint (1402) are fixedly connected.

5. The modular underactuated manipulator of claim 1, wherein, The motor seat (15) comprises a motor hole seat (1501), a circuit board seat (1502), two motors (1503), and a motor fixing plate (1504). The side swing joint (14) and the motor fixing plate (1504) are hinged together through a pin shaft. The motor fixing plate (1504) is fixedly connected with the motor hole seat (1501) and the circuit board seat (1502). The side swing joint (14) and the motor seat (15) are connected with each other through the motor fixing plate (1504).

6. The modular underactuated manipulator of claim 1, wherein, The gear differential device (16) comprises two power input bevel gears (1601), two double-sided bevel gears (1602), a planetary bevel gear (1603), and an output bevel gear (1604). The two power input bevel gears (1601) are fixedly connected with the two motors (1503), respectively. Two double-sided bevel gears (1602) are connected with the two power input bevel gears (1601) in a gear matching manner on one side, respectively. The planetary bevel gear (1603) is arranged between the two double-sided bevel gears (1602) and is hingedly connected with the other sides of the two double-sided bevel gears (1602). The planetary bevel gear (1603) comprises a cylindrical portion. The planetary bevel gear (1603) is connected with the output bevel gear (1604) through the cylindrical portion, so as to realize the synchronous rotation and power transmission of the planetary bevel gear (1603) and the output bevel gear (1604).

7. The modular underactuated manipulator of claim 1, wherein, The palm base comprises an inner palm (2), an outer palm (4), and a palm seat (3). The inner palm (2), the outer palm (4), and the palm seat (3) surround to form the palm base.

8. The modular underactuated manipulator of claim 1, wherein, The distal finger joint (11) is the end of the finger and is loaded with a fingertip tactile sensor to realize the acquisition of external force information by the finger. The distal finger joint (11) is the end of the finger and is loaded with a fingertip tactile sensor to realize the acquisition of external force information by the finger.

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