A multi-degree-of-freedom bionic dexterous hand and control method thereof

Abstract

The present invention relates to the field of manipulators, and discloses a multi-degree-of-freedom bionic dexterous hand and a control method thereof, comprising a palm fixing cabin, a thumb structure, a plurality of finger structures hinged in sequence on the palm fixing cabin, a finger bending mechanism and a thumb bending mechanism arranged on the palm fixing cabin; the finger bending mechanism comprises a finger bending component and a finger driving rope, each bending channel is provided with a finger bending component and a finger driving rope, one end of the finger driving rope is connected to the finger bending component, and the other end is connected to the finger structure, the thumb bending mechanism and the plurality of bending channels are staggered on the palm fixing cabin, and the thumb bending mechanism is connected to the thumb structure. The present invention arranges the finger bending component and the finger driving rope in the bending channel, so that the finger driving rope can be directly connected to the finger structure, without changing the transmission direction through a pulley, thereby reducing the energy loss of the finger bending component, reducing the complexity of the finger driving rope, and improving the transmission efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, and in particular to a multi-freedom bionic dexterous hand and a control method thereof. Background Art

[0002] With the rapid development of modern robotics, more and more functional manipulators have penetrated into various fields of production and life, assisting humans in completing various tasks. Anthropomorphic dexterous hands and grippers are two commonly used mechanical end effectors in modern robotics, and they have significant differences in structural design, function and application scenarios.

[0003] At present, the existing dexterous hands with built-in drive motors take up too much space for the arrangement of the drive motors, and it is impossible to arrange more motors within the limited space of the dexterous hands. In addition, the dexterous hands with tendon rope transmission have the problem of complex winding resulting in low transmission efficiency.

[0004] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a multi-degree-of-freedom bionic dexterous hand and a control method thereof in view of the above-mentioned defects of the prior art, aiming to solve the problems in the prior art that the motor of the dexterous hand occupies a large space and the winding of the tendon rope transmission is complicated.

[0006] The technical solution adopted by the present invention to solve the technical problem is as follows:

[0007] A multi-degree-of-freedom bionic dexterous hand, comprising a palm fixing cabin, a thumb structure, a plurality of finger structures hinged to the palm fixing cabin in sequence, a finger bending mechanism and a thumb bending mechanism arranged on the palm fixing cabin;

[0008] The palm fixing cabin is provided with a plurality of curved channels arranged in parallel, and the curved channels are hinged to the finger structure;

[0009] The finger bending mechanism comprises a finger bending assembly and a finger driving rope, each of the bending channels is provided with a finger bending assembly and a finger driving rope, one end of the finger driving rope is connected to the finger bending assembly, and the other end is connected to the finger structure, and the finger bending assembly is used to tighten the finger driving rope to drive the finger structure to bend toward the center of the palm fixing cabin;

[0010] The thumb bending mechanism and the plurality of bending channels are staggeredly arranged on the palm fixing compartment. The thumb bending mechanism is connected to the thumb structure to drive the thumb structure to bend toward the center of the palm fixing compartment.

[0011] Optionally, the number of the finger bending assembly, the finger driving rope and the finger structure is set to four, and the palm fixing cabin includes:

[0012] a first shell;

[0013] A second shell, disposed on the first shell;

[0014] a third shell, disposed on the first shell and having a gap between the third shell and the second shell;

[0015] a fourth shell, disposed on the second shell and the third shell;

[0016] A fifth housing, disposed on the fourth housing;

[0017] Among them, the two finger bending assemblies are both arranged on the fourth shell and arranged in parallel; the other two finger bending assemblies are both arranged on the second shell and arranged in an up-and-down staggered manner; and the thumb bending mechanism is arranged on the third shell.

[0018] Optionally, the bionic dexterous hand further includes a finger swing mechanism, and the finger swing mechanism includes:

[0019] Two swing frames, the two swing frames are rotatably arranged on the palm fixing cabin and are respectively connected to the two finger structures with the largest spacing on the palm fixing cabin;

[0020] Two finger swing assemblies are connected to the two swing frames and are used to drive the two finger structures with the largest distance between them on the palm fixing cabin to bend laterally on the palm fixing cabin.

[0021] Optionally, the finger swing component includes:

[0022] A finger swing motor is arranged in the palm fixing cabin;

[0023] A finger shaft, rotatably disposed on the palm fixing cabin and fixedly connected to the swing frame;

[0024] A first bevel gear, disposed on an output shaft of the finger swing motor;

[0025] The second bevel gear is disposed on the finger shaft and meshes with the first bevel gear.

[0026] Optionally, the thumb bending mechanism comprises:

[0027] A fixing frame, which is arranged on the palm fixing cabin and is staggered with the plurality of curved channels;

[0028] A rotating frame, arranged on the fixed frame;

[0029] The thumb bending assembly is arranged on the rotating frame and connected to the thumb structure, and is used for driving the thumb structure to bend toward the center of the palm fixing compartment.

[0030] Optionally, the fixing frame is provided with an inclined portion, the rotating frame is provided on the inclined portion, an angle is formed between the inclined portion and the palm fixing cabin, and the angle of the angle is 20-60°, and the bionic dexterous hand further includes a thumb swing mechanism, and the thumb swing mechanism includes:

[0031] A thumb swing assembly is disposed on the fixed frame, and an output end thereof is connected to the rotating frame;

[0032] Wherein, the thumb swing assembly is used to drive the rotating frame to rotate, so as to drive the thumb structure to swing laterally on the palm fixing cabin.

[0033] Optionally, the thumb structure includes a first thumb joint and a second thumb joint, the first thumb joint is hinged to the second thumb joint, a finger joint channel is provided in the thumb structure, and the bionic dexterous hand further includes a thumb joint mechanism, and the thumb joint mechanism includes:

[0034] A thumb joint assembly is arranged on the palm fixing cabin;

[0035] A thumb drive rope, one end of which is connected to the thumb joint assembly;

[0036] The other end of the thumb drive rope passes through the knuckle channel and is connected to the second knuckle of the thumb. The thumb joint assembly is used to tighten the thumb drive rope to drive the second knuckle of the thumb to bend on the first knuckle of the thumb.

[0037] Optionally, the bionic dexterous hand further comprises a shell, and the shell is detachably arranged on the palm fixing cabin.

[0038] Optionally, the bionic dexterous hand further includes an angle sensor and a control system, wherein the angle sensors are arranged on the plurality of finger structures and the thumb structure, and all the angle sensors are electrically connected to the control system.

[0039] A control method for a multi-degree-of-freedom bionic dexterous hand, the control method being applied to the multi-degree-of-freedom bionic dexterous hand as described in any one of the above technical solutions, the control method comprising:

[0040] Receive action instructions;

[0041] Determining finger instructions corresponding to the multi-degree-of-freedom bionic dexterous hand according to the action instructions;

[0042] Based on the finger instruction, the corresponding finger bending mechanism and / or the thumb bending mechanism is driven to drive the multi-degree-of-freedom bionic dexterous hand to bend to a target position.

[0043] Beneficial effects:

[0044] The present invention provides a multi-degree-of-freedom bionic dexterous hand and a control method thereof. A plurality of parallel curved channels are arranged on a palm fixing cabin. The curved channels are hinged with a finger structure. A finger bending assembly and a finger driving rope are arranged in the curved channels, so that the finger driving rope can be directly connected to the finger structure without changing the transmission direction through a pulley, thereby reducing the energy loss of the finger bending assembly, reducing the complexity of the finger driving rope, and improving the transmission efficiency. In addition, the thumb bending mechanism and the plurality of curved channels are staggered on the palm fixing cabin, so that the thumb bending mechanism and the finger bending mechanism will not interfere with each other, and are reasonably arranged on the palm fixing cabin to reduce space occupation and improve space utilization. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 is a structural diagram of the multi-degree-of-freedom bionic dexterous hand of the present invention;

[0046] Figure 2 It is a structural diagram of the palm fixing cabin in the present invention;

[0047] Figure 3 is an internal structural diagram of the palm fixing cabin in the present invention;

[0048] Figure 4 It is a top view structural diagram of the multi-degree-of-freedom bionic dexterous hand in the present invention;

[0049] Figure 5 is a structural diagram of the thumb structure of the present invention;

[0050] Figure 6 is a structural diagram of the thumb structure of the present invention from another perspective;

[0051] Figure 7 is a cross-sectional structural diagram of the thumb structure of the present invention;

[0052] Figure 8 It is a flow chart of the control method of the present invention.

[0053] In the figure:

[0054] 100, palm fixing cabin; 110, first shell; 120, second shell; 130, third shell; 140, fourth shell; 150, fifth shell;

[0055] 200, housing;

[0056] 300. Thumb structure; 310. First knuckle of thumb; 320. Second knuckle of thumb;

[0057] 400. Finger structure;

[0058] 510, finger bending assembly; 520, finger drive rope;

[0059] 610, swing frame; 620, finger swing motor; 630, first bevel gear; 640, second bevel gear; 650, finger rotating shaft;

[0060] 710, fixed seat; 720, thumb swing assembly; 730, rotating frame; 740, thumb bending assembly; 750, thumb drive rope. DETAILED DESCRIPTION

[0061] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0062] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, "multiple" means two or more.

[0063] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0064] At present, the existing dexterous hands with built-in drive motors take up too much space for the arrangement of the drive motors, and it is impossible to arrange more motors within the limited space of the dexterous hands. The existing under-driven dexterous hands with connecting rod transmission are prone to damage to the fingers when impacted because their connecting rod transmission is not flexible. The existing dexterous hands with tendon rope transmission have the problem of low transmission efficiency due to complex winding.

[0065] Based on the above problems, this application has made the following improvements.

[0066] See also Figures 1 to 4 As shown, in one embodiment of the present application, a multi-degree-of-freedom bionic dexterous hand is provided, comprising a palm fixing cabin 100, a thumb structure 300, a plurality of finger structures 400 hinged in sequence on the palm fixing cabin 100, a finger bending mechanism and a thumb bending mechanism arranged on the palm fixing cabin 100; the palm fixing cabin 100 is provided with a plurality of bending channels arranged in parallel, the bending channels are hinged with the finger structures 400; the finger bending mechanism comprises a finger bending component 510 and a finger driving rope 520, each of the bending channels is provided with a finger bending component 510 and a finger driving rope 520. 10 and a finger driving rope 520, one end of the finger driving rope 520 is connected to the finger bending component 510, and the other end is connected to the finger structure 400, the finger bending component 510 is used to tighten the finger driving rope 520 to drive the finger structure 400 to bend toward the center of the palm fixing cabin 100; the thumb bending mechanism and the multiple bending channels are staggered on the palm fixing cabin 100, and the thumb bending mechanism is connected to the thumb structure 300, and is used to drive the thumb structure 300 to bend toward the center of the palm fixing cabin 100.

[0067] Specifically, the present embodiment discloses a plurality of finger structures 400 and finger bending mechanisms, as well as a thumb bending mechanism and a thumb structure 300. A plurality of parallel curved channels are arranged on the palm fixing cabin 100. The curved channels are hinged with the finger structures 400. The finger bending components 510 and the finger driving rope 520 are arranged in the curved channels, so that the finger driving rope 520 can be directly connected to the finger structure 400 without changing the transmission direction through a pulley, thereby reducing the energy loss of the finger bending component 510, reducing the complexity of the finger driving rope 520, and improving the transmission efficiency. In addition, the thumb bending mechanism and the plurality of curved channels are staggered on the palm fixing cabin 100, so that the thumb bending mechanism and the finger bending mechanism will not interfere with each other, and are reasonably arranged on the palm fixing cabin 100 to reduce space occupation and improve space utilization.

[0068] It can be understood that in the present embodiment, a plurality of curved channels are provided on the palm fixing cabin 100, and the curved channels are hinged to the finger structure 400, so that each curved channel corresponds to a finger structure 400, and the number of finger structures 400 and curved channels can be made by technicians in this field according to actual usage scenarios. For example, two finger structures 400 are made, and the two finger structures 400 are respectively installed on the palm fixing cabin 100, at the positions of the index finger and the middle finger. In this way, the cooperation of the index finger, the middle finger and the thumb structure 300 can also be used to grasp simple objects.

[0069] See also Figure 1 As shown, in another embodiment of the present application, the number of the finger bending assembly 510, the finger driving rope 520 and the finger structure 400 are all set to four.

[0070] In this embodiment, by limiting the number of finger bending components 510, finger driving ropes 520 and finger structures 400, the bionic dexterous hand has five degrees of freedom, which can better simulate the number of human fingers and facilitate more delicate operations.

[0071] See also Figure 2 As shown, in another embodiment of the present application, the palm fixing cabin 100 includes a first shell 110, a second shell 120, a third shell 130, a fourth shell 140 and a fifth shell 150, the second shell 120 is arranged on the first shell 110, the third shell 130 is arranged on the first shell 110, and a gap is arranged between the second shell 120, the fourth shell 140 is arranged on the second shell 120 and the third shell 130, and the fifth shell 150 is arranged on the fourth shell 140, wherein the two finger bending components 510 are both arranged on the fourth shell 140 and are arranged relatively parallel, the other two finger bending components 510 are both arranged on the second shell 120 and are arranged in an upper and lower staggered arrangement, and the thumb bending mechanism is arranged on the third shell 130.

[0072] Specifically, the palm fixing cabin 100 disclosed in the present embodiment includes a first shell 110, a second shell 120, a third shell 130, a fourth shell 140 and a fifth shell 150. By dividing the palm fixing cabin 100 into different shell modules, it is easy to assemble, reduce the difficulty of assembly, and facilitate reuse. In addition, the positions of the four finger bending components 510 and the thumb bending mechanism in each shell are also defined in the present embodiment, which is conducive to staggering the four finger bending components 510 and the thumb bending mechanism to avoid interference. At the same time, since two finger bending components 510 are arranged in the second shell 120 and the other two finger bending components 510 are arranged in the fourth shell 140, such an arrangement only requires the second shell 120 and the fourth shell 140 to be replaced and disassembled during maintenance and replacement, thereby reducing the difficulty of maintenance.

[0073] Furthermore, two finger bending assemblies 510 are arranged in the second shell 120. In order to enable the two finger bending assemblies 510 installed on the second shell 120 to be aligned with the finger structures 400 in two different orientations, the output end of the finger bending assembly 510 faces one finger structure 400, and a connecting rod is arranged at the output end of the other finger bending assembly 510. The connecting rod is used to extend the output position of the finger bending assembly 510 so that the two finger driving ropes 520 installed on the second shell 120 can be connected to the two finger structures 400 respectively.

[0074] Furthermore, two finger bending components 510 are arranged in relatively parallel in the fourth shell 140, and the two output ends are located at the hinges of the two finger structures, namely the index finger and the little finger, which is conducive to connecting the finger bending component 510 with the two finger structures and reducing energy loss.

[0075] Furthermore, the finger bending assembly 510 includes a finger bending motor and a finger winding wheel. The finger winding wheel is arranged on the output shaft of the finger bending motor, and the finger driving rope 520 is wound around the finger winding wheel.

[0076] See also Figure 3 As shown, in another embodiment of the present application, the bionic dexterous hand also includes a finger swinging mechanism, and the finger swinging mechanism includes two swinging frames 610 and two finger swinging assemblies. The two swinging frames 610 are rotatably arranged on the palm fixing cabin 100, and are respectively connected to the two finger structures 400 with the largest spacing on the palm fixing cabin 100. The two finger swinging assemblies are connected to the two swinging frames 610 to drive the two finger structures 400 with the largest spacing on the palm fixing cabin 100 to bend laterally on the palm fixing cabin 100.

[0077] Specifically, the present embodiment discloses a finger swinging mechanism, which includes two swinging frames 610 and two finger swinging assemblies. The two finger structures 400 with the largest spacing are the index finger and the little finger. The two swinging frames 610 are connected to the index finger and the little finger, and then connected to the two swinging frames 610 through two finger swinging assemblies to drive the swinging frames 610 to drive the index finger and the little finger to swing laterally on the palm fixing cabin 100. Not only can the swinging of the index finger and the little finger be controlled individually, but the index finger and the little finger can also be made more flexible, thereby increasing the degree of freedom of the index finger and the little finger of the bionic dexterous hand, and improving the bionic dexterous hand's ability to grasp irregular objects and operate objects in the palm.

[0078] See also Figure 3 As shown, in a specific embodiment of the present application, the finger swing assembly includes a finger swing motor 620, a finger shaft 650, a first bevel gear 630 and a second bevel gear 640, the finger swing motor 620 is arranged in the palm fixing cabin 100, the finger shaft 650 is rotatably arranged on the palm fixing cabin 100, and is fixedly connected to the swing frame 610, the first bevel gear 630 is arranged on the output shaft of the finger swing motor 620, and the second bevel gear 640 is arranged on the finger shaft 650 and is meshed with the first bevel gear 630.

[0079] Specifically, the specific structure of the finger swing assembly is disclosed in this embodiment, and the first bevel gear 630 is driven to rotate by the output shaft of the finger swing motor 620, and the first bevel gear 630 is meshed with the second bevel gear 640 to drive the second bevel gear 640 to rotate, and the second bevel gear 640 is fixed on the finger shaft 650, and the finger shaft 650 is fixedly connected to the swing frame 610, so as to drive the swing frame 610 to rotate. More specifically, the swing frame 610 is rotatably mounted on the fifth shell 150, and the finger swing motor 620 is mounted on the fifth shell 150, which is conducive to making full use of the space of the palm fixing cabin 100. In this solution, the rotation of the swing frame 610 is driven by a simple gear transmission, which has higher transmission accuracy, less occupied space, compact structure, and strong working reliability.

[0080] See also Figure 1 As shown, in another embodiment of the present application, the thumb bending mechanism includes a fixed base 710, a rotating frame 730 and a thumb bending assembly 740. The fixed base 710 is arranged on the palm fixing cabin 100 and is staggered with the multiple bending channels. The rotating frame 730 is arranged on the fixed base 710. The thumb bending assembly 740 is arranged on the rotating frame 730 and is connected to the thumb structure 300, so as to drive the thumb structure 300 to bend toward the center of the palm fixing cabin 100.

[0081] Specifically, in this embodiment, the fixing seat 710 is arranged to drive the rotating frame 730 away from the third housing 130, so that the rotating frame 730 is conveniently away from the third housing 130 to prevent the bending angle of the thumb structure 300 from being affected. In addition, the thumb bending assembly 740 directly drives the thumb structure 300, which is conducive to maximizing the power of the thumb bending assembly 740 and improving the transmission efficiency. Preferably, the thumb bending assembly 740 is a thumb bending motor, and the output shaft of the thumb bending motor is connected to the rotating frame 730.

[0082] See also Figure 1 and Figure 6 As shown, the fixing seat 710 is provided with an inclined portion, and the rotating frame 730 is provided on the inclined portion. An angle is formed between the inclined portion and the palm fixing cabin 100, and the angle of the angle is 20-60°; the bionic dexterous hand also includes a thumb swing mechanism, and the thumb swing mechanism includes a thumb swing component 720, and the thumb swing component 720 is provided on the fixing seat 710, and the output end is connected to the rotating frame 730; wherein, the thumb swing component 720 is used to drive the rotating frame 730 to rotate, so as to drive the thumb structure 300 to swing laterally on the palm fixing cabin 100.

[0083] Specifically, the fixing seat 710 disclosed in the present embodiment is provided with an inclined portion, which is a smooth plane. When the rotating frame 730 is provided on the inclined portion, the rotating frame 730 forms an angle with the palm fixing cabin 100. In addition, the present embodiment also discloses a thumb swing mechanism, which includes a thumb swing assembly 720, which is provided on the fixing seat 710, and the output end is connected to the rotating frame 730. The thumb swing assembly 720 is used to drive the rotating frame 730 to rotate, so as to drive the thumb structure 300 to swing laterally on the palm fixing cabin 100. Preferably, the thumb swing assembly 720 is a thumb swing motor, which is directly connected to the thumb structure 300, so as to maximize the output capacity of the thumb swing motor.

[0084] Furthermore, the thumb structure 300 is first swung to the left by the thumb swinging assembly 720, and then the thumb bending assembly 740 drives the thumb structure 300 on the rotating frame 730 to rotate toward the center of the palm fixing cabin 100. At this time, the thumb structure 300 on the thumb bending assembly 740 needs to rotate a certain angle, and finally the finger bending mechanism is driven to drive the finger structure 400 to bend, so that the thumb structure 300 and the remaining finger structures 400 form a touching action posture. It should be noted that when the thumb touches the remaining fingers, the thumb is generally inclined at 45°, so the angle is preferably 45°. By setting the 45° angle inclined portion, the thumb bending assembly 740 does not need to rotate, and only the thumb swinging assembly 720 needs to be rotated, reducing the power output of the thumb bending assembly 740, and the touching action posture of the thumb structure 300 and the remaining finger structures 400 can be achieved, which is conducive to reducing the operation steps and improving the reliability of the thumb structure 300.

[0085] In order to further improve the flexibility of the thumb structure 300, based on this, see Figures 5 to 7 As shown, in another embodiment of the present application, the thumb structure 300 includes a first thumb joint 310 and a second thumb joint 320, the first thumb joint 310 is hinged to the second thumb joint 320, a finger joint channel is arranged in the thumb structure 300, the bionic dexterous hand also includes a thumb joint mechanism, the thumb joint mechanism includes a thumb joint assembly and a thumb drive rope 750, the thumb joint assembly is arranged on the palm fixing cabin 100, one end of the thumb drive rope 750 is connected to the thumb joint assembly, wherein the other end of the thumb drive rope 750 passes through the finger joint channel and is connected to the second thumb joint 320, the thumb joint assembly is used to tighten the thumb drive rope 750 to drive the second thumb joint 320 to bend on the first thumb joint 310.

[0086] Specifically, the thumb joint assembly is arranged on the palm fixing cabin 100 and is located in the first shell 110. At this time, a motor is installed in each shell and the positions are reasonably distributed. In addition, the other end of the thumb drive rope 750 passes through the knuckle channel and is connected to the second knuckle 320 of the thumb. The thumb joint assembly is used to tighten the thumb drive rope 750 to drive the second knuckle 320 of the thumb to bend on the first knuckle 310 of the thumb, so that the second knuckle 320 of the thumb structure 300 can rotate on the first knuckle 310 of the thumb, further improving the flexibility of the thumb structure 300. Preferably, the thumb joint assembly is a thumb joint motor and a thumb winding wheel. The thumb winding wheel is arranged on the output shaft of the thumb joint motor, and the thumb drive rope 750 is wound on the thumb winding wheel.

[0087] See also Figure 7As shown, in another embodiment of the present application, a reset member for driving the second thumb joint 320 to reset is disposed in the first thumb joint 310 .

[0088] Specifically, the first joint 310 of the thumb and the second joint 320 of the thumb are hinged, and the hinged position is the shaft portion, on which a reset member is installed. The reset member adopts a torsion spring. When the second joint 320 of the thumb bends on the first joint 310 of the thumb, the reset member accumulates elastic potential energy. When the thumb joint assembly releases the thumb drive rope 750, the elastic potential energy of the torsion spring is released to drive the second joint 320 of the thumb to unfold on the first joint 310 of the thumb. The torsion spring is not shown in the figure. The setting of the reset member facilitates the automatic reset of the first joint 310 of the thumb and the second joint 320 of the thumb.

[0089] See also Figure 1 As shown, in another embodiment of the present application, the bionic dexterous hand further includes a shell 200 , and the shell 200 is detachably disposed on the palm fixing cabin 100 .

[0090] Specifically, the shape of the shell 200 disclosed in this embodiment matches the shape of the palm fixing cabin 100, and a notch is provided on the shell 200, and the notch is located at the position of the third shell 130, so that the thumb structure 300 on the third shell 130 is not blocked and not affected. More specifically, the shell 200 is detachably connected to the palm fixing cabin 100 by a threaded connection, and most of the components on the palm fixing cabin 100 are blocked, achieving a concealed and beautiful effect.

[0091] In another embodiment of the present application, the bionic dexterous hand further includes an angle sensor and a control system. The angle sensors are all arranged on the multiple finger structures 400 and the thumb structure 300, and all the angle sensors are electrically connected to the control system.

[0092] Specifically, a control system and an angle sensor are disclosed in the present embodiment. The angle sensors are installed in multiple finger structures 400 and a thumb structure 300, so that it is possible to determine whether the multiple finger structures 400 and the thumb structure 300 have reached a predetermined position through the angle sensors on each finger structure 400 or the angle sensors on the thumb structure 300, thereby realizing closed-loop control of the bionic dexterous hand and accurately detecting the angle position.

[0093] In one embodiment of the present application, the finger structure 400 includes a first finger joint and a second finger joint, the first finger joint and the second finger joint are hinged, and a resetting member for driving the second finger joint to reposition is provided on the first finger joint.

[0094] Specifically, the reset member is installed at the hinge of the first finger joint and the second finger joint, so that the finger structure can also be automatically reset, and the reset member is also arranged with a torsion spring.

[0095] See also Figure 8 As shown, the present application also provides a control method for a multi-degree-of-freedom bionic dexterous hand, the control method is applied to the multi-degree-of-freedom bionic dexterous hand described in any one of the above technical solutions, and the control method includes:

[0096] S100, receiving an action instruction;

[0097] S200, determining finger instructions corresponding to the multi-degree-of-freedom bionic dexterous hand according to the action instructions;

[0098] S300: driving the corresponding finger bending mechanism and / or the thumb bending mechanism based on the finger command to drive the multi-degree-of-freedom bionic dexterous hand to bend to a target position.

[0099] Specifically, the user issues motion instructions to the multi-degree-of-freedom bionic dexterous hand, and there may be multiple motion instructions, for example: driving a single finger bending component and a corresponding finger structure, driving multiple finger bending components and corresponding multiple finger structures, driving a single finger bending component and a corresponding finger structure, and a thumb structure on a thumb bending mechanism, driving multiple finger bending components and corresponding multiple finger structures, and a thumb mechanism on a thumb bending mechanism, driving a thumb structure on a thumb bending mechanism, etc.

[0100] The control system of the multi-degree-of-freedom bionic dexterous hand matches the corresponding work content. Angle sensors are installed in each finger structure and thumb structure to obtain the angles of multiple finger structures and thumb structures, and then send them to the corresponding finger bending components and / or thumb bending mechanisms through a communication protocol. The finger bending components and / or thumb bending mechanisms control the corresponding finger structures and / or thumb structures to bend to the target position, thereby performing the corresponding actions. The finger bending components and / or thumb bending mechanisms refer to driving the finger bending components separately, driving the thumb bending mechanisms separately, and driving the finger bending components and thumb bending mechanisms.

[0101] It can be understood that in the above scheme, the target position refers to the bending angle and bending direction on the corresponding finger structure or thumb structure set by the user. The control system is used to control the corresponding finger structure or thumb structure to realize the motion instructions of the multi-degree-of-freedom bionic dexterous hand. Since each module is independent of each other, the multi-degree-of-freedom bionic dexterous hand is more flexible and easier to operate, and each finger structure and thumb structure can be driven individually.

[0102] In summary, the present invention provides a bionic dexterous hand with multiple degrees of freedom and a control method thereof. Compared with the existing anthropomorphic dexterous hand with built-in drive, the bionic dexterous hand has higher active degrees of freedom and can perform more delicate dexterous hand operations. Compared with the finger motion transmission method of connecting rod transmission, tendon rope transmission can reduce the space occupied by the transmission parts, so that the space utilization rate is further improved. Under the condition of limited design space, the lateral swing freedom of the index finger and the little finger of the dexterous hand is still retained, which improves the dexterous hand's ability to grasp irregular objects and the ability to operate objects in the palm. By reasonably arranging the positions of the nine motors, the present invention The dexterous hand has nine degrees of freedom, while reducing the space occupied on the palm; by setting up four bending channels, four finger structures, and four finger bending components, the four bending channels on the palm fixing cabin are aligned with the hinge positions of the four finger structures, so that the finger drive rope can be directly connected to the finger structure without changing the transmission direction through a pulley, reducing the energy loss of the finger bending component, reducing the complexity of the finger drive rope, and improving the transmission efficiency; by setting up a thumb bending component, a thumb swing component, and a thumb joint component, the thumb structure has higher flexibility, which is convenient for more delicate operations.

[0103] It should be understood that the application of the present invention is not limited to the above examples. For ordinary technicians in this field, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A multi-degree-of-freedom bionic dexterous hand, characterized in that: It includes a palm fixing cabin, a thumb structure, a plurality of finger structures hinged to the palm fixing cabin in sequence, and a finger bending mechanism and a thumb bending mechanism arranged on the palm fixing cabin; The palm fixing cabin is provided with a plurality of curved channels arranged in parallel, and the curved channels are hinged to the finger structure; The finger bending mechanism comprises a finger bending assembly and a finger driving rope, each of the bending channels is provided with a finger bending assembly and a finger driving rope, one end of the finger driving rope is connected to the finger bending assembly, and the other end is connected to the finger structure, and the finger bending assembly is used to tighten the finger driving rope to drive the finger structure to bend toward the center of the palm fixing cabin; The thumb bending mechanism and the plurality of bending channels are staggeredly arranged on the palm fixing compartment, and the thumb bending mechanism is connected to the thumb structure to drive the thumb structure to bend toward the center of the palm fixing compartment; The bionic dexterous hand also includes a finger swing mechanism, which includes two swing frames and two finger swing components. The two swing frames are rotatably arranged on the palm fixing cabin and are respectively connected to the two finger structures with the largest spacing on the palm fixing cabin. The two finger swing components are connected to the two swing frames and are used to drive the two finger structures with the largest spacing on the palm fixing cabin to bend laterally on the palm fixing cabin, wherein the two finger structures with the largest spacing include the index finger and the little finger. The finger swing assembly includes a finger swing motor, a finger shaft, a first bevel gear and a second bevel gear, wherein the finger swing motor is arranged in the palm fixing cabin, the finger shaft is rotatably arranged on the palm fixing cabin and is fixedly connected to the swing frame, the first bevel gear is arranged on the output shaft of the finger swing motor, and the second bevel gear is arranged on the finger shaft and meshes with the first bevel gear; The thumb bending mechanism comprises: A fixing frame, which is arranged on the palm fixing cabin and is staggered with the plurality of curved channels; A rotating frame, arranged on the fixed frame; A thumb bending assembly is disposed on the rotating frame and connected to the thumb structure, and is used to drive the thumb structure to bend toward the center of the palm fixing compartment; The fixing frame is provided with an inclined portion, the rotating frame is provided on the inclined portion, an angle is formed between the inclined portion and the palm fixing cabin, and the angle of the angle is 45°; the bionic dexterous hand also includes a thumb swing mechanism, and the thumb swing mechanism includes: A thumb swing assembly is disposed on the fixed frame, and an output end thereof is connected to the rotating frame; Wherein, the thumb swing assembly is used to drive the rotating frame to rotate, so as to drive the thumb structure to swing laterally on the palm fixing cabin.

2. The multi-degree-of-freedom bionic dexterous hand according to claim 1, characterized in that: The number of the finger bending assembly, the finger driving rope and the finger structure is set to four, and the palm fixing cabin includes: a first shell; A second shell, disposed on the first shell; a third shell, disposed on the first shell and having a gap between the third shell and the second shell; a fourth shell, disposed on the second shell and the third shell; A fifth housing, disposed on the fourth housing; Among them, the two finger bending assemblies are both arranged on the fourth shell and arranged in parallel; the other two finger bending assemblies are both arranged on the second shell and arranged in an up-and-down staggered manner; and the thumb bending mechanism is arranged on the third shell.

3. The multi-degree-of-freedom bionic dexterous hand according to claim 1, characterized in that: The thumb structure comprises a first thumb joint and a second thumb joint, wherein the first thumb joint is hinged to the second thumb joint, and a finger joint channel is arranged in the thumb structure. The bionic dexterous hand further comprises a thumb joint mechanism, and the thumb joint mechanism comprises: A thumb joint assembly is arranged on the palm fixing cabin; A thumb drive rope, one end of which is connected to the thumb joint assembly; The other end of the thumb drive rope passes through the knuckle channel and is connected to the second knuckle of the thumb. The thumb joint assembly is used to tighten the thumb drive rope to drive the second knuckle of the thumb to bend on the first knuckle of the thumb.

4. The multi-degree-of-freedom bionic dexterous hand according to claim 1, characterized in that: The bionic dexterous hand also includes a shell, which is detachably arranged on the palm fixing cabin.

5. The multi-degree-of-freedom bionic dexterous hand according to claim 1, characterized in that: The bionic dexterous hand also includes angle sensors and a control system. The angle sensors are arranged on the multiple finger structures and the thumb structure, and all the angle sensors are electrically connected to the control system.

6. A control method for a multi-degree-of-freedom bionic dexterous hand, the control method being applied to the multi-degree-of-freedom bionic dexterous hand as claimed in any one of claims 1 to 5, characterized in that: The control method comprises: Receive action instructions; Determining finger instructions corresponding to the multi-degree-of-freedom bionic dexterous hand according to the action instructions; Based on the finger instruction, the corresponding finger bending mechanism and / or the thumb bending mechanism is driven to drive the multi-degree-of-freedom bionic dexterous hand to bend to a target position.

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