Multi-modal dexterous hand

Abstract

The present invention discloses a multi-form dexterous hand, belonging to the field of robot technology, comprising fingers and a palm; the fingers comprise a finger root base, a finger body and a fingertip connected in sequence; the finger body has four degrees of freedom for driving fingertip movements; the palm comprises a palm body and a plurality of first quick-release mechanisms arranged on the palm body, each first quick-release mechanism being used for detachably engaging with the finger root base of a single finger. The multi-form dexterous hand of the present invention has different forms, can meet different tasks and requirements, and the fingertips are flexible and have a large range of movement.

Description

Technical Field

[0001] The invention relates to a dexterous hand fixed at the end of a robot mechanical arm, belongs to the technical field of robots, and particularly relates to a multi-modal dexterous hand. Background Art

[0002] Dexterous hands are robot end effectors that mimic the functions of human hands. The use of dexterous hands has enabled humanoid robots to perform various complex hand tasks like humans. However, current research on dexterous hands in the field of robotics is still focused on imitating human grasping capabilities.

[0003] The current dexterous hand design has the palm and fingers fixed together, which makes it impossible to change the dexterous hand shape according to the needs of the task and flexibly select the finger model, number of fingers and layout. The current dexterous hand finger design can only complete longitudinal finger joint bending and lateral small angle adjustment due to the limitation of adjacent fingers around the fingers, but cannot complete lateral large angle rotation of the fingers, which limits the flexibility. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a multi-modal dexterous hand with different morphologies to meet different tasks and needs, and with flexible fingertips and a large range of motion.

[0005] A multi-modal dexterous hand according to an embodiment of the present invention includes:

[0006] A finger, wherein the finger comprises a finger root base, a finger body and a fingertip which are connected in sequence; the finger body has four degrees of freedom for driving the fingertip movement;

[0007] The palm comprises a palm main body and a plurality of first quick-release mechanisms arranged on the palm main body, each of the first quick-release mechanisms being used for detachably engaging with the finger root base of a single finger.

[0008] According to the polymorphic dexterous hand of the embodiment of the present invention, on the one hand, since a plurality of the first quick-release mechanisms are distributed on the palm main body, any single first quick-release mechanism can be quickly and detachably connected to the finger root base of a single finger. The polymorphic dexterous hand of the embodiment of the present invention can select the model, quantity and layout of the fingers on the palm according to the requirements of the task, and flexibly adjust and layout the fingers on the palm, so that the polymorphic dexterous hand of the embodiment of the present invention has a form adapted to the task to adapt to different work site environments. On the other hand, the finger main body has four freedoms, which can drive the fingertips to move flexibly, and can open the fingers at a large angle, and the fingertips have a large range of movement, so that the polymorphic dexterous hand of the embodiment of the present invention is flexible and convenient to use, meeting different tasks and requirements, such as being able to clamp larger objects, etc., and has a wider range of applications.

[0009] In some embodiments, the first quick-release mechanism includes a slide groove portion that is relatively spaced apart and extends along the thickness direction of the palm, a limiting portion located at one end of the two slide groove portions, and a movable limiting column located between the other ends of the two slide groove portions; the opposite side edges of the finger root base are clamped in the two slide groove portions, the finger root base is located between the limiting portion and the movable limiting column, and the opposite ends of the finger root base are respectively abutted against the limiting portion and the movable limiting column.

[0010] In some embodiments, the palm main body is a palm shell, and the palm shell is provided with a sliding hole for installing the movable limit column; the movable limit column includes a base, a column shell and a spring; the base is fixed on the inner side of the palm main body and is opposite to the sliding hole, and the column shell can be slidably arranged in the sliding hole, and one end of the column shell is provided with a stop part, and the stop part is located between the base and the inner wall of the palm main body; the spring is arranged in the column shell, the spring is in a compressed state and the two ends of the spring are respectively abutted between the column shell and the base, so that the stop part abuts against the inner wall of the palm main body and the other end of the column shell extends outward from the sliding hole.

[0011] In some embodiments, the finger root base is provided with a recess for latching against the movable limiting column.

[0012] In some embodiments, the finger body includes a first servo, a second servo, a third servo and a fourth servo connected in sequence; the first servo is fixed on a base at the root of the finger, and the fourth servo is connected to the fingertip.

[0013] In some embodiments, the output shaft of the first steering gear has two output ends and is perpendicular to the thickness direction of the palm, and the two output ends of the output shaft of the first steering gear are fixed to the first U-shaped frame; the second steering gear is fixed to the first U-shaped frame, and the output shaft of the second steering gear has only one output end and is perpendicular to the output shaft of the first steering gear; the third steering gear is fixed to the output shaft of the second steering gear, and the output shaft of the third steering gear has two output ends and is perpendicular to the output shaft of the second steering gear, and the two output ends of the output shaft of the third steering gear are fixed to the second U-shaped frame; the fourth steering gear is fixed to the second U-shaped frame, and the output shaft of the fourth steering gear has two output ends and is parallel to the output shaft of the third steering gear, and the two output ends of the output shaft of the fourth steering gear are fixed to the third U-shaped frame; the fingertips are detachably fixed to the third U-shaped frame;

[0014] Or the output shaft of the first steering gear has only one output end and is perpendicular to the thickness direction of the palm; the second steering gear is fixed on the output shaft of the first steering gear, the output shaft of the second steering gear has only one output end and is perpendicular to the output shaft of the first steering gear, and the output shaft of the second steering gear is fixed to a fourth U-shaped frame; the output shaft of the third steering gear has two output ends and is perpendicular to the output shaft of the second steering gear, the two output ends of the output shaft of the third steering gear are fixed to the fourth U-shaped frame, and the third steering gear is fixed to a fifth U-shaped frame; the output shaft of the fourth steering gear has two output ends and is perpendicular to the output shaft of the third steering gear, and the two output ends of the output shaft of the fourth steering gear are fixed to the fifth U-shaped frame; the fingertip is detachably fixed to the fourth steering gear.

[0015] In some embodiments, a second quick-release mechanism is provided on the finger body, and the fingertip includes a fingertip root base; the second quick-release mechanism is detachably snap-connected and fixed to the fingertip root base.

[0016] In some embodiments, the fingertip further comprises a fingertip shell, wherein the fingertip shell is fixed on the fingertip root base.

[0017] In some embodiments, the fingertip further includes a camera module and a light source, and the camera module and the light source are fixed on the fingertip housing.

[0018] In some embodiments, the fingertip further comprises a sensor, wherein the sensor is fixed on the fingertip housing.

[0019] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0021] Figure 1 is an overall schematic diagram of a multi-modal dexterous hand according to an embodiment of the present invention;

[0022] Figure 2 is a partial schematic diagram of a multi-modal dexterous hand according to an embodiment of the present invention;

[0023] Figure 3 is a schematic diagram of two-finger forms of a multi-form dexterous hand according to an embodiment of the present invention;

[0024] Figure 4 A schematic diagram of a movable limiting column of a multi-form dexterous hand according to an embodiment of the present invention;

[0025] Figure 5 A schematic diagram of a finger of a polymorphic dexterous hand according to an embodiment of the present invention;

[0026] Figure 6 is a schematic diagram of another finger of the polymorphic dexterous hand according to an embodiment of the present invention;

[0027] Figure 7 A schematic diagram of a visual fingertip of a polymorphic dexterous hand according to an embodiment of the present invention;

[0028] Figure 8 Schematic diagram of another tactile fingertip of the polymorphic dexterous hand according to an embodiment of the present invention.

[0029] Reference numerals:

[0030] Finger 1; finger root base 101; recess 1011; finger body 102; second quick release mechanism 1020; first servo 1021; second servo 1022; third servo 1023; fourth servo 1024; first U-shaped frame 1025; second U-shaped frame 1026; third U-shaped frame 1027; fourth U-shaped frame 1028; fifth U-shaped frame 1029; fingertip 103; fingertip root base 1031; fingertip shell 1032; camera module 1033; light source 1034; sensor 1035; palm 2; palm body 201; sliding hole 2011; first quick release mechanism 202; slide groove 2021; limit part 2022; movable limit column 2023; base 20231; column shell 20232; stop part 202321; spring 20233. DETAILED DESCRIPTION

[0031] Embodiments of the present invention are described in detail below, examples of which 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 invention, and cannot be understood as limiting the present invention.

[0032] Combine the following Figures 1 to 8 To describe the multi-modal dexterous hand according to an embodiment of the present invention.

[0033] like Figures 1 to 8 As shown, the polymorphic dexterous hand according to an embodiment of the present invention includes fingers 1 and a palm 2.

[0034] The finger 1 includes a finger base 101, a finger body 102 and a fingertip 103 connected in sequence, that is, the finger body 102 is connected between the finger base 101 and the fingertip 103, the finger base 101 is used to connect with the palm 2, and the fingertip 103, as the end of the finger 1, can be used to contact with an object, grasp an object, or to achieve other functions such as camera, positioning or detection. The finger body 102 has four degrees of freedom, which are used to drive the fingertip 103 to move so that the fingertip 103 can move flexibly, for example, the fingertip 103 can move in a large range in the lateral direction of the palm 2 (that is, perpendicular to the thickness direction of the palm 2) to grasp a larger object.

[0035] The palm 2 includes a palm main body 201 and a plurality of first quick release mechanisms 202 disposed on the palm main body 201. The plurality of first quick release mechanisms 202 may be distributed on the top and side of the palm main body 201. For example, Figure 1 and Figure 2 It is shown that four first quick-release mechanisms 202 are arranged on the palm body 201, wherein three first quick-release mechanisms 202 are arranged in sequence on the top of the palm body 201 in the transverse direction of the palm 2 (the transverse direction can be understood as the direction perpendicular to the thickness of the palm 2), and another first quick-release mechanism 202 is arranged on a side of the palm body 201; each first quick-release mechanism 202 is used to be detachably connected to the finger root base 101 of a single finger 1, that is, any one of the multiple first quick-release mechanisms 202 can be detachably connected to a single finger 1, for example, Figure 1 The four first quick-release mechanisms 202 can be detachably connected to the four fingers 1 in a one-to-one correspondence. Therefore, the multi-modal dexterous hand of the embodiment of the present invention can select the model, quantity and layout of the fingers 1 on the palm 2 according to the requirements of different tasks, flexibly adjust and layout the fingers 1 on the palm 2, so that the multi-modal dexterous hand of the embodiment of the present invention has a form adapted to the task to adapt to different work site environments, for example, Figure 1In the figure, the palm 2 has four first quick release mechanisms 202, and four fingers 1 are arranged on the palm 2, which is a four-finger hand, and can realize flexible grasping with a total of sixteen degrees of freedom of the four fingers 1; for example Figure 3 In the figure, the palm 2 has four first quick-release mechanisms 202, and two fingers 1 are arranged on the palm 2, which is a two-finger hand. The two fingers 1 can flexibly grasp objects with a total of eight degrees of freedom.

[0036] According to the polymorphic dexterous hand of the embodiment of the present invention, on the one hand, since a plurality of first quick-release mechanisms 202 are distributed on the palm body 201, any single first quick-release mechanism 202 can be quickly and detachably connected to the root base of a single finger 1. The polymorphic dexterous hand of the embodiment of the present invention can select the finger 1 model, quantity and layout on the palm 2 according to the requirements of the task, and flexibly adjust and layout the fingers 1 on the palm 2, so that the polymorphic dexterous hand of the embodiment of the present invention has a form adapted to the task to adapt to different work site environments. On the other hand, the finger body 102 has four freedoms, which can drive the fingertips 103 to move flexibly, and can open the fingers at a large angle, and the fingertips have a large range of movement, so that the polymorphic dexterous hand of the embodiment of the present invention is flexible and convenient to use, and can meet different tasks and requirements, such as being able to clamp larger objects, etc., and has a wider range of applications.

[0037] In some embodiments, Figures 1 to 4 As shown, the first quick-release mechanism 202 includes a slide groove portion 2021 that is relatively spaced apart and extends along the thickness direction of the palm 2, a limiting portion 2022 located at one end of the two slide groove portions 2021, and a movable limiting column 2023 located between the other ends of the two slide groove portions 2021; the opposite side edges of the finger root base 101 are clamped in the two slide groove portions 2021, the finger root base 101 is located between the limiting portion 2022 and the movable limiting column 2023, and the opposite ends of the finger root base 101 are respectively abutted against the limiting portion 2022 and the movable limiting column 2023. When the finger 1 needs to be mounted on the palm 2, the movable limiting column 2023 is pressed to insert the base 101 of the finger 1 into the corresponding two slide grooves 2021 until one end of the base 101 of the finger abuts against the limiting portion 2022, and then the movable limiting column 2023 is released to abut against the other end of the base 101 of the finger; when the finger 1 needs to be removed from the palm 2, the movable limiting column 2023 is pressed to withdraw the base 101 of the finger from the slide groove 2021. Thus, the first quick release mechanism 202 has a simple structure, and the assembly and disassembly of the finger 1 and the palm 2 are convenient and fast.

[0038] In some embodiments, the slide groove portion 2021, the limiting portion 2022 and the palm body portion 201 are an integrally formed structure, which is easy to process.

[0039] In some embodiments, Figure 4 As shown, the palm body 201 is a palm shell, and the palm shell is provided with a sliding hole 2011 for installing a movable limiting column 2023; the movable limiting column 2023 includes a base 20231, a column shell 20232 and a spring 20233; the base 20231 is fixed on the inner side of the palm body 201 and is directly opposite to the sliding hole 2011, the column shell 20232 is slidably arranged in the sliding hole 2011, and one end of the column shell 20232 is provided with a stopper 20 2321, the stopper 202321 is located between the base 20231 and the inner wall of the palm body 201, the spring 20233 is arranged in the column shell 20232, the spring 20233 is in a compressed state and the two ends of the spring 20233 are respectively abutted between the column shell 20232 and the base 20231, so that the stopper 202321 abuts against the inner wall of the palm body 201 and the other end of the column shell 20232 extends outward from the sliding hole 2011. By pressing the movable limit column 2023, the finger 1 and the palm 2 are convenient to be disassembled and assembled, and the finger 1 and the palm 2 are reliably connected.

[0040] In some embodiments, Figure 2 As shown, the finger root base 101 is provided with a recess 1011 for locking against the movable limiting column 2023, so that the connection between the finger 1 and the palm 2 is more reliable. Preferably, the recess 1011 is V-shaped or U-shaped.

[0041] In some embodiments, Figure 1 to Figure 2 , Figure 5 to Figure 6 As shown, the finger body 102 includes a first servo 1021, a second servo 1022, a third servo 1023 and a fourth servo 1024 connected in sequence; the first servo 1021 is fixed on the base 101 at the root of the finger, and the fourth servo 1024 is connected to the fingertip 103. The first servo 1021, the second servo 1022, the third servo 1023 and the fourth servo 1024 realize the four freedoms of the finger 1, and can drive the fingertip 103 to move flexibly.

[0042] In some embodiments, Figure 5As shown, the output shaft of the first steering gear 1021 has two output ends and is perpendicular to the thickness direction of the palm 2, and the two output ends of the output shaft of the first steering gear 1021 are fixed to the first U-shaped frame 1025; the second steering gear 1022 is fixed on the first U-shaped frame 1025, and the output shaft of the second steering gear 1022 has only one output end and is perpendicular to the output shaft of the first steering gear 1021; the third steering gear 1023 is fixed on the output shaft of the second steering gear 1022, and the output shaft of the third steering gear 1023 has The output shaft of the third servo 1023 is fixed to the second U-shaped frame 1026; the fourth servo 1024 is fixed to the second U-shaped frame 1026, the output shaft of the fourth servo 1024 has two output ends and is parallel to the output shaft of the third servo 1023, and the output ends of the output shaft of the fourth servo 1024 are fixed to the third U-shaped frame 1027; the fingertip 103 is detachably fixed to the third U-shaped frame 1027. The finger 1 has four degrees of freedom, which can realize the bending action and L-shaped rotation action of the finger 1, the rotation angle is large, and the activity space range of the fingertip 103 is large, which is conducive to grasping larger objects.

[0043] Or, if Figure 6 As shown, the output shaft of the first steering gear 1021 has only one output end and is perpendicular to the thickness direction of the palm 2; the second steering gear 1022 is fixed on the output shaft of the first steering gear 1021, the output shaft of the second steering gear 1022 has only one output end and is perpendicular to the output shaft of the first steering gear 1021, and the output shaft of the second steering gear 1022 is fixed to the fourth U-shaped frame; the output shaft of the third steering gear 1023 has two output ends and is perpendicular to the output shaft of the second steering gear 1022, the two output ends of the output shaft of the third steering gear 1023 are fixed to the fourth U-shaped frame 1028, and the third steering gear 1023 is fixed to the fifth U-shaped frame 1029; the output shaft of the fourth steering gear 1024 has two output ends and is perpendicular to the output shaft of the third steering gear 1023, and the two output ends of the output shaft of the fourth steering gear 1024 are fixed to the fifth U-shaped frame 1029; the fingertip 103 is detachably fixed to the fourth steering gear 1024. The finger 1 has four degrees of freedom, which can realize bending and U-shaped rotation of the finger 1. The rotation angle is large, and the range of activity of the fingertip 103 is large, which is conducive to grasping larger objects.

[0044] In some embodiments, Figure 5 and Figure 6 As shown, the finger body 102 is provided with a second quick release mechanism 1020, and the fingertip 103 includes a fingertip root base 1031; the second quick release mechanism 1020 is detachably connected and fixed to the fingertip root base 1031. By providing the second quick release mechanism 1020 on the finger body 102, it is convenient to install different fingertips 103 according to task requirements.

[0045] Specifically, in Figure 5 The third U-shaped frame 1027 of the finger body 102 and Figure 6 The fourth servo 1024 of the finger body 102 is provided with a second quick release mechanism 1020, and the specific structure of the second quick release mechanism 1020 is the same as that of the first quick release mechanism 202, which will not be repeated here.

[0046] In some embodiments, Figures 5 to 8 As shown, the fingertip 103 further includes a fingertip housing 1032, and the fingertip housing 1032 is fixed on the fingertip root base 1031. The fingertip housing 1032 can contact with an object to realize the basic gripping function of the fingertip 103.

[0047] In some embodiments, Figure 7 As shown, the fingertip 103 also includes a camera module 1033 and a light source 1034. The camera module 1033 and the light source 1034 are fixed on the fingertip housing 1032. The camera module 1033 can be a camera or a camera, and the light source 1034 can be an LED light. The fingertip 103 has a built-in micro camera and an LED light source 1034, which is a visual fingertip 103, which is convenient for reading the image at the end of the finger 1 in bright or dark environments, so as to perform visual recognition, positioning and detection.

[0048] In some embodiments, Figure 8 As shown, the fingertip 103 further includes a sensor 1035, which is fixed on the fingertip housing 1032. The fingertip 103 has a built-in sensor 1035, which is a tactile fingertip 103, and can check whether the dexterous hand has completed the grasping. For example, the sensor 1035 is a pressure sensor 1035, which is convenient for reading the pressure at the end of the finger 1, so as to determine whether the dexterous hand has completed the grasping.

[0049] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0050] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A multi-modal dexterous hand, characterized in that: include: A finger, wherein the finger comprises a finger root base, a finger body and a fingertip which are connected in sequence; the finger body has four degrees of freedom for driving the fingertip movement; A palm, the palm comprising a palm main body and a plurality of first quick-release mechanisms disposed on the palm main body, each of the first quick-release mechanisms being used for detachably engaging with the finger root base of a single finger; A plurality of the first quick-release mechanisms are distributed on the top and side of the palm main body; The finger body comprises a first steering gear, a second steering gear, a third steering gear and a fourth steering gear connected in sequence; the first steering gear is fixed to the base at the root of the finger, and the fourth steering gear is connected to the fingertip; the output shaft of the first steering gear has two output ends and is perpendicular to the thickness direction of the palm, and the two output ends of the output shaft of the first steering gear are fixed to the first U-shaped frame; the second steering gear is fixed to the first U-shaped frame, and the output shaft of the second steering gear has only one output end and is perpendicular to the output shaft of the first steering gear; the third steering gear is fixed to the output shaft of the second steering gear, and the output shaft of the third steering gear has two output ends and is perpendicular to the output shaft of the second steering gear, and the two output ends of the output shaft of the third steering gear are fixed to the second U-shaped frame; the fourth steering gear is fixed to the second U-shaped frame, and the output shaft of the fourth steering gear has two output ends and is parallel to the output shaft of the third steering gear, and the two output ends of the output shaft of the fourth steering gear are fixed to the third U-shaped frame; the fingertip is detachably fixed to the third U-shaped frame; Or the output shaft of the first steering gear has only one output end and is perpendicular to the thickness direction of the palm; the second steering gear is fixed on the output shaft of the first steering gear, the output shaft of the second steering gear has only one output end and is perpendicular to the output shaft of the first steering gear, and the output shaft of the second steering gear is fixed to a fourth U-shaped frame; the output shaft of the third steering gear has two output ends and is perpendicular to the output shaft of the second steering gear, the two output ends of the output shaft of the third steering gear are fixed to the fourth U-shaped frame, and the third steering gear is fixed to a fifth U-shaped frame; the output shaft of the fourth steering gear has two output ends and is perpendicular to the output shaft of the third steering gear, and the two output ends of the output shaft of the fourth steering gear are fixed to the fifth U-shaped frame; the fingertip is detachably fixed to the fourth steering gear.

2. The multi-modal dexterous hand according to claim 1, characterized in that: The first quick-release mechanism includes a slide groove portion that is relatively spaced apart and extends along the thickness direction of the palm, a limiting portion located at one end of the two slide groove portions, and a movable limiting column located between the other ends of the two slide groove portions; the opposite side edges of the finger root base are clamped in the two slide groove portions, the finger root base is located between the limiting portion and the movable limiting column, and the opposite ends of the finger root base are respectively abutted against the limiting portion and the movable limiting column.

3. The multi-modal dexterous hand according to claim 2, characterized in that: The palm main body is a palm shell, and the palm shell is provided with a sliding hole for installing the movable limit column; the movable limit column includes a base, a column shell and a spring; the base is fixed on the inner side of the palm main body and is opposite to the sliding hole, the column shell can be slidably arranged in the sliding hole, one end of the column shell is provided with a stop part, the stop part is located between the base and the inner wall of the palm main body, the spring is arranged in the column shell, the spring is in a compressed state and the two ends of the spring are respectively abutted between the column shell and the base, so that the stop part abuts against the inner wall of the palm main body and the other end of the column shell extends outward from the sliding hole.

4. The multi-modal dexterous hand according to claim 3, characterized in that: The finger root base is provided with a recessed portion for clamping against the movable limiting column.

5. The multi-modal dexterous hand according to claim 1, characterized in that: The finger body is provided with a second quick-release mechanism, and the fingertip includes a fingertip root base; the second quick-release mechanism is detachably connected and fixed to the fingertip root base.

6. The multi-modal dexterous hand according to claim 5, characterized in that: The fingertip also includes a fingertip shell, which is fixed on the fingertip root base.

7. The multi-modal dexterous hand according to claim 6, characterized in that: The fingertip further comprises a camera module and a light source, and the camera module and the light source are fixed on the fingertip housing.

8. The multi-modal dexterous hand according to claim 6, characterized in that: The fingertip also includes a sensor, which is fixed on the fingertip housing.

Images