Self-adaptive bionic manipulator and differential motion pulley block mechanism thereof

Abstract

The invention discloses a self-adaptive bionic manipulator and a differential motion pulley block mechanism, which are composed of a shell, a palm, four fingers, a thumb and a connecting flange, and comprise a first driving mechanism, a second driving mechanism and a third driving mechanism, and the four fingers comprise an index finger, a middle finger, a ring finger and a little finger which are all novel tendon rope connecting rod hybrid driven bionic mechanical fingers; the three knuckles of the bionic mechanical finger are driven by the tendon ropes to move regularly, so that consistent bending and self-adaptive grabbing of the finger are achieved. A set of differential motion pulley block mechanism is installed on the palm, the first driving mechanism drives the differential motion pulley block mechanism and drives the four fingers to move, and the mechanism not only solves the problem that a pulley block occupies a large space of the palm, but also can reduce the overall weight and achieve light weight. A second driving mechanism and a third driving mechanism are installed on the thumb and control rotation and buckling of the thumb respectively. The robot can grasp objects in a self-adaptive mode, and is high in self-adaptability, high in anthropomorphic degree, ingenious in structure and efficient in transmission.

Description

Technical Field

[0001] The invention belongs to the technical field of bionic manipulators, and mainly relates to the structural design of an adaptive line-driven bionic finger and a bionic hand. Background Art

[0002] Dexterous hands have similar shapes and functions to human hands, and can achieve grasping actions similar to human hands. Therefore, dexterous hands have received great attention from various research institutions since their appearance in the 1970s. Underactuated dexterous hands have the advantages of reducing system complexity and improving integration, and can also achieve adaptive grasping of the object being operated.

[0003] At present, in the design of existing dexterous hands, tendon rope transmission that imitates the tendon transmission method of animals is widely used. Tendon ropes generally have a certain elasticity, which provides a certain degree of flexibility and adaptability for finger movements.

[0004] However, the existing technology has many shortcomings:

[0005] For example, Chinese patent CN116000961A proposes a wire-driven multi-link bionic finger mechanism, which includes a base, metacarpal bones, proximal phalanges, middle phalanges, distal phalanges, and a connecting rod mechanism. One end of the steel cable is fixed on the rotation axis of the metacarpal bones and proximal phalanges, and the other end is connected to the driving element. The driving steel cable drives the rocker to swing, thereby driving the proximal phalanges to move relative to the metacarpal bones, and transmits power to the connecting rod and the next rocker, ultimately achieving the bending of the entire finger. The mechanism proposed in this patent solves the problem under the condition that the grasped object first contacts the middle phalanges. However, when the grasped object first contacts the proximal phalanges, the finger structure cannot hold the object like a human hand, and the finger's adaptability cannot be fully reflected.

[0006] Moreover, the individual finger joints of humans not only move synchronously when grasping, but also follow specific trajectories and are not affected by any spatial posture. However, in existing robotic arms, the consistency of fingers when grasping is not reflected, and the degree of anthropomorphism is low.

[0007] In addition, in the current existing technology, the transmission chain of the tendon-driven bionic finger is long, which leads to a larger palm size. As a result, the drive of the existing manipulator using a pulley differential mechanism is mostly set outside the manipulator, which has a great impact on the integration and control of the manipulator. Summary of the invention

[0008] The technical problem to be solved by the present invention is to solve the problem of insufficient stiffness of existing wire-driven fingers, to achieve simpler and more efficient control, and to utilize a new pulley group mechanism to achieve consistent bending and adaptive enveloping of four fingers within a limited palm space.

[0009] In order to solve the above technical problems, this application provides the following technical solutions:

[0010] The present invention discloses an adaptive bionic manipulator, which is a novel tendon-rod-connecting rod hybrid-driven bionic manipulator finger, comprising: a palm seat, a proximal knuckle, a middle knuckle, a distal knuckle, a connecting rod, a driving shaft, a tendon rope, a first reset torsion spring, a second reset torsion spring, a third reset torsion spring, a proximal interphalangeal joint, and a distal interphalangeal joint. The joints comprise: parent-child locking rivets and micro bearings. The palm seat is located at the front end of the palm, and is rotatably connected to the proximal knuckle through a cylindrical pin; the end of the proximal knuckle away from the finger seat is connected to the middle knuckle through a cylindrical pin; the end of the middle knuckle away from the proximal knuckle is connected to the distal knuckle through a cylindrical pin; one end of the connecting rod is connected to the middle knuckle through a cylindrical pin, and the other end is fixedly connected to the driving shaft through a cylindrical pin; one end of the driving shaft is located inside the proximal knuckle, and the other end is rotatably connected to the middle knuckle; the driving shaft drives the connecting rod to slide within a range in the groove inside the proximal knuckle under the pulling of the tendon rope; one end of the tendon rope is fixed to the distal knuckle by a tightening bolt, and the other end is connected to the driving element; cylindrical pins are provided inside the middle knuckle, the proximal knuckle and the finger seat to guide the tendon rope.

[0011] The proximal interphalangeal joint connects the proximal phalanx and the middle phalanx, and the distal interphalangeal joint connects the middle phalanx and the distal phalanx.

[0012] The first return torsion spring is located on the cylindrical pin between the palm seat and the proximal phalanx, and a certain gap is left between the cylindrical pin; one end of the first return torsion spring is fixed in the palm seat, and the other end is fixed in the proximal phalanx; the stiffness of the first return torsion spring can ensure that the proximal phalanx and the palm seat are kept in the same horizontal plane without external force; the second return torsion spring is located in the proximal interphalangeal joint, one end of the second return torsion spring is fixed in the proximal phalanx, and the other end is fixed in the middle phalanx; the stiffness of the second return torsion spring can ensure that the proximal phalanx and the middle phalanx are kept in the same horizontal plane without external force; the third return torsion spring is located in the distal interphalangeal joint, one end of the third return torsion spring is fixed in the middle phalanx, and the other end is fixed in the distal phalanx; the stiffness of the third return torsion spring can ensure that the middle phalanx and the distal phalanx are kept in the same horizontal plane without external force; the stiffness of the return torsion spring needs to meet the second return torsion spring>first return torsion spring>third return torsion spring.

[0013] The initial torsion angles selected for the first reset torsion spring, the second reset torsion spring, and the third reset torsion spring are greater than 180 degrees, and they are installed on the cylindrical pin at the interphalangeal joint. When there is no external force, the elastic force of the torsion spring to restore to the initial state is resisted by the structural limit between the two knuckles. When the knuckles are driven to move by the tendon rope, the knuckles apply a torque to the torsion arm of the reset torsion spring in the opposite direction of the torsion direction when the torsion spring is working normally. This installation method can effectively improve the rebound speed of the reset torsion spring and avoid failure of the reset torsion spring due to gravity, thereby extending the life of the bionic finger.

[0014] After receiving the driving force, the tendon rope first acts on the driving shaft and then acts on the distal finger joint. Because the driving shaft and the connecting rod are fixed by a cylindrical pin, the connecting rod and the driving shaft move together.

[0015] The driving shaft moves in the opening groove of the proximal knuckle under the pulling of the tendon rope, and drives the connecting rod and the middle knuckle to move. Because the stiffness of the second reset torsion spring is the largest, the middle knuckle, driven by the connecting rod, rotates together with the proximal knuckle around the cylindrical pin located between the palm seat and the proximal knuckle.

[0016] When the proximal phalanx first stops passively or reaches the minimum working torque of the second reset torsion spring, the middle phalanx drives the distal phalanx to continue rotating around the proximal interphalangeal joint.

[0017] When the middle phalanx stops passively first, the proximal phalanx stops moving accordingly. Because the end of the tendon rope is fixed on the distal phalanx, the distal phalanx continues to rotate around the distal interphalangeal joint under the pulling of the tendon rope. The rotation angle is determined by the stiffness ratio between the third return torsion spring and the second return torsion spring.

[0018] The bionic finger only includes the index finger, the middle finger, the ring finger and the little finger, and these four fingers have the same structure and the same transmission mode.

[0019] The present invention also provides a thumb with a separate design; the thumb is composed of a slider-connecting rod mechanism, including: a metacarpophalangeal joint, a proximal phalanx, a distal phalanx, a thumb-driving electric cylinder, a driving slider, a cylindrical pin, a miniature bearing, a first connecting rod, and a second connecting rod.

[0020] The thumb-driven electric cylinder is located inside the metacarpophalangeal joint, one end of the driving slider is designed with an external thread, which is threadedly connected to the end of the thumb-driven electric cylinder, the other end of the driving slider is connected to the first connecting rod through a cylindrical pin, and the end of the first connecting rod away from the driving slider is provided with two through holes, the through hole close to the driving slider is connected to the proximal knuckle through the cylindrical pin, and the through hole away from the driving slider is connected to the distal knuckle through the cylindrical pin; the end of the proximal knuckle close to the metacarpophalangeal joint is connected to the metacarpophalangeal joint through a parent-child locking rivet, and the end of the proximal knuckle away from the metacarpophalangeal joint is connected to the distal knuckle through a letter locking rivet.

[0021] The present invention also provides a novel differential movable pulley assembly mechanism, comprising: a palm, a primary movable pulley module, a secondary movable pulley module, a tertiary movable pulley module, a quaternary movable pulley module, a primary tendon rope, a secondary tendon rope, a tertiary tendon rope, and a quaternary tendon rope. The primary movable pulley module, the secondary movable pulley module, and the tertiary movable pulley module all comprise: a metal pulley with a V-shaped groove and equipped with a miniature bearing, a fixed pressure spring sheet, a steel rod, a compression spring, a pulley connector, and a fixing pin; the quaternary movable pulley module comprises: a palm-driven electric cylinder, a driving pulley connector, a fixing pin, a round head half-thread bolt, and a metal pulley with a V-shaped groove and equipped with a miniature bearing. The first-level movable pulley module connects the bionic finger with the palm through the first-level tendon rope; the second-level movable pulley module connects the two parallel first-level movable pulley modules through the second-level tendon rope; the third-level movable pulley block module connects the bionic finger, the first-level movable pulley, the second-level movable pulley block and the palm in series through the third-level tendon rope; the fourth-level pulley block module connects the palm driving electric cylinder, the pulley block module and the bionic finger through the fourth-level tendon rope.

[0022] The differential movable pulley mechanism can achieve the goal of driving four fingers to move with only one palm-driven electric cylinder, and the entire driving mechanism can be completely installed on the palm, and the differential movable pulley mechanism can achieve self-adaptation between the four fingers when grasping. When no more than three of the four fingers touch the grasped object, the remaining fingers can still achieve natural bending.

[0023] The differential movable pulley mechanism is installed on the front side of the palm, and control-related components can be installed on the back side, including: a motor drive module, a voltage stabilizing module, a control board, and a perforated board.

[0024] The invention discloses an adaptive bionic manipulator, which is designed with three drives, two of which are used to control the rotation and flexion and extension of the thumb. The whole bionic manipulator has 15 degrees of freedom.

[0025] The present invention also provides a novel tendon-rod-connecting rod hybrid-driven bionic mechanical finger, a connecting rod-pulley mechanism-driven bionic thumb, and a novel differential movable pulley mechanism, which include the structural composition, connection method, motion control characteristics, and driving motion characteristics or driving characteristics of the above schemes.

[0026] The present invention uses a tendon rope to achieve full adaptive enveloping of objects by bionic fingers. A linkage rod is added between the middle and proximal knuckles, so that the bionic fingers react faster when grasping and improve the stability of the bionic fingers. The present invention designs a new differential movable pulley mechanism to achieve highly adaptive grasping of fingers through a drive in a limited palm space. It has high integration and good anthropomorphism in simulating human hand grasping. Compared with the prior art, the adaptive bionic manipulator of the present invention has at least the following beneficial effects:

[0027] The present invention adds a linkage rod between the proximal and middle knuckles of the bionic mechanical finger to improve the rigidity of the overall structure. By selecting reset torsion springs with different stiffness and adopting a specific installation method, the bending and reset speed of the finger is improved, and the consistency and adaptability of the bionic finger are achieved.

[0028] The novel differential movable pulley block of the present invention can reversely drive the movable pulley block, so that after the driving end outputs a small stroke, the end of the bionic manipulator can output double or even multiple strokes in a limited palm space, thereby realizing the bending and self-adaptation of four fingers.

[0029] The fingers of the bionic manipulator designed by the present invention are designed according to the average length of an adult, and the mechanical structure and control system are all integrated in the hand, which has a high degree of integration and anthropomorphism.

[0030] The invention can realize coupled bending and adaptive contact of a single finger with a tendon rope, and can simulate the finger movements of a real person. The manipulator has low manufacturing cost, ingenious structure, efficient transmission, high integration and simple control.

[0031] The adaptive bionic manipulator of the present invention is further described below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 : The overall structure diagram of an adaptive bionic manipulator of the present invention;

[0033] Figure 2 Figure 2a , Figure 2b ): are side views of the overall structure of an adaptive bionic manipulator according to the present invention;

[0034] Figure 3 Figure 3a , Figure 3b): are overall structural diagrams (front and back) of an index finger of an adaptive bionic manipulator of the present invention;

[0035] Figure 4 : A side view (partial) of the index finger of an adaptive bionic manipulator of the present invention;

[0036] Figure 5 : An exploded view of the index finger of an adaptive bionic manipulator of the present invention;

[0037] Figure 6 Figure 6a , Figure 6b ): Tendon rope distribution diagram of the index finger of an adaptive bionic manipulator of the present invention;

[0038] Figure 7 : The overall structural diagram of the thumb of an adaptive bionic manipulator of the present invention;

[0039] Figure 8 : A driving connecting rod structure diagram of the thumb of an adaptive bionic manipulator of the present invention;

[0040] Fig. 9 : An exploded view of the thumb of an adaptive bionic manipulator of the present invention;

[0041] Fig.10 : A schematic diagram of the movement of the thumb of an adaptive bionic manipulator of the present invention;

[0042] Fig.11 : Detailed view of the connection between the thumb and the palm of an adaptive bionic manipulator of the present invention;

[0043] Fig.12 : An exploded view of the connection between the thumb and the palm of an adaptive bionic manipulator of the present invention;

[0044] Fig.13 : A front structural diagram of a differential movable pulley assembly of an adaptive bionic manipulator of the present invention;

[0045] Fig.14 : A back structural diagram of a differential pulley assembly of an adaptive bionic manipulator of the present invention;

[0046] Fig.15 : An exploded view of the third-level driving structure of an adaptive bionic manipulator of the present invention;

[0047] Fig.16 : A side view of a differential movable pulley assembly of an adaptive bionic manipulator of the present invention;

[0048] Fig.17 : A cross-sectional view of a differential movable pulley assembly of an adaptive bionic manipulator of the present invention;

[0049] Fig.18: An exploded view of a differential movable pulley assembly of an adaptive bionic manipulator of the present invention;

[0050] Fig.19 : A schematic diagram of the tendon rope distribution of a differential movable pulley group of an adaptive bionic manipulator of the present invention;

[0051] Fig. 20 : Schematic diagram of a differential movable pulley assembly of an adaptive bionic manipulator of the present invention;

[0052] Figure 21 Fig.21a , Figure 21b ): They are respectively the renderings (front and side) of the four-finger bending of an adaptive bionic manipulator of the present invention.

[0053] In the figure:

[0054] 1-index finger, 2-middle finger, 3-ring finger, 4-little finger, 5-thumb, 6-palm, 7-connecting flange, 8-back of hand, 9-palm, 10-proximal knuckle of index finger, 11-middle knuckle of index finger, 12-distal knuckle of index finger, 13-tendon rope of index finger, 14-connecting rod, 15-fastening bolt, 16-driving shaft, 17-connecting shaft, 18-guide shaft, 19-cylindrical pin, 20-proximal inter-finger female rivet, 21-distal inter-finger female rivet, 22-distal inter-finger sub-rivet, 23-proximal inter-finger sub-rivet, 24-fixing pin , 25-first torsion spring, 26-second torsion spring, 27-third torsion spring, 28-miniature bearing, 29-thumb connector, 30-thumb metacarpophalangeal joint, 31-thumb proximal knuckle, 32-thumb distal knuckle, 33-second driving mechanism, 34-cylindrical pin, 35-driving slider, 36-first connecting rod, 37-second connecting rod, 38-thumb proximal interphalangeal joint sub-rivet, 39-thumb proximal interphalangeal joint mother rivet, 40-thumb distal interphalangeal joint sub-rivet, 41-thumb distal interphalangeal joint mother rivet, 42 -bearing, 43-flange connector, 44-thumb motor fixing, 45-L-type motor fixing, 46-third drive mechanism, 47-connecting bearing, 48-single movable pulley block module, 49-first type movable pulley, 50-second type movable pulley, 51-driving pulley, 52-round head half-thread bolt, 53-driving pulley connector, 54-No. 1 driving electric cylinder fixing, 55-No. 2 driving electric cylinder fixing, 56-voltage stabilizing module, 57-perforated board, 58-main control board, 59-motor driving module, 60-first driving Mechanism, 61-driving electric cylinder, 62-No. 1 shaft pin, 63-No. 2 shaft pin, 64-fastening bolt, 65-pulley connector, 66-fixing pin, 67-fixing compression spring, 68-steel rod, 69-compression spring, 70-first-level tendon rope, 71-second-level tendon rope, 72-third-level tendon rope, 73-fourth-level tendon rope, 75-mecarpophalangeal joint, 76-proximal interphalangeal joint, 77-distal interphalangeal joint, A-first-level movable pulley block module, B-second-level movable pulley block module, C-third-level movable pulley block module, D-fourth-level movable pulley block module. DETAILED DESCRIPTION

[0055] like Figure 1 Figure 2( Figure 2a , Figure 2b ), an adaptive bionic manipulator of the present invention comprises: an index finger 1, a middle finger 2, a ring finger 3, a pinky finger 4, a thumb 5, a palm 9, a palm shell 6, a back of hand shell 8 and a connecting flange 7. The palm, the palm and the back of hand are fixed together by bolts, and the size of the four fingers can be designed with reference to the average length of an adult's fingers.

[0056] Since the structures of the four fingers are similar, the structure of the index finger is used as an example, as shown in FIG3 ( Figure 3a , Figure 3b ), Figure 4 , Figure 5 and Figure 6( Figure 6a , Figure 6b ), the index finger structure includes: a proximal phalanx 10, a middle phalanx 11, a distal phalanx 12, an index finger tendon 13, a connecting rod 14, a fastening bolt 15, a driving shaft 16, a connecting shaft 17, a guide shaft 18, a cylindrical pin 19, a proximal interphalangeal joint mother rivet 20, a distal interphalangeal joint mother rivet 21, a distal interphalangeal joint sub-rivet 22, a proximal interphalangeal joint sub-rivet 23, a fixing pin 24, a first torsion spring 25, a second torsion spring 26, a third torsion spring 27, and a miniature bearing 28. The palm 9 is designed with a symmetrical hole 92 and an open slot 91 at one end close to the proximal knuckle 10, and the proximal knuckle 10 is designed with an open slot 102 and a symmetrical hole 105 at one end close to the palm 9. The connecting shaft 17 passes through the palm symmetrical hole 92, the first torsion spring 25 and the proximal knuckle symmetrical hole 105 in sequence. The torsion arm at one end of the first torsion spring 25 close to the palm 9 is placed in the above-mentioned open slot 91 of the palm 9, and the torsion arm at one end of the first torsion spring 25 close to the proximal knuckle 10 is placed in the above-mentioned open slot 102 of the proximal knuckle 10.

[0057] An end of the proximal phalanx 10 close to the middle phalanx 11 is designed with an open slot 104 and a symmetrical hole 106, and an end of the middle phalanx 11 close to the proximal phalanx 10 is designed with an open slot 113 and a symmetrical hole 115. The proximal interphalangeal joint female rivet 20 passes through the miniature bearing 28 in sequence, and the proximal phalanx symmetrical hole 106 and the middle phalanx symmetrical hole 115 are connected with the proximal interphalangeal joint sub-rivet 23. The torsion arm of one end of the second torsion spring 26 close to the proximal phalanx 10 is placed in the open slot 104 of the proximal phalanx 10, and the torsion arm of one end of the second torsion spring 26 close to the middle phalanx 11 is placed in the open slot 113 of the middle phalanx 11.

[0058] A symmetrical through hole 143 is provided at one end of the connecting rod 14 close to the proximal knuckle 10, two blind holes 141 and 142 are provided on the vertically symmetrical through hole 143, the driving shaft 16 passes through the through hole 143, two through holes 161 and 162 are radially symmetrically provided on the driving shaft 16, and the connecting rod and the driving shaft are fixed together by fixing pins 241 and 242;

[0059] A symmetrical hole 114 is designed at one end of the middle phalanx 11 close to the distal phalanx 12, and an open groove 121 and a symmetrical hole 123 are designed at one end of the distal phalanx 12 close to the middle phalanx 11. The distal interphalanx joint mother rivet 21 passes through the miniature bearing 28, the middle phalanx symmetrical hole 114 and the distal phalanx symmetrical hole 123 in sequence, and finally docks with the distal interphalanx joint sub-rivet 22. The torsion arm of one end of the third torsion spring 27 close to the middle phalanx 11 is placed in the open groove 113 of the middle phalanx 11, and the torsion arm of one end of the third torsion spring 26 close to the distal phalanx 12 is placed in the open groove 121 of the distal phalanx 12.

[0060] The first torsion spring 25 is installed at the metacarpophalangeal joint 75, the second torsion spring 26 is installed at the proximal interphalangeal joint, and the third torsion spring is installed at the distal interphalangeal joint.

[0061] like Figure 4 As shown in Figure 6, the end of the index finger tendon 13 close to the distal knuckle 12 is fixed to the end of the distal knuckle 12 with a fastening bolt 15, and then passes through the middle knuckle 11, the guide shaft 18, the connecting rod 14, the drive shaft 16 in sequence and is finally fixed to the pulley mechanism on the palm.

[0062] Under the action of driving force, the index finger tendon 13 first applies the transmission force to the driving shaft 16, so that the driving shaft 16 slides in the groove 103 in the proximal phalanx 10, and the driving shaft 16 is fixed together with the connecting rod 14, and the connecting rod 14 is rotationally connected to the middle phalanx 11. Therefore, after the driving shaft 16 is subjected to the force, the connecting rod 14 drives the middle phalanx 11 to rotate around the proximal interphalangeal joint 76, and the index finger tendon 13 finally applies the transmission force to the distal phalanx 12, so that the distal phalanx 12 rotates around the distal interphalangeal joint 77.

[0063] like Figure 7 , Figure 8 and Fig. 9 As shown, the main structure of the thumb 5 includes: a thumb connector 29, a thumb metacarpophalangeal joint 30, a thumb proximal joint 31 and a thumb distal joint 32. The internal connecting rod mechanism of the thumb 5 includes: a second driving mechanism 33, a driving slider 35, a first connecting rod 36, a second connecting rod 37 and a cylindrical pin 34. The thumb proximal joint 31 is designed with symmetrical holes 331 and 332 near the thumb metacarpophalangeal joint 30, and the distal joint 32 of the thumb is designed with symmetrical holes 321 and 322 at one end near the thumb proximal joint 31. The proximal female rivet 39 of the thumb passes through the bearing 42, the metacarpophalangeal joint 30 of the thumb, the proximal joint 31 of the thumb, and is finally hinged to the proximal terminal rivet 38 of the thumb. The distal female rivet 41 of the thumb passes through the bearing 42, the proximal joint 31 of the thumb, the distal joint 32 of the thumb, and is finally hinged to the distal terminal rivet 40 of the thumb.

[0064] The output end of the second driving mechanism 33 is threadedly connected to the driving slider 35, the first connecting rod 36 is connected to the driving slider 35 through a cylindrical pin 341, the second connecting rod 37 is connected to the first connecting rod 36 through a cylindrical pin 343, the first connecting rod 36 is connected to the proximal knuckle 31 of the thumb through a cylindrical pin 342, and the second connecting rod 37 is connected to the distal knuckle 32 of the thumb through a cylindrical pin 344.

[0065] like Fig.10 As shown, the proximal thumb joint 31 and the distal thumb joint 32 are driven by the second driving mechanism 33 and utilize the connecting rod slider mechanism so that the bending angles between the three joints can reach 90 degrees.

[0066] like Fig.11and Fig.12 As shown, the detailed diagram of the connection between the thumb 5 and the palm 9 includes: the thumb 5, the flange connector 43, the thumb motor fixing member 44, the L-shaped motor fixing member 45, the third driving mechanism 46, and the connecting shaft 47. The thumb motor fixing member 44 and the L-shaped motor fixing member 45 fix the third driving mechanism 46 on the back of the palm 9, and the output shaft 461 of the third driving mechanism 46 drives the thumb 5 to move. A boss 291 is designed on the back of the thumb connector 29, and the boss 291 passes through the through hole 431 in the flange connector 43, and the connecting bearing 47 is fixed in the through hole 431 to reduce friction.

[0067] like Fig.13 As shown, a differential movable pulley mechanism is designed on the front of the palm 9, including a first-stage movable pulley block module A, a second-stage movable pulley block module B, a third-stage movable pulley block module C, a fourth-stage movable pulley block module D, a single movable pulley block module 48, a driving pulley 51, a round head half-thread bolt 52, a driving pulley connector 53, a No. 1 driving electric cylinder fixing part 54, a No. 2 driving electric cylinder fixing part 55, and a first driving mechanism 60.

[0068] like Fig.14 As shown, control components are installed on the back of the palm 9, including: a voltage stabilizing module 56, a perforated board 57, a main control board 58, and two motor drive modules 59. And all the wires are led out from the through holes 72 in the connecting flange 7.

[0069] like Fig.15 , Fig.16 , Fig.17 and Fig.18 As shown, a single movable pulley block module 48 includes: a first type movable pulley 49, a fastening bolt 64, a pulley connector 65, a fixing pin 66, a fixing spring sheet 67, a steel rod 68, and a compression spring 69. The fixing pin 66 passes through the pulley connector 65, the first type movable pulley 49, and the steel rod 68 in sequence. The compression spring 69 is sleeved on the steel rod 68, and the two fixing spring sheets 67 are fixed on the palm by the fastening bolt 64. In this way, the tendon rope drives the pulley to move on the steel rod, which can ensure its stable movement.

[0070] like Fig.19As shown, the schematic diagram of the tendon rope distribution of the differential movable pulley mechanism includes: a primary tendon rope 70, a secondary tendon rope 71, a tertiary tendon rope 72, and a quaternary tendon rope 73. The winding directions of the index finger 1 and the middle finger 2 are opposite, and the winding methods of the four fingers are symmetrical. The primary tendon rope 70 serves as the driving tendon rope of the four fingers, one end of which is fixed to the distal knuckles of the four fingers, and the other end is fixed to the palm 9 after passing through the primary movable pulley block module A. One end of the secondary tendon rope 71 is fixedly connected to the pulley connector 65 in the primary movable pulley block module, and after passing through the second type of movable pulley 50, it is fixedly connected to the adjacent pulley connector. One end of the tertiary tendon rope 72 is fixedly connected to the pulley connector 65 in the secondary movable pulley block module, and the palm 9 is fixed after passing through the tertiary movable pulley block module C. One end of the fourth-level tendon rope 73 is fixedly connected to the left pulley connector 65 in the third-level east movable pulley block module, and through the round head half-thread bolt 52, the driving pulley 51 is finally fixedly connected to the right pulley connector 65 in the third-level movable pulley block module.

[0071] A round head half-thread bolt 52 is used to replace the guiding function of the pulley, and the nut of the bolt is used to prevent the tendon rope from being separated.

[0072] like Fig. 20 As shown, the principle of the first-stage movable pulley block module A is the same as that of the third-stage movable pulley block module, as shown in part (1) of the figure. The input end is and the output end is Δy1, satisfying Δy1=2Δx1. The value of Δy1 affects the bending degree of the four fingers. The principle diagram of the second-stage movable pulley block module B is shown in Fig. 20 In part (2), the input end is Δx2, and the output end is Δy2, Δy3, satisfying Δy2=Δy3=Δx2; the schematic diagram of the four-stage movable pulley module D can be seen Fig. 20 In part (3), the input end is Δx3, and the output end is Δy4, Δy5, which satisfies Δy5=Δy4=λΔx3(0<λ≤1), where the value of λ is determined by the distance between the round head half-thread bolt 52 and the driving pulley 51. The value of Δx3 is determined by the moving distance of the driving pulley 51.

[0073] according to Fig.19 From the distribution of the tendons shown, we can know that Δx2=Δx1, Δx2=2Δy4, and comprehensively we can get Δy1=4λΔx3, that is, the distance moved by the driving pulley 51 multiplied by 4λ is the distance moved by the first tendon 70, and the first tendon 70 directly acts on the four fingers, thus doubling the distance from the electric cylinder driving end to the terminal output end.

[0074] When one or two fingers (two non-adjacent fingers) among the four fingers are passively stationary, the principle of the secondary movable pulley block module B becomes the principle of the primary movable pulley block module A, that is, Δy2=Δy3=2Δx2; when three fingers among the four fingers are passively stationary, there is a movable pulley block in the secondary movable pulley block module B that is stationary, then the tertiary movable pulley block module C on the side where the stationary movable pulley block is located is also stationary, then the principle of the quaternary movable pulley block module D becomes the principle of the primary movable pulley block module A, that is, Δy5=Δy4=2λΔx3. When grasping irregular objects, the differential movable pulley block module can be used to achieve single-drive adaptive grasping of fingers with multiple degrees of freedom.

[0075] As shown in Figure 21( Fig.21a , Figure 21b ) are two effect diagrams showing the movement of the four fingers of the manipulator driven by the differential movable pulley mechanism.

[0076] In summary, the overall structure of the bionic manipulator of the present invention mainly includes: an index finger, a middle finger, a ring finger, a little finger, a thumb, a palm, a palm shell, a back of the hand shell and a connecting flange.

[0077] The palm, back of the hand and palm are fixed together by bolts, and the size of the four fingers is designed based on the average length of adult fingers.

[0078] Among them, the main structure of the four fingers (taking the index finger as an example) is as follows:

[0079] The index finger structure includes multiple parts such as the proximal knuckle, middle knuckle, distal knuckle, index finger tendon rope, linkage rod, fastening bolt, drive shaft, etc. The palm and proximal knuckle, proximal knuckle and middle knuckle, middle knuckle and distal knuckle are connected through specific structural designs and connectors, such as cylindrical pins, parent-child locking rivets, miniature bearings, etc.

[0080] The torsion spring is installed at the corresponding joint, and its torsion arm is placed in the specific notch of the knuckle. One end of the tendon rope is fixed to the distal knuckle, and passes through the middle knuckle, guide shaft, linkage rod, drive shaft in sequence and then fixed to the pulley mechanism on the palm. Under the action of the driving force, the tendon rope drives each component to move in a specific way to realize the movement of the index finger.

[0081] Among them, the structure and movement points of the thumb are as follows:

[0082] The main structure of the thumb includes a thumb connector, a thumb metacarpophalangeal joint, a thumb proximal joint and a thumb distal joint, and the internal connecting rod mechanism is composed of a second driving mechanism, a driving slider, a first connecting rod, a second connecting rod, a cylindrical pin, etc. The various components are connected by cylindrical pins, parent-child locking rivets, etc.

[0083] Driven by the second driving mechanism, the bending angle between the proximal knuckle of the thumb and the distal knuckle of the thumb can reach 90 degrees by utilizing the connecting rod slider mechanism.

[0084] The thumb and palm are connected as follows: the connection between the thumb and the palm includes the thumb, flange connector, thumb motor fixing part, L-shaped motor fixing part, third drive mechanism, connecting shaft and other parts. The thumb motor fixing part and the L-shaped motor fixing part fix the third drive mechanism on the back of the palm, and the output shaft of the third drive mechanism drives the thumb to move. A boss is designed on the back of the thumb connector, which is matched with the through hole in the flange connector and fixed with the connecting bearing in the through hole to reduce friction.

[0085] Wherein, the differential movable pulley mechanism:

[0086] A differential movable pulley mechanism is designed on the front of the palm, which includes movable pulley group modules of various levels, a single movable pulley group module, a driving pulley, a round head half-thread bolt and other components.

[0087] Control components such as voltage regulator module, perforated board, main control board, two motor drive modules, etc. are installed on the back of the palm, and all wires are led out from the through holes in the connecting flange.

[0088] A single movable pulley block module has a specific structural composition, and the tendons drive the pulley to move stably through the cooperation of various components. The distribution of the tendons of the differential movable pulley mechanism has its own rules, and each movable pulley block module has a corresponding working principle. When grasping irregular objects, the differential movable pulley block module can be used to realize adaptive grasping of multiple degrees of freedom of fingers under single drive.

[0089] The embodiments described above are merely descriptions of preferred implementation modes of the present invention and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. An adaptive bionic manipulator, characterized in that: include: Housing, palm, four fingers, thumb, connecting flange, first driving mechanism, second driving mechanism, third driving mechanism; The four fingers include the index finger, the middle finger, the ring finger and the little finger, all of which are bionic mechanical fingers driven by a new type of tendon-rod hybrid drive; A new type of differential movable pulley mechanism is installed on the palm, which is driven by a first driving mechanism; The thumb is provided with a second driving mechanism and a third driving mechanism, which respectively control the rotation and flexion of the thumb.

2. The adaptive bionic manipulator according to claim 1, characterized in that: The novel tendon-rod-connecting rod hybrid-driven bionic mechanical finger comprises a palm seat, a metacarpophalangeal joint, a proximal phalanx, a proximal interphalangeal joint, a middle phalanx, a distal interphalangeal joint, a distal phalanx, a tendon, a connecting rod, and a driving shaft; the finger seat is connected to the proximal phalanx through the metacarpophalangeal joint; the proximal phalanx and the middle phalanx are connected through the proximal interphalangeal joint; the middle phalanx and the distal phalanx are connected through the distal interphalangeal joint.

3. The adaptive bionic manipulator according to claim 2, characterized in that: The joints are provided with torsion springs for maintaining the straight state of the bionic fingers and driving the bionic finger joints to reset, and parent-child locking screws and micro bearings are placed on both sides of the joints to connect two adjacent finger joints in order to reduce friction between the finger joints.

4. The adaptive bionic manipulator according to claim 3, characterized in that: The initial torsion angle of the torsion spring inside the joint is greater than 180 degrees and structural limitations are used to resist the elastic force of the torsion spring during installation.

5. The adaptive bionic manipulator according to claim 2, characterized in that: One end of the tendon rope is connected to the pulley mechanism at the palm joint. After passing through the pulley mechanism, the tendon rope passes through the cylindrical pin inserted in the palm seat, the radial center through hole of the drive shaft located inside the proximal knuckle, the linkage rod fixed with the drive shaft, the middle knuckle, the cylindrical pin placed inside the middle knuckle, and the distal knuckle in sequence; The cylindrical pin is used to guide the direction of the tendon rope, and the end of the tendon rope is fixed inside the distal phalanx by a fastening bolt.

6. The adaptive bionic manipulator according to claim 1, characterized in that: The bionic thumb driven by the connecting rod and pulley mechanism comprises a metacarpophalangeal joint, a proximal thumb joint, a distal thumb joint, a first driving mechanism, a second driving mechanism, a driving slider, a first connecting rod, a second connecting rod, a metacarpophalangeal joint, a proximal interphalangeal joint, and a first connecting mechanism; the metacarpophalangeal joint is connected to the proximal thumb joint of the thumb through the interphalangeal joint, and the end of the proximal thumb joint away from the metacarpophalangeal joint is connected to the distal thumb joint of the thumb through the proximal interphalangeal joint; parent-child locking screws and micro bearings are placed on both sides of the joint to connect two adjacent knuckles to reduce friction between the knuckles.

7. The adaptive bionic manipulator according to claim 6, characterized in that: The first driving mechanism is placed inside the palm and finger, and a driving slider is connected to the end of the first driving mechanism. The driving slider is connected to three knuckles in sequence through a connecting rod to achieve flexion movement of the thumb. The first connecting mechanism connects the palm and finger with the second driving mechanism through bolts.

8. The adaptive bionic manipulator according to claim 1, characterized in that: The novel differential movable pulley assembly mechanism comprises a primary movable pulley mechanism, a secondary movable pulley mechanism, a tertiary movable pulley mechanism, a third driving mechanism, a third connecting piece, a primary tendon rope, a secondary tendon rope, and a tertiary tendon rope; the third driving mechanism is placed inside the palm, a third connecting piece is fixed to the end of the third driving mechanism, the primary tendon rope is a tendon rope for directly driving four fingers, the primary tendon rope connects the four fingers and the palm through the primary movable pulley mechanism, the secondary tendon rope connects the primary movable pulley mechanism and the palm through the secondary movable pulley mechanism, and the tertiary tendon rope connects the secondary movable pulley mechanism and the third driving mechanism through the tertiary movable pulley mechanism.

9. The adaptive bionic manipulator according to claim 8, characterized in that: The first-level tendon ropes have four corresponding tendon ropes according to the distribution of the four fingers. When at least one of the four fingers touches the grasped object, the corresponding tendon rope will stop moving, and the other tendon ropes can still move until they reach the limit point.

10. A novel differential movable pulley mechanism, characterized in that: It includes the structural composition, connection method and driving characteristics as described in any one of claims 8 to 9.

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