Multi-connecting-rod type dexterous hand

Abstract

The invention relates to the technical field of dexterous hands, and discloses a multi-connecting-rod type dexterous hand which comprises a palm assembly, a finger assembly and a driving assembly. The finger assembly comprises a bionic thumb and four bionic fingers, and one end of the bionic thumb and one end of each bionic finger are connected with the front end of the palm assembly; the driving assembly comprises a first driving mechanism and a second driving mechanism, the first driving mechanism and the second driving mechanism are both installed at the front end of the palm assembly, one end of the first driving mechanism is connected with the bionic thumb, the other end of the first driving motor is connected with the first motor, and the first driving mechanism is used for controlling the bionic thumb. One end of the second driving mechanism is connected with the four bionic fingers, the other end of the second driving mechanism is connected with the second motor, the second driving mechanism comprises a driven synchronous pulley, a plurality of mounting parts are arranged on the driven synchronous pulley at intervals, and each bionic finger is connected with the driven synchronous pulley through the mounting part.

Description

Technical Field

[0001] The present invention relates to the technical field of dexterous hands, and in particular to a multi-link dexterous hand. Background Art

[0002] As the end effector for the robot to interact with the environment, the dexterous hand is installed at the end of the robot wrist. It can imitate the structure and function of the human hand to achieve more sophisticated and diverse operation tasks. This end effector not only has the ability to grasp and operate, but also has a sensing function. It can sense the shape, position, hardness and other information of the object, so as to adjust the grasping strategy and operation mode. A lot of research has been carried out on dexterous hands at home and abroad, from three fingers to five fingers, from industry to life, from simple grasping to dexterous operation, in order to solve complex practical operation problems.

[0003] At present, the dexterous hands in the existing technology adopt a multi-joint motor drive solution, that is, each finger is driven by at least one independent motor. Although this driving method greatly increases the flexibility of the dexterous hands in grasping, it also has some shortcomings. The increase in the number of motors directly leads to an increase in power consumption, and its overall energy consumption will increase significantly, reducing the cruising time of the robot; the increase in the number of motors also brings about a surge in usage and maintenance costs. Summary of the invention

[0004] The technical problem to be solved by the present invention is: in the prior art, the dexterous hand using a multi-joint motor drive solution has high overall energy consumption and soaring use and maintenance costs.

[0005] In order to solve the above technical problems, the present invention provides a multi-link dexterous hand, which includes a palm component, a finger component and a drive component; a cavity is arranged inside the palm component; the finger component includes a bionic thumb and four bionic fingers, and one end of the bionic thumb and the bionic fingers are connected to the front end of the palm component; the drive component is arranged in the cavity, and the drive component includes a first drive structure, a second drive mechanism, a first motor and a second motor, and the first drive mechanism and the second drive mechanism are both installed at the front end of the palm component, one end of the first drive mechanism is connected to the bionic thumb, and the other end of the first drive motor is connected to the first motor, the first drive mechanism is used to control the bionic thumb, one end of the second drive mechanism is respectively connected to the four bionic fingers, and the other end of the second drive mechanism is connected to the second motor, and the second drive mechanism includes a driven synchronous pulley extending laterally, and a plurality of mounting parts are arranged on the driven synchronous pulley at intervals, each bionic finger is connected to the driven synchronous pulley through the mounting part, and the rotation of the driven synchronous pulley is used to simultaneously control the grasping of the four bionic fingers.

[0006] Furthermore, the first motor is a steering gear, and the second motor is a coreless motor.

[0007] In one embodiment, the bionic thumb includes an upper phalanx, a middle phalanx and a lower phalanx, the rear end of the upper phalanx is hinged to the front end of the middle phalanx, the rear end of the middle phalanx is hinged to the front end of the lower phalanx, and the rear end of the lower phalanx is hinged to the first driving mechanism.

[0008] In one embodiment, a first connecting joint is provided at the rear end of the upper phalanx, and the first connecting joint is used to connect with the middle phalanx. The middle phalanx includes a first rod body and a second rod body. A first connecting joint is provided at the front end of the first rod body. The first connecting joint is engaged with the first connecting joint and is hinged through a pin shaft. The front end of the second rod body is hinged to the rear end of the first rod body.

[0009] Further, the upper knuckle, the first rod body and the second rod body form a first connecting rod unit.

[0010] In one embodiment, the middle finger joint also includes a third rod body, a fourth rod body and a first elastic member, the front end of the third rod body is provided with a second connecting joint, the rear end of the first rod body is engaged with the second connecting joint and hinged through a pin shaft, the front end of the fourth rod body is hinged to the rear end of the third rod body, one end of the first elastic member is connected to the rear end of the third rod body, and the other end is connected to the rear end of the fourth rod body, and the first elastic member is used to transmit the rotational force of the fourth rod body to the third rod body, thereby driving the third rod body to rotate.

[0011] Furthermore, the third rod body, the fourth rod body and the first elastic member form a second connecting rod unit.

[0012] In one embodiment, a fifth rod, a sixth rod and a second elastic member are provided inside the lower finger joint, a third connecting joint is provided at the front end of the fifth rod, the fifth rod is engaged with the rear end of the third rod and the front end of the fourth rod through the third connecting joint and is hinged through a pin, the front end of the sixth rod is hinged to the rear end of the fifth rod, the second elastic member is respectively provided on both sides of the sixth rod, one end of the second elastic member is connected to the sixth rod, and the other end is connected to the inner wall of the shell of the lower finger joint.

[0013] Furthermore, the fifth rod body, the sixth rod body and the second elastic member form a third connecting rod unit.

[0014] In one embodiment, the first driving mechanism includes a driving wheel, a driven wheel and a connecting member, one end of the driving wheel is connected to the output end of the first motor, and the other end is connected to the driven wheel, the first motor is used to drive the driving wheel to rotate, and then drive the driven wheel to rotate, one end of the connecting member is rotationally connected to the driven wheel, and the other end is connected to the rear end of the sixth rod body, and the driven wheel drives the sixth rod body to swing back and forth along the circumference of the driven wheel through the connecting member.

[0015] Further, the first driving mechanism, the third connecting rod unit, the second connecting rod unit and the first connecting rod unit are connected in sequence.

[0016] In one embodiment, each bionic finger includes a first knuckle and a second knuckle, the rear end of the first knuckle is hinged to the front end of the second knuckle, and the rear end of the second knuckle is hinged to the second driving mechanism.

[0017] Furthermore, the bionic fingers include a bionic little finger, a bionic ring finger, a bionic middle finger and a bionic index finger.

[0018] In one embodiment, a fourth connecting joint is provided at the rear end of the first knuckle, the second knuckle includes a first connecting rod and a second connecting rod, a fourth connecting joint is provided at the front end of the first connecting rod, the fourth connecting joint is engaged with the fourth connecting joint and is hinged through a pin shaft, the front end of the second connecting rod is hinged to the rear end of the first connecting rod, one side of the second connecting rod is connected to the inner wall of the shell of the second knuckle, and the first knuckle swings back and forth along the circumference of the pin shaft.

[0019] In one embodiment, the second finger joint also includes a third link, a fourth link and a fifth link, the front end of the third link is hinged to the rear end of the first link, the front end of the fourth link is hinged to the rear end of the third link, and one end of the fifth link is connected to the rear end of the fourth link.

[0020] In one embodiment, the second driving mechanism includes a driving synchronous pulley and a synchronous belt, one end of the driving synchronous pulley is connected to the output end of the second motor, and the other end is connected to one end of the synchronous belt, and the other end of the synchronous belt is connected to the driven synchronous pulley. The driving synchronous pulley drives the driven synchronous pulley to rotate in a first direction through the synchronous belt, and the driven synchronous pulley is connected to the fourth connecting rod. The rotation of the driven synchronous pulley drives the fourth connecting rod to swing back and forth along the circumference of the driven synchronous pulley.

[0021] Compared with the prior art, the multi-link dexterous hand of the embodiment of the present invention has the following beneficial effects: the palm assembly is composed of a front shell and a rear shell, which are spliced ​​to form a closed cavity. This design not only provides sufficient space for the drive assembly, but also ensures the stability and durability of the structure. The palm assembly serves as a supporting structure for the finger assembly and the drive assembly, and its front end is connected to the finger assembly to ensure the stable installation of the finger assembly; the finger assembly includes a bionic thumb and four bionic fingers, which are intended to simulate the grasping and operating functions of humans; the drive assembly includes a first drive structure, a second drive mechanism, a first motor and a second motor, which These components together provide power and control for the finger component. The first driving structure is connected to the bionic thumb, and the flexible movement of the bionic thumb is achieved through the drive of the first motor. The second driving mechanism is connected to the four bionic fingers, and the driven synchronous pulley is rotated through the drive of the second motor, thereby driving the multiple bionic fingers connected thereto to perform coordinated grasping actions. This design enables multiple bionic fingers to complete grasping tasks synchronously and coordinately, improves the operating efficiency and accuracy of the dexterous hand, greatly reduces the number of motors required for the dexterous hand, further enhances the safety and reliability of the dexterous hand, and effectively reduces the production cost of the dexterous hand. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 Schematic diagram of a multi-link dexterous hand according to an embodiment of the present invention.

[0023] Figure 2 It is a schematic diagram of the internal structure of a multi-link dexterous hand according to an embodiment of the present invention.

[0024] Figure 3 The present invention is a schematic structural diagram of a thumb-mimicking multi-link dexterous hand according to an embodiment of the present invention.

[0025] Figure 4 It is a structural schematic diagram of another angle of a thumb-mimicking multi-link dexterous hand according to an embodiment of the present invention.

[0026] Figure 5 It is a structural schematic diagram of a bionic finger of a multi-link dexterous hand according to an embodiment of the present invention.

[0027] In the figure, 100, palm component; 200, finger component;

[0028] 2. Bionic thumb; 21. Upper knuckle;

[0029] 22, middle finger joint; 221, first rod; 222, second rod; 223, third rod; 224, first elastic member;

[0030] 23, lower finger joint; 231, fourth rod; 232, fifth rod; 233, sixth rod; 234, first elastic member; 235, second elastic member; 24, first connecting joint;

[0031] 3. Bionic finger; 31. First finger joint; 32. Second finger joint; 321. First connecting rod; 322. Second connecting rod; 323. Third connecting rod; 324. Fourth connecting rod; 325. Fifth connecting rod;

[0032] 300, drive assembly;

[0033] 4. First driving mechanism; 41. Driving wheel; 42. Driven wheel; 43. Connecting member;

[0034] 5. Second driving mechanism; 51. Driving synchronous pulley; 52. Driven synchronous pulley; 53. Synchronous belt; 54. Mounting part;

[0035] 6. The first motor;

[0036] 7. Second motor. DETAILED DESCRIPTION

[0037] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0038] In the description of the present invention, it should be understood that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. 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 an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0039] In the description of the present invention, it should be understood that the terms "height", "up", "down", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like used in the present invention to indicate the orientation or position relationship are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention 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 invention.

[0040] In the description of the present invention, it should be understood that the terms "first" and "second" are used in the present invention for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features.

[0041] like Figures 1 to 5 As shown, an embodiment of the present invention preferably provides a multi-link dexterous hand, which includes a palm component 100, a finger component 200 and a drive component 300; the palm component 100 includes a front shell and a rear shell, the front shell cover is arranged above the rear shell, and the front shell and the rear shell are spliced ​​with each other to form a cavity; the finger component 200 includes a bionic thumb 2 and four bionic fingers 3, one end of the bionic thumb 2 and the bionic finger 3 are connected to the front end of the palm component 100; the drive component 300 is arranged in the cavity, and the drive component 300 includes a first drive structure, a second drive mechanism 5, a first motor 6 and a second motor 7, the first drive mechanism 4 and the second drive mechanism 5 are connected to the front end of the palm component 100; The mechanisms 5 are all installed at the front end of the palm component 100, one end of the first driving mechanism 4 is connected to the bionic thumb 2, the other end of the first driving motor is connected to the first motor 6, the first driving mechanism 4 is used to control the bionic thumb 2, one end of the second driving mechanism 5 is respectively connected to the four bionic fingers 3, the other end of the second driving mechanism 5 is connected to the second motor 7, the second driving mechanism 5 includes a driven synchronous pulley 52 extending laterally, and a plurality of mounting portions 54 are arranged on the driven synchronous pulley 52 at intervals, each bionic finger 3 is connected to the driven synchronous pulley 52 via the mounting portion 54, and the rotation of the driven synchronous pulley 52 is used to simultaneously control the grasping of the four bionic fingers 3.

[0042] Based on the above technical features, the present invention is designed to simulate the grasping and operating functions of humans through the setting of the finger component 200, which includes a bionic thumb 2 and four bionic fingers 3; and through the setting of the drive component 300, the drive component 300 includes a first drive structure, a second drive mechanism 5, a first motor 6 and a second motor 7. These components jointly provide power and control for the finger component 200. The first drive structure is connected to the bionic thumb 2, and the flexible movement of the bionic thumb 2 is achieved through the drive of the first motor 6. The second drive mechanism 5 is connected to the four bionic fingers 3, and the driven synchronous pulley 52 is rotated through the drive of the second motor 7, thereby driving the multiple bionic fingers 3 connected thereto to perform coordinated grasping actions. This design enables multiple bionic fingers 3 to complete the grasping task synchronously and coordinately, improves the operating efficiency and accuracy of the dexterous hand, greatly reduces the number of motors required for the dexterous hand, further enhances the safety and reliability of the dexterous hand, and effectively reduces the production cost of the dexterous hand.

[0043] Furthermore, the first motor 6 is a steering gear, and the second motor 7 is a coreless motor. The combination of the steering gear and the coreless motor in the dexterous hand can give full play to their respective advantages. The high-precision position control capability of the steering gear enables the bionic thumb 2 to perform various fine operations; while the high speed, high sensitivity and low inertia characteristics of the coreless motor enable multiple bionic fingers 3 to complete the grasping action synchronously and quickly. This combined application not only improves the operating efficiency and accuracy of the dexterous hand, but also expands its application capabilities in various complex environments.

[0044] As some embodiments of the present invention, Figures 2 to 4 As shown, the bionic thumb 2 includes an upper phalanx 21, a middle phalanx 22 and a lower phalanx 23, the rear end of the upper phalanx 21 is hinged to the front end of the middle phalanx 22, the rear end of the middle phalanx 22 is hinged to the front end of the lower phalanx 23, and the rear end of the lower phalanx 23 is hinged to the first drive mechanism 4. The rear end of the upper phalanx 21 is connected to the front end of the middle phalanx 22 by a certain hinge mechanism, and this connection mode allows the upper phalanx 21 to rotate to a certain extent relative to the middle phalanx 22, thereby simulating the bending and extension movements of the human thumb; similarly, the rear end of the middle phalanx 22 is also connected to the front end of the lower phalanx 23 by a hinge mechanism, so that the middle phalanx 22 can rotate relative to the lower phalanx 23, and this design increases the flexibility of the bionic thumb 2, enabling it to perform more complex movements; the rear end of the lower phalanx 23 is connected to the first drive mechanism 4, and power is transmitted through the hinge mechanism. This connection mode ensures that the first drive mechanism 4 can accurately control the bending and extension angles of the bionic thumb 2, thereby achieving fine operation.

[0045] As some embodiments of the present invention, Figures 2 to 4 As shown, the rear end of the upper phalanx 21 is provided with a first connection joint 24, and the first connection joint 24 is used to connect with the middle phalanx 22. The middle phalanx 22 includes a first rod body 221 and a second rod body 222. The front end of the first rod body 221 is provided with a first connection joint, and the first connection joint is engaged with the first connection joint 24 and is hinged through a pin shaft. The front end of the second rod body 222 is hinged with the rear end of the first rod body 221. A matching structure is provided on the first connection joint 24, and the front end of the first rod body 221 is equipped with a first connection joint. These two parts are engaged through matching and hinged with a pin shaft, which ensures the stability and flexibility of the connection. This design allows the first rod body 221 to rotate relative to the upper phalanx 21 to simulate the bending action of the thumb.

[0046] Furthermore, the upper knuckle 21 and the first rod 221 and the second rod 222 form a first connecting rod 321 unit. The first connecting rod 321 unit is composed of the upper knuckle 21, the first rod 221 and the second rod 222, which are closely connected through a precise hinge design to form a unified and powerful whole.

[0047] As some embodiments of the present invention, Figures 2 to 4 As shown, the middle finger joint 22 also includes a third rod body 223, a fourth rod body 231 and a first elastic member 234. The front end of the third rod body 223 is provided with a second connecting joint. The rear end of the first rod body 221 is engaged with the second connecting joint and hinged through a pin. The front end of the fourth rod body 231 is hinged to the rear end of the third rod body 223. One end of the first elastic member 234 is connected to the rear end of the third rod body 223, and the other end is connected to the rear end of the fourth rod body 231. The first elastic member 234 is used to transmit the rotational force of the fourth rod body 231 to the third rod body 223, thereby driving the third rod body 223 to rotate. Through the design of the third rod body 223, the fourth rod body 231 and the first elastic member 234, a stable connecting rod system is formed together. The connecting rods are hinged by pins to ensure the stability and flexibility of the connection, while allowing the connecting rods to rotate relative to each other within a certain range to simulate the complex movements of human fingers; at the same time, the introduction of the first elastic member 234 provides the middle finger joint 22 with additional power transmission and motion buffering functions, which can store and release energy during the bending and extension of the finger, thereby enhancing the flexibility and stability of the bionic thumb 2.

[0048] Furthermore, the third rod body 223 , the fourth rod body 231 and the first elastic member 234 form a second connecting rod 322 unit.

[0049] As some embodiments of the present invention, Figures 2 to 4 As shown, the lower knuckle 23 is provided with a fifth rod 232, a sixth rod 233 and a second elastic member 235, the front end of the fifth rod 232 is provided with a third connection joint, the fifth rod 232 is engaged with the rear end of the third rod 223 and the front end of the fourth rod 231 through the third connection joint and is hinged through a pin, the front end of the sixth rod 233 is hinged with the rear end of the fifth rod 232, the second elastic member 235 is respectively provided on both sides of the sixth rod 233, one end of the second elastic member 235 is connected to the sixth rod 233, and the other end is connected to the inner wall of the shell of the lower knuckle 23. The lower knuckle 23 is composed of the fifth rod 232 and the sixth rod 233, and these connecting rods and other parts are closely connected through a precise hinge design, forming a highly coordinated and stable overall structure. The second elastic member 235 is respectively arranged on both sides of the sixth rod body 233, and is connected to the sixth rod body 233 and the inner wall of the shell of the lower knuckle 23. This layout not only provides additional power support and motion buffering for the fingers, but also helps to maintain the stability of the fingers during movement.

[0050] Furthermore, the fifth rod 232, the sixth rod 233 and the second elastic member 235 form a third connecting rod 323. The components inside the lower knuckle 23 are precisely hinged and elastically connected to achieve distinct power transmission and motion coordination, providing strong support for complex finger motion simulation.

[0051] As some embodiments of the present invention, Figures 2 to 4 As shown, the first driving mechanism 4 includes a driving wheel 41, a driven wheel 42 and a connecting member 43. One end of the driving wheel 41 is connected to the output end of the first motor 6, and the other end is connected to the driven wheel 42. The first motor 6 is used to drive the driving wheel 41 to rotate, thereby driving the driven wheel 42 to rotate. One end of the connecting member 43 is rotationally connected to the driven wheel 42, and the other end is connected to the rear end of the sixth rod body 233. The driven wheel 42 drives the sixth rod body 233 to swing back and forth along the circumference of the driven wheel 42 through the connecting member 43. The first driving mechanism 4 includes a driving wheel 41 and a driven wheel 42. One end of the driving wheel 41 is connected to the output end of the first motor 6, and the other end is connected to the driven wheel 42. When the first motor 6 is started, it drives the driving wheel 41 to rotate, and then drives the driven wheel 42 to rotate through a gear transmission. One end of the connecting member 43 is connected to the driven wheel 42, and the other end is connected to the rear end of the sixth rod body 233. As the driven wheel 42 rotates, the connecting member 43 drives the sixth rod body 233 to swing back and forth along the circumference of the driven wheel 42, thereby realizing the bending and stretching of the fingers. The first motor 6 can achieve precise control of the movement of the driven wheel 42 and the sixth rod body 233 by precisely controlling the speed and direction of the driving wheel 41. This control method not only enables the fingers to complete complex action simulations, but also can be flexibly adjusted according to different application scenarios.

[0052] Furthermore, the first driving mechanism 4, the third connecting rod 323 unit, the second connecting rod 322 unit and the first connecting rod 321 unit are connected in sequence. The first driving mechanism 4, the third connecting rod 323 unit, the second connecting rod 322 unit and the first connecting rod 321 unit are connected in sequence to form a complete and powerful bionic thumb 2 structure. The connecting rod units are precisely hinged and connected to achieve smooth power transmission and coordinated action.

[0053] As some embodiments of the present invention, Figure 2 and Figure 5As shown, each bionic finger 3 includes a first knuckle 31 and a second knuckle 32, the rear end of the first knuckle 31 is hinged to the front end of the second knuckle 32, and the rear end of the second knuckle 32 is hinged to the second drive mechanism 5. The first knuckle 31 and the second knuckle 32 are connected by a hinge design, allowing them to rotate relative to each other within a certain range, thereby simulating the bending and stretching movements of human fingers. The second drive mechanism 5 is hinged to the rear end of the second knuckle 32 and is responsible for providing power to the bionic finger 3.

[0054] Furthermore, the bionic finger 3 includes a bionic little finger, a bionic ring finger, a bionic middle finger and a bionic index finger, so that the bionic finger 3 and the bionic thumb 2 form a complete palm structure, effectively realizing the dexterous hand's grasping operation.

[0055] As some embodiments of the present invention, Figure 2 and Figure 5 As shown, the rear end of the first finger joint 31 is provided with a fourth connection joint, the second finger joint 32 includes a first connecting rod 321 and a second connecting rod 322, the front end of the first connecting rod 321 is provided with a fourth connection joint, the fourth connection joint is engaged with the fourth connection joint and is hinged through a pin, the front end of the second connecting rod 322 is hinged with the rear end of the first connecting rod 321, one side of the second connecting rod 322 is connected to the inner wall of the shell of the second finger joint 32, and the first finger joint 31 swings back and forth along the circumference of the pin. Through the arrangement of the first connecting rod 321 and the second connecting rod 322, the rear end of the first connecting rod 321 is connected to the front end of the second connecting rod 322 by a hinged manner, and this connection method allows the first connecting rod 321 and the second connecting rod 322 to rotate relative to each other within a certain angle range, thereby further increasing the flexibility of the bionic finger 3. Since the first finger joint 31 swings back and forth along the circumferential direction of the pin shaft, the bionic finger 3 can achieve flexible bending and stretching movements. This swinging mode not only simulates the natural movement of human fingers, but also enables the fingers to adapt to various complex operating requirements.

[0056] As some embodiments of the present invention, Figure 2 and Figure 5 As shown, the second finger joint 32 also includes a third link 323, a fourth link 324 and a fifth link 325, the front end of the third link 323 is hinged to the rear end of the first link 321, the front end of the fourth link 324 is hinged to the rear end of the third link 323, and one end of the fifth link 325 is connected to the rear end of the fourth link 324. The first link 321, the second link 322, the third link 323, the fourth link 324 and the fifth link 325 are connected by hinges to form a multi-link mechanism. This mechanism allows the bionic finger 3 to perform complex bending and stretching movements in multiple planes, thereby simulating the more delicate movement characteristics of human fingers.

[0057] As some embodiments of the present invention, Figure 2 and Figure 5 As shown, the second driving mechanism 5 includes a driving synchronous pulley 51 and a synchronous belt 53. One end of the driving synchronous pulley 51 is connected to the output end of the second motor 7, and the other end is connected to one end of the synchronous belt 53. The other end of the synchronous belt 53 is connected to the driven synchronous pulley 52. ​​The driving synchronous pulley 51 drives the driven synchronous pulley 52 to rotate in the first direction through the synchronous belt 53. The driven synchronous pulley 52 is connected to the fourth connecting rod 324. The rotation of the driven synchronous pulley 52 drives the fourth connecting rod 324 to swing back and forth along the circumference of the driven synchronous pulley 52. Through the design of the second driving mechanism 5, the second driving mechanism 5 includes an active synchronous pulley 51, a driven synchronous pulley 52 and a synchronous belt 53. When the second motor 7 is started, its output end transmits power to the active synchronous pulley 51, and the active synchronous pulley 51 transmits power to the driven synchronous pulley 52 through the synchronous belt, so that the driven synchronous pulley 52 starts to rotate along the first direction. Since the driven synchronous pulley 52 is connected to the fourth connecting rod 324, its rotation will drive the fourth connecting rod 324 to swing back and forth along its circumference. This swinging mode will cause the fourth connecting rod 324 and the connecting rod system connected thereto to move accordingly, thereby realizing the bending and stretching movements of the bionic finger 3.

[0058] In summary, the embodiment of the present invention provides a multi-link dexterous hand, which has the following beneficial effects compared with the prior art: the palm assembly 100 is composed of a front shell and a rear shell, which are spliced ​​to form a closed cavity. This design not only provides sufficient space for the drive assembly 300, but also ensures the stability and durability of the structure. The palm assembly 100 serves as a supporting structure for the finger assembly 200 and the drive assembly 300, and its front end is connected to the finger assembly 200, ensuring the stable installation of the finger assembly 200; the finger assembly 200 includes a bionic thumb 2 and four bionic fingers 3, which are intended to simulate the grasping and operating functions of humans; the drive assembly 300 includes a first drive structure, a second drive mechanism 5, a first The motor 6 and the second motor 7 together provide power and control for the finger assembly 200. The first drive structure is connected to the bionic thumb 2. The flexible movement of the bionic thumb 2 is achieved through the drive of the first motor 6. The second drive mechanism 5 is connected to the four bionic fingers 3. The driven synchronous pulley 52 is rotated through the drive of the second motor 7, thereby driving the multiple bionic fingers 3 connected thereto to perform coordinated grasping actions. This design enables the multiple bionic fingers 3 to complete the grasping task synchronously and coordinately, thereby improving the operating efficiency and accuracy of the dexterous hand, greatly reducing the number of motors required for the dexterous hand, further enhancing the safety and reliability of the dexterous hand, and effectively reducing the production cost of the dexterous hand.

[0059] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. A multi-link dexterous hand, characterized in that: It includes a palm component, a finger component and a drive component; A cavity is provided inside the palm component; The finger assembly includes a bionic thumb and four bionic fingers, and one end of the bionic thumb and one end of the bionic fingers are connected to the front end of the palm assembly; The driving assembly is arranged in the cavity, and the driving assembly includes a first driving mechanism, a second driving mechanism, a first motor and a second motor. The first driving mechanism and the second driving mechanism are both installed at the front end of the palm assembly. One end of the first driving mechanism is connected to the bionic thumb, and the other end of the first driving motor is connected to the first motor. The first driving mechanism is used to control the bionic thumb, one end of the second driving mechanism is respectively connected to the four bionic fingers, and the other end of the second driving mechanism is connected to the second motor. The second driving mechanism includes a driven synchronous pulley extending laterally, and a plurality of mounting parts are arranged on the driven synchronous pulley at intervals. Each of the bionic fingers is connected to the driven synchronous pulley through the mounting part, and the rotation of the driven synchronous pulley is used to simultaneously control the grasping of the four bionic fingers.

2. The multi-link dexterous hand according to claim 1, characterized in that: The bionic thumb comprises an upper knuckle, a middle knuckle and a lower knuckle, the rear end of the upper knuckle is hinged to the front end of the middle knuckle, the rear end of the middle knuckle is hinged to the front end of the lower knuckle, and the rear end of the lower knuckle is hinged to the first driving mechanism.

3. The multi-link dexterous hand according to claim 2, characterized in that: The rear end of the upper phalanx is provided with a first connecting joint, and the first connecting joint is used to connect with the middle phalanx. The middle phalanx includes a first rod body and a second rod body. The front end of the first rod body is provided with a first connecting joint, and the first connecting joint is engaged with the first connecting joint and hinged through a pin shaft. The front end of the second rod body is hinged to the rear end of the first rod body.

4. The multi-link dexterous hand according to claim 3, characterized in that: The middle finger joint also includes a third rod body, a fourth rod body and a first elastic member, the front end of the third rod body is provided with a second connecting joint, the rear end of the first rod body is engaged with the second connecting joint and is hinged through a pin shaft, the front end of the fourth rod body is hinged to the rear end of the third rod body, one end of the first elastic member is connected to the rear end of the third rod body, and the other end is connected to the rear end of the fourth rod body, the first elastic member is used to transmit the rotational force of the fourth rod body to the third rod body, thereby driving the third rod body to rotate.

5. The multi-link dexterous hand according to claim 4, characterized in that: A fifth rod, a sixth rod and a second elastic member are provided inside the lower finger joint, a third connecting joint is provided at the front end of the fifth rod, the fifth rod is engaged with the rear end of the third rod and the front end of the fourth rod through the third connecting joint and is hinged through a pin, the front end of the sixth rod is hinged to the rear end of the fifth rod, the second elastic member is respectively provided on both sides of the sixth rod, and one end of the second elastic member is connected to the sixth rod, and the other end is connected to the inner wall of the shell of the lower finger joint.

6. The multi-link dexterous hand according to claim 5, characterized in that: The first driving mechanism includes a driving wheel, a driven wheel and a connecting member, one end of the driving wheel is connected to the output end of the first motor, and the other end is connected to the driven wheel, the first motor is used to drive the driving wheel to rotate, and then drive the driven wheel to rotate, one end of the connecting member is rotationally connected to the driven wheel, and the other end is connected to the rear end of the sixth rod body, and the driven wheel drives the sixth rod body to swing back and forth along the circumference of the driven wheel through the connecting member.

7. The multi-link dexterous hand according to claim 1, characterized in that: Each of the bionic fingers comprises a first knuckle and a second knuckle, the rear end of the first knuckle is hinged to the front end of the second knuckle, and the rear end of the second knuckle is hinged to the second driving mechanism.

8. The multi-link dexterous hand according to claim 7, characterized in that: A fourth connecting joint is provided at the rear end of the first knuckle, the second knuckle includes a first connecting rod and a second connecting rod, a fourth connecting joint is provided at the front end of the first connecting rod, the fourth connecting joint is engaged with the fourth connecting joint and is hinged through a pin shaft, the front end of the second connecting rod is hinged to the rear end of the first connecting rod, one side of the second connecting rod is connected to the inner wall of the shell of the second knuckle, and the first knuckle swings back and forth along the circumference of the pin shaft.

9. The multi-link dexterous hand according to claim 8, characterized in that: The second finger joint also includes a third link, a fourth link and a fifth link, the front end of the third link is hinged to the rear end of the first link, the front end of the fourth link is hinged to the rear end of the third link, and one end of the fifth link is connected to the rear end of the fourth link.

10. The multi-link dexterous hand according to claim 9, characterized in that: The second driving mechanism includes an active synchronous pulley and a synchronous belt, one end of the active synchronous pulley is connected to the output end of the second motor, and the other end is connected to one end of the synchronous belt, and the other end of the synchronous belt is connected to the driven synchronous pulley, and the active synchronous pulley drives the driven synchronous pulley to rotate in a first direction through the synchronous belt, and the driven synchronous pulley is connected to the fourth connecting rod, and the rotation of the driven synchronous pulley drives the fourth connecting rod to swing back and forth along the circumference of the driven synchronous pulley.

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