Reconfigurable under-actuated five-finger dexterous hand based on five connecting rods

Abstract

The invention discloses a reconfigurable under-actuated five-finger dexterous hand based on five connecting rods. The reconfigurable under-actuated five-finger dexterous hand comprises a five-finger assembly and a palm mechanism. The palm mechanism comprises a base, an upper connecting rod assembly, a lower connecting rod assembly, five bending driving mechanisms, a rotary driving assembly and an under-actuated elastic assembly; the five bending driving mechanisms are rotationally connected to the upper connecting rod assembly and the lower connecting rod assembly and can drive the corresponding fingers to bend. The underactuated elastic assembly is connected to the bending driving mechanisms, the rotating driving assembly can drive the upper connecting rod assembly and the lower connecting rod assembly to be unfolded or folded so as to drive the bending driving mechanisms and the corresponding fingers to move, and the bending driving mechanisms move relatively so that the underactuated elastic assembly can generate elastic deformation. The bending driving mechanism can be driven to drive the corresponding fingers to rotate relative to the upper connecting rod assembly and the lower connecting rod assembly. According to the reconfigurable under-actuated five-finger dexterous hand based on the five connecting rods, flexibility and stability are improved.

Description

Technical Field

[0001] The invention relates to the technical field of bionic robots, and in particular to a reconfigurable under-actuated five-finger dexterous hand based on five links. Background Art

[0002] With the rapid development of robotics, the complexity, generalization and refinement of task requirements have led to the research on the structure and control of end effectors. Among them, at the structural level, the performance exploration of various actuators with bionic characteristics is an important field, and humanoid structures have been widely studied because of their own flexibility and adaptability to interactive scenarios. Correspondingly, at the control level, for the two representative functions of strong grasping and fine manipulation, compared with the former, the exploration of fine manipulation based on gradually advanced computer technology has improved the versatility and flexibility of actuator functions.

[0003] Most humanoid dexterous hands ignore the improvement in dexterity brought by the reconfigurability of the palm during the design process. However, the existing palm structure design suffers from insufficient bionic features and severe polarization in the complexity of the degree of freedom and drive characteristic settings, making it difficult to perform reliable in-hand dexterous operations. Summary of the invention

[0004] The purpose of the present invention is to provide a reconfigurable under-actuated five-finger dexterous hand based on five-links to solve the problems existing in the above-mentioned prior art and improve flexibility and stability.

[0005] To achieve the above object, the present invention provides the following solutions: The present invention provides a reconfigurable under-actuated five-finger dexterous hand based on five links, comprising a five-finger assembly and a palm mechanism; the five-finger assembly comprises a thumb, an index finger, a middle finger, a ring finger and a little finger; the palm mechanism comprises a base, an upper link assembly, a lower link assembly, five bending drive mechanisms, a rotation drive assembly and an under-actuated elastic assembly; the five bending drive mechanisms are all rotationally connected to the upper link assembly and the lower link assembly, and the driving ends are respectively connected to the thumb, the index finger, the middle finger, the ring finger and the little finger and can drive the corresponding fingers to bend; the under-actuated elastic assembly is connected to each of the bending drive mechanisms, the rotation drive assembly is connected to the upper link assembly, the lower link assembly and the base, the rotation drive assembly can drive the upper link assembly and the lower link assembly to expand or retract, so as to drive each of the bending drive mechanisms and the corresponding fingers to move, and the relative movement between the plurality of bending drive mechanisms can cause the under-actuated elastic assembly to undergo elastic deformation, so as to drive the bending drive mechanism to drive the corresponding fingers to rotate relative to the upper link assembly and the lower link assembly.

[0006] Preferably, the upper connecting rod assembly comprises a first upper connecting rod, a second upper connecting rod, a third upper connecting rod and a fourth upper connecting rod, the thumb is rotatably provided at one end of the first upper connecting rod, and the index finger is movably overlapped and rotatably provided at the other end of the first upper connecting rod, the middle finger is movably overlapped and rotatably provided at the other end of the second upper connecting rod, the ring finger is movably overlapped and rotatably provided at the other end of the third upper connecting rod and one end of the fourth upper connecting rod, and the little finger is rotatably provided at the other end of the fourth upper connecting rod; the ends of the first upper connecting rod, the second upper connecting rod, the third upper connecting rod and the fourth upper connecting rod are rotatably penetrated by the corresponding bending driving mechanism; the rotation driving assembly is connected to the first upper connecting rod and the fourth upper connecting rod, and drives the second upper connecting rod and the third upper connecting rod to move synchronously by driving the first upper connecting rod and the fourth upper connecting rod to rotate relative to the base.

[0007] Preferably, the lower connecting rod assembly includes a first lower connecting rod, a second lower connecting rod, a third lower connecting rod and a fourth lower connecting rod which are respectively opposite to the first upper connecting rod, the second upper connecting rod, the third upper connecting rod and the fourth upper connecting rod; one end of the first lower connecting rod is rotatably connected to the bending driving mechanism, and the other end is movably overlapped with one end of the second lower connecting rod and rotatably provided with the bending driving mechanism; the other end of the second lower connecting rod is movably overlapped with one end of the third lower connecting rod and rotatably provided with the bending driving mechanism; the other end of the third lower connecting rod is movably overlapped with one end of the fourth lower connecting rod and rotatably provided with the bending driving mechanism; the rotating driving assembly is rotatably connected between the other end of the fourth lower connecting rod and the fourth upper connecting rod and between the first lower connecting rod and the first upper connecting rod.

[0008] Preferably, the under-actuated elastic component includes a connecting ring and five first elastic members, one end of the five first elastic members are connected to the connecting ring, and the other ends are respectively fixedly connected to the five bending drive mechanisms, so that the connecting ring can be in a suspended state; the activities of the upper connecting rod assembly and the lower connecting rod assembly can drive the first elastic members to undergo elastic deformation so as to drive the corresponding bending drive mechanisms and fingers to rotate synchronously.

[0009] Preferably, the bending drive mechanisms connected to the thumb, the index finger, the middle finger and the ring finger are all configured as telescopic drive mechanisms, and are arranged between the upper connecting rod assembly and the lower connecting rod assembly; one end of the bending drive mechanism is rotatably connected to the lower connecting rod assembly, and the other end is the driving end, the driving end passes through and is rotatably connected to the upper connecting rod assembly, and the driving end is fixedly connected to the corresponding finger; the telescopic drive mechanism can telescopically drive the corresponding finger to bend.

[0010] Preferably, the thumb, index finger, middle finger and ring finger each include a first chassis, a pushing rod, a transmission rod, a first knuckle and a second knuckle, the first chassis is rotatably connected to the upper connecting rod assembly, the pushing rod is placed in the first chassis and connected to the driving end, the web side and the dorsal side of one end of the first knuckle are rotatably connected to the web side of the first chassis and the pushing rod respectively, the other end of the first knuckle is rotatably connected to the dorsal side of the second knuckle, and the two ends of the transmission rod are rotatably connected to the dorsal side of the first chassis and the web side of the second knuckle respectively; the driving end can drive the pushing rod to move linearly, and drive the first knuckle and the second knuckle to bend under the transmission cooperation of the transmission rod.

[0011] Preferably, the telescopic driving mechanism is configured as an electric cylinder mechanism, which can perform force control and position control on the finger.

[0012] Preferably, the bending drive mechanism connected to the little finger includes a connecting tube, a driving rope and a retractable assembly; one end of the connecting tube passes through and is rotatably connected to the upper connecting rod assembly, and the connecting tube is also fixedly connected to the under-driven elastic assembly; the retractable assembly is arranged in the base and is used to retract the driving rope, and the driving rope can pass through the connecting tube and be connected to the little finger; the retractable assembly can drive the little finger to bend by retracting and releasing the driving rope.

[0013] Preferably, the little finger includes a second chassis, a third knuckle, a fourth knuckle and a second elastic member, the second chassis is rotatably connected to the upper connecting rod assembly and connected to one end of the connecting tube, both ends of the third knuckle are rotatably connected to the second chassis and the fourth knuckle, and the second elastic member is provided on the back side of the third knuckle connected to the second chassis and the back side of the third knuckle connected to the fourth knuckle; the drive rope can be connected to the web side of the fourth knuckle; the drive rope can be retracted to bend the fourth knuckle, and can stretch the second elastic member to bend the third knuckle, and after the drive rope is released, the third knuckle and the fourth knuckle can return to their positions under the restoring force of the second elastic member.

[0014] Preferably, the rotary drive assembly comprises two rotary servos and two support rods, the two rotary servos are fixedly connected to the upper connecting rod assembly, the two support rods rotate through the lower connecting rod assembly and are fixedly connected to the base, and the two support rods are respectively connected to the two rotary servos in transmission; the two rotary servos can drive the upper connecting rod assembly and the lower connecting rod assembly to expand or collapse within a plane.

[0015] Compared with the prior art, the present invention has achieved the following technical effects: The reconfigurable under-actuated five-finger dexterous hand based on five-links provided by the present invention reconstructs the palm design, and forms a bionic five-link structure design through an upper link assembly, a lower link assembly and five bending drive mechanisms. The five fingers can be independently controlled to bend and drive according to the bionic characteristics, and the stability can be improved. In addition, the rotation drive assembly drives the upper link assembly and the lower link assembly to expand or contract, so as to adjust the relative position of each finger, and under the elastic force of the under-actuated elastic assembly, the bending drive mechanism drives the corresponding finger to rotate adaptively, that is, through the under-actuated elastic assembly, the freedom of the fingers is ensured, and the interaction and passive adjustment between the fingers are increased, thereby enhancing the adaptability of the fingers to the surface of the contacted object, as well as the adaptability and stability of the system during the finger grasping and operation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 An isometric view of a five-link-based reconfigurable underactuated five-finger dexterous hand provided in Example 1; Figure 2 A schematic diagram of the structure of the palm mechanism (excluding the base) provided in Example 1; Figure 3 A schematic diagram of the structure of the base provided in Example 1; Figure 4 A schematic diagram of the overall structure of the thumb provided in Example 1; Figure 5 A schematic diagram of the exploded structure of the thumb provided in Example 1; Figure 6 A schematic diagram of the overall structure of the little finger provided in Example 1; Figure 7 This is a schematic diagram of the exploded structure of the little finger provided in Example 1.

[0018] In the figure: 1-reconfigurable underactuated five-finger dexterous hand based on five-link; 100-five-finger assembly; 110-thumb; 111-first chassis; 112-pushing rod; 113-transmission rod; 114-first finger joint; 115-second finger joint; 120-index finger; 130-middle finger; 140-ring finger; 150-little finger; 151-second chassis; 152-third finger joint; 153-fourth finger joint; 154-second elastic member; 200-palm mechanism; 210-base; 220-upper link assembly; 221-first upper link; 222-second upper link; 223-third upper link; 224 -fourth upper connecting rod; 230-lower connecting rod assembly; 231-first lower connecting rod; 232-second lower connecting rod; 233-third lower connecting rod; 234-fourth lower connecting rod; 240-bending drive mechanism; 241-sleeve; 242-adapter; 243-connecting tube; 244-retractable and retractable assembly; 245-reel; 246-retractable and retractable servo; 250-rotational driving assembly; 251-rotational servo; 252-support rod; 253-steering disc; 254-front connecting section; 255-rear connecting section; 260-under-actuated elastic assembly; 261-connecting ring; 262-first elastic member; 263-connecting seat. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] The purpose of the present invention is to provide a reconfigurable under-actuated five-finger dexterous hand based on five-links to solve the problems existing in the above-mentioned prior art and improve flexibility and stability.

[0021] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] Embodiment 1 This embodiment provides a reconfigurable underactuated five-finger dexterous hand 1 based on five-links, see Figure 1, including a five-finger assembly 100 and a palm mechanism 200, the five-finger assembly 100 includes a thumb 110, an index finger 120, a middle finger 130, a ring finger 140 and a little finger 150; the palm mechanism 200 includes a base 210, an upper connecting rod assembly 220, a lower connecting rod assembly 230, five bending drive mechanisms 240, a rotation drive assembly 250 and an under-actuated elastic assembly 260; the five bending drive mechanisms 240 are all rotatably connected to the upper connecting rod assembly 220 and the lower connecting rod assembly 230, and the driving ends are respectively connected to the thumb 110, the index finger 120, the middle finger 130, the ring finger 140 and the little finger 150 and can drive the corresponding bending drive mechanisms 240. The under-actuated elastic component 260 is connected to each bending drive mechanism 240, and the rotation drive component 250 is connected to the upper connecting rod component 220, the lower connecting rod component 230 and the base 210. The rotation drive component 250 can drive the upper connecting rod component 220 and the lower connecting rod component 230 to expand or retract, so as to drive each bending drive mechanism 240 and the corresponding finger to move, and the relative movement between the multiple bending drive mechanisms 240 can cause the under-actuated elastic component 260 to undergo elastic deformation, so as to drive the bending drive mechanism 240 to drive the corresponding finger to rotate relative to the upper connecting rod component 220 and the lower connecting rod component 230.

[0023] The palm is reconstructed and designed to form a bionic five-link structure design through an upper link assembly 220, a lower link assembly 230 and five bending drive mechanisms 240, which can independently control the bending drive of five fingers according to bionic characteristics, and improve stability and flexibility; in addition, the rotation drive assembly 250 can adjust the relative position of each finger by driving the upper link assembly 220 and the lower link assembly 230 to expand or collapse, and under the elastic force of the under-actuated elastic assembly 260, the bending drive mechanism 240 drives the corresponding finger to rotate adaptively, that is, through the under-actuated elastic assembly 260, while ensuring the freedom of the fingers, the interaction and passive adjustment between the fingers are increased, thereby enhancing the adaptability of the fingers to the surface of the contacted object, as well as the adaptability and stability of the system during the finger grasping and operation process; wherein the base 210 is connected to an external mechanism to achieve the fixation of the entire dexterous hand.

[0024] Among the optional solutions of this embodiment, it is more preferred to refer to Figure 2The upper connecting rod assembly 220 includes a first upper connecting rod 221, a second upper connecting rod 222, a third upper connecting rod 223 and a fourth upper connecting rod 224. The thumb 110 is rotatably provided at one end of the first upper connecting rod 221, and the index finger 120 is movably overlapped with one end of the second upper connecting rod 222 and rotatably provided at the other end. The middle finger 130 is movably overlapped with one end of the third upper connecting rod 223 and rotatably provided at the other end of the second upper connecting rod 222. The ring finger 140 is movably overlapped with one end of the fourth upper connecting rod 224 and rotatably provided at the other end of the fourth upper connecting rod 224. The little finger 150 is rotatably provided at the other end of the fourth upper connecting rod 224. The ends of the third upper link 223 and the fourth upper link 224 are rotatably penetrated with corresponding bending drive mechanisms 240; the rotation drive assembly 250 is connected to the first upper link 221 and the fourth upper link 224, and drives the first upper link 221 and the fourth upper link 224 to rotate relative to the base 210 to drive the second upper link 222 and the third upper link 223 to move synchronously; specifically, the upper links at the corresponding overlapping positions are rotatably connected to the bending drive mechanism 240 through bearings; by arranging the first upper link 221, the second upper link 222, the third upper link 223 and the fourth upper link 224 that can rotate relative to each other, the flexibility between the fingers is improved.

[0025] Among the optional solutions of this embodiment, it is more preferred to refer to Figure 2 The lower connecting rod assembly 230 includes a first lower connecting rod 231, a second lower connecting rod 232, a third lower connecting rod 233 and a fourth lower connecting rod 234 which are respectively opposite to the first upper connecting rod 221, the second upper connecting rod 222, the third upper connecting rod 223 and the fourth upper connecting rod 224 to ensure the overall stability; one end of the first lower connecting rod 231 is rotatably connected to a bending driving mechanism 240, and the other end is movably overlapped and rotatably provided with a bending driving mechanism 240 on one end of the second lower connecting rod 232, and the other end of the second lower connecting rod 232 is movably overlapped and rotatably provided with a bending driving mechanism 240 on one end of the third lower connecting rod 233, and the other end of the third lower connecting rod 233 is movably overlapped and rotatably provided with a bending driving mechanism 240 on one end of the fourth lower connecting rod 234 A bending drive mechanism 240 is provided for rotation; a rotation drive assembly 250 is rotatably connected between the other end of the fourth lower connecting rod 234 and the fourth upper connecting rod 224, and between the first lower connecting rod 231 and the first upper connecting rod 221; specifically, the lower connecting rods at the corresponding overlapping positions are rotatably connected to the bending drive mechanism 240 and the rotation drive assembly 250 through bearings; a parallel double-layer upper connecting rod assembly 220 and a lower connecting rod assembly 230 are provided, and the bionic characteristics are utilized to reasonably change the distribution of the finger roots within a large range, and space for setting up the corresponding driving mechanism is provided, thereby improving flexibility and avoiding the situation in which the palm of the existing dexterous hand has large changes in spatial posture, difficult drive design, and complex control process.

[0026] Among the optional solutions of this embodiment, it is more preferred to refer to Figure 2 The under-actuated elastic component 260 includes a connecting ring 261 and five first elastic members 262. One end of the five first elastic members 262 is connected to the connecting ring 261, and the other end is fixedly connected to the five bending drive mechanisms 240, so that the connecting ring 261 can be in a suspended state; the activities of the upper connecting rod assembly 220 and the lower connecting rod assembly 230 can drive the first elastic members 262 to undergo elastic deformation so as to drive the corresponding bending drive mechanism 240 and the finger to rotate synchronously; specifically, the under-actuated elastic component 260 is arranged as a whole on the inner side of the palm mechanism 200, and the five first elastic members 262 cooperate with each other to suspend the connecting ring 261 in the center of the inner side, and each first elastic member 262 is set to pull A spring is hooked at one end on a connecting ring 261 and at the other end on a connecting seat 263. The connecting seat 263 is fixedly connected to the corresponding bending drive mechanism 240. When the upper connecting rod assembly 220 and the lower connecting rod assembly 230 move, the position between the corresponding bending drive mechanisms 240 changes, causing the corresponding first elastic member 262 to stretch and twist in space, thereby driving the corresponding bending drive mechanism 240 and the finger to rotate. In this way, a finger under-actuated system composed of multiple tension springs ensures the freedom of the fingers while increasing the interaction and passive adjustment between the fingers, thereby enhancing the adaptability of the fingers to the surface of the contacted object, as well as the adaptability and stability of the system during finger grasping and operation.

[0027] In the optional scheme of this embodiment, it is more preferred that the bending drive mechanism 240 connected to the thumb 110, the index finger 120, the middle finger 130 and the ring finger 140 are all configured as telescopic drive mechanisms, and are arranged between the upper connecting rod assembly 220 and the lower connecting rod assembly 230; one end of the bending drive mechanism 240 is rotatably connected to the lower connecting rod assembly 230, and the other end is a driving end, the driving end passes through and is rotatably connected to the upper connecting rod assembly 220, and the driving end is fixedly connected to the corresponding finger; the telescopic drive mechanism can telescopically drive the corresponding finger to bend; specifically, sleeves 241 are fixedly connected at both ends of the telescopic drive mechanism, the sleeve 241 is rotatably connected to the upper connecting rod assembly 220 and the lower connecting rod assembly 230 through a bearing, and the driving end of the telescopic drive mechanism is connected to the corresponding finger through an adapter 242 to realize linear drive; the setting of the telescopic drive can reduce the demand for driving space.

[0028] In the optional scheme of this embodiment, it is more preferred that the telescopic drive mechanism is set as an electric cylinder mechanism, and an electric cylinder mechanism such as model LAF10-034D can be used to control the force and position of the fingers; in the force control mode, the force exerted by the fingers on the object meets the set requirements and the force control accuracy is improved; in the position control mode, the fingers are quickly moved to the specified position to meet the positioning requirements; in this way, the electric cylinder can realize the mode switching of the dexterous hand during the operation to adapt to different control requirements.

[0029] Among the optional solutions of this embodiment, it is more preferred to refer to Figure 4 and Figure 5 The thumb 110, the index finger 120, the middle finger 130 and the ring finger 140 all include a first chassis 111, a push rod 112, a transmission rod 113, a first finger joint 114 and a second finger joint 115. The first chassis 111 is rotatably connected to the upper connecting rod assembly 220. The push rod 112 is placed in the first chassis 111 and connected to the driving end. The web side and the dorsal side of one end of the first finger joint 114 are rotatably connected to the web side of the first chassis 111 and the push rod 112, respectively. The other end of the first finger joint 114 is rotatably connected to the dorsal side of the second finger joint 115. Both ends of the transmission rod 113 are rotatably connected to the first The back side of the finger of the chassis 111 and the web side of the second finger joint 115; the driving end can drive the push rod 112 to move linearly, and under the transmission cooperation of the transmission rod 113, drive the first finger joint 114 and the second finger joint 115 to bend; specifically, the rotational connection at each location can be achieved through bearings or pins, and the bending drive mechanism 240 is hinged to one end of the push rod 112 through the adapter 242. The bending drive mechanism 240 telescopes and drives the push rod 112 to move linearly. The push rod 112 directly drives the first finger joint 114 to bend, and drives the second finger joint 115 to bend with the assistance of the transmission rod 113.

[0030] Among the optional solutions of this embodiment, it is more preferred to refer to Figure 2 and Figure 3 The bending drive mechanism 240 connected to the little finger 150 includes a connecting tube 243, a driving rope and a retracting assembly 244; one end of the connecting tube 243 penetrates and is rotatably connected to the upper connecting rod assembly 220, and the connecting tube 243 is fixedly connected to the under-actuated elastic assembly 260; the retracting assembly 244 is arranged in the base 210 and is used to retract the driving rope, and the driving rope can penetrate the connecting tube 243 and be connected to the little finger 150; the retracting assembly 244 can bend the little finger 150 by retracting the driving rope; specifically, considering that the little finger 150 mainly plays an auxiliary role in the operation process of the dexterous hand, and considering the space requirements, the corresponding bending The driving mechanism 240 is configured as described above, and the retractable assembly 244 is disposed in the base 210 to save space. The driving rope passes through the groove disposed in the connecting tube 243 so as to be connected and driven to the little finger 150, wherein the driving rope can be configured as an elastic rope to enhance the adaptability of the little finger 150 during the clamping process; the upper end of the connecting tube 243 is rotatably connected to the upper connecting rod assembly 220 through a bearing, and the connecting tube 243 is also connected to the first elastic member 262 through a connecting seat 263; the retractable assembly 244 includes a wire drum 245 and a retractable servo 246, and the retractable servo 246 is connected to the wire drum 245 and drives the wire drum 245 to rotate so as to be able to retract and release the driving rope.

[0031] Among the optional solutions of this embodiment, it is more preferred to refer to Figure 6 and Figure 7 The little finger 150 includes a second chassis 151, a third finger joint 152, a fourth finger joint 153 and a second elastic member 154. The second chassis 151 is rotatably connected to the upper connecting rod assembly 220 and is connected to one end of the connecting tube 243. Both ends of the third finger joint 152 are rotatably connected to the second chassis 151 and the fourth finger joint 153, respectively. The back side of the third finger joint 152 connected to the second chassis 151 and the back side of the third finger joint 152 connected to the fourth finger joint 153 are both provided with a second elastic member 154; the driving rope can be connected to the web side of the fourth finger joint 153; the driving rope can be retracted to bend the fourth finger joint 153, and can stretch the second elastic member 154 to bend the third finger joint 152, and after the driving rope is released, the third finger joint 152 is The third finger joint 152 and the fourth finger joint 153 can return to their original positions under the restoring force of the second elastic member 154; the driving rope runs through the second chassis 151, the third finger joint 152 and the fourth finger joint 153 to optimize the layout space, and the driving rope is connected and driven on the web side of the fourth finger joint 153 to make the fourth finger joint 153 bend, and the second elastic member 154 on the back side is stretched to make the third finger joint 152 follow the bending, and the two second elastic members 154 make the entire little finger 150 have a certain under-driven characteristic, and when the drive of the driving rope is removed, the little finger 150 can be reset under the restoring force of the two second elastic members 154; specifically, the second elastic member 154 is configured as a spring, and the rotation connection at each location can be achieved through bearings or pins.

[0032] Among the optional solutions of this embodiment, it is more preferred to refer to Figure 2 and Figure 3The rotary drive assembly 250 includes two rotary steering gears 251 and two support rods 252. The two rotary steering gears 251 are fixedly connected to the upper connecting rod assembly 220. The two support rods 252 rotate through the lower connecting rod assembly 230 through bearings and are fixedly connected to the base 210. The two support rods 252 are respectively connected to the two rotary steering gears 251 in a transmission manner; the two rotary steering gears 251 can drive the upper connecting rod assembly 220 and the lower connecting rod assembly 230 to expand or retract in a plane; specifically, the support rod 252 includes a steering disc 253, a front connecting section 254 and a rear connecting section 255. The rotary steering gear 251 is rotatably connected to the steering disc 253. The lower end of the rear connecting section 255 can be fastened to the base 210 by bolts, and the upper end The steering wheel 253 and the front connecting section 254 are detachably connected with bolts or welded and fastened, the steering wheel 253 and the front connecting section 254 are detachably connected with bolts or welded and fastened, the steering wheel 253 and the lower driving end of the rotating steering gear 251 are sleeved through gear transmission; the rotating steering gear 251 and the upper connecting rod assembly 220 are fastened and connected with bolts. During the driving process of the rotating steering gear 251, since the driving end is gear-transmitted with the steering wheel 253 and the steering wheel 253 cannot rotate, it reacts to the rotating steering gear 251 itself to rotate, so as to directly drive the upper connecting rod assembly 220 to rotate. When the upper connecting rod assembly 220 rotates, the lower connecting rod assembly 230 can be driven to rotate synchronously through the bending drive mechanism 240, thereby guiding the rotation.

[0033] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A reconfigurable underactuated five-finger dexterous hand based on five-link, characterized by: include: A five-finger assembly (100), comprising a thumb (110), an index finger (120), a middle finger (130), a ring finger (140) and a little finger (150); A palm mechanism (200) comprises a base (210), an upper connecting rod assembly (220), a lower connecting rod assembly (230), five bending drive mechanisms (240), a rotation drive assembly (250) and an under-actuated elastic assembly (260); the five bending drive mechanisms (240) are all rotationally connected to the upper connecting rod assembly (220) and the lower connecting rod assembly (230), and the driving ends are respectively connected to the thumb (110), the index finger (120), the middle finger (130), the ring finger (140) and the little finger (150) and can drive the corresponding finger bending activities; the under-actuated elastic assembly (260) is connected to each of the bending drive mechanisms (2 40), the rotation drive assembly (250) is connected to the upper connecting rod assembly (220), the lower connecting rod assembly (230) and the base (210), and the rotation drive assembly (250) can drive the upper connecting rod assembly (220) and the lower connecting rod assembly (230) to expand or collapse, so as to drive each of the bending drive mechanisms (240) and the corresponding fingers to move, and the relative movement between the plurality of bending drive mechanisms (240) can cause the under-actuated elastic assembly (260) to undergo elastic deformation, so as to drive the bending drive mechanism (240) to drive the corresponding fingers to rotate relative to the upper connecting rod assembly (220) and the lower connecting rod assembly (230).

2. The reconfigurable underactuated five-finger dexterous hand based on five-linkage according to claim 1 is characterized in that: The upper connecting rod assembly (220) comprises a first upper connecting rod (221), a second upper connecting rod (222), a third upper connecting rod (223) and a fourth upper connecting rod (224); the thumb (110) is rotatably arranged on one end of the first upper connecting rod (221); the index finger (120) is rotatably arranged on the other end of the first upper connecting rod (221); the index finger (120) is rotatably arranged on the other end of the second upper connecting rod (222); the index finger (120) is rotatably arranged on the other end of the second upper connecting rod (222); The middle finger (130), the other end of the third upper connecting rod (223) is movably overlapped with one end of the fourth upper connecting rod (224) and the ring finger (140) is rotatably arranged thereon, and the other end of the fourth upper connecting rod (224) is rotatably arranged thereon with the little finger (150); the ends of the first upper connecting rod (221), the second upper connecting rod (222), the third upper connecting rod (223) and the fourth upper connecting rod (224) are all rotatably penetrated with the corresponding bending driving mechanism (240); The rotation drive assembly (250) is connected to the first upper connecting rod (221) and the fourth upper connecting rod (224), and drives the first upper connecting rod (221) and the fourth upper connecting rod (224) to rotate relative to the base (210), thereby driving the second upper connecting rod (222) and the third upper connecting rod (223) to move synchronously.

3. The reconfigurable underactuated five-finger dexterous hand based on five-linkage according to claim 2 is characterized in that: The lower connecting rod assembly (230) comprises a first lower connecting rod (231), a second lower connecting rod (232), a third lower connecting rod (233) and a fourth lower connecting rod (234) which are respectively opposite to the first upper connecting rod (221), the second upper connecting rod (222), the third upper connecting rod (223) and the fourth upper connecting rod (224); one end of the first lower connecting rod (231) is rotatably connected to a bending driving mechanism (240), and the other end is movably overlapped with one end of the second lower connecting rod (232) and rotatably provided with a bending driving mechanism (240). The other end of the second lower connecting rod (232) and one end of the third lower connecting rod (233) are movably overlapped and rotatably provided with the bending driving mechanism (240); the other end of the third lower connecting rod (233) and one end of the fourth lower connecting rod (234) are movably overlapped and rotatably provided with the bending driving mechanism (240); the rotation driving assembly (250) is rotatably connected between the other end of the fourth lower connecting rod (234) and the fourth upper connecting rod (224) and between the first lower connecting rod (231) and the first upper connecting rod (221).

4. The reconfigurable underactuated five-finger dexterous hand based on five-linkage according to claim 1, characterized in that: The under-actuated elastic component (260) comprises a connecting ring (261) and five first elastic members (262); one end of each of the five first elastic members (262) is connected to the connecting ring (261), and the other end is respectively fixedly connected to five bending drive mechanisms (240), so that the connecting ring (261) can be in a suspended state; the movement of the upper connecting rod component (220) and the lower connecting rod component (230) can drive the first elastic members (262) to undergo elastic deformation so as to drive the corresponding bending drive mechanism (240) and the finger to rotate synchronously.

5. The reconfigurable underactuated five-finger dexterous hand based on five-linkage according to claim 1, characterized in that: The bending drive mechanisms (240) connected to the thumb (110), the index finger (120), the middle finger (130) and the ring finger (140) are all configured as telescopic drive mechanisms and are arranged between the upper connecting rod assembly (220) and the lower connecting rod assembly (230); one end of the bending drive mechanism (240) is rotatably connected to the lower connecting rod assembly (230), and the other end is the driving end, the driving end passes through and is rotatably connected to the upper connecting rod assembly (220), and the driving end is fixedly connected to the corresponding finger; the telescopic drive mechanism can telescopically drive the corresponding finger to bend.

6. The reconfigurable underactuated five-finger dexterous hand based on five-linkage according to claim 5, characterized in that: The thumb (110), the index finger (120), the middle finger (130) and the ring finger (140) all comprise a first chassis (111), a push rod (112), a transmission rod (113), a first finger joint (114) and a second finger joint (115); the first chassis (111) is rotatably connected to the upper connecting rod assembly (220); the push rod (112) is disposed in the first chassis (111) and is connected to the driving end; the ventral side and the dorsal side of one end of the first finger joint (114) are respectively connected to the first chassis. The finger web side of the disk (111) is rotatably connected to the push rod (112); the other end of the first finger joint (114) is rotatably connected to the finger back side of the second finger joint (115); and the two ends of the transmission rod (113) are rotatably connected to the finger back side of the first chassis (111) and the finger web side of the second finger joint (115); the driving end can drive the push rod (112) to move linearly, and drive the first finger joint (114) and the second finger joint (115) to bend under the transmission cooperation of the transmission rod (113).

7. The reconfigurable underactuated five-finger dexterous hand based on five-linkage according to claim 5, characterized in that: The telescopic driving mechanism is configured as an electric cylinder mechanism, and the electric cylinder mechanism can perform force control and position control on the finger.

8. The reconfigurable underactuated five-finger dexterous hand based on five-linkage according to claim 1, characterized in that: The bending drive mechanism (240) connected to the little finger (150) comprises a connecting tube (243), a driving rope and a retractable assembly (244); one end of the connecting tube (243) passes through and is rotatably connected to the upper connecting rod assembly (220), and the connecting tube (243) is also fixedly connected to the under-actuated elastic assembly (260); the retractable assembly (244) is arranged in the base (210) and is used to retract the driving rope, and the driving rope can pass through the connecting tube (243) and be connected to the little finger (150); the retractable assembly (244) can bend the little finger (150) by retracting and releasing the driving rope.

9. The reconfigurable underactuated five-finger dexterous hand based on five-linkage according to claim 8, characterized in that: The little finger (150) comprises a second chassis (151), a third finger joint (152), a fourth finger joint (153) and a second elastic member (154); the second chassis (151) is rotatably connected to the upper connecting rod assembly (220) and connected to one end of the connecting tube (243); two ends of the third finger joint (152) are rotatably connected to the second chassis (151) and the fourth finger joint (153), respectively; the back side of the third finger joint (152) connected to the second chassis (151) and the third finger joint (152) are connected to the second chassis (151). The back side of the finger connected to the fourth finger joint (153) is provided with the second elastic member (154); the driving rope can be connected to the web side of the fourth finger joint (153); the driving rope can be retracted to bend the fourth finger joint (153), and can stretch the second elastic member (154) to bend the third finger joint (152); after the driving rope is released, the third finger joint (152) and the fourth finger joint (153) can return to their original positions under the restoring force of the second elastic member (154).

10. The reconfigurable underactuated five-finger dexterous hand based on five-linkage according to claim 3, characterized in that: The rotary drive assembly (250) comprises two rotary steering gears (251) and two support rods (252); the two rotary steering gears (251) are both fixedly connected to the upper connecting rod assembly (220); the two support rods (252) rotate through the lower connecting rod assembly (230) and are fixedly connected to the base (210); the two support rods (252) are respectively connected to the two rotary steering gears (251) in a transmission manner; the two rotary steering gears (251) can drive the upper connecting rod assembly (220) and the lower connecting rod assembly (230) to expand or retract in a plane.

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