A Reconfigurable Underactuated Five-Fingered Dexterous Hand Based on Five-Link Mechanism

Abstract

The present invention discloses a reconfigurable underactuated five-fingered dexterous hand based on a five-link mechanism, which includes a five-finger assembly and a palm mechanism; the palm mechanism includes a base, an upper link assembly, a lower link assembly, five bending drive mechanisms, a rotation drive assembly and an underactuated elastic assembly; the five bending drive mechanisms are all rotatably connected to the upper link assembly and the lower link assembly and can drive the corresponding fingers to bend; the underactuated elastic assembly is connected to each bending drive mechanism, and the rotation drive assembly can drive the upper link assembly and the lower link assembly to expand or retract, so as to drive each bending drive mechanism and the corresponding fingers to move, and the relative movement between the multiple bending drive mechanisms can cause the underactuated elastic assembly to undergo elastic deformation, so as to drive the bending drive mechanism to drive the corresponding finger to rotate relative to the upper link assembly and the lower link assembly. The reconfigurable underactuated five-fingered dexterous hand provided by the present invention improves flexibility and stability.

Description

Technical Field

[0001] The present invention relates to the technical field of bionic robots, and particularly to a reconfigurable underactuated five-fingered dexterous hand based on a five-link mechanism. Background Art

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

[0003] Most humanoid dexterous hands ignore the improvement of dexterity brought by the reconfigurability of the palm during the design process, and in the existing palm structure design, there are serious polarization situations in the lack of bionic characteristics, the degree of freedom, and the complexity of the drive characteristics setting, resulting in difficulties in reliable in-hand dexterous operation. Summary of the Invention

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

[0005] To achieve the above purpose, the present invention provides the following solution:

[0006] The present invention provides a reconfigurable underactuated five-fingered dexterous hand based on a five-link mechanism, including a five-finger assembly and a palm mechanism; the five-finger assembly includes a thumb, an index finger, a middle finger, a ring finger, and a little finger; the palm mechanism includes a base, an upper link assembly, a lower link assembly, five bending drive mechanisms, a rotation drive assembly, and an underactuated elastic assembly; the five bending drive mechanisms are all rotatably connected to the upper link assembly and the lower link assembly, and the drive 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 underactuated elastic assembly is connected to each bending drive mechanism, 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 fold, so as to drive each bending drive mechanism and the corresponding fingers to move, and the relative movement between the plurality of bending drive mechanisms can cause the underactuated elastic assembly to undergo elastic deformation, so as to drive the bending drive mechanism to drive the corresponding finger to rotate relative to the upper link assembly and the lower link assembly.

[0007] Preferably, the upper link assembly includes a first upper link, a second upper link, a third upper link, and a fourth upper link. A thumb is rotatably provided at one end of the first upper link, and an index finger is rotatably provided at the other end of the first upper link and is movably overlapped and rotatably connected to one end of the second upper link. A middle finger is rotatably provided at the other end of the second upper link and is movably overlapped and rotatably connected to one end of the third upper link. A ring finger is rotatably provided at the other end of the third upper link and is movably overlapped and rotatably connected to one end of the fourth upper link. A little finger is rotatably provided at the other end of the fourth upper link. The ends of the first upper link, the second upper link, the third upper link, and the fourth upper link are all rotatably penetrated by corresponding bending drive mechanisms. The rotation drive assembly is connected to the first upper link and the fourth upper link, and by driving the first upper link and the fourth upper link to rotate relative to the base, the second upper link and the third upper link are driven to move synchronously.

[0008] Preferably, the lower link assembly includes a first lower link, a second lower link, a third lower link, and a fourth lower link that are respectively opposite to the first upper link, the second upper link, the third upper link, and the fourth upper link. One end of the first lower link is rotatably connected to a bending drive mechanism, and the other end of the first lower link is movably overlapped and rotatably provided with a bending drive mechanism at one end of the second lower link. A bending drive mechanism is rotatably provided at the other end of the second lower link and is movably overlapped and rotatably connected to one end of the third lower link. A bending drive mechanism is rotatably provided at the other end of the third lower link and is movably overlapped and rotatably connected to one end of the fourth lower link. The rotation drive assembly is rotatably penetrated and connected between the other end of the fourth lower link and the fourth upper link and between the first lower link and the first upper link.

[0009] Preferably, the underactuated elastic assembly includes a connecting ring and five first elastic members. One end of each of the five first elastic members is connected to the connecting ring, and the other end of each of the five first elastic members is fixedly connected to the five bending drive mechanisms respectively, so that the connecting ring can be in a suspended state. The activities of the upper link assembly and the lower link assembly can drive the first elastic members to undergo elastic deformation to drive the corresponding bending drive mechanisms and fingers to rotate synchronously.

[0010] Preferably, the bending drive mechanisms connected to the thumb, the index finger, the middle finger, and the ring finger are all set as telescopic drive mechanisms and are arranged between the upper link assembly and the lower link assembly. One end of the bending drive mechanism is rotatably connected to the lower link assembly, the other end is the drive end, the drive end penetrates and is rotatably connected to the upper link assembly, and the drive end is fixedly connected to the corresponding finger. The telescopic drive mechanism can telescopically drive the corresponding finger to bend.

[0011] 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.

[0012] Preferably, the telescopic driving mechanism is configured as an electric cylinder mechanism, which can perform force control and position control on the finger.

[0013] 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.

[0014] 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.

[0015] 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.

[0016] Compared with the prior art, the present invention has achieved the following technical effects:

[0017] The reconfigurable underactuated five-fingered dexterous hand based on a five-link mechanism provided by the present invention performs a reconfiguration design on the palm. Through an upper link assembly, a lower link assembly, and five bending drive mechanisms, a bionic five-link structure design is formed, which can independently control the bending drive of the five fingers according to bionic characteristics and improve stability. 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 positions of the fingers. Under the elastic force of the underactuated elastic assembly, the bending drive mechanism drives the corresponding finger to perform adaptive rotation. That is, through the underactuated elastic assembly, while ensuring the finger degrees of freedom, 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 operating processes. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0019] Figure 1 An axonometric view of the reconfigurable underactuated five-fingered dexterous hand based on a five-link mechanism provided for Embodiment 1;

[0020] Figure 2 A structural schematic diagram of the palm mechanism (removing the base) provided for Embodiment 1;

[0021] Figure 3 A structural schematic diagram of the base provided for Embodiment 1;

[0022] Figure 4 A schematic diagram of the overall structure of the thumb provided for Embodiment 1;

[0023] Figure 5 An exploded structural schematic diagram of the thumb provided for Embodiment 1;

[0024] Figure 6 A schematic diagram of the overall structure of the little finger provided for Embodiment 1;

[0025] Figure 7 An exploded structural schematic diagram of the little finger provided for Embodiment 1.

[0026] In the figure: 1 - Reconfigurable underactuated five - finger dexterous hand based on five - link mechanism; 100 - Five - finger assembly; 110 - Thumb; 111 - First chassis; 112 - Push 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 link; 230 - Lower link assembly; 231 - First lower link; 232 - Second lower link; 233 - Third lower link; 234 - Fourth lower link; 240 - Bending drive mechanism; 241 - Sleeve; 242 - Adapter; 243 - Connecting cylinder; 244 - Retracting and extending assembly; 245 - Reel; 246 - Retracting and extending servo; 250 - Rotating drive assembly; 251 - Rotating servo; 252 - Support rod; 253 - Steering wheel; 254 - Front connecting section; 255 - Rear connecting section; 260 - Underactuated elastic assembly; 261 - Connecting ring; 262 - First elastic member; 263 - Connecting seat. Detailed implementation manners

[0027] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0028] The purpose of the present invention is to provide a reconfigurable underactuated five - finger dexterous hand based on a five - link mechanism to solve the problems existing in the above - mentioned prior art and improve flexibility and stability.

[0029] To make the above - mentioned objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0030] Embodiment 1

[0031] This embodiment provides a reconfigurable underactuated five - finger dexterous hand 1 based on a five - link mechanism. Please refer to Figure 1, including a five-finger component 100 and a palm mechanism 200. The five-finger component 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 link component 220, a lower link component 230, five bending drive mechanisms 240, a rotation drive component 250, and an underactuated elastic component 260. The five bending drive mechanisms 240 are all rotatably connected to the upper link component 220 and the lower link component 230, and their drive 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 fingers to bend. The underactuated elastic component 260 is connected to each bending drive mechanism 240. The rotation drive component 250 is connected to the upper link component 220, the lower link component 230, and the base 210. The rotation drive component 250 can drive the upper link component 220 and the lower link component 230 to expand or contract, so as to drive each bending drive mechanism 240 and the corresponding fingers to move. The relative movement between the multiple bending drive mechanisms 240 can cause the underactuated 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 link component 220 and the lower link component 230.

[0032] The palm is reconstructed and designed. By forming a bionic five-link structure design through the upper link component 220, the lower link component 230, and the five bending drive mechanisms 240, the five fingers can be independently controlled to bend and drive according to bionic characteristics, and the stability and flexibility can be improved. In addition, the rotation drive component 250 drives the upper link component 220 and the lower link component 230 to expand or contract, so as to adjust the relative positions of the fingers. Under the action of the elastic force of the underactuated elastic component 260, the bending drive mechanism 240 drives the corresponding finger to perform adaptive rotation. That is, through the underactuated elastic component 260, while ensuring the finger degrees of freedom, 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 operating processes. The base 210 is connected to an external mechanism to fix the entire dexterous hand.

[0033] In an alternative solution of this embodiment, preferably, please refer to Figure 2, the upper link assembly 220 includes a first upper link 221, a second upper link 222, a third upper link 223, and a fourth upper link 224. One end of the first upper link 221 is rotatably provided with a thumb 110, and the other end is movably overlapped with one end of the second upper link 222 and rotatably provided with an index finger 120. The other end of the second upper link 222 is movably overlapped with one end of the third upper link 223 and rotatably provided with a middle finger 130. The other end of the third upper link 223 is movably overlapped with one end of the fourth upper link 224 and rotatably provided with a ring finger 140. The other end of the fourth upper link 224 is rotatably provided with a little finger 150. The ends of the first upper link 221, the second upper link 222, the third upper link 223, and the fourth upper link 224 are all rotatably penetrated by 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 all rotatably connected to the bending drive mechanism 240 through bearings. By providing 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.

[0034] In an alternative embodiment of the present embodiment, preferably, please refer to Figure 2 , the lower link assembly 230 includes a first lower link 231, a second lower link 232, a third lower link 233, and a fourth lower link 234 that are respectively opposite to the first upper link 221, the second upper link 222, the third upper link 223, and the fourth upper link 224 to ensure the overall stability. One end of the first lower link 231 is rotatably connected to a bending drive mechanism 240, and the other end is movably overlapped with one end of the second lower link 232 and rotatably provided with a bending drive mechanism 240. The other end of the second lower link 232 is movably overlapped with one end of the third lower link 233 and rotatably provided with a bending drive mechanism 240. The other end of the third lower link 233 is movably overlapped with one end of the fourth lower link 234 and rotatably provided with a bending drive mechanism 240. A rotation drive assembly 250 is rotatably penetrated between the other end of the fourth lower link 234 and the fourth upper link 224 and between the first lower link 231 and the first upper link 221. Specifically, the lower links at the corresponding overlapping positions are all rotatably connected to the bending drive mechanism 240 and the rotation drive assembly 250 through bearings. By providing the upper link assembly 220 and the lower link assembly 230 in a parallel double layer, using the bionic characteristics, the distribution of the finger roots can be reasonably changed within a large range, and the setting space for the corresponding drive mechanism is provided, improving the flexibility and avoiding the situation of the existing dexterous hand palm with large spatial pose changes, difficult drive design, and complex control process.

[0035] In an alternative embodiment of the present embodiment, preferably, please refer toFigure 2 , the underactuated elastic component 260 includes a connecting ring 261 and five first elastic members 262. One ends of the five first elastic members 262 are all connected to the connecting ring 261, and the other ends are respectively 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 link assembly 220 and the lower link assembly 230 can drive the first elastic members 262 to undergo elastic deformation so as to drive the corresponding bending drive mechanisms 240 and the fingers to rotate synchronously; specifically, the underactuated elastic component 260 is integrally arranged inside the palm mechanism 200. The five first elastic members 262 cooperate with each other to suspend the connecting ring 261 in the center of the inside. Each first elastic member 262 is arranged as a tension spring, with one end hooked to the connecting ring 261 and the other end hooked to a connecting seat 263. The connecting seat 263 is fixedly connected to the corresponding bending drive mechanism 240. When the upper link assembly 220 and the lower link assembly 230 move, the positions between the corresponding bending drive mechanisms 240 change, causing the corresponding first elastic members 262 to be stretched and twisted in space, so as to drive the corresponding bending drive mechanisms 240 and the fingers to rotate. Thus, through the finger underactuated system composed of multiple tension springs, while ensuring the finger degrees of freedom, the interaction and passive adjustment between 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 operating processes.

[0036] In an alternative solution of this embodiment, preferably, the bending drive mechanisms 240 connected to the thumb 110, index finger 120, middle finger 130 and ring finger 140 are all arranged as telescopic drive mechanisms and are arranged between the upper link assembly 220 and the lower link assembly 230; one end of the bending drive mechanism 240 is rotatably connected to the lower link assembly 230, and the other end is a drive end. The drive end penetrates and is rotatably connected to the upper link assembly 220, and the drive 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 to both ends of the telescopic drive mechanism. The sleeves 241 are rotatably connected to the upper link assembly 220 and the lower link assembly 230 through bearings. The drive end of the telescopic drive mechanism is connected to the corresponding finger through an adapter 242 to achieve linear drive; the setting of the telescopic drive can reduce the requirement for the drive space.

[0037] In an alternative solution of this embodiment, preferably, the telescopic drive mechanism is arranged as an electric cylinder mechanism. An electric cylinder mechanism such as the LAF10-034D model can be used to control the acting force and position of the finger; in the acting force control mode, the acting force of the finger on the object meets the set requirements, improving the control accuracy of the force. In the position control mode, the finger quickly moves to the specified position to meet the position positioning requirements; thus, the electric cylinder can realize the mode switching of the dexterous hand during the operation process and adapt to different control requirements.

[0038] In an alternative solution of this embodiment, preferably, please refer to Figure 4 and Figure 5 , the thumb 110, index finger 120, middle finger 130 and ring finger 140 all include a first chassis 111, a push rod 112, a transmission rod 113, a first phalanx 114 and a second phalanx 115. The first chassis 111 is rotatably connected to the upper link assembly 220. The push rod 112 is placed inside the first chassis 111 and connected to the driving end. One end of the first phalanx 114 is rotatably connected to the ventral side and dorsal side of the first chassis 111 respectively, and the other end of the first phalanx 114 is rotatably connected to the dorsal side of the second phalanx 115. Both ends of the transmission rod 113 are rotatably connected to the dorsal side of the first chassis 111 and the ventral side of the second phalanx 115 respectively; 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 phalanx 114 and the second phalanx 115 to bend; specifically, each rotational connection can be realized through a bearing or a pin shaft. The bending drive mechanism 240 is hinged to one end of the push rod 112 through an adapter 242. The telescopic movement of the bending drive mechanism 240 drives the push rod 112 to move linearly. The push rod 112 directly drives the first phalanx 114 to bend and drives the second phalanx 115 to bend cooperatively with the assistance of the transmission rod 113.

[0039] In an alternative solution of this embodiment, preferably, please refer to Figure 2 and Figure 3 , the bending drive mechanism 240 connected to the little finger 150 includes a connecting cylinder 243, a driving rope and a winding and unwinding assembly 244; one end of the connecting cylinder 243 penetrates and is rotatably connected to the upper link assembly 220, and the connecting cylinder 243 is fixedly connected to the underactuated elastic assembly 260; the winding and unwinding assembly 244 is arranged inside the base 210 and is used for winding and unwinding the driving rope. The driving rope can penetrate the connecting cylinder 243 and be connected to the little finger 150; the winding and unwinding assembly 244 can drive the little finger 150 to bend by winding and unwinding the driving rope; specifically, considering that the little finger 150 mainly plays an auxiliary and cooperative role during the operation of the dexterous hand and considering the space requirements, the corresponding bending drive mechanism 240 is arranged in the above manner. The winding and unwinding assembly 244 is arranged inside the base 210 to save space. The driving rope penetrates the groove arranged inside the connecting cylinder 243 to be connected to and drive the little finger 150. The driving rope can be set as an elastic rope to improve the adaptability of the little finger 150 during the clamping process; the upper end of the connecting cylinder 243 is rotatably connected to the upper link assembly 220 through a bearing, and the connecting cylinder 243 is also connected to the first elastic member 262 through a connecting seat 263; the winding and unwinding assembly 244 includes a wire reel 245 and a winding and unwinding servo 246. The winding and unwinding servo 246 is connected to the wire reel 245 and drives the wire reel 245 to rotate to wind and unwind the driving rope.

[0040] 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.

[0041] Among the optional solutions of this embodiment, it is more preferred to refer to Figure 2 and Figure 3, the rotation drive assembly 250 includes two rotary servos 251 and two support rods 252. Both of the two rotary servos 251 are fixedly connected to the upper link assembly 220. The two support rods 252 pass through the lower link assembly 230 rotatably through bearings and are fixedly connected to the base 210. The two support rods 252 are respectively in transmission connection with the two rotary servos 251. The two rotary servos 251 can drive the upper link assembly 220 and the lower link assembly 230 to expand or fold in a plane. Specifically, the support rod 252 includes a steering wheel 253, a front connection section 254 and a rear connection section 255. The rotary servo 251 is rotatably connected to the steering wheel 253. The lower end of the rear connection section 255 can be fastened to the base 210 by bolts, and the upper end and the front connection section 254 are detachably connected or welded and fastened by bolts. The steering wheel 253 and the front connection section 254 are detachably connected or welded and fastened by bolts. The lower driving end of the steering wheel 253 and the rotary servo 251 are sleeved through gear transmission. The rotary servo 251 and the upper link assembly 220 are fastened by bolts. During the driving process of the rotary servo 251, due to the gear transmission between the driving end and the steering wheel 253 and the fact that the steering wheel 253 cannot rotate, the reaction force acts on the rotary servo 251 itself to rotate, so as to directly drive the upper link assembly 220 to rotate. While the upper link assembly 220 rotates, the lower link assembly 230 can be driven to rotate synchronously through the bending drive mechanism 240, so as to guide the rotation.

[0042] In the present invention, specific examples are used to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention. At the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to 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.

Images