Rigid-flexible hybrid drive robot hand with palm-finger collaborative movement function

Abstract

The invention discloses a rigid-flexible hybrid drive robot hand with a palm-finger cooperative movement function, and relates to the technical field of intelligent robots. The five finger assemblies are installed on the palm assembly, the finger assemblies adopt under-actuated fingers in hybrid transmission with connecting rods and tendon rope mechanisms, the palm assembly adopts a modularized rigid-flexible hybrid palm, and a winding motor is fixedly installed in the middle of the inner side of the palm assembly and connected with a transmission winding wheel. The tendon rope leading-out ends of the five finger assemblies are guided and restrained through the tendon rope guiding and limiting mechanism and then fixedly connected with the winding wheel, and the winding wheel rotates and winds so that the bending action of the five finger assemblies and the inward tensioning and gathering of the palm assembly can be achieved at the same time. One winding motor is adopted to control the bending action of the palm assembly and the five finger assemblies at the same time, cooperative movement between the palm and fingers is effectively achieved, the flexible grabbing function is provided, and the mechanical arm has the remarkable advantages in the aspects of simulation degree, comfort, operability and cost effectiveness.

Description

Technical Field

[0001] The invention relates to the technical field of intelligent robots, in particular to a rigid-flexible hybrid drive robot hand with palm-finger coordinated motion function. Background Art

[0002] With the rapid development of modern science and technology, prosthetic technology has made significant progress in helping people with physical disabilities to restore some functions. Existing prosthetic robot hands are mainly based on humanoid designs, aiming to simulate the flexibility and naturalness of human hands as much as possible. However, the following problems are common in the current prosthetic hands on the market:

[0003] Insufficient finger coordination: Existing prosthetic robot hands use traditional drive methods and structural designs, and are usually only able to perform simple movements of each finger joint. However, the movements of the fingers and palms are complex and coordinated with each other. The control method of driving each part separately is difficult to achieve the natural and flexible grasping movements of real human hands. Especially for delicate operations such as grasping objects and pinching movements, traditional prosthetic robot hands often cannot provide sufficient flexibility and precision;

[0004] Complex drive system: Most existing prosthetic fingers rely on complex multiple drive sources, using electric or pneumatic drive systems, especially electric drive systems, which usually require complex motors, transmission devices and a large number of control devices, which not only increase the cost and weight of the equipment, but also increase the cost of manufacturing and maintenance, and increase the burden on the wearer, affecting the comfort of the wearer's daily activities, especially after long-term use, which is easy to cause arm fatigue and discomfort;

[0005] Limitations of humanoid size: The size of existing prosthetic robot hands is quite different from that of human hands, especially in the palm part, which is often difficult to achieve natural proportions similar to the human body. In addition, the length of the palm, the spacing between the joints, and the relative movement between the joints cannot achieve the enveloping function of the human hand and cannot meet the adaptive enveloping grasping operation required by the wearer. Summary of the invention

[0006] In order to address the shortcomings of the background technology, the present invention provides a rigid-flexible hybrid drive robot hand with palm-finger coordinated movement function, which designs an under-actuated finger component based on a hybrid transmission of a connecting rod and a tendon mechanism and a modular rigid-flexible hybrid palm component, and adopts a winding motor to simultaneously control the bending movement of the palm component and five finger components, effectively realizing the coordinated movement between the palm and fingers, providing flexible grasping function, and having significant advantages in simulation, comfort, operability and cost-effectiveness.

[0007] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a rigid-flexible hybrid drive robot hand with palm-finger coordinated motion function, comprising a palm assembly and five finger assemblies, wherein the finger assembly comprises a base, an arc-shaped connecting rod, an upper swing rod, a tendon rope, a driving wheel, a lower swing rod, a root joint shaft, a sleeve, a transfer connecting rod, an intermediate joint shaft, a top joint shaft, a root end knuckle shell, an intermediate knuckle shell and a tip end knuckle shell, the top front end of the base is hinged to the bottom of the lower swing rod, and the top of the lower swing rod is laterally fixed with an intermediate connecting pin, The sleeve is slidably mounted on the lower swing rod, and the root joint shaft is rotatably inserted in the through hole at the rear end of the top of the base, the driving wheel is coaxially connected and fixed with the root joint shaft, the two ends of the arc connecting rod are respectively hinged with the driving wheel and the sleeve, the tendon rope is wound and fixed with the driving wheel and led out, the transfer connecting rod is tilted in the front and rear direction at a position adjacent to the front end above the lower swing rod, the front end of the transfer connecting rod is hinged to the bottom of the upper swing rod, the top of the upper swing rod is laterally fixed with a top connecting pin, and the intermediate joint shaft is rotatably inserted in the through hole at the rear end of the transfer connecting rod The top joint axis is arranged laterally in the hole at a position adjacent to the front end of the upper swing rod. The two sides of the bottom of the end knuckle shell are rotatably connected to the root joint axis, and the two sides of the bottom of the middle knuckle shell are rotatably connected to the middle joint axis, and a torsion spring is arranged between the two to provide a reverse torque. The two ends of the middle connecting pin are respectively plugged and connected to the pin holes opened at the corresponding positions of the middle knuckle shell, and the two sides of the bottom of the tip knuckle shell are rotatably connected to the top joint axis. The two ends of the top connecting pin are respectively plugged and connected to the pin holes opened at the corresponding positions of the tip knuckle shell. The palm assembly includes four rigid skeletons arranged at intervals along the width direction and three flexible connecting frames connecting adjacent rigid skeletons. A winding motor is fixedly installed at the middle position of the inner side of the palm assembly and connected to a transmission winding wheel. The bases of the five finger assemblies are respectively fixed to the corresponding positions of the palm assembly by screws. The tendon rope lead-out ends of the five finger assemblies are guided and constrained by the tendon rope guide and limiting mechanism and then connected and fixed to the winding wheel. The rotating winding of the winding wheel can simultaneously realize the bending action of the five finger assemblies and the tightening and gathering of the palm assembly inward.

[0008] Furthermore, a sensing communication module is fixedly installed inside the tip knuckle shell, and a proximity sensor is connected to the front surface of the sensing communication module. The proximity sensor is exposed to the outside through a window at the front end of the tip knuckle shell, and is used to measure the proximity information between the tip knuckle shell and the grasped object.

[0009] Furthermore, the sensing communication module is connected to a root angle sensor and a top angle sensor, the root angle sensor is connected and fixed to the inner wall of the root end knuckle shell and is sleeved on the root joint shaft, and is used to measure the rotational position information of the driving wheel relative to the root end knuckle shell, and the top angle sensor is connected and fixed to the inner wall of the tip knuckle shell and is sleeved on the top joint shaft, and is used to measure the rotational position information of the tip knuckle shell relative to the top joint shaft.

[0010] Furthermore, a positioning beam is arranged on the top of the middle knuckle shell, a nesting hole is arranged laterally on the top of the positioning beam and is rotatably connected to the top joint shaft, the sensing communication module is connected to strain gauge 1 and strain gauge 2, and strain gauge 1 and strain gauge 2 are respectively fixed on the front end and side of the positioning beam for measuring the stress condition of the positioning beam.

[0011] Furthermore, a deflection motor is fixedly installed at the inner bottom end of the palm assembly and at a position corresponding to the thumb, the deflection motor is connected to a transmission rotary joint, and the rotary joint is fixed to a base of a finger assembly serving as the thumb by screws.

[0012] Furthermore, the tendon rope guiding and limiting mechanism includes a guide tube, a limiting ring, three changing wheels and four rotating wheels. The four rotating wheels are respectively installed on the top inner sides of four rigid frames. The three changing wheels are arranged in an L shape and installed between the rotating wheel at the tail end and the bottom of the winding motor. The tendon rope lead-out ends of the four finger assemblies except the thumb are first turned by the corresponding rotating wheels respectively, and then change directions through the three changing wheels in turn, and finally are connected and fixed to the winding wheel. The middle position of the outer wall of the guide tube is hinged to the corresponding position of the swivel joint, and the limiting ring is fixed to the bottom inner side of the palm assembly. The tendon rope lead-out end of the finger assembly serving as the thumb passes through the guide tube and the limiting ring in turn, changes direction upward, and then is connected and fixed to the winding wheel.

[0013] Furthermore, the two end edges of the palm assembly in the width direction are respectively integrally provided with curved clamping portions.

[0014] Furthermore, the deformation stiffness coefficient of the flexible connection frame of the palm component is smaller than the stiffness coefficient of the finger component.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention takes humanoid robot dexterous hands and medical rehabilitation prostheses as the application background, designs an under-actuated finger assembly based on a hybrid transmission of a connecting rod and a tendon mechanism, and a modular rigid-flexible hybrid palm assembly, and adopts a winding motor to simultaneously control the bending movements of the palm assembly and the five finger assemblies. The finger assembly can achieve adaptive finger movements with the help of the under-actuated control strategy, without the need to drive each joint separately, and can maintain natural bending and flexibility when grasping objects, while the palm assembly can provide stable supporting force and lag behind the movement deformation of the fingers as needed, and when not in contact with the grasped object, the finger assembly executes a fixed-ratio linkage, and the palm does not perform The hand assembly performs bending movements to present an anthropomorphic pre-grasping movement. After the finger assembly performs the grasping movement, the flexible connecting frame position of the palm assembly bends to achieve adaptive envelope grasping of the grasped object. This coupled automatic collaborative movement is difficult to achieve with traditional technologies, especially when it comes to complex grasping and operating tasks. It can provide higher utilization efficiency and grasping stability. In addition, the thumb is equipped with a deflection motor to achieve swinging movements, further providing flexible grasping functions. The overall structure and control are simple and easy, solving the problems of insufficient anthropomorphic design, poor coordinated movement, complex control, high cost and heavy weight in traditional prosthetic robot hands. It has significant advantages in simulation, comfort, operability and cost-effectiveness. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the internal structure of the finger assembly of the robot hand of the present invention;

[0017] Figure 2 is a schematic diagram of the external structure of the finger assembly of the robot hand of the present invention;

[0018] Figure 3 is a schematic structural diagram of a palm assembly of the robot hand of the present invention;

[0019] Figure 4 It is a schematic diagram of the overall structure of the robot hand of the present invention.

[0020] In the figure: 1. base; 2. arc connecting rod; 3. middle connecting pin; 4. upper swing rod; 5. top connecting pin; 6. sensor communication module; 7. tendon rope; 8. driving wheel; 9. lower swing rod; 10. root angle sensor; 11. root joint shaft; 12. sleeve; 13. transfer connecting rod; 14. torsion spring; 15. middle joint shaft; 16. top angle sensor; 17. top joint shaft; 18. proximity sensor; 19. root end finger joint shell; 20. middle finger joint shell ; 21. Tip knuckle shell; 22. Strain gauge one; 23. Strain gauge two; 24. Rigid frame one; 25. Rigid frame two; 26. Rigid frame three; 27. Rigid frame four; 28. Flexible connecting frame; 29. ​​Turntable; 30. Direction-changing wheel one; 31. Direction-changing wheel two; 32. Direction-changing wheel three; 33. Winding motor; 34. Reducer one; 35. Winding wheel; 36. Deflection motor; 37. Reducer two; 38. Rotary joint; 39. Guide tube; 40. Limiting ring. DETAILED DESCRIPTION

[0021] The technical solution of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0022] like Figure 1 to Figure 4 As shown, a rigid-flexible hybrid drive robot hand with palm-finger coordinated motion function includes a palm component and five finger components, specifically:

[0023] The finger assembly consists of two parts: a control mechanism and a shell. The control mechanism includes a base 1, an arc-shaped connecting rod 2, an intermediate connecting pin 3, an upper swing rod 4, a top connecting pin 5, a tendon rope 7, a driving wheel 8, a lower swing rod 9, a root joint shaft 11, a sleeve 12, a connecting rod 13, a torsion spring 14, an intermediate joint shaft 15 and a top joint shaft 17; the shell includes a root knuckle shell 19, an intermediate knuckle shell 20 and a tip knuckle shell 21.

[0024] The palm assembly includes a rigid frame 1 24 , a rigid frame 25 , a rigid frame 3 26 , a rigid frame 4 27 and three flexible connecting frames 28 .

[0025] Combination Figure 1As shown, the base 1 is used as the root connector of the finger assembly, and a mounting hole is set at its bottom to facilitate installation and fixation with the palm assembly. The top of the base 1 extends forward and is provided with a connecting ear at the front end for connecting with the lower swing rod 9. A through hole is transversely provided at the rear end of the top for installing the root joint shaft 11. The bottom of the lower swing rod 9 and the connecting ear at the front end of the top of the base 1 are hinged by a pin shaft to form a rotating pair. The top of the lower swing rod 9 is transversely fixed with an intermediate connecting pin 3 for connecting with the intermediate finger joint shell 20. The sleeve 12 is slidably sleeved on the lower swing rod 9 to form a moving pair, and a positioning shaft is integrally provided on the side of the bottom of the outer wall of the sleeve 12 for connecting with the arc connecting rod 2. The root joint shaft 11 is rotatably inserted into the through hole at the rear end of the top of the base 1. The driving wheel 8 is coaxially connected and fixed with the root joint shaft 11. An eccentric shaft is integrally arranged at the rear end of the wheel surface on the same side of the driving wheel 8 and the positioning shaft. The two ends of the arc-shaped connecting rod 2 are processed with shaft holes and are respectively hinged with the eccentric shaft of the driving wheel 8 and the positioning shaft of the sleeve 12 to form a rotating pair. The top of the circumference of the driving wheel 8 is processed with a winding groove and its rear end is connected and fixed with one end of the tendon rope 7. The other end of the tendon rope 7 is led downward from the front end of the driving wheel 8 after passing through the winding groove to transmit the motion and force output by the winding motor. The tendon rope 7 controls the rotation of the driving wheel 8 and transmits it to the sleeve 12 through the arc-shaped connecting rod 2, so as to realize the sliding of the sleeve 12 and the forward swing of the lower swing rod 9. The transfer connecting rod 13 is arranged obliquely in the front-to-back direction at the front end of the lower swing rod 9. The front end is provided with a connecting ear for connecting the upper swing rod 4, and the rear end is transversely provided with a through hole for the installation of the intermediate joint shaft 15. The connecting ears at the bottom of the upper swing rod 4 and the front end of the transfer link 13 are hinged by a pin shaft to form a revolving pair. The top connecting pin 5 is transversely fixed at the top of the upper swing rod 4 for connecting the tip knuckle shell 21. The motion and force are transmitted through the transfer link 13. At the same time, the upper swing rod 4 and the lower swing rod 9 are staggered so that the working spaces of the two are not in the same plane to avoid mutual interference of the structures when the grasping action is realized. The intermediate joint shaft 15 is rotatably inserted into the through hole at the rear end of the transfer link 13. The top joint shaft 17 is transversely arranged at a position adjacent to the front end above the upper swing rod 4. The torsion spring 14 is installed on the intermediate joint shaft 15 and connected and positioned with the intermediate knuckle shell 20, providing the intermediate joint shaft 15 with a torque opposite to the grasping motion direction to realize under-actuated grasping and automatic reset after grasping. This under-actuated mode can realize proportional coupling motion when not grasping, and the continued motion of the tip knuckle shell 21 after the intermediate knuckle shell 20 contacts the grasped object.

[0026] Combination Figure 2As shown, the root knuckle shell 19, the middle knuckle shell 20 and the tip knuckle shell 21 are respectively mounted on the outside of the lower swing rod 9, the upper swing rod 4 and the top joint shaft 17. The bottom two sides of the root knuckle shell 19 are rotatably connected with the two ends of the root joint shaft 11 through bearings to form a rotation pair; the bottom two sides of the middle knuckle shell 20 are rotatably connected with the two ends of the middle joint shaft 15 through bearings to form a rotation pair. At the same time, pin holes are provided at the two sides of the bottom of the middle knuckle shell 20 at positions corresponding to the middle connecting pin 3. The top of the lower swing rod 9 is plug-connected with the pin holes on both sides of the bottom of the middle knuckle shell 20 through the middle connecting pin 3 to form a rotation pair, which transmits the movement and force of the lower swing rod 9 to the middle knuckle shell 20, thereby pushing the middle knuckle shell 20 to rotate around the middle joint shaft 15. Rotation. In addition, a mounting position is set on the inner wall of the middle knuckle shell 20 to install and fix the torsion spring 14; the two sides of the bottom of the tip knuckle shell 21 are rotatably connected with the two ends of the top joint shaft 17 through bearings to form a rotating pair. At the same time, pin holes are opened on the two sides of the bottom of the tip knuckle shell 21 at positions corresponding to the top connecting pin 5, and the top of the upper swing rod 4 is plug-connected with the pin holes on both sides of the bottom of the tip knuckle shell 21 through the top connecting pin 5 to form a rotating pair, which transmits the movement and force of the upper swing rod 4 to the tip knuckle shell 21, thereby pushing the tip knuckle shell 21 to rotate around the top joint shaft 17.

[0027] Combination Figure 1-2 As shown, in order to improve the precise control of the finger assembly, a sensing system can be integrated, and the sensing system includes a sensing communication module 6 and a root angle sensor 10, a top angle sensor 16, a proximity sensor 18, and a strain gauge 1 22 and a strain gauge 2 23 connected and communicated therewith. The sensing communication module 6 is arranged at a position adjacent to the top joint shaft 17 and is connected and fixed to the inner wall of the tip knuckle shell 21. The proximity sensor 18 is installed on the front surface of the sensing communication module 6 to measure the proximity information between the tip knuckle shell 21 and the grasped object. A window is provided at the front end of the tip knuckle shell 21 to expose the proximity sensor 18 to the outside; the root angle sensor 10 is connected and fixed to the inner wall of the root knuckle shell 19 and is sleeved on the root joint shaft 11 to measure the rotation position information of the drive wheel 8 relative to the root knuckle shell 19; The top angle sensor 16 is connected and fixed to the inner wall of the tip knuckle shell 21 and is sleeved on the top joint shaft 17 for measuring the rotational position information of the tip knuckle shell 21 relative to the top joint shaft 17; a positioning beam is arranged on the top of the middle knuckle shell 20, and a nesting hole is arranged laterally on the top of the positioning beam to be rotatably connected to the top joint shaft 17, and the strain gauge 1 22 and the strain gauge 2 23 are respectively fixed on the front end and the side of the positioning beam. When grasping, it is subjected to the reaction force of the grasped object, and the force condition of the positioning beam can be measured by the strain gauge 1 22 and the strain gauge 2 23.

[0028] Compared with a single rope drive or connecting rod rotation, this hybrid transmission mechanism of connecting rod and tendon rope mechanism combines the characteristics of tendon rope drive such as freedom of mode and spatial guidance with the characteristics of high connecting rod stiffness and determined motion trajectory, thereby realizing free grasping of the prosthetic robot fingers.

[0029] Combination Figure 3 As shown, the rigid skeleton 1 24, the rigid skeleton 25, the rigid skeleton 3 26 and the rigid skeleton 4 27 are arranged at intervals along the width direction of the palm component, and the rigid skeleton 1 24 and the rigid skeleton 2 25, the rigid skeleton 25 and the rigid skeleton 3 26, and the rigid skeleton 3 26 and the rigid skeleton 4 27 are respectively connected to form a palm as a whole through a detachable assembly method through a flexible connecting frame 28, for example, by using a close-fitting method of a slide rail, wherein the edges of the rigid skeleton 1 24 and the rigid skeleton 4 27 can be integrally provided with a bending clamping portion, so as to play a certain clamping and positioning role on the grasped object when the two ends of the palm component are bent and enveloped inward. In addition, in order to realize the winding arrangement of the tendon rope 7 in the finger assembly and the bending envelope of the palm assembly, a rotating wheel 29 is installed at the same height at the inner top of the rigid frame 1 24, the rigid frame 25, the rigid frame 3 26 and the rigid frame 4 27, respectively, a changing wheel 1 30 is installed on the inner side of the rigid frame 1 24 adjacent to the corresponding rotating wheel 29 below, a changing wheel 2 31 is installed at the inner bottom end of the rigid frame 1 24, and a changing wheel 3 32 is installed at the inner bottom end of the rigid frame 3 26, so that the three changing wheels are arranged in an L shape between the rotating wheel 29 at the tail end and the bottom of the winding motor 33.

[0030] Combination Figure 3-4As shown, when the five finger assemblies are assembled with the palm assembly, a winding motor 33 is fixedly installed at the middle position of the inner side of the rigid frame three 26, and the output end of the winding motor 33 is connected to the transmission winding wheel 35 through the reducer one 34. A deflection motor 36 is fixedly installed at the bottom end of the inner side of the rigid frame four 27, and the output end of the deflection motor 36 is connected to the transmission rotary joint 38 through the reducer two 37. The bases 1 of the four finger assemblies except the thumb are respectively connected and fixed to the tops of the rigid frame one 24, the rigid frame two 25, the rigid frame three 26 and the rigid frame four 27 by screws, and the lead-out ends of the tendon ropes 7 of the four finger assemblies are first turned by the corresponding rotating wheels 29, and then they are changed in turn by the changing wheel one 30, the changing wheel two 31 and the changing wheel three 32, and finally connected and fixed to the winding wheel 35. The base 1 of the finger assembly of the thumb is connected and fixed to the swivel joint 38 by screws, and the lead-out end of the tendon rope 7 of the finger assembly passes through the guide tube 39 and the limit ring 40 in turn, then changes direction upward and is connected and fixed to the winding wheel 35. The middle position of the outer wall of the guide tube 39 is hinged to the corresponding position of the swivel joint 38. The limit ring 40 is fixed to the bottom of the inner side of the palm assembly and is located between the winding motor 33 and the swivel joint 38. The movement path of the tendon rope 7 is constrained by the guide tube 39 and the limit ring 40 to reduce its free space to avoid the tendon rope 7 from interfering with other structures during the thumb swing. Among them, the rotating wheel 29, the change wheel 1 30, the change wheel 2 31, the change wheel 3 32 and the guide tube 39, the limit ring 40 together constitute a tendon rope guiding and limiting mechanism to achieve reasonable guidance and constraint of the spatial position of each tendon rope 7. The winding motor 33 drives the winding wheel 35 to rotate, and transmits the motion and force to the five finger assemblies through the winding tendon rope 7, so as to realize the bending motion of the five finger assemblies. At the same time, the tendon ropes 7 of the five finger assemblies force the flexible connecting frame 28 to perform bending motion so as to pull the palm assembly inward and gather it. In addition, since the finger assembly as the thumb is also equipped with a deflection motor 36, the deflection motor 36 drives the rotation joint 38 to rotate, so as to control the thumb to swing, and realize a more dexterous grasping posture.

[0031] It is worth mentioning that the deformation stiffness coefficient of the flexible connecting frame 28 should be smaller than the stiffness coefficient of the finger assembly, so that the robot hand can maintain a certain rigidity and not bend in the initial stage of the free movement of the dexterous hand and the contact of the finger assembly with the grasped object. After the bending movement of the finger assembly encounters a certain resistance, the flexible connecting frame 28 starts to perform bending movement, so that the rigid skeleton 1 24 and the rigid skeleton 4 27 at both ends of the palm assembly in the width direction cooperate with the five finger assemblies to adaptively envelope the grasped object.

[0032] The present invention takes humanoid robot dexterous hands and medical rehabilitation prostheses as the application background, and designs a lightweight anthropomorphic dexterous hand, specifically a rigid-flexible hybrid five-finger dexterous hand with palm-finger coordinated movement function. It has under-actuated robot fingers based on hybrid transmission of connecting rods and tendon mechanisms, and a modular rigid-flexible hybrid structure palm. It adopts an innovative driving mechanism, which can effectively realize the coordinated movement between the palm and fingers while ensuring the accuracy of humanoid design and size, and provide flexible grasping function, so as to solve the problems of traditional prosthetic robot hands such as insufficient humanoid design, poor coordinated movement, complex control, high cost and heavy weight, and has significant advantages in simulation, comfort, operability and cost-effectiveness.

[0033] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other forms of assembly without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered in all respects as exemplary and non-restrictive, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations within the meaning and range of equivalents of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0034] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A rigid-flexible hybrid drive robot hand with palm-finger coordinated motion function, characterized in that: The invention comprises a palm assembly and five finger assemblies, wherein the finger assembly comprises a base (1), an arc-shaped connecting rod (2), an upper swing rod (4), a tendon rope (7), a driving wheel (8), a lower swing rod (9), a root joint shaft (11), a sleeve (12), a transfer connecting rod (13), an intermediate joint shaft (15), a top joint shaft (17), a root end finger joint shell (19), an intermediate finger joint shell (20) and a tip end finger joint shell (21), wherein the top front end of the base (1) is hinged to the bottom of the lower swing rod (9), an intermediate connecting pin (3) is transversely fixed to the top of the lower swing rod (9), and the sleeve (12) is slidably sleeved on the lower swing rod (9). The root joint shaft (11) is rotatably inserted into the through hole at the rear end of the top of the base (1); the driving wheel (8) is coaxially connected and fixed to the root joint shaft (11); the two ends of the arc-shaped connecting rod (2) are respectively hinged to the driving wheel (8) and the sleeve (12); the tendon rope (7) is wound and fixed with the driving wheel (8) and led out; the transfer connecting rod (13) is arranged obliquely in the front-to-back direction at a position adjacent to the front end above the lower swing rod (9); the front end of the transfer connecting rod (13) is hinged to the bottom of the upper swing rod (4); the top connecting pin (5) is transversely fixed to the top of the upper swing rod (4); and the intermediate joint shaft (15) is rotatably inserted into the transfer connecting rod (13). The top joint shaft (17) is arranged in a transverse position adjacent to the front end of the upper swing rod (4) in the through hole at the rear end, the bottom sides of the end knuckle shell (19) are rotatably connected to the root joint shaft (11), the bottom sides of the middle knuckle shell (20) are rotatably connected to the middle joint shaft (15), and a torsion spring (14) is arranged between the two to provide a reverse torque, the two ends of the middle connecting pin (3) are respectively connected to the pin holes opened at the corresponding positions of the middle knuckle shell (20), the bottom sides of the tip knuckle shell (21) are rotatably connected to the top joint shaft (17), and the two ends of the top connecting pin (5) are respectively connected to the tip knuckle shell (21). The palm assembly comprises four rigid frames arranged at intervals along the width direction and three flexible connecting frames (28) for connecting adjacent rigid frames. A winding motor (33) is fixedly installed at the middle position of the inner side of the palm assembly and connected to a transmission winding wheel (35). The bases (1) of the five finger assemblies are respectively fixed to the corresponding positions of the palm assembly by screws. The lead-out ends of the tendon ropes (7) of the five finger assemblies are guided and constrained by a tendon rope guide and limiting mechanism and then connected and fixed to the winding wheel (35). The rotating winding of the winding wheel (35) can simultaneously realize the bending action of the five finger assemblies and the tightening and gathering of the palm assembly inward.

2. The rigid-flexible hybrid drive robot hand with palm-finger coordinated motion function according to claim 1, characterized in that: A sensing communication module (6) is fixedly installed inside the tip knuckle shell (21), and a proximity sensor (18) is connected and installed on the front surface of the sensing communication module (6). The proximity sensor (18) is exposed to the outside through a window provided at the front end of the tip knuckle shell (21) and is used to measure proximity information between the tip knuckle shell (21) and the grasped object.

3. The rigid-flexible hybrid drive robot hand with palm-finger coordinated motion function according to claim 2, characterized in that: The sensing communication module (6) is connected to a root angle sensor (10) and a top angle sensor (16); the root angle sensor (10) is connected and fixed to the inner wall of a root end knuckle shell (19) and is sleeved on a root joint shaft (11) for measuring rotational position information of a driving wheel (8) relative to the root end knuckle shell (19); the top angle sensor (16) is connected and fixed to the inner wall of a tip knuckle shell (21) and is sleeved on a top joint shaft (17) for measuring rotational position information of the tip knuckle shell (21) relative to the top joint shaft (17).

4. A rigid-flexible hybrid drive robot hand with palm-finger coordinated motion function according to claim 2 or 3, characterized in that: A positioning beam is arranged on the top of the middle finger joint shell (20), a nesting hole is arranged transversely on the top of the positioning beam and is rotatably connected to the top joint shaft (17), the sensing communication module (6) is connected to a strain gauge 1 (22) and a strain gauge 2 (23), the strain gauge 1 (22) and the strain gauge 2 (23) are respectively fixed on the front end and the side of the positioning beam, and are used to measure the force condition of the positioning beam.

5. The rigid-flexible hybrid drive robot hand with palm-finger coordinated motion function according to claim 1, characterized in that: A deflection motor (36) is fixedly installed at the inner bottom end of the palm component and at a position corresponding to the thumb; the deflection motor (36) is connected to a transmission rotary joint (38); and the rotary joint (38) is fixed to a base (1) of a finger component serving as the thumb by means of screws.

6. The rigid-flexible hybrid drive robot hand with palm-finger coordinated motion function according to claim 5, characterized in that: The tendon rope guiding and limiting mechanism comprises a guide tube (39), a limiting ring (40), three direction-changing wheels and four rotating wheels (29), wherein the four rotating wheels (29) are respectively installed at the top inner sides of four rigid frames, and the three direction-changing wheels are arranged in an L shape and installed between the rotating wheel (29) at the tail end and the bottom of the winding motor (33). The lead-out ends of the tendons (7) of the four finger assemblies except the thumb are first turned by the corresponding rotating wheels (29), and then changed direction by the three direction-changing wheels in sequence, and finally connected and fixed to the winding wheel (35). The middle position of the outer wall of the guide tube (39) is hinged to the corresponding position of the swivel joint (38), and the limiting ring (40) is fixed to the bottom inner side of the palm assembly. The lead-out ends of the tendons (7) of the finger assemblies of the thumb pass through the guide tube (39) and the limiting ring (40) in sequence, then change direction upward and are connected and fixed to the winding wheel (35).

7. The rigid-flexible hybrid drive robot hand with palm-finger coordinated motion function according to claim 1, characterized in that: The two end edges of the palm assembly in the width direction are respectively integrally provided with curved clamping parts.

8. The rigid-flexible hybrid drive robot hand with palm-finger coordinated motion function according to claim 1, characterized in that: The deformation stiffness coefficient of the flexible connecting frame (28) of the palm component is smaller than the stiffness coefficient of the finger component.

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