Robot five-finger dexterous hand

Abstract

The invention discloses a robot five-finger dexterous hand, and relates to the technical field of robots, the robot five-finger dexterous hand comprises a wrist assembly, a finger connecting assembly and a finger assembly, and the wrist assembly is provided with an optical axis; the thumb connecting frame, the index finger connecting frame, the middle finger connecting frame, the ring finger connecting frame and the little finger connecting frame are sequentially arranged on the optical shaft in a penetrating mode, and the swing driver controls the connecting frames to be opened or closed in a fan shape through a pull rope set; the finger assembly comprises a thumb body, an index finger body, a middle finger body, a ring finger body and a little finger body which are of a multi-section structure. And each finger body is rotationally arranged on the connecting seat at the corresponding position through a first torsion spring. All the parts are unfolded or folded in a fan shape, so that the mechanical hand has the unique grabbing advantage and larger in-hand operation possibility, all the finger bodies have self-adaptability, the directions of the fingers can be automatically adjusted according to external force, driving is little, the palm and the finger bodies are all under-actuated, and control is easy.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, in particular to a robot five-finger dexterous hand. Background Art

[0002] As the end tool for robot operation and execution, the dexterous hand is a key component for the interaction between the robot and the environment. Its performance directly affects the overall work efficiency and applicability of the robot. In order to improve the flexibility and usability of robots, the design of dexterous hands has become a research hotspot in robotics in recent years. Especially with the increase in the demand for multitasking, how to design a more adaptable and flexible dexterous hand has become an important research direction.

[0003] At present, traditional robot hands mostly use fixed palm structures, and realize the grasping function of dexterous hands by placing servos or linear actuators. However, the limitation of this type of palm design is that it only serves as a bearing component for support and drive, and the palm itself lacks independent functionality, resulting in poor adaptability and versatility of dexterous hands. Summary of the invention

[0004] The purpose of the present invention is to provide a robot five-finger dexterous hand to solve the problems existing in the above-mentioned prior art, improve the flexibility and enhance the application ability of the robot in various tasks.

[0005] To achieve the above object, the present invention provides the following solutions: The present invention provides a robot five-finger dexterous hand, comprising a wrist assembly, a finger connection assembly and a finger assembly; a base is fixedly arranged at the upper end of the wrist assembly, and an optical axis is fixedly arranged on the base; the finger connection assembly comprises a swing driver fixedly arranged on the base and a thumb connection frame, an index finger connection frame, a middle finger connection frame, a ring finger connection frame and a little finger connection frame sequentially passed through the optical axis; the middle finger connection frame and the optical axis are kept in a fixed relative position, and the remaining connection frames can rotate around the axis of the optical axis; an elastic element is arranged between each two adjacent connection frames, and the elastic element is used to make the two connection frames present a posture of being away from each other around the axis of the optical axis; the swing driver is connected to each connection frame through a pull rope group, and the swing driver can tighten the pull rope group, So that the other connecting frames except the middle finger connecting frame are in a retracted state, and in the retracted state, the connecting frames can overlap in the axial direction of the optical axis; the finger assembly includes a thumb body, an index finger body, a middle finger body, a ring finger body and a little finger body with a multi-section structure; each finger body is respectively arranged on a corresponding connecting frame through a connecting seat; and each finger body is rotatably arranged on the corresponding connecting seat around a corresponding axis through a first torsion spring, and one side of the finger pulp of each finger body can rotate around the corresponding axis to fit on the grasped object, and after release, each of the first torsion springs can restore the initial straight state of the finger body around the corresponding axis; the thumb body, the index finger body, the middle finger body, the ring finger body and the little finger body can all be bent to grasp the grasped object.

[0006] Preferably, the pull rope group includes a first pull wire and a second pull wire; the thumb connecting frame, the index finger connecting frame, the ring finger connecting frame and the little finger connecting frame are each provided with a threading hole, and the middle finger connecting frame is provided with two threading holes; a first wire drum is fixedly provided on the output rotating shaft of the swing drive, and one end of the first pull wire and the second pull wire are both wound on the first wire drum in the same winding direction; the other end of the first pull wire passes through one threading hole of the middle finger connecting frame, the threading hole of the ring finger connecting frame and the threading hole of the little finger connecting frame in sequence and is tied; the other end of the second pull wire passes through another threading hole of the middle finger connecting frame, the threading hole of the index finger connecting frame and the threading hole of the thumb connecting frame in sequence and is tied.

[0007] Preferably, the elastic element is a second torsion spring; the second torsion spring located between the middle finger connecting frame and the ring finger connecting frame is passed through the optical axis at the position, one end torsion arm of the second torsion spring is fixed to the middle finger connecting frame, and the other end torsion arm of the second torsion spring is fixed to the ring finger connecting frame; the second torsion spring located between the ring finger connecting frame and the little finger connecting frame is passed through the optical axis at the position, one end torsion arm of the second torsion spring is fixed to the ring finger connecting frame, and the other end torsion arm of the second torsion spring is fixed to the little finger connecting frame; the second torsion spring located between the middle finger connecting frame and the index finger connecting frame Two torsion springs are passed through the optical axis at this position, one end of the torsion arm of the second torsion spring is fixed to the middle finger connecting frame, and the other end of the torsion arm of the second torsion spring is fixed to the index finger connecting frame; the second torsion spring located between the index finger connecting frame and the thumb connecting frame is passed through the optical axis at this position, one end of the torsion arm of the second torsion spring is fixed to the index finger connecting frame, and the other end of the torsion arm of the second torsion spring is fixed to the thumb connecting frame; in a natural state, each of the second torsion springs makes the thumb connecting frame, the index finger connecting frame, the middle finger connecting frame, the ring finger connecting frame and the little finger connecting frame as a whole be in an expanded state.

[0008] Preferably, in the thumb connecting frame, the index finger connecting frame, the middle finger connecting frame, the ring finger connecting frame and the little finger connecting frame, a limiter is provided between each two adjacent connecting frames; the limiter is used to limit the rotation range of one of the two adjacent connecting frames relative to the other connecting frame around the axis of the optical axis.

[0009] Preferably, the thumb body is a three-section structure; the index finger body, the middle finger body, the ring finger body and the little finger body are all two-section structures; two adjacent sections are rotatably connected by a rotating shaft; and the lower ends of the thumb body, the index finger body, the middle finger body, the ring finger body and the little finger body are all provided with a base, and each of the bases is rotatably arranged around a corresponding axis on the corresponding connecting seat; in a natural state, each finger body is in a straight state as a whole; a servo is fixedly arranged on the thumb connecting frame, the index finger connecting frame, the middle finger connecting frame, the ring finger connecting frame and the little finger connecting frame, and a second wire drum is fixedly arranged on the output rotating shaft of the servo, the second wire drum is connected to the corresponding finger body through a pulling line, and the second wire drum can make the corresponding finger body bend toward the palm by tightening the pulling line.

[0010] Preferably, the thumb connecting frame includes a thumb swing plate and a thumb connecting mounting seat, and the thumb connecting mounting seat is fixedly arranged on the thumb swing plate; the index finger connecting frame includes an index finger swing plate and an index finger connecting mounting seat, and the index finger connecting mounting seat is fixedly arranged on the index finger swing plate; the middle finger connecting frame includes a middle finger swing plate and a middle finger connecting mounting seat, and the middle finger connecting mounting seat is fixedly arranged on the middle finger swing plate; the ring finger connecting frame includes a ring finger swing plate and a ring finger connecting mounting seat, and the ring finger connecting mounting seat is fixedly arranged on the ring finger swing plate; the little finger connecting frame includes a little finger swing plate and a little finger connecting mounting seat The invention relates to a finger connecting mounting seat, wherein the little finger connecting mounting seat is fixedly arranged on the little finger swing plate; the thumb swing plate, the index finger swing plate, the middle finger swing plate, the ring finger swing plate and the little finger swing plate are sequentially penetrated on the optical axis; and the middle finger swing plate is fixedly connected to the base; the thumb connecting mounting seat, the index finger connecting mounting seat, the middle finger connecting mounting seat, the ring finger connecting mounting seat and the little finger connecting mounting seat are all provided with the connecting seat; and the index finger connecting mounting seat, the middle finger connecting mounting seat, the ring finger connecting mounting seat and the little finger connecting mounting seat correspond to the finger root positions of the human palm.

[0011] Preferably, the index finger body includes a distal knuckle of the index finger, a proximal knuckle of the index finger and the base; a first rotation groove is provided at one end of the proximal knuckle of the index finger, and the distal knuckle of the index finger is rotatably set in the first rotation groove by a first rotating shaft; a second rotation groove is provided at the other end of the proximal knuckle of the index finger, the base is rotatably set in the second rotation groove by a second rotating shaft, and the base is rotatably connected to the connecting seat around a rotation axis, the first torsion spring is coaxial with the rotation axis, and one end of the first torsion spring is fixedly connected to the base, and the other end of the first torsion spring is fixedly connected to the connecting seat; the first rotating shaft is parallel to the axis of the second rotating shaft, and the rotation axis is perpendicular to the axis of the second rotating shaft; a first pull rod is provided in the distal knuckle of the index finger; two parallel and spaced second pull rods are provided at one end of the proximal knuckle of the index finger close to the first rotating shaft, and one end of the proximal knuckle of the index finger close to the second rotating shaft Two parallel and spaced third pull rods are provided; a fourth pull rod is provided on the corresponding connecting seat; the axes of the first pull rod, each of the second pull rods, and each of the third pull rods are parallel to the axis of the first rotating shaft, and in a natural state, the axis of the fourth pull rod can be parallel to the axis of the second rotating shaft; a first tension spring is connected to the first pull rod and one of the second pull rods, and the first tension spring is located on the side of the first rotating shaft away from the palm; a second tension spring is connected to one of the third pull rods and the fourth pull rod; the second tension spring is located on the side of the second rotating shaft away from the palm; one end of the pulling wire is fixed on the first pull rod, and the other end passes through the side of the first rotating shaft close to the palm, passes through the gap between the two second pull rods, then passes through the gap between the two third pull rods, and then passes through the side of the second rotating shaft close to the palm, and then is wound around the corresponding second wire drum of the servo.

[0012] Preferably, the second wire reel is located on the side of the index finger connecting frame close to the palm, and a wire bracket is also fixedly provided on the side of the index finger connecting frame close to the palm, the wire bracket has a wire hole, and the pulling wire from the second rotating shaft passes through the wire hole and is wound around the second wire reel.

[0013] Preferably, the wrist assembly comprises a wrist seat and the base, wherein the base is fixedly arranged on the wrist seat; and an avoidance groove is arranged on the wrist seat at a position corresponding to the thumb connecting frame.

[0014] Preferably, the limiter includes a first limit plate, a second limit plate and a third limit plate; the second limit plate is used to be fixed on a connecting frame, and the first limit plate and the third limit plate are arranged at both ends of the arc path of the connecting frame rotating around the axis of the optical axis, and the first limit plate and the third limit plate are both fixedly arranged on another connecting frame.

[0015] Compared with the prior art, the present invention has achieved the following technical effects: The robot five-finger dexterous hand provided by the present invention is provided with a thumb connecting frame, an index finger connecting frame, a middle finger connecting frame, a ring finger connecting frame and a little finger connecting frame which are passed through the optical axis, so that the various parts of the palm are closely attached around the same axis, and cooperate with various elastic elements to restore the various parts to the expanded state, and indirectly provide a side swing function for the finger assembly during expansion, while increasing the working space of the dexterous hand, increasing the degree of freedom and flexibility of the thumb and other finger roots, and realizing more complex grasping control to cope with complex and changeable application scenarios; the swing drive is connected to each connecting frame by a pull rope group, and only one swing drive is needed to realize the driving of multiple finger connecting frames, thereby simplifying the structure of the driving system. Since there is only one drive, the palm has an under-driven characteristic; each finger body is rotatably arranged on the connecting seat around the corresponding axis by a first torsion spring, and the finger pulp One side can rotate around the corresponding axis to fit the object being grasped, which enables the fingers to automatically adjust the angle and posture according to the surface shape and force conditions of the object when grasping the object, so that each finger body has strong adaptability, can achieve better fitting and grasping effects, and improve the success rate and stability of grasping; after releasing the grasped object, the first torsion spring can quickly restore the finger to its initial state to prepare for the next grasping action, ensuring the efficiency and continuity of the finger action and improving the work efficiency of the robot; the thumb body, index finger body, middle finger body, ring finger body and little finger body adopt a multi-section structure, so that each finger can bend and adjust multiple joints according to the shape of the object being grasped, better fit the surface of the object, increase the contact area with the object, thereby improving the stability and reliability of grasping, and can grasp objects of various irregular shapes. 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 A schematic diagram of the overall structure of the robot five-finger dexterous hand provided by the present invention (which is a schematic diagram of the right hand structure); Figure 2 A schematic diagram of the structure of the wrist assembly and the finger connection assembly in the robot five-finger dexterous hand provided by the present invention; Figure 3 A schematic diagram of the structure of the base and finger connection components in the robot five-fingered dexterous hand provided by the present invention; Figure 4An exploded view of the structure of the middle finger connection assembly of the robot five-fingered dexterous hand provided by the present invention at a first viewing angle; Figure 5 An exploded view of the structure of the middle finger connection assembly of the robot five-fingered dexterous hand provided by the present invention at a second viewing angle; Figure 6 A schematic diagram of the overall structure of the thumb body in the robot five-finger dexterous hand provided by the present invention; Figure 7 A schematic diagram of the internal cross-sectional structure of the thumb body in the robot five-finger dexterous hand provided by the present invention; Figure 8 A schematic diagram of the overall structure of the index finger body and related connecting parts in the robot five-finger dexterous hand provided by the present invention; Fig. 9 A schematic diagram of the internal cross-sectional structure of the index finger body in the robot five-fingered dexterous hand provided by the present invention; Fig.10 This is a schematic diagram of the connection structure between a connecting seat and a base in the robot five-fingered dexterous hand provided by the present invention.

[0018] In the figure: 10- wrist assembly; 11- base; 12- optical axis; 13- wrist seat; 20- thumb connecting frame; 21- index finger connecting frame; 22- middle finger connecting frame; 23- ring finger connecting frame; 24- little finger connecting frame; 25- second torsion spring; 26- swing drive; 261- first pull wire; 262- second pull wire; 27- connecting seat; 28- wire bracket; 30- thumb body; 31- index finger body; 311- first pull rod; 312- first rotating shaft; 313- second pull rod; 314- third pull rod; 315- second rotating shaft; 316- fourth pull rod; 317- first tension spring; 318- second tension spring; 32- middle finger body; 33- ring finger body; 34- little finger body; 35- first torsion spring; 36- base; 37- pulling line; 40 - limiter; 41 - first limit plate; 42 - second limit plate; 43 - third limit plate. 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 robot five-finger dexterous hand to solve the problems existing in the prior art, improve the flexibility and enhance the application ability of the robot in various tasks.

[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 robot five-finger dexterous hand, such as Figure 1 to Figure 10As shown, it includes a wrist component 10, a finger connection component and a finger component; the upper end of the wrist component 10 is fixedly provided with a base 11, and the base 11 is fixedly provided with an optical axis 12; the finger connection component includes a swing driver 26 and a thumb connection frame 20, an index finger connection frame 21, a middle finger connection frame 22, a ring finger connection frame 23 and a little finger connection frame 24 which are sequentially arranged on the optical axis 12; the lower end of the middle finger connection frame 22 is fixedly connected to the base 11, and the thumb connection frame 20, the index finger connection frame 21, the ring finger connection frame 23 and the little finger connection frame 24 can all rotate around the axis of the optical axis 12; each adjacent two of the thumb connection frame 20, the index finger connection frame 21, the middle finger connection frame 22, the ring finger connection frame 23 and the little finger connection frame 24 which are sequentially arranged are provided There is an elastic element, which is used to make two connecting frames connected to the elastic element (that is, two adjacent ones, such as the thumb connecting frame 20 and the index finger connecting frame 21, the index finger connecting frame 21 and the middle finger connecting frame 22, etc., the corresponding positions in the following text are the same and no longer explained) present a posture of being away from each other around the axis of the optical axis 12; the swing driver 26 is fixedly arranged on the base 11, and the output end of the swing driver 26 is wound with a pull rope group, and the thumb connecting frame 20, the index finger connecting frame 21, the middle finger connecting frame 22, the ring finger connecting frame 23 and the little finger connecting frame 24 are provided with corresponding threading holes, and the pull rope group is passed through each threading hole, and the output end of the swing driver 26 rotates and tightens the pull rope group to make the thumb connecting frame 20, the index finger connecting frame 21, the ring finger connecting frame 23 The connecting frame 23 and the little finger connecting frame 24 both rotate around the axis of the optical axis 12 to a position close to the middle finger connecting frame 22 (i.e., in a retracted state, at this time, each connecting frame can overlap in the axial direction of the optical axis 12, that is, in the projection in the axial direction of the optical axis 12, the thumb connecting frame 20, the index finger connecting frame 21, the middle finger connecting frame 22, the ring finger connecting frame 23 and the little finger connecting frame 24 have an overlapping area, so that each finger body is close to each other in a fan shape); the finger assembly includes a thumb body 30, an index finger body 31, a middle finger body 32, a ring finger body 33 and a little finger body 34 of a multi-section structure; the thumb body 30, the index finger body 31, the middle finger body 32, the ring finger body 33 and the little finger body 34 are respectively arranged on the thumb connecting frame through a connecting seat 27. The thumb body 30, the index finger body 31, the middle finger body 32, the ring finger body 33 and the little finger body 34 are all rotatably arranged on the corresponding connecting seat 27 around the corresponding axis through the first torsion spring 35, and one side of each finger pulp (that is, one side of the finger pulp of the thumb body 30, the index finger body 31, the middle finger body 32, the ring finger body 33 and the little finger body 34) can rotate around the corresponding axis to fit on the grasped object, and after release, each first torsion spring 35 can restore its own initial state around the corresponding axis; the thumb body 30, the index finger body 31, the middle finger body 32, the ring finger body 33 and the little finger body 34 can all be bent to grasp the grasped object.

[0023] By setting up the thumb connecting frame 20, the index finger connecting frame 21, the middle finger connecting frame 22, the ring finger connecting frame 23 and the little finger connecting frame 24 which are passed through the optical axis 12, the various parts of the palm are closely attached around the same axis, and cooperate with the elastic elements to restore the various parts to the expanded state, and indirectly provide the finger assembly with a side swing function during expansion, while increasing the working space of the dexterous hand, increasing the freedom and flexibility of the thumb and other fingers, and realizing more complex grasping control to cope with complex and changeable application scenarios; the swing driver 26 is connected to each connecting frame through a pull rope group, and only one swing driver 26 is needed to drive multiple finger connecting frames, which simplifies the structure of the drive system. Since there is only one drive, the palm has an under-driven characteristic; each finger body is rotatably arranged on the connecting seat 27 around the corresponding axis through the first torsion spring 35, and one side of the finger pulp can rotate around The corresponding axis rotates automatically to fit on the grasped object, which enables the fingers to automatically adjust the angle and posture according to the surface shape and force conditions of the object when grasping the object, so that each finger body has strong adaptability, can achieve better fitting and grasping effect, and improve the success rate and stability of grasping; after releasing the grasped object, the first torsion spring 35 can make the finger quickly return to the initial state, prepare for the next grasping action, ensure the efficiency and continuity of the finger action, and improve the work efficiency of the robot; the thumb body 30, index finger body 31, middle finger body 32, ring finger body 33 and little finger body 34 adopt a multi-section structure, so that each finger can bend and adjust multiple joints according to the shape of the grasped object, better fit the surface of the object, increase the contact area with the object, thereby improving the stability and reliability of grasping, and can grasp various irregular shaped objects.

[0024] Among them, the relevant setting instructions about the wrist component 10 are: In the optional scheme of this embodiment, it is more preferred that Figure 1 and Figure 2 As shown, the wrist assembly 10 includes a wrist seat 13 and a base 11 , wherein the base 11 is fixedly disposed on the wrist seat 13 ; and an avoidance groove is disposed on the wrist seat 13 at a position corresponding to the thumb connecting frame 20 .

[0025] Specifically, the base 11 is fixed on the wrist seat 13 by bolts.

[0026] Among them, the relevant setting instructions for the connection components are: Specifically, the thumb connecting frame 20, the index finger connecting frame 21, the middle finger connecting frame 22, the ring finger connecting frame 23 and the little finger connecting frame 24 are connected to each other through elastic elements (i.e., the second torsion spring 25), and their parts form a fan-shaped palm through the optical axis 12, and the two ends of the optical axis 12 are respectively fixed by the optical axis 12 seat.

[0027] In the optional scheme of this embodiment, it is more preferred that Figure 1~Figure 5 As shown, the elastic element is a second torsion spring 25 (only the middle finger connecting frame 22 and the ring finger connecting frame 23 are shown with the second torsion spring 25 in the figure, and the setting methods of other positions are the same and will not be described in detail); the second torsion spring 25 located between the middle finger connecting frame 22 and the ring finger connecting frame 23 is penetrated on the optical axis 12 at this position (i.e. the corresponding position, i.e. the optical axis 12 located between the middle finger connecting frame 22 and the ring finger connecting frame 23; the explanation of the relevant position in the text is the same for this position and will not be described in detail), one end torsion arm of the second torsion spring 25 is fixed on the middle finger connecting frame 22, and the other end torsion arm of the second torsion spring 25 is fixed on the ring finger connecting frame 23; the second torsion spring 25 located between the ring finger connecting frame 23 and the little finger connecting frame 24 is penetrated on the optical axis 12 at this position, and one end torsion arm of the second torsion spring 25 is fixed on the ring finger connecting frame 23, and the other end torsion arm of the second torsion spring 25 is fixed to the little finger connecting frame 24; the second torsion spring 25 located between the middle finger connecting frame 22 and the index finger connecting frame 21 is arranged on the optical axis 12 at this position, one end torsion arm of the second torsion spring 25 is fixed to the middle finger connecting frame 22, and the other end torsion arm of the second torsion spring 25 is fixed to the index finger connecting frame 21; the second torsion spring 25 located between the index finger connecting frame 21 and the thumb connecting frame 20 is arranged on the optical axis 12 at this position, one end torsion arm of the second torsion spring 25 is fixed to the index finger connecting frame 21, and the other end torsion arm of the second torsion spring 25 is fixed to the thumb connecting frame 20; in the natural state, each second torsion spring 25 makes the thumb connecting frame 20, the index finger connecting frame 21, the middle finger connecting frame 22, the ring finger connecting frame 23 and the little finger connecting frame 24 as a whole in an unfolded state.

[0028] In the optional scheme of this embodiment, it is more preferred that Figure 2~Figure 5 As shown, in the thumb connecting frame 20, the index finger connecting frame 21, the middle finger connecting frame 22, the ring finger connecting frame 23 and the little finger connecting frame 24, a limiter 40 is provided between each two adjacent connecting frames; the limiter 40 is used to limit the rotation range of one of the two adjacent connecting frames relative to the other connecting frame around the axis of the optical axis 12.

[0029] In the optional scheme of this embodiment, it is more preferred that Figure 3~Figure 5As shown, the limiter 40 includes a first limit plate 41, a second limit plate 42 and a third limit plate 43; the second limit plate 42 is used to be fixed on a connecting frame, and the first limit plate 41 and the third limit plate 43 are arranged at both ends of the arc path of rotation of the connecting frame around the axis of the optical axis 12 (that is, the first limit plate 41 and the second limit plate 42 are respectively used to limit the two side limit positions of the second limit plate 42 rotating around the axis of the optical axis 12), and the first limit plate 41 and the third limit plate 43 are both fixedly arranged on another connecting frame (the two connecting frames here refer to any two adjacent connecting frames, such as the middle finger connecting frame 22 and the ring finger connecting frame 23, etc., and other related positions in the text have the same meaning and will not be elaborated on).

[0030] In the optional scheme of this embodiment, it is more preferred that Figure 2~Figure 5 As shown, the pull rope group includes a first pull rope 261 and a second pull rope 262; a threading hole is provided on the thumb connecting frame 20, the index finger connecting frame 21, the ring finger connecting frame 23 and the little finger connecting frame 24, and two threading holes are provided on the middle finger connecting frame 22; a first wire drum is fixedly provided on the output rotating shaft of the swing driver 26 (a kind of steering gear), and one end of the first pull rope 261 and the second pull rope 262 are both wound on the first wire drum in the same winding direction; the other end of the first pull rope 261 passes through a threading hole of the middle finger connecting frame 22, a threading hole of the ring finger connecting frame 23, and a threading hole of the middle finger connecting frame 22, respectively. The other end of the second pull wire 262 passes through another threading hole of the middle finger connecting frame 22, the threading hole of the index finger connecting frame 21 and the threading hole of the thumb connecting frame 20 in sequence and is knotted (driving the swing driver 26 can change the length of the pull wire, thereby shrinking the fan-shaped palm. When the first pull wire 261 and the second pull wire 262 are released, the second torsion springs 25 between the thumb connecting frame 20, the index finger connecting frame 21, the middle finger connecting frame 22, the ring finger connecting frame 23 and the little finger connecting frame 24 will recover, thereby expanding the fan-shaped palm).

[0031] In the optional scheme of this embodiment, it is more preferred that Figure 1 to Figure 7As shown, the thumb connecting frame 20 includes a thumb swing plate and a thumb connecting mounting seat (the thumb swing plate and the thumb connecting mounting seat are integrally formed, and the following index finger connecting frame 21, the middle finger connecting frame 22, the ring finger connecting frame 23 and the little finger connecting frame 24 are all integrally formed, wherein the connecting mounting seats corresponding to the index finger connecting frame 21, the middle finger connecting frame 22, the ring finger connecting frame 23 and the little finger connecting frame 24 are arranged in sequence), the thumb connecting mounting seat is fixedly set on the thumb swing plate; the index finger connecting frame 21 includes the index finger swing plate and the index finger connecting mounting seat, and the index finger connecting mounting seat is fixedly set on the index finger swing plate; the middle finger connecting frame 22 includes the middle finger swing plate and the middle finger connecting mounting seat, and the middle finger connecting mounting seat is fixedly set on the middle finger swing plate ; The ring finger connecting frame 23 includes a ring finger swing plate and a ring finger connecting mounting seat, and the ring finger connecting mounting seat is fixedly arranged on the ring finger swing plate; the little finger connecting frame 24 includes a little finger swing plate and a little finger connecting mounting seat, and the little finger connecting mounting seat is fixedly arranged on the little finger swing plate; the thumb swing plate, the index finger swing plate, the middle finger swing plate, the ring finger swing plate and the little finger swing plate are sequentially penetrated on the optical axis 12; and the middle finger swing plate is fixedly connected to the base 11; the thumb connecting mounting seat, the index finger connecting mounting seat, the middle finger connecting mounting seat, the ring finger connecting mounting seat and the little finger connecting mounting seat are all provided with a connecting seat 27; and the index finger connecting mounting seat, the middle finger connecting mounting seat, the ring finger connecting mounting seat and the little finger connecting mounting seat correspond to the finger root positions of the human palm.

[0032] Among them, the relevant setting instructions for the finger component: In the optional scheme of this embodiment, it is more preferred that Figure 1 , Figure 6~Figure 9 As shown, the thumb body 30 is a three-section structure; the index finger body 31, the middle finger body 32, the ring finger body 33 and the little finger body 34 are all two-section structures; the two adjacent sections are rotatably connected by a rotating shaft; and the lower ends of the thumb body 30, the index finger body 31, the middle finger body 32, the ring finger body 33 and the little finger body 34 are all provided with a base 36, and each base 36 is respectively rotatably arranged on the corresponding connecting seat 27 around the corresponding axis; in the natural state, each finger body is in a straight state as a whole; a servo is fixedly arranged on the thumb connecting frame 20, the index finger connecting frame 21, the middle finger connecting frame 22, the ring finger connecting frame 23 and the little finger connecting frame 24, and a second wire drum is fixedly arranged on the output rotating shaft of the servo, and the second wire drum is connected to the corresponding finger body through a pulling wire 37, and the second wire drum can make the corresponding finger body bend toward the palm by tightening the pulling wire 37.

[0033] Specifically, the thumb body 30 is a three-section structure, that is, one more section than the index finger body 31, and the principles of controlling bending and restoration are the same; while the principles of controlling bending and restoration of the index finger body 31, the middle finger body 32, the ring finger body 33 and the little finger body 34 are the same, and the lengths of the distal phalanges of each body are different. The root of the thumb body 30 and the corresponding positions of the root of the other four bodies are all adaptive.

[0034] In the optional scheme of this embodiment, it is more preferred that Figure 8~Figure 10 As shown, the index finger body 31 includes a distal knuckle of the index finger, a proximal knuckle of the index finger and a base 36; a first rotation groove is provided at one end of the proximal knuckle of the index finger, and the distal knuckle of the index finger is rotatably arranged in the first rotation groove through a first rotating shaft 312; a second rotation groove is provided at the other end of the proximal knuckle of the index finger, and the base 36 is rotatably arranged in the second rotation groove through a second rotating shaft 315, and the base 36 is rotatably connected to the connecting seat 27 around a rotation axis (the connecting seat 27 is fixed on the corresponding steering gear, and a shelf groove is provided on the connecting seat 27, and a first torsion spring 35 is placed in the shelf groove; the base 36 is provided with a first torsion spring 35; A receiving groove is provided at the position where the groove should be placed, and a through hole for inserting and fixing the end of the first torsion spring 35 is provided on the connecting seat 27 and the base 36), the first torsion spring 35 is coaxial with the rotation axis, and one end of the first torsion spring 35 is fixedly connected to the base 36, and the other end of the first torsion spring 35 is fixedly connected to the connecting seat 27; the first rotating shaft 312 is parallel to the axis of the second rotating shaft 315, and the rotation axis is perpendicular to the axis of the second rotating shaft 315; a first pull rod 311 is provided in the distal knuckle of the index finger; two pull rods 312 are provided in the proximal knuckle of the index finger at one end close to the first rotating shaft 312. The first and second pull rods 311 and 313 are parallel and spaced apart, and two parallel and spaced apart third pull rods 314 are arranged at one end of the proximal knuckle of the index finger near the second rotating shaft 315; a fourth pull rod 316 is arranged on the corresponding connecting seat 27; the axes of the first pull rod 311, each second pull rod 313, and each third pull rod 314 are parallel to the axis of the first rotating shaft 312, and in a natural state, the axis of the fourth pull rod 316 can be parallel to the axis of the second rotating shaft 315; a first tension spring 317 is connected to the first pull rod 311 and a second pull rod 313, and the first tension spring 316 is connected to the first pull rod 311 and the second pull rod 313. 17 is located on the side of the first rotating shaft 312 away from the palm; a second tension spring 318 is connected to a third pull rod 314 and a fourth pull rod 316; the second tension spring 318 is located on the side of the second rotating shaft 315 away from the palm; one end of the pulling line 37 is fixed on the first pull rod 311, and the other end is passed through the side of the first rotating shaft 312 close to the palm, through the gap between the two second pull rods 313, then through the gap between the two third pull rods 314, and then through the side of the second rotating shaft 315 close to the palm, and then wound around the second wire drum of the corresponding servo.

[0035] In the optional scheme of this embodiment, it is more preferred that Figure 1 and Figure 2As shown, the second wire drum is located on the side of the index finger connecting frame 21 close to the palm, and a wire bracket 28 is also fixedly provided on the side of the index finger connecting frame 21 close to the palm. The wire bracket 28 has a wire hole, and the pulling wire 37 from the second rotating shaft 315 passes through the wire hole and is wound on the second wire drum.

[0036] Among them, about other related settings description: Specifically, all of them are driven by wires, which is low in cost. The fingers and palms are all under-driven, which makes the control simple and avoids the problems of complicated structure and excessive weight commonly seen in traditional designs, maintaining the simplicity and comfort of the overall design, and improving the comfort and operating efficiency during use by reducing the space occupied by the driver. The first torsion spring 35 forms a relative rotation between the connecting seat 27 and the base 36, so that each finger is adaptive and can automatically adjust the finger direction according to external force, thereby improving the grasping ability and working space.

[0037] Specifically, this embodiment is provided by taking the right hand as an example, and the structure of the left hand is symmetrical with the structure of the right hand.

[0038] 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 robot five-finger dexterous hand, characterized in that: It includes a wrist assembly, a finger connection assembly and a finger assembly; A base is fixedly disposed on the upper end of the wrist assembly, and an optical axis is fixedly disposed on the base; The finger connection assembly includes a swing driver fixed on the base and a thumb connection frame, an index finger connection frame, a middle finger connection frame, a ring finger connection frame and a little finger connection frame sequentially inserted on the optical axis; The middle finger connecting frame and the optical axis maintain a fixed relative position, and the remaining connecting frames can rotate around the axis of the optical axis; an elastic element is provided between each two adjacent connecting frames, and the elastic element is used to make the two connecting frames be in a posture of being away from each other around the axis of the optical axis; the swing driver is connected to each connecting frame through a pull rope group, and the swing driver can tighten the pull rope group to make the other connecting frames except the middle finger connecting frame be in a retracted state, and in the retracted state, the connecting frames can overlap in the axial direction of the optical axis; The finger assembly includes a thumb body, an index finger body, a middle finger body, a ring finger body and a little finger body with a multi-section structure; each finger body is arranged on a corresponding connecting frame through a connecting seat; and each finger body is rotatably arranged on the corresponding connecting seat around a corresponding axis through a first torsion spring, and one side of the finger pulp of each finger body can rotate around the corresponding axis to fit on the object to be grasped, and after release, each of the first torsion springs can restore the initial straight state of the finger body around the corresponding axis; the thumb body, the index finger body, the middle finger body, the ring finger body and the little finger body can all be bent to grasp the object to be grasped.

2. The robot five-finger dexterous hand according to claim 1, characterized in that: The pull cord set includes a first pull cord and a second pull cord; The thumb connecting frame, the index finger connecting frame, the ring finger connecting frame and the little finger connecting frame are all provided with a threading hole, and the middle finger connecting frame is provided with two threading holes; A first wire drum is fixedly arranged on the output rotating shaft of the swing drive, and one end of the first pull wire and one end of the second pull wire are both wound on the first wire drum in the same winding direction; The other end of the first pull wire passes through one threading hole of the middle finger connecting frame, the threading hole of the ring finger connecting frame and the threading hole of the little finger connecting frame in sequence and is tied with a knot; the other end of the second pull wire passes through another threading hole of the middle finger connecting frame, the threading hole of the index finger connecting frame and the threading hole of the thumb connecting frame in sequence and is tied with a knot.

3. The robot five-finger dexterous hand according to claim 1, characterized in that: The elastic element is a second torsion spring; The second torsion spring located between the middle finger connecting frame and the ring finger connecting frame is arranged on the optical axis at the position, one end of the torsion arm of the second torsion spring is fixed to the middle finger connecting frame, and the other end of the torsion arm of the second torsion spring is fixed to the ring finger connecting frame; The second torsion spring located between the ring finger connecting frame and the little finger connecting frame is passed through the optical axis at the position, one end of the torsion arm of the second torsion spring is fixed to the ring finger connecting frame, and the other end of the torsion arm of the second torsion spring is fixed to the little finger connecting frame; The second torsion spring located between the middle finger connecting frame and the index finger connecting frame is arranged on the optical axis at the position, one end of the torsion arm of the second torsion spring is fixed to the middle finger connecting frame, and the other end of the torsion arm of the second torsion spring is fixed to the index finger connecting frame; The second torsion spring located between the index finger connecting frame and the thumb connecting frame is passed through the optical axis at the position, one end of the torsion arm of the second torsion spring is fixed to the index finger connecting frame, and the other end of the torsion arm of the second torsion spring is fixed to the thumb connecting frame; In a natural state, each of the second torsion springs enables the thumb connecting frame, the index finger connecting frame, the middle finger connecting frame, the ring finger connecting frame and the little finger connecting frame to be in an overall expanded state.

4. The robot five-finger dexterous hand according to claim 1, characterized in that: In the thumb connecting frame, the index finger connecting frame, the middle finger connecting frame, the ring finger connecting frame and the little finger connecting frame, a limiter is arranged between each two adjacent connecting frames; the limiter is used to limit the rotation range of one of the two adjacent connecting frames relative to the other connecting frame around the axis of the optical axis.

5. The robot five-finger dexterous hand according to claim 1, characterized in that: The thumb body is a three-section structure; the index finger body, the middle finger body, the ring finger body and the little finger body are all two-section structures; two adjacent sections are rotatably connected by a rotating shaft; and the lower ends of the thumb body, the index finger body, the middle finger body, the ring finger body and the little finger body are all provided with a base, and each base is rotatably arranged around a corresponding axis on the corresponding connecting seat; in a natural state, each finger body is in a straight state as a whole; A servo is fixedly provided on each of the thumb connecting frame, the index finger connecting frame, the middle finger connecting frame, the ring finger connecting frame and the little finger connecting frame. A second wire drum is fixedly provided on the output rotating shaft of the servo. The second wire drum is connected to the corresponding finger body through a pulling line, and the second wire drum can make the corresponding finger body bend toward the palm by tightening the pulling line.

6. The robot five-finger dexterous hand according to claim 1, characterized in that: The thumb connecting frame includes a thumb swing plate and a thumb connecting mounting seat, and the thumb connecting mounting seat is fixedly arranged on the thumb swing plate; the index finger connecting frame includes an index finger swing plate and an index finger connecting mounting seat, and the index finger connecting mounting seat is fixedly arranged on the index finger swing plate; the middle finger connecting frame includes a middle finger swing plate and a middle finger connecting mounting seat, and the middle finger connecting mounting seat is fixedly arranged on the middle finger swing plate; the ring finger connecting frame includes a ring finger swing plate and a ring finger connecting mounting seat, and the ring finger connecting mounting seat is fixedly arranged on the ring finger swing plate; the little finger connecting frame includes a little finger swing plate and a little finger connecting mounting seat, and the little finger connecting mounting seat is fixedly arranged on the little finger swing plate; the thumb swing plate, the index finger swing plate, the middle finger swing plate, the ring finger swing plate and the little finger swing plate are sequentially penetrated on the optical axis; and the middle finger swing plate is fixedly connected to the base; The connecting seat is provided on the thumb connecting mounting seat, the index finger connecting mounting seat, the middle finger connecting mounting seat, the ring finger connecting mounting seat and the little finger connecting mounting seat; and the index finger connecting mounting seat, the middle finger connecting mounting seat, the ring finger connecting mounting seat and the little finger connecting mounting seat correspond to the finger root positions of the human palm.

7. The robot five-finger dexterous hand according to claim 5, characterized in that: The index finger body comprises a distal knuckle of the index finger, a proximal knuckle of the index finger and the base; A first rotation groove is provided at one end of the proximal knuckle of the index finger, and the distal knuckle of the index finger is rotatably arranged in the first rotation groove via a first rotating shaft; a second rotation groove is provided at the other end of the proximal knuckle of the index finger, and the base is rotatably arranged in the second rotation groove via a second rotating shaft, and the base is rotatably connected to the connecting seat around a rotation axis, the first torsion spring is coaxial with the rotation axis, and one end of the first torsion spring is fixedly connected to the base, and the other end of the first torsion spring is fixedly connected to the connecting seat; the first rotating shaft is parallel to the axis of the second rotating shaft, and the rotation axis is perpendicular to the axis of the second rotating shaft; A first pull rod is arranged in the distal knuckle of the index finger; two parallel and spaced second pull rods are arranged at one end of the proximal knuckle of the index finger close to the first rotating shaft, and two parallel and spaced third pull rods are arranged at one end of the proximal knuckle of the index finger close to the second rotating shaft; a fourth pull rod is arranged on the corresponding connecting seat; the axes of the first pull rod, each of the second pull rods, and each of the third pull rods are parallel to the axis of the first rotating shaft, and in a natural state, the axis of the fourth pull rod can be parallel to the axis of the second rotating shaft; A first tension spring is connected to the first pull rod and the second pull rod, and the first tension spring is located on the side of the first rotating shaft away from the palm; a second tension spring is connected to the third pull rod and the fourth pull rod; the second tension spring is located on the side of the second rotating shaft away from the palm; One end of the pulling wire is fixed on the first pull rod, and the other end passes through the first rotating shaft on the side close to the palm, passes through the gap between the two second pull rods, then passes through the gap between the two third pull rods, and then passes through the second rotating shaft on the side close to the palm and is wound around the corresponding second wire drum of the servo.

8. The robot five-finger dexterous hand according to claim 7, characterized in that: The second wire drum is located on the side of the index finger connecting frame close to the palm, and a wire bracket is fixedly arranged on the side of the index finger connecting frame close to the palm, and the wire bracket has a wire hole. The pulling wire from the second rotating shaft passes through the wire hole and is wound around the second wire drum.

9. The robot five-finger dexterous hand according to claim 1, characterized in that: The wrist assembly comprises a wrist seat and the base, wherein the base is fixedly arranged on the wrist seat; and an avoidance groove is arranged on the wrist seat at a position corresponding to the thumb connecting frame.

10. The robot five-finger dexterous hand according to claim 4, characterized in that: The limiter includes a first limit plate, a second limit plate and a third limit plate; The second limit plate is used to be fixed on a connecting frame, and the first limit plate and the third limit plate are arranged at both ends of the arc path of the connecting frame rotating around the axis of the optical axis. The first limit plate and the third limit plate are both fixedly arranged on another connecting frame.

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