A robotic five-fingered dexterous hand

Abstract

The present invention discloses a robotic five-fingered dexterous hand, which relates to the technical field of robots and includes a wrist assembly, a finger connection assembly, and a finger assembly. The wrist assembly has an optical axis. The finger connection assembly includes a swing driver and a thumb connection bracket, an index finger connection bracket, a middle finger connection bracket, a ring finger connection bracket, and a little finger connection bracket that are sequentially sleeved on the optical axis. The swing driver controls each connection bracket to open or close in a fan shape through a wire rope group. The finger assembly includes a multi-joint thumb body, an index finger body, a middle finger body, a ring finger body, and a little finger body. Each finger body is rotatably arranged on a connection seat at a corresponding position through a first torsion spring. By expanding or closing in a fan shape for each part, it has unique grasping advantages and greater in-hand operation possibilities. Each finger body has self-adaptability and can automatically adjust the finger orientation according to external forces. There are few drivers, and both the palm and the finger body are underactuated, and the control is simple.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a five-finger dexterous hand for robots. Background Art

[0002] As the end tool for a robot to perform operations and execute actions, a dexterous hand is a key component for the robot to interact with the environment, and its performance directly affects the overall working efficiency and applicability of the robot. In order to improve the flexibility and usability of the robot, the design of the dexterous hand has become a research hotspot in robot technology in recent years. Especially with the increasing demand for multi-task processing, how to design a more adaptable and flexible dexterous hand has become an important research direction.

[0003] Currently, traditional robot hands mostly adopt a fixed palm structure and achieve the grasping function of the dexterous hand by placing servo motors or linear drivers, etc. However, the limitation of this type of palm design is that it only serves as a supporting and load-bearing component for the driver, and the palm itself lacks independent functionality, resulting in poor adaptability and versatility of the dexterous hand. Summary of the Invention

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

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

[0006] The present invention provides a robotic five-finger dexterous hand, which includes a wrist assembly, a finger connection assembly, and finger assemblies; a base is fixedly provided at the upper end of the wrist assembly, and a light shaft is fixedly provided on the base; the finger connection assembly includes a swing driver fixedly provided on the base and a thumb connection bracket, an index finger connection bracket, a middle finger connection bracket, a ring finger connection bracket, and a little finger connection bracket that are sequentially sleeved on the light shaft; the middle finger connection bracket is fixed in a relative position with the light shaft, and the remaining connection brackets can all rotate around the axis of the light shaft; an elastic element is provided between every two adjacent connection brackets, and the elastic element is used to make these two connection brackets be in a posture of moving away from each other around the axis of the light shaft; the swing driver is connected to each connection bracket through a wire rope group, and the swing driver can tighten the wire rope group so that other connection brackets except the middle finger connection bracket are in a closed state. In the closed state, the connection brackets can overlap in the axial direction of the light shaft; the finger assemblies include multi-section thumb bodies, index finger bodies, middle finger bodies, ring finger bodies, and little finger bodies; each finger body is respectively arranged on the corresponding connection bracket through a connection seat; and each finger body is rotatably arranged on the corresponding connection seat around the corresponding axis through a first torsion spring. The finger belly side of each finger body can rotate around the corresponding axis by itself to fit on the object to be grasped, and after release, each of the first torsion springs can make itself return to 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 bend to grasp the object to be grasped.

[0007] Preferably, the wire rope group includes a first wire and a second wire; a wire passing hole is provided on each of the thumb connection bracket, the index finger connection bracket, the ring finger connection bracket, and the little finger connection bracket, and two wire passing holes are provided on the middle finger connection bracket; a first wire reel is fixedly provided on the output rotating shaft of the swing driver, and one ends of the first wire and the second wire are wound on the first wire reel in the same winding direction; the other end of the first wire sequentially passes through one of the wire passing holes of the middle finger connection bracket, the wire passing hole of the ring finger connection bracket, and the wire passing hole of the little finger connection bracket and is knotted; the other end of the second wire sequentially passes through the other wire passing hole of the middle finger connection bracket, the wire passing hole of the index finger connection bracket, and the wire passing hole of the thumb connection bracket and is knotted.

[0008] 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 sleeved on the optical axis at this position, one torsion arm of the second torsion spring is fixed on the middle finger connecting frame, and the other torsion arm of the second torsion spring is fixed on the ring finger connecting frame; the second torsion spring located between the ring finger connecting frame and the little finger connecting frame is sleeved on the optical axis at this position, one torsion arm of the second torsion spring is fixed on the ring finger connecting frame, and the other torsion arm of the second torsion spring is fixed on the little finger connecting frame; the second torsion spring located between the middle finger connecting frame and the index finger connecting frame is sleeved on the optical axis at this position, one torsion arm of the second torsion spring is fixed on the middle finger connecting frame, and the other torsion arm of the second torsion spring is fixed on the index finger connecting frame; the second torsion spring located between the index finger connecting frame and the thumb connecting frame is sleeved on the optical axis at this position, one torsion arm of the second torsion spring is fixed on the index finger connecting frame, and the other torsion arm of the second torsion spring is fixed on the thumb connecting frame; in the natural state, each second torsion spring makes the overall 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 in an unfolded state.

[0009] 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 every two adjacent connecting frames; the limiter is used to limit the rotation range of one connecting frame relative to the other connecting frame around the axis of the optical axis between the two adjacent connecting frames.

[0010] 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; adjacent two sections are rotationally 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 all have bases, and each base is rotationally arranged on the corresponding connecting seat around the corresponding axis; in the natural state, each finger body is in a straight state as a whole; a servo motor is fixedly arranged 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 reel is fixedly arranged on the output rotating shaft of the servo motor, the second wire reel is connected with the corresponding finger body through a pulling wire, and the second wire reel can make the corresponding finger body in a state of bending towards the palm by tightening the pulling wire.

[0011] 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, 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 sleeved on the optical axis; and the middle finger swing plate is fixedly connected with the base; the connecting seats are arranged 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.

[0012] Preferably, the index finger body includes the distal phalanx of the index finger, the proximal phalanx of the index finger and the base; one end of the proximal phalanx of the index finger is provided with a first rotating groove, and the distal phalanx of the index finger is rotatably arranged in the first rotating groove through a first rotating shaft; the other end of the proximal phalanx of the index finger is provided with a second rotating groove, and the base is rotatably arranged in the second rotating groove through 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 axes of the first rotating shaft and the second rotating shaft are parallel, and the rotation axis is perpendicular to the axis of the second rotating shaft; a first pull rod is arranged in the distal phalanx of the index finger; two parallel and spaced second pull rods are arranged at one end of the proximal phalanx 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 phalanx of the index finger close to the second rotating shaft; a corresponding fourth pull rod is arranged on the 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 the 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 between 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 between 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 sequentially bypasses from 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 is wound on the second wire reel of the corresponding servo motor.

[0013] Preferably, the second wire reel is located on the side of the index finger connecting frame close to the palm, and a wire guiding bracket is further fixedly arranged on the side of the index finger connecting frame close to the palm. The wire guiding bracket has a wire guiding hole, and the pulling wire from the second rotating shaft passes through the wire guiding hole and is wound on the second wire reel.

[0014] Preferably, the wrist assembly includes a wrist seat and the base, and 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.

[0015] Preferably, the limiter includes a first limiting plate, a second limiting plate and a third limiting plate; the second limiting plate is used for being fixed on a connecting frame, and the first limiting plate and the third limiting plate are arranged at both ends of an arc-shaped path where the connecting frame rotates around the axis of the optical axis, and both the first limiting plate and the third limiting plate are fixedly arranged on another connecting frame.

[0016] The present invention has achieved the following technical effects compared with the prior art:

[0017] The robotic 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 sleeved on a light axis. Each part forming the palm is close to each other around the same axis, and each elastic element is cooperated to restore each part to the unfolded state. Indirectly, a side swing function is provided for the finger assembly during unfolding, and at the same time, the working space of the dexterous hand is increased. The degrees of freedom and flexibility of the roots of the thumb and other fingers are increased, and more complex grasping control can be realized to cope with complex and changeable application scenarios; the swing driver is connected to each connecting frame through a wire rope group, and only one swing driver can drive multiple finger connecting frames, simplifying the structure of the driving system. Since there is only one drive, the palm has an underactuated characteristic; each finger body is rotatably arranged on the connecting seat around the corresponding axis through a first torsion spring, and the finger belly side can rotate around the corresponding axis by itself to fit on the object to be grasped, which enables the finger to automatically adjust the angle and posture according to the surface shape and force condition of the object when grasping the object, so that the adaptability of each finger body is strong, and better fitting and grasping effects can be achieved, improving the success rate and stability of grasping; after releasing the object to be grasped, the first torsion spring can quickly restore the finger to the initial state, preparing for the next grasping action, ensuring the high efficiency and continuity of the finger action, and improving the working efficiency of the robot; the thumb body, the index finger body, the middle finger body, the ring finger body and the little finger body adopt a multi-joint structure, enabling each finger to bend and adjust multiple joints according to the shape of the object to be grasped, better fitting the object surface, increasing the contact area with the object, thereby improving the stability and reliability of grasping, and being able to grasp various objects with irregular shapes. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0019] Figure 1 It is a schematic diagram of the overall structure of the robotic five-finger dexterous hand (a schematic of the right hand structure) provided by the present invention;

[0020] Figure 2 It is a schematic diagram of the structure of the wrist assembly and the finger connecting assembly in the robotic five-finger dexterous hand provided by the present invention;

[0021] Figure 3 It is a schematic diagram of the structure of the base and the finger connecting assembly in the robotic five-finger dexterous hand provided by the present invention;

[0022] Figure 4 Explosion structure diagram of the middle finger connection component of the five-finger dexterous hand of the robot provided by the present invention from the first perspective;

[0023] Figure 5 Explosion structure diagram of the middle finger connection component of the five-finger dexterous hand of the robot provided by the present invention from the second perspective;

[0024] Figure 6 Overall structure schematic diagram of the thumb body of the five-finger dexterous hand of the robot provided by the present invention;

[0025] Figure 7 Internal sectional structure schematic diagram of the thumb body of the five-finger dexterous hand of the robot provided by the present invention;

[0026] Figure 8 Overall structure schematic diagram of the index finger body and related connection components of the five-finger dexterous hand of the robot provided by the present invention;

[0027] Figure 9 Internal sectional structure schematic diagram of the index finger body of the five-finger dexterous hand of the robot provided by the present invention;

[0028] Figure 10 Connection structure schematic diagram of the connection seat and the base of the five-finger dexterous hand of the robot provided by the present invention.

[0029] In the figure:

[0030] 10 - Wrist component; 11 - Base; 12 - Optical axis; 13 - Wrist seat;

[0031] 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 driver; 261 - First pulling wire; 262 - Second pulling wire; 27 - Connection seat; 28 - Wire support;

[0032] 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 wire;

[0033] 40 - Limiter; 41 - First limit plate; 42 - Second limit plate; 43 - Third limit plate. Detailed implementation manners

[0034] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0035] The object of the present invention is to provide a robotic five-fingered dexterous hand to solve the problems existing in the prior art and improve flexibility and enhance the application ability of the robot in diverse tasks.

[0036] To make the above objects, features, and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0037] Embodiment 1

[0038] This embodiment provides a robotic five-fingered dexterous hand, as Figures 1 to 10As shown, it includes a wrist assembly 10, a finger connection assembly, and finger assemblies; a base 11 is fixedly arranged at the upper end of the wrist assembly 10, and a light axis 12 is fixedly arranged on the base 11; the finger connection assembly includes a swing driver 26 and a thumb connection bracket 20, an index finger connection bracket 21, a middle finger connection bracket 22, a ring finger connection bracket 23, and a little finger connection bracket 24 that are sequentially sleeved on the light axis 12; the lower end of the middle finger connection bracket 22 is fixedly connected to the base 11, and the thumb connection bracket 20, the index finger connection bracket 21, the ring finger connection bracket 23, and the little finger connection bracket 24 can all rotate around the axis of the light axis 12; an elastic element is arranged between each adjacent two of the sequentially arranged thumb connection bracket 20, index finger connection bracket 21, middle finger connection bracket 22, ring finger connection bracket 23, and little finger connection bracket 24, and the elastic element is used to make the two connection brackets (i.e., adjacent two, such as the thumb connection bracket 20 and the index finger connection bracket 21, the index finger connection bracket 21 and the middle finger connection bracket 22, etc., and the same applies to the corresponding positions later, without further explanation) connected to the elastic element be in a posture of moving away from each other around the axis of the light axis 12; the swing driver 26 is fixedly arranged on the base 11, a wire rope group is wound around the output end of the swing driver 26, corresponding wire-passing holes are arranged on the thumb connection bracket 20, index finger connection bracket 21, middle finger connection bracket 22, ring finger connection bracket 23, and little finger connection bracket 24, the wire rope group is passed through each wire-passing hole, and when the output end of the swing driver 26 rotates and tightens the wire rope group, the thumb connection bracket 20, index finger connection bracket 21, ring finger connection bracket 23, and little finger connection bracket 24 can all rotate around the axis of the light axis 12 to a position close to the middle finger connection bracket 22 (i.e., in a closed state, at this time, each connection bracket can overlap in the axial direction of the light axis 12, that is, in the projection in the axial direction of the light axis 12, the thumb connection bracket 20, index finger connection bracket 21, middle finger connection bracket 22, ring finger connection bracket 23, and little finger connection bracket 24 have an overlapping area, so that the respective finger bodies are close to each other in a fan shape); the finger assemblies include a multi-joint thumb body 30, index finger body 31, middle finger body 32, ring finger body 33, and little finger body 34; the thumb body 30, index finger body 31, middle finger body 32, ring finger body 33, and little finger body 34 are respectively arranged on the thumb connection bracket 20, index finger connection bracket 21, middle finger connection bracket 22, ring finger connection bracket 23, and little finger connection bracket 24 through a connection seat 27; and the thumb body 30, index finger body 31, middle finger body 32, ring finger body 33, and little finger body 34 are all rotatably arranged on the corresponding connection seat 27 around the corresponding axis through a first torsion spring 35, and one side of each finger belly (i.e., the finger belly side of the thumb body 30, index finger body 31, middle finger body 32, ring finger body 33, and little finger body 34) can rotate around the corresponding axis by itself to fit on the object to be grasped, and after release, each first torsion spring 35 can make itself return to the initial state around the corresponding axis; the thumb body 30, index finger body 31, middle finger body 32, ring finger body 33, and little finger body 34 can all bend to grasp the object to be grasped.

[0039] By arranging the thumb connecting bracket 20, index finger connecting bracket 21, middle finger connecting bracket 22, ring finger connecting bracket 23 and little finger connecting bracket 24 sleeved on the optical axis 12, each part of the palm is formed to be close to each other around the same axis, and with the cooperation of each elastic element, each part is restored to the unfolded state. Indirectly, a side swing function is provided for the finger assembly during unfolding, while increasing the working space of the dexterous hand, increasing the degrees of freedom and flexibility of the roots of the thumb and other fingers, enabling more complex grasping control, and coping with complex and variable application scenarios; the swing driver 26 is connected to each connecting bracket through a wire rope group, and only one swing driver 26 can drive multiple finger connecting brackets, simplifying the structure of the drive system. Due to only one drive, the palm has an underactuated characteristic; each finger body is rotatably arranged on the connecting seat 27 around the corresponding axis through a first torsion spring 35, and the finger belly side can rotate around the corresponding axis by itself to fit on the object to be grasped, which enables the finger to automatically adjust the angle and posture according to the surface shape and force condition of the object when grasping the object, making the adaptive ability of each finger body strong, enabling better fitting and grasping effects, and improving the success rate and stability of grasping; after releasing the object to be grasped, the first torsion spring 35 can quickly restore the finger to the initial state, preparing for the next grasping action, ensuring the high efficiency and continuity of the finger movement, and improving the working 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-joint structure, enabling each finger to bend and adjust multiple joints according to the shape of the object to be grasped, better fitting the object surface, increasing the contact area with the object, thereby improving the stability and reliability of grasping, and being able to grasp various objects with irregular shapes.

[0040] Among them, the related settings of the wrist assembly 10 are described as follows:

[0041] In an alternative embodiment of the present embodiment, preferably, as Figure 1 and Figure 2 shown, the wrist assembly 10 includes a wrist seat 13 and a base 11, and the base 11 is fixedly arranged on the wrist seat 13; and an avoidance groove is arranged at the position of the wrist seat 13 corresponding to the thumb connecting bracket 20.

[0042] Specifically, the base 11 is fixed to the wrist seat 13 by bolts.

[0043] Among them, the related settings of the finger connection assembly are described as follows:

[0044] 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 pairwise by elastic elements (i.e., the second torsion spring 25). Each part forms a fan-shaped palm through the optical axis 12, and both ends of the optical axis 12 are fixed by the optical axis 12 seats.

[0045] In an alternative embodiment of the present embodiment, preferably, as Figures 1 to 5 shown, the elastic element is the second torsion spring 25 (only the second torsion spring 25 is shown between the middle finger connecting frame 22 and the ring finger connecting frame 23 in the figure, and the setting methods in other positions are the same, so no more details will be described). The second torsion spring 25 located between the middle finger connecting frame 22 and the ring finger connecting frame 23 is sleeved on the optical axis 12 at this position (i.e., the corresponding position, that is, the optical axis 12 located between the middle finger connecting frame 22 and the ring finger connecting frame 23; the relevant positions in the text will be explained in the same way for this position, so no more details will be described). 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 sleeved on the optical axis 12 at this position. 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 on 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 sleeved on the optical axis 12 at this position. 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 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 sleeved on the optical axis 12 at this position. One end torsion arm of the second torsion spring 25 is fixed on the index finger connecting frame 21, and the other end torsion arm of the second torsion spring 25 is fixed on the thumb connecting frame 20. In the natural state, each second torsion spring 25 makes the overall of 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 in an unfolded state.

[0046] In an alternative embodiment of the present embodiment, preferably, as Figures 2 to 5 shown, among 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 adjacent two connecting frames. The limiter 40 is used to limit the rotation range of one connecting frame relative to another connecting frame around the axis of the optical axis 12.

[0047] In an alternative embodiment of the present embodiment, preferably, as Figures 3 to 5As shown, the stopper 40 includes a first limiting plate 41, a second limiting plate 42 and a third limiting plate 43; the second limiting plate 42 is used to be fixed on a connecting frame, and the first limiting plate 41 and the third limiting plate 43 are arranged at both ends of an arc-shaped path where the connecting frame rotates around the axis of the optical axis 12 (that is, the first limiting plate 41 and the second limiting plate 42 are respectively used to limit the two limit positions on both sides of the second limiting plate 42 rotating around the axis of the optical axis 12), and both the first limiting plate 41 and the third limiting plate 43 are fixedly arranged on another connecting frame (here, the two connecting frames refer to any two adjacent connecting frames, such as the middle finger connecting frame 22 and the ring finger connecting frame 23, etc. The same meaning applies to other relevant positions in the text and will not be elaborated further).

[0048] In an alternative embodiment of the present embodiment, preferably, as Figures 2 to 5 shown, the wire rope group includes a first wire 261 and a second wire 262; a threading hole is provided on each of 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 reel is fixedly arranged on the output rotating shaft of the swing driver 26 (a kind of servo motor), and one end of each of the first wire 261 and the second wire 262 is wound around the first wire reel in the same winding direction; the other end of the first wire 261 sequentially passes through a threading hole of the middle finger connecting frame 22, the threading hole of the ring finger connecting frame 23 and the threading hole of the little finger connecting frame 24 and is knotted; the other end of the second wire 262 sequentially passes through the other 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 and is knotted (driving the swing driver 26 can change the wire length, thereby contracting the fan-shaped palm. When the first wire 261 and the second 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 return to their original state, thereby expanding the fan-shaped palm).

[0049] In an alternative embodiment of the present embodiment, preferably, as Figures 1 to 7As shown in the figure, the thumb connecting bracket 20 includes a thumb swing plate and a thumb connecting and mounting seat (the thumb swing plate and the thumb connecting and mounting seat are integrally formed. The following index finger connecting bracket 21, middle finger connecting bracket 22, ring finger connecting bracket 23 and little finger connecting bracket 24 are all integrally formed. The connecting and mounting seats corresponding to the index finger connecting bracket 21, middle finger connecting bracket 22, ring finger connecting bracket 23 and little finger connecting bracket 24 are arranged in sequence), and the thumb connecting and mounting seat is fixedly arranged on the thumb swing plate; the index finger connecting bracket 21 includes an index finger swing plate and an index finger connecting and mounting seat, and the index finger connecting and mounting seat is fixedly arranged on the index finger swing plate; the middle finger connecting bracket 22 includes a middle finger swing plate and a middle finger connecting and mounting seat, and the middle finger connecting and mounting seat is fixedly arranged on the middle finger swing plate; the ring finger connecting bracket 23 includes a ring finger swing plate and a ring finger connecting and mounting seat, and the ring finger connecting and mounting seat is fixedly arranged on the ring finger swing plate; the little finger connecting bracket 24 includes a little finger swing plate and a little finger connecting and mounting seat, and the little finger connecting and mounting seat is fixedly arranged on the little finger swing plate; the thumb swing plate, index finger swing plate, middle finger swing plate, ring finger swing plate and little finger swing plate are sequentially sleeved on the optical axis 12; and the middle finger swing plate is fixedly connected to the base 11; connecting seats 27 are arranged on the thumb connecting and mounting seat, index finger connecting and mounting seat, middle finger connecting and mounting seat, ring finger connecting and mounting seat and little finger connecting and mounting seat; and the index finger connecting and mounting seat, middle finger connecting and mounting seat, ring finger connecting and mounting seat and little finger connecting and mounting seat correspond to the finger root positions of the human palm.

[0050] Among them, the relevant settings of the finger assembly are described as follows:

[0051] In an alternative embodiment of the present embodiment, preferably, as Figure 1 , Figures 6 to 9 shown, the thumb body 30 has a three-section structure; the index finger body 31, middle finger body 32, ring finger body 33 and little finger body 34 all have a two-section structure; adjacent two sections are rotationally connected by a rotating shaft; and the lower ends of the thumb body 30, index finger body 31, middle finger body 32, ring finger body 33 and little finger body 34 all have a base 36, and each base 36 is rotatably arranged on the corresponding connecting seat 27 around the corresponding axis; in the natural state, the whole of each finger body is in a straight state; a servo motor is fixedly arranged on each of the thumb connecting bracket 20, index finger connecting bracket 21, middle finger connecting bracket 22, ring finger connecting bracket 23 and little finger connecting bracket 24, a second wire reel is fixedly arranged on the output rotating shaft of the servo motor, the second wire reel is connected to the corresponding finger body through a pulling wire 37, and the second wire reel can make the corresponding finger body bend towards the palm by tightening the pulling wire 37.

[0052] Specifically, the thumb body 30 has a three - joint structure, that is, one more joint than the index finger body 31, and the principle of controlling bending and restoration is the same; while the principle of controlling bending and restoration of the index finger body 31, middle finger body 32, ring finger body 33 and little finger body 34 is the same, and the lengths of the distal phalanges of their respective bodies are inconsistent. The finger roots of the thumb body 30 and the corresponding positions of the finger roots of the other four bodies are all adaptable.

[0053] In an alternative embodiment of the present embodiment, preferably, as Figures 8 to 10 shown, the index finger body 31 includes an index finger distal phalanx, an index finger proximal phalanx and a base 36; one end of the index finger proximal phalanx is provided with a first rotation groove, and the index finger distal phalanx is rotatably arranged in the first rotation groove through a first rotating shaft 312; the other end of the index finger proximal phalanx is provided with a second rotation groove, 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 servo, a placing groove is provided on the connecting seat 27, and a first torsion spring 35 is placed in the placing groove; a receiving groove is provided at the position corresponding to the placing groove on the base 36, and through holes for inserting and fixing the ends of the first torsion spring 35 are provided on both the connecting seat 27 and the base 36), the first torsion spring 35 is coaxial with the rotation axis, 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 axes of the first rotating shaft 312 and the second rotating shaft 315 are parallel, and the rotation axis is perpendicular to the axis of the second rotating shaft 315; a first pull rod 311 is arranged in the index finger distal phalanx; two parallel and spaced second pull rods 313 are arranged at one end of the index finger proximal phalanx close to the first rotating shaft 312, and two parallel and spaced third pull rods 314 are arranged at one end of the index finger proximal phalanx close to 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 all parallel to the axis of the first rotating shaft 312, and in the 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 between the first pull rod 311 and one second pull rod 313, and the first tension spring 317 is located on the side of the first rotating shaft 312 away from the palm; a second tension spring 318 is connected between one third pull rod 314 and the 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 wire 37 is fixed on the first pull rod 311, and the other end sequentially bypasses from the side of the first rotating shaft 312 close to the palm, passes through the gap between the two second pull rods 313, then passes through the gap between the two third pull rods 314, and then passes around the side of the second rotating shaft 315 close to the palm and is wound on the second wire reel of the corresponding servo.

[0054] In an alternative embodiment of the present embodiment, preferably, as Figure 1 and Figure 2As shown in the figure, the second wire reel is located on the side of the index finger connecting bracket 21 closer to the palm, and a wire support 28 is fixedly arranged on the side of the index finger connecting bracket 21 closer to the palm. The wire support 28 has a wire hole, and the pulling wire 37 from the second rotating shaft 315 passes through the wire hole and is wound around the second wire reel.

[0055] Among them, the descriptions of other related settings are as follows:

[0056] Specifically, all are driven by pulling wires, with low cost. The fingers and the palm are all under-driven, making the control simple, avoiding the problems of complicated structure and excessive weight commonly found in traditional designs, maintaining the simplicity and comfort of the overall design, and improving the comfort and operation efficiency during use by reducing the space occupied by the driver; a relative rotation is formed between the connecting seat 27 and the base 36 through the first torsion spring 35, enabling each finger to have self - adaptability and being able to automatically adjust the finger orientation according to external forces, improving the grasping ability and working space.

[0057] Specifically, this embodiment provides a schematic illustration taking the right hand as an example, and the structure of the left hand is symmetrically arranged with that of the right hand.

[0058] In the present invention, specific examples are used to elaborate on the principle and implementation manner of the present invention. The descriptions of the above embodiments are only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, there will be changes in the specific implementation manner and application scope according to the idea of the present invention. In summary, the content of this specification should not be construed as a limitation to 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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