Twenty-two-degree-of-freedom dexterous hand

Abstract

The invention relates to the technical field of industrial robots, in particular to a twenty-two-degree-of-freedom dexterous hand which comprises a palm structure, and the two ends of the palm structure are movably connected with a wrist structure and five finger structures correspondingly; a driving structure is mounted in the wrist structure, the driving structure comprises finger driving mechanisms and a palm driving mechanism which are mounted on the wrist structure, and the five finger driving mechanisms penetrate through the palm structure to be connected with the five finger structures one by one and are used for driving the five finger structures to bend and swing; the palm driving mechanism is connected with the palm structure and used for driving the palm structure to bend and swing. According to the dexterous hand, the five fingers, the palm structure and the wrist structure have bending and swinging capacities respectively, the degree of freedom is high, and the dexterous performance of the dexterous hand is greatly improved; the mode of combining the chain, the sleeve and the tendon rope is adopted, remote more accurate control over the tendon rope is achieved, and the repeated positioning accuracy of the dexterous hand is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and more particularly to a twenty-two-degree-of-freedom dexterous hand. Background Art

[0002] Dexterous hands are the core components of humanoid robots. The degree of freedom of a dexterous hand is a key indicator of its flexibility, and it is developing towards higher degrees of freedom. The higher the degree of freedom of a dexterous hand, the more drive devices it requires, which makes it impossible to reduce the size of the dexterous hand. In the existing technology, many dexterous hands place the drive unit inside the palm. While limiting the improvement of flexibility, it also leads to an increase in the mass and inertia of the dexterous hand, making it more difficult to control the arm. In addition, the mainstream transmission method of existing high-degree-of-freedom dexterous hands is tendon rope. However, when using a dexterous hand with a tendon rope transmission method, the rope winding position is very prone to wear, which affects the life of the tendon rope and causes a high frequency of inspection and maintenance of the dexterous hand. Summary of the Invention

[0003] The Summary of the Invention introduces a series of simplified concepts that will be further described in the Detailed Description of the Invention. The Summary of the Invention is not intended to limit the key features and essential features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0004] In order to at least partially solve the above problems, the present invention provides a twenty-two-degree-of-freedom dexterous hand, including: a palm structure, wherein the two ends of the palm structure are movably connected to the wrist structure and the five finger structures respectively; a driving structure is installed in the wrist structure, and the driving structure includes: a finger driving mechanism and a palm driving mechanism installed on the wrist structure, and the five finger driving mechanisms pass through the palm structure and are connected to the five finger structures one by one to drive the five finger structures to bend and swing; the palm driving mechanism is connected to the palm structure to drive the palm structure to bend and swing.

[0005] Optionally, the finger drive mechanism includes: two drive motors installed in the wrist structure, and sprockets are installed on the output shafts of the two drive motors; the two sprockets are connected to two chains, and the two chains can be reeled or unreeled; the two chains are connected to one end of two tendon ropes passing through the palm structure, and the other end of the two tendon ropes is connected to a finger structure.

[0006] Optionally, sleeves for the tendon cord to pass through are installed in the palm structure and / or the wrist structure.

[0007] Optionally, a cable holder is installed in the palm structure, and a plurality of sleeves located in the palm structure are passed through and fixed in a plurality of penetration holes of the cable holder.

[0008] Optionally, the chain and the tendon rope are connected via a joint, or the two can be directly connected.

[0009] Optionally, a finger structure is a thumb assembly, which includes: a thumb metacarpophalangeal joint, a thumb proximal joint and a thumb distal joint connected in sequence through a coupling joint. The thumb metacarpophalangeal joint is coupled to the palm structure through a coupling joint. A reset torsion spring 1 is provided between adjacent knuckles and between the thumb metacarpophalangeal joint and the palm structure, which is sleeved on the coupling joint 1, so that the adjacent knuckles and between the thumb metacarpophalangeal joint and the palm structure can be reset after relative bending.

[0010] Optionally, the finger drive mechanism connected to the thumb assembly includes: a first reduction motor and a second reduction motor installed on the wrist structure; the first sprocket of the output shaft of the first reduction motor is connected to one end of the first chain, and the other end of the first chain is connected to one end of the first tendon rope, and the first tendon rope is wound around the pulleys at multiple coupling joints on one side of the thumb assembly, with the number of windings being not less than one circle, and the other end of the first tendon rope is fixed to the distal phalanx of the thumb; the second sprocket of the output shaft of the second reduction motor is connected to one end of the second chain, and the other end of the second chain is connected to one end of the second tendon rope, and the second tendon rope is wound around the pulley at the coupling joint between the metacarpophalangeal joint of the thumb and the palm structure, and the other end of the second tendon rope is fixed to the reset pulley, which is rotated to the palm structure through the wheel axle, and the two ends of the reset torsion spring mounted on the reset pulley respectively contact the palm structure and the metacarpophalangeal joint of the thumb.

[0011] Optionally, the other four finger structures are: index finger assembly, middle finger assembly, ring finger assembly and little finger assembly, and the index finger assembly, middle finger assembly, ring finger assembly and little finger assembly have the same structure, and all include: four proximal phalanges, four middle phalanges and four distal phalanges connected in sequence through coupling joint two, the four proximal phalanges are coupled to the palm structure through the coupling joint, and a reset torsion spring three is provided between the four proximal phalanges and the palm structure, which is sleeved on the coupling joint, so that the four proximal phalanges and the palm structure can be reset after relative bending.

[0012] Optionally, the finger drive mechanism connected to the other four finger structures includes: a third reduction motor and a fourth reduction motor installed on the wrist structure; the sprockets at the output ends of the third reduction motor and the fourth reduction motor are respectively connected to a third chain, and the two third chains are respectively connected to the third tendon rope and the fourth tendon rope; the third tendon rope and the fourth tendon rope are relatively fixed on both sides of the proximal knuckles of the four fingers; two adjacent coupling joints are coupled and connected by a fifth tendon rope arranged in an 8-shaped structure.

[0013] Optionally, the wrist structure includes: a rotating ring, one side of the rotating ring is rotatably connected to the palm structure, and the other side of the rotating ring is rotationally connected to the arm; two servos are installed on the arm, and the eccentric points of the rotating disks at the output ends of the two servos are rotatably connected to adjustment rods, and the other ends of the two adjustment rods are connected to the palm structure through ball joints.

[0014] Optionally, bearings are provided at the connection ends of the rotating ring, the palm structure and the arm. The rotating ring is a quadrilateral, and the two opposite sides of the rotating ring are connected to the palm and the back of the hand respectively, and the two opposite sides of the rotating ring are connected to the arm, both of which are rotating pairs and use bearings.

[0015] Optionally, the adjustment rod includes a screw rotatably connected to the eccentric portion of the rotating disk and an internally threaded tube connected to the palm structure via a ball joint. The screw is threadedly connected to the internally threaded tube, and a spring is provided between the screw and the internally threaded tube. The length of the screw inserted into the internally threaded tube can be adjusted to ensure that the dexterous hand is initially aligned. The overall length of the screw and the internally threaded tube can be manually adjusted, making operation very convenient.

[0016] Optionally, the output shaft of the drive motor is directly fixed to the sprocket. The sprocket is not fully toothed. One of the teeth in the sprocket is changed into a hole, which is connected to the outer link of the chain through a pin. A fixing method other than that on the sprocket can also be used. You can choose according to actual conditions.

[0017] Optionally, the chain is a miniature roller chain with a smaller size, and the pitch is preferably 1.905 mm, which can be adaptively adjusted according to the arm space.

[0018] Optionally, the tendon rope is made of ultra-high molecular weight polyethylene fiber, steel wire or other materials.

[0019] Optionally, the palm structure, wrist structure and five finger structures are preferably made of ultra-high molecular materials, which are convenient for molding and processing and can also effectively reduce the weight of the dexterous hand.

[0020] Optionally, coupling joints are provided at two adjacent phalanges in the index finger assembly, middle finger assembly, ring finger assembly, little finger assembly and thumb assembly. In actual production, the coupling joints can also be removed, and a combination of tendons and chains can be connected to each phalange respectively, so as to produce a dexterous hand with a higher degree of freedom.

[0021] Optionally, the palm structure includes: a palm and a back of the hand, the palm and the back of the hand are fixedly connected by positioning steps and screws; the thumb assembly is rotatably connected to the palm; the index finger assembly, middle finger assembly, ring finger assembly and little finger assembly are rotatably connected to the palm and the back of the hand, and the four-finger connecting seats of the above four fingers have upper and lower shafts that are connected to the holes in the palm and the back of the hand to achieve rotational motion.

[0022] Compared with the prior art, the present invention has at least the following beneficial effects:

[0023] A twenty-two-degree-of-freedom dexterous hand of the present invention includes movement adjustment with 12 active degrees of freedom and 10 passive degrees of freedom. The thumb component has bending and lateral swing degrees of freedom, the index finger component, the middle finger component, the ring finger component and the little finger component have bending and swing degrees of freedom respectively, and there are rotational degrees of freedom in two directions between the palm structure and the wrist structure, thereby achieving twenty-two degrees of freedom adjustment, and the finger drive mechanism and the palm drive mechanism are arranged in the arm, which has high flexibility; micro roller chain transmission technology is adopted to connect it with the tendon rope, and a sleeve for the tendon rope to pass through is installed in the palm structure and / or the wrist structure, which can reduce the wear of the tendon rope, fix the movement trajectory, and enhance the driving accuracy.

[0024] The advantages of the present invention are:

[0025] 1. In the present invention, the five fingers, palm structure and wrist structure have the ability to bend and swing respectively, with a high degree of freedom, greatly increasing the dexterity of the dexterous hand;

[0026] 2. The present invention uses a combination of chains, sleeves, and tendons to achieve more precise control of the tendons over long distances, improving the repeatability of the dexterous hand. To address the problem of tendons easily wearing out at the winding point in traditional tendon solutions, chains and sprockets are used instead, significantly extending the life of the transmission structure.

[0027] 3. In this invention, all the drive motors are installed in the arm, which greatly reduces the mass of the dexterous hand itself, reduces the operating inertia, avoids interference between tendons and chains, and allows more design space in the palm structure to facilitate the placement of torque, tactile, position and other sensors;

[0028] 4. In the present invention, the cable holder and the sleeve are used to guide and limit the movement trajectory of the tendon rope, effectively determining the movement trajectory of the tendon rope, thereby increasing the precision of the dexterous hand and reducing tendon rope wear;

[0029] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0031] Figure 1 An overall schematic diagram of the dexterous hand provided by an embodiment of the present invention;

[0032] Figure 2 A schematic diagram of the tendon rope orientation in the dexterous hand provided by an embodiment of the present invention;

[0033] Figure 3 A schematic diagram of a wrist assembly provided by an embodiment of the present invention from a first perspective;

[0034] Figure 4 A schematic diagram of a wrist assembly from a second perspective according to an embodiment of the present invention;

[0035] Figure 5 A partial schematic diagram of a driving structure provided by an embodiment of the present invention;

[0036] Figure 6 A schematic diagram of a finger drive mechanism from a first perspective according to an embodiment of the present invention;

[0037] Figure 7 A second perspective schematic diagram of the finger drive mechanism provided by an embodiment of the present invention;

[0038] Figure 8 A schematic diagram of a sprocket provided in an embodiment of the present invention;

[0039] Figure 9 A schematic structural diagram of a cable holder provided in an embodiment of the present invention;

[0040] Figure 10 A schematic diagram of the bending drive principle of the thumb assembly provided in an embodiment of the present invention;

[0041] Figure 11 A schematic diagram of the side-swing driving principle of the thumb assembly provided in an embodiment of the present invention;

[0042] Figure 12 A schematic diagram of the bending drive principle of the index finger assembly, middle finger assembly, ring finger assembly and little finger assembly provided in an embodiment of the present invention;

[0043] Figure 13 A schematic diagram of the side-sway driving principle of the index finger assembly, middle finger assembly, ring finger assembly and little finger assembly provided in an embodiment of the present invention;

[0044] Figure 14 A schematic diagram of a chain tensioning structure provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0045] In order to help those skilled in the art better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making any creative efforts shall fall within the scope of protection of this application.

[0046] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments so that those skilled in the art can implement the invention with reference to the description.

[0047] It should be understood that terms such as “having”, “including” and “comprising” used herein do not preclude the existence or addition of one or more other elements or combinations thereof.

[0048] The following is combined with Figure 1-14 The present invention is described in further detail.

[0049] Example 1:

[0050] like Figures 1-13 As shown, a 22-degree-of-freedom dexterous hand comprises a palm structure, the ends of which are movably connected to a wrist structure 8 and five finger structures, respectively. A drive structure 9 is installed within the wrist structure. The drive structure 9 comprises a finger drive mechanism 20 and a palm drive mechanism, both mounted on the wrist structure 8. The five finger drive mechanisms 20 pass through the palm structure and are connected to the five finger structures one by one, driving the five finger structures to bend and swing. The palm drive mechanism is connected to the palm structure to drive the palm structure to bend and swing. The finger drive mechanism 20 comprises two drive motors 21 mounted within the wrist structure 8, with sprockets 22 mounted on the output shafts of both drive motors 21. The two sprockets 22 are connected to two chains 23, capable of retracting or unretracting the chains 23. The two chains 23 are connected to one end of two tendon ropes 12 that pass through the palm structure, and the other ends of the two tendon ropes 12 are connected to a finger structure. A sleeve 11 is installed within the palm structure and / or wrist structure 8, through which the tendon ropes 12 pass. A cable holder 10 is installed in the palm structure, and a plurality of sleeves 11 located in the palm structure are passed through and fixed in a plurality of insertion holes of the cable holder 10. The chain 23 and the tendon 12 are connected by a joint 24.

[0051] The working principle and technical effects of the above scheme are as follows:

[0052] In a twenty-two-degree-of-freedom dexterous hand of the present invention, five finger drive mechanisms 20 pass through the palm structure and are connected one by one with the five finger structures to drive the five finger structures to bend and swing. When in use, each finger drive mechanism 20 can control the two sprockets 22 to rotate through two drive motors 21. When the two sprockets 22 rotate, the two chains 23 are wound or unwound, thereby controlling the movement of the two tendons 12 passing through the palm structure through the two chains 23, and then driving a finger structure connected to it to bend and swing through the other ends of the two tendons 12; the palm drive mechanism is connected to the palm structure to drive the palm structure to bend and swing, realizing the multi-degree-of-freedom control and adjustment of the present invention, and having high flexibility. The palm structure and / or wrist structure 8 are both equipped with sleeves 11 for the tendon 12 to pass through. Multiple sleeves 11 located in the palm structure are inserted and fixed in multiple insertion holes of the cable holder 10. The cable holder 10 and sleeves 11 cooperate to guide and limit the movement trajectory of the tendon 12, effectively determining the movement trajectory of the tendon 12, thereby increasing the precision of the dexterous hand and reducing tendon wear. In the present invention, the output shaft of the drive motor 21 is directly fixed to the sprocket 22. The sprocket 22 is not fully toothed. One of the teeth in the sprocket 22 is replaced with a hole, and is connected to the outer link of the chain 23 via a pin. Alternatively, a non-sprocket fixing method can be used, depending on the actual situation. The chain 23 is a miniature roller chain with a relatively small size. The pitch is preferably 1.905 mm, which can be adaptively adjusted according to the space of the arm 14. The material of the tendon 12 is ultra-high molecular weight polyethylene fiber, steel wire, etc. The palm structure, wrist structure 8 and five finger structures are preferably made of ultra-high polymer materials, which are convenient for molding and processing and can also effectively reduce the weight of the dexterous hand.

[0053] Example 2:

[0054] like Figures 1-13As shown, in a 22-DOF dexterous hand of the present invention, one finger structure is a thumb assembly 1, and the thumb assembly 1 includes: a thumb metacarpophalangeal joint C01, a thumb proximal joint C02, and a thumb distal joint C03 connected in sequence through a coupling joint 26; the thumb metacarpophalangeal joint C01 is coupled to the palm structure through a coupling joint, and the coupling joint is fixed to the thumb metacarpophalangeal joint C01 and is rotationally connected to the palm structure; the coupling joint 26 between the thumb metacarpophalangeal joint C01 and the thumb proximal joint C02 is fixed to the thumb The proximal phalanx C02 is rotatably connected to the thumb metacarpophalangeal joint C01; a coupling joint 26 between the proximal phalanx C02 and the distal phalanx C03 of the thumb is fixed to the distal phalanx C03 of the thumb and is rotatably connected to the proximal phalanx C02 of the thumb; the coupling joint 26 can be a hinge axis; a reset torsion spring 25 is provided between adjacent phalanxes and between the metacarpophalangeal joint C01 of the thumb and the palm structure, so that the adjacent phalanxes and the metacarpophalangeal joint C01 of the thumb and the palm structure can be bent relative to each other and then reset. The finger drive mechanism 20 connected to the thumb assembly 1 includes: a first reduction motor 201 and a second reduction motor 202 installed on the wrist structure 8; a first sprocket 203 of the output shaft of the first reduction motor 201 is connected to one end of a first chain 204, and the other end of the first chain 204 is connected to one end of a first tendon 205. The first tendon 205 is wound around the pulleys at multiple coupling joints 26 on one side of the thumb assembly 1, and the number of windings is not less than one circle. The other end of the first tendon 205 is fixed to the distal phalanx C03 of the thumb. The second sprocket 206 of the output shaft of the second reduction motor 202 is connected to one end of the second chain 207, and the other end of the second chain 207 is connected to one end of the second tendon 208. The second tendon 208 is wrapped around the pulley at the coupling joint 26 between the thumb metacarpophalangeal joint C01 and the palm structure. The other end of the second tendon 208 is fixed to the reset pulley 30. The reset pulley 30 is rotated on the palm structure through the wheel axle, and the two ends of the reset torsion spring 28 mounted on the reset pulley 30 respectively contact the palm structure and the thumb metacarpophalangeal joint C01.

[0055] The working principle and technical effects of the above scheme are as follows:

[0056] In a twenty-two-degree-of-freedom dexterous hand of the present invention, the thumb assembly 1 has bending and sideways degrees of freedom. The thumb assembly 1 includes a thumb metacarpophalangeal joint C01, a thumb proximal joint C02, and a thumb distal joint C03, which are sequentially connected through a coupling joint 26. The thumb metacarpophalangeal joint C01 is coupled to the palm structure through the coupling joint. The first tendon 205 is wound around the pulleys at multiple coupling joints 26 on one side of the thumb assembly 1, with the number of windings being no less than one. The other end of the first tendon 205 is fixedly connected to the thumb distal joint C03, so that the rotation directions at the multiple coupling joints are the same. When in use, the driving principle for controlling the bending of the thumb assembly 1 is as follows: Figure 10As shown, when the first reduction motor 201 controls the first sprocket 203 to rotate clockwise, the first sprocket 203 reels the first chain 204 when rotating clockwise, thereby pulling the first tendon 205 through the first chain 204. At this time, the first tendon 205 can drive the pulleys at multiple coupling joints 26 to rotate clockwise, and twist and compress the reset torsion spring 25 between adjacent knuckles and between the thumb metacarpophalangeal joint C01 and the palm structure, so as to realize the bending movement of the thumb assembly 1. When the first reduction motor 201 controls the first sprocket 203 to rotate counterclockwise, the first chain 204 is expanded. At this time, the first tendon 205, the thumb metacarpophalangeal joint C01, the thumb proximal knuckle C02 and the thumb distal knuckle C03 are all reset under the elastic force of multiple reset torsion springs 25, so that the thumb assembly 1 is straightened again under the elastic force of the reset torsion spring 25, so as to facilitate the bending movement again. The driving principle of controlling the side swing of the thumb assembly 1 is as follows. Figure 11 As shown, the second tendon 208 is wrapped around the pulley at the coupling joint between the thumb metacarpophalangeal joint C01 and the palm structure, and the other end of the second tendon 208 is fixed to the reset pulley 30. When the second reduction motor 202 starts to control the second sprocket 206 to rotate counterclockwise, the second chain 207 can be reeled in. At this time, the second chain 207 pulls the second tendon 208. When the second tendon 208 drives the pulley at the coupling joint 26 between the thumb metacarpophalangeal joint C01 and the palm structure to rotate, the other end of the second tendon 208 drives the reset pulley 30 to rotate a certain angle, and twists and compresses the reset torsion spring 28 on the reset pulley 30. At this time, the thumb assembly 1 is controlled to swing to one side. When the second reduction motor 202 controls the second sprocket 206 to rotate clockwise to relax and unfold the second chain 207, the thumb assembly 1 returns to its original position under the elastic force of the reset torsion spring 28.

[0057] Example 3:

[0058] like Figures 1-13As shown, in a twenty-two-degree-of-freedom dexterous hand of the present invention, the other four finger structures are: index finger assembly 2, middle finger assembly 3, ring finger assembly 4 and little finger assembly 5. The index finger assembly 2, middle finger assembly 3, ring finger assembly 4 and little finger assembly 5 have the same structure, and all include: four proximal phalanges B01, four middle phalanges B02 and four distal phalanges B03 connected in sequence through coupling joint 27. The proximal phalanges B01 of the four fingers are coupled to the palm structure through another coupling joint 27. A reset torsion spring 3 29 is provided between the proximal phalanges B01 of the four fingers and the palm structure, which is sleeved on the coupling joint 27, so that the proximal phalanges B01 of the four fingers and the palm structure can be reset after relative bending. The finger drive mechanism 20 connected to the other four finger structures includes: a third reduction motor 209 and a fourth reduction motor 210 installed on the wrist structure 8; the sprockets at the output ends of the third reduction motor 209 and the fourth reduction motor 210 are respectively connected to a third chain 211, and the two third chains 211 are respectively connected to the third tendon 212 and the fourth tendon 213; the third tendon 212 and the fourth tendon 213 are relatively fixed on both sides of the proximal phalanx B01 of the four fingers; the two adjacent coupling joints 27 are coupled and connected by a fifth tendon 214 arranged in an 8-shaped structure.

[0059] The working principle and technical effects of the above scheme are as follows:

[0060] In the 22-DOF dexterous hand of the present invention, the driving principles of the index finger assembly, the middle finger assembly, the ring finger assembly, and the little finger assembly are the same, and only the fixed installation positions are different, and the lengths of the finger assemblies are different; the four finger assemblies, namely the index finger assembly, the middle finger assembly, the ring finger assembly, and the little finger assembly, respectively have bending and swinging degrees of freedom. When in use, the driving principle for controlling the bending of the four finger assemblies is as follows Figure 12As shown, the third tendon 212 and the fourth tendon 213 are fixedly connected to both sides of the proximal phalanx B01 of the fourth finger. When the third reduction motor 209 and the fourth reduction motor 210 are controlled to rotate synchronously counterclockwise, the two sprockets at the output ends of the third reduction motor 209 and the fourth reduction motor 210 reel in the two third chains 211. At this time, the two third chains 211 synchronously pull the third tendon 212 and the fourth tendon 213, so that the proximal phalanx B01 of the fourth finger rotates relative to the coupling joint 2 27 between it and the palm structure, and twists and compresses the reset torsion spring 3 29 at the coupling joint 2 27. The coupling joint 2 27 between the proximal phalanx B01 of the fourth finger and the palm structure is fixed on the palm structure. When the proximal phalanx B01 of the fourth finger is flipped over, the coupling joint 2 27 does not rotate; the coupling joint 2 27 between the proximal phalanx B01 of the fourth finger and the middle phalanx B02 of the fourth finger is fixed to the middle phalanx B02 of the fourth finger, and is connected to the palm structure. The proximal phalanx B01 of the fourth finger is rotationally connected; the coupling joint 27 between the middle phalanx B02 of the fourth finger and the distal phalanx B03 of the fourth finger is fixedly connected to the distal phalanx B03 of the fourth finger, and is rotationally connected to the middle phalanx B02 of the fourth finger; at this time, since the two adjacent coupling joints 27 are coupled through a fifth tendon 214 arranged in an 8-shaped structure, when the middle phalanx B02 of the fourth finger and the distal phalanx B03 of the fourth finger are flipped under the drive of the proximal phalanx B01 of the fourth finger, the coupling joint 27 between the proximal phalanx B01 of the fourth finger and the middle phalanx B02 of the fourth finger rotates clockwise relative to the coupling joint 27 between the proximal phalanx B01 of the fourth finger and the palm structure, and the coupling joint 27 between the middle phalanx B02 of the fourth finger and the distal phalanx B03 of the fourth finger rotates clockwise relative to the coupling joint 27 between the proximal phalanx B01 of the fourth finger and the middle phalanx B02 of the fourth finger, thereby realizing the bending control of the proximal phalanx B01 of the four fingers and the entire finger assembly.

[0061] When the third reduction motor 209 and the fourth reduction motor 210 control the two sprockets to rotate clockwise, the two third chains 211 are relaxed and unfolded. At this time, the four finger proximal joints B01 and the finger assembly as a whole are reset and straightened under the elastic force of the reset torsion spring 3 29, and the operation is very convenient. The driving principle of controlling the swing of the four finger assemblies is as follows: Figure 13As shown, when either the third reduction motor 209 or the fourth reduction motor 210 is started and a sprocket is controlled to rotate to reel in a third chain 211, the third chain 211 pulls any one of the third tendon rope 212 or the fourth tendon rope 213. At this time, the four-finger proximal knuckle B01 and the finger assembly as a whole can be driven to swing toward the pulling side. The third reduction motor 209 and the fourth reduction motor 210 can also be used to control the two sprockets to rotate in different directions. One sprocket reels the third chain 211, and the other sprocket unwinds the third chain 211, thereby controlling one of the third tendon rope 212 and the fourth tendon rope 213 to be pulled, and the other tendon rope is relaxed, thereby controlling the four-finger proximal knuckle B01 and the finger assembly as a whole to swing. There are various operating methods, and you can choose according to actual needs.

[0062] Example 4:

[0063] like Figures 1-13 As shown, the wrist structure 8 includes: a rotating ring 13, one side of the rotating ring 13 is rotatably connected to the palm structure, and the other side of the rotating ring 13 is rotatably connected to the arm 14; two servos 16 are installed on the arm 14, and the eccentric points of the rotating disks at the output ends of the two servos 16 are rotatably connected to the adjustment rods 15, and the other ends of the two adjustment rods 15 are connected to the palm structure through ball joints.

[0064] The working principle and technical effects of the above scheme are as follows:

[0065] In the 22-DOF dexterous hand of the present invention, there are two rotational degrees of freedom between the palm structure and the wrist structure, such as Figure 3 and Figure 4 As shown, when the two servos 16 operate synchronously, they can drive the rotating disk to rotate. When the rotating disk rotates, it can drive one end of the adjusting rod 15 connected to its eccentric point to rotate and circle, and the other end of the adjusting rod 15 pulls the palm structure through the ball joint, thereby realizing the flip control between the palm structure and the rotating ring 13, and the other side of the rotating ring 13 is connected to the arm 14 for rotation; when the two servos 16 operate asynchronously, the movement positions of the two adjusting rods 15 are inconsistent. At this time, the palm structure can be torsionally controlled by the cooperation of the two adjusting rods 15 and the ball joint.

[0066] Bearings are provided at the connection ends of the rotating ring 13, the palm structure, and the arm 14. The rotating ring 13 is a quadrilateral, and the two opposite sides of the rotating ring 13 are connected to the palm 6 and the back of the hand 7 respectively. The two opposite sides of the rotating ring 13 are connected to the arm 14, both of which are rotating pairs and use bearings. The adjustment rod 15 includes a screw that is rotatably connected to the eccentric part of the rotating disk and an internal threaded tube connected to the palm structure through a ball joint. The screw is threadedly connected in the internal threaded tube, and a spring is provided between the screw and the internal threaded tube. The length of the screw inserted into the internal threaded tube can be adjusted to ensure that the dexterous hand is in a straightened state in the initial state. The overall length formed by the screw and the internal threaded tube can be manually adjusted, and the operation is very convenient. Arm 14 is provided with holes for securing cables, ensuring that the sleeve 11 and tendon 12 maintain a fixed trajectory from the cable holder 10 to the lower end of the arm 14. Arm 14 is fixedly connected to the upper surfaces of two servos 16, whose lower surfaces are connected to two servo mounting plates: servo mounting plate 1 17 and servo mounting plate 2 18. Five drive motors 21 are staggered on each servo mounting plate. This staggered arrangement reduces installation space for the drive motors 21 and prevents interference with the movement of the chains 23. The installation of the drive motors 21 prioritizes the path and spatial dimensions of the chains 23. Two connecting plates 19 secure the two servo mounting plates, forming a rectangular structure.

[0067] like Figure 14 As shown, the finger drive mechanism 20 also includes: a chain tensioning structure installed on the connecting plate 19, the chain tensioning structure includes: a tensioning sprocket 31 press-fitted on the chain 23, the tensioning sprocket 31 is fixedly connected to the sprocket shaft 32, the sprocket shaft 32 is rotatably connected between the two chain limiting plates 33, the two sides of the chain 23 are slidably fitted on the inner side surfaces of the two chain limiting plates 33 or the gap between the chain 23 and the inner side surfaces of the two chain limiting plates 33 is less than 0.5 cm, the movable slide grooves on the tops of the two chain limiting plates 33 are both slidably connected to the control slide 34, and the movable slide grooves and the bottom surfaces of the control slide 34 are A tensioning spring body 37 is provided between them; a chamfer is provided on the edge of the chain limiting plate 33 close to the inner side of the chain 23; the two control slides 34 are both slidably connected to the connecting plate 19, and the ends of the two control slides 34 away from the two chain limiting plates 33 are connected by a cross-connecting plate 35, and the cross-connecting plate 35 is threadedly connected in the middle of the tightening screw 36, and the tightening screw 36 is rotatably connected to the outer surface of the connecting plate 19; the tensioning sprocket 31 and the sprocket 22 are respectively connected to both sides of the chain 23, and the tensioning sprocket 31 and the sprocket 22 are staggered, and the tensioning sprocket 31 is located between the sprocket 22 and the tendon rope 12.

[0068] The chain tensioning structure is set up to limit and tension the chain 23. When in use, the tensioning sprocket 31 and the sprocket 22 are respectively connected to the two sides of the chain 23, and the tensioning sprocket 31 and the sprocket 22 are staggered. While pressing and tensioning the chain 23, it does not affect the movement of the chain 23. When the finger driving mechanism 20 drives the finger structure to bend, if the sprocket 22 rewinds the chain 23 to the maximum extent, the finger structure still cannot bend into place. At this time, it indicates that the tendon 12 is loose or too long, affecting the bending effect. At this time, the tightening screw 36 can be controlled to rotate, change its contact position with the cross-link plate 35, and adjust the cross-link plate 35 and the connecting plate 19. The spacing between the two becomes smaller. At this time, the cross-link plate 35 drives the two control slides 34 to slide into the movable slide grooves at the top of the two chain limiting plates 33, and compresses the tensioning spring body 37 between the movable slide groove and the bottom surface of the control slide 34. When the tensioning spring body 37 is compressed to a certain extent, it can also drive the chain limiting plate 33 to move in the direction of the chain 23, press the chain 23, and make the chain 23 roll on the tensioning sprocket 31 to drive the tendon 12 to a certain extent. After the finger structure is bent into place, stop turning the tightening screw 36 to achieve tension adjustment of the chain 23 and tendon 12 structure, thereby ensuring the accuracy of the bending action of the finger structure.

[0069] The functions of the first reset torsion spring 25, the second reset torsion spring 28 and the third reset torsion spring 29 are to restore the finger to its initial position. The reset torsion spring can also be replaced with a tension or compression spring connection mode, which can be selected according to actual needs.

[0070] The two adjacent phalanges in the index finger assembly 2, middle finger assembly 3, ring finger assembly 4, little finger assembly 5 and thumb assembly 1 are all provided with coupling joints. In actual production, the coupling joints can also be removed, and the combination of the tendon rope 12 and the chain 23 can be connected to each phalange respectively, so as to produce a dexterous hand with a higher degree of freedom.

[0071] The palm structure includes: a palm 6 and a back of the hand 7, which are fixedly connected by positioning steps and screws; a thumb component 1 is rotatably connected to the palm 6; an index finger component 2, a middle finger component 3, a ring finger component 4 and a little finger component 5 are rotatably connected to the palm 6 and the back of the hand 7, and the four-finger connecting seats of the above four fingers have upper and lower shafts that are connected to the holes in the palm 6 and the back of the hand 7 to achieve rotational motion.

[0072] In the present invention, the thumb metacarpophalangeal joint C01 is coupled to the palm structure through the carpometacarpal joint, and the two ends of the reset torsion spring sleeved on the carpometacarpal joint respectively contact the thumb metacarpophalangeal joint C01 and the palm structure; the thumb proximal phalanx C02 is coupled to the thumb metacarpophalangeal joint C01 through the carpometacarpal joint, and the two ends of the reset torsion spring sleeved on the carpometacarpal joint respectively contact the thumb proximal phalanx C02 and the thumb metacarpophalangeal joint C01; the thumb distal phalanx C03 is coupled to the thumb proximal phalanx C02 through the interphalangeal joint, and the two ends of the reset torsion spring sleeved on the interphalangeal joint respectively contact the thumb distal phalanx C03 and the thumb proximal phalanx C02.

[0073] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0074] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0075] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the description and implementation methods. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. A 22-DOF dexterous hand, characterized by: include: The palm structure has two ends movably connected to the wrist structure and the five finger structures; A driving structure is installed in the wrist structure, which includes: a finger driving mechanism and a palm driving mechanism installed on the wrist structure. The five finger driving mechanisms pass through the palm structure and are connected to the five finger structures one by one to drive the five finger structures to bend and swing; the palm driving mechanism is connected to the palm structure to drive the palm structure to bend and swing.

2. The 22-DOF dexterous hand according to claim 1, characterized in that: The finger drive mechanism includes: two drive motors installed in the wrist structure, and sprockets are installed on the output shafts of the two drive motors; the two sprockets are connected to two chains, and the two chains can be reeled or unreeled; the two chains are connected to one end of two tendon ropes passing through the palm structure, and the other end of the two tendon ropes is connected to a finger structure.

3. The 22-DOF dexterous hand according to claim 2, characterized in that: Sleeves for the tendon cord to pass through are installed in the palm structure and / or the wrist structure.

4. The 22-DOF dexterous hand according to claim 3, characterized in that: A cable holder is installed in the palm structure, and a plurality of sleeves located in the palm structure are passed through and fixed in a plurality of penetration holes of the cable holder.

5. The 22-DOF dexterous hand according to claim 2, characterized in that: The chain and tendon rope are connected by joints.

6. The 22-DOF dexterous hand according to claim 1, characterized in that: One finger structure is a thumb assembly, which includes: a thumb metacarpophalangeal joint, a thumb proximal joint, and a thumb distal joint connected in sequence through a coupling joint. The thumb metacarpophalangeal joint is coupled to the palm structure through the coupling joint. A reset torsion spring 1 is provided between adjacent knuckles and between the thumb metacarpophalangeal joint and the palm structure, so that the adjacent knuckles and the thumb metacarpophalangeal joint and the palm structure are relatively bent and then reset.

7. The 22-DOF dexterous hand according to claim 6, characterized in that: The finger drive mechanism connected to the thumb assembly includes: a first reduction motor and a second reduction motor installed on the wrist structure; the first sprocket of the output shaft of the first reduction motor is connected to one end of the first chain, and the other end of the first chain is connected to one end of the first tendon rope. The first tendon rope is wound around the pulleys at multiple coupling joints on one side of the thumb assembly, and the number of windings is not less than one circle. The other end of the first tendon rope is fixed to the distal phalanx of the thumb; the second sprocket of the output shaft of the second reduction motor is connected to one end of the second chain, and the other end of the second chain is connected to one end of the second tendon rope. The second tendon rope is wound around the pulley at the coupling joint between the metacarpophalangeal joint of the thumb and the palm structure, and the other end of the second tendon rope is fixed to the reset pulley. The reset pulley is rotated to the palm structure through the wheel axle, and the two ends of the reset torsion spring mounted on the reset pulley respectively contact the palm structure and the metacarpophalangeal joint of the thumb.

8. The 22-DOF dexterous hand according to claim 1, characterized in that: The other four finger structures are: index finger assembly, middle finger assembly, ring finger assembly and little finger assembly. The index finger assembly, middle finger assembly, ring finger assembly and little finger assembly have the same structure, and all include: four proximal phalanges, four middle phalanges and four distal phalanges connected in sequence through coupling joint two. The four proximal phalanges are coupled to the palm structure through coupling joints. A reset torsion spring three is provided between the four proximal phalanges and the palm structure, which is sleeved on the coupling joint to reset the four proximal phalanges and the palm structure after relative bending.

9. The 22-DOF dexterous hand according to claim 8, characterized in that: The finger drive mechanism connected to the other four finger structures includes: a third reduction motor and a fourth reduction motor installed on the wrist structure; the sprockets at the output ends of the third reduction motor and the fourth reduction motor are respectively connected to a third chain, and the two third chains are respectively connected to the third tendon rope and the fourth tendon rope; the third tendon rope and the fourth tendon rope are relatively fixed on both sides of the proximal knuckles of the four fingers; two adjacent coupling joints are coupled and connected by a fifth tendon rope arranged in an 8-shaped structure.

10. The 22-DOF dexterous hand according to claim 1, characterized in that: The wrist structure includes: a rotating ring, one side of which is rotatably connected to the palm structure, and the other side of the rotating ring is rotatably connected to the arm; two servos are installed on the arm, and the eccentric points of the rotating disks at the output ends of the two servos are rotatably connected to adjustment rods, and the other ends of the two adjustment rods are connected to the palm structure through ball joints.

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