Dexterous hand with high integration level

Abstract

The invention relates to the field of bionic robots, in particular to a high-integration-level dexterous hand which comprises a palm and fingers, the fingers are provided with a plurality of knuckles, the adjacent knuckles located on the same finger are rotationally connected, joint driving assemblies are arranged in the knuckles, and the joint driving assemblies are used for driving the adjacent knuckles to rotate. Each joint driving assembly comprises a first motor, a speed reducing mechanism and an elastic piece, each elastic piece is slidably connected with the inner wall of the corresponding knuckle in the length direction, one end of each elastic piece is fixedly connected with the adjacent knuckle, and each speed reducing mechanism is connected with the corresponding first motor and used for moving the corresponding elastic piece. The dexterous hand has the advantages that the internal structure of the dexterous hand is simplified, and meanwhile large holding force can be effectively provided.

Description

Technical Field

[0001] This application relates to the field of biomimetic robots, and in particular to a highly integrated dexterous hand. Background Technology

[0002] In the field of biomimetic robotics, dexterous hands, as a core component for robots to achieve precise manipulation, have seen rapid development in recent years. Their development focuses primarily on high degrees of freedom, tactile perception, and intelligent control. Dexterous hands are typically driven by motors, combined with various types of sensors such as vision sensors, tactile sensors, and torque sensors to achieve multimodal perception. This, along with intelligent control, enables the dexterous hand to perform dexterous grasping and actuation.

[0003] Existing dexterous hand joint actuation methods commonly employ tendon-driven, linkage-driven, direct-driven, and other novel actuation methods. Tendon-driven methods involve installing a drive motor in the palm or arm, and tendons in the fingers and palm to drive finger flexion and extension, with a return spring at the finger joint enabling finger return. Linkage-driven methods use a series of miniature bearings, gears, and linkages installed at the connection point between the palm and arm to transmit rotational motion to the finger joints. Direct-driven methods involve directly installing a miniature motor at the joint to drive joint rotation.

[0004] Tendon-driven mechanisms offer advantages such as lightweight fingertips and smooth force application; linkage mechanisms offer high transmission rigidity, precise position control, and high reliability; direct drives offer advantages such as simple structure and no transmission loss.

[0005] Regarding the aforementioned technologies, the maximum torque of the tendon-string structure when grasping objects is relatively small, and the dexterity hand may be damaged due to the breakage of the tendon-string due to its working method; the linkage structure has poor reverse drive performance and is difficult to install and maintain due to its complex structure; and the direct drive has the disadvantages of large finger weight and relative bulkiness due to the large number of motors and corresponding reducers installed in the dexterity hand. Summary of the Invention

[0006] In order to provide a large gripping force while simplifying the internal structure of the dexterous hand, this application provides a highly integrated dexterous hand.

[0007] This application provides a highly integrated dexterous hand, employing the following technical solution: A highly integrated dexterous hand includes a palm and fingers. Each finger has several phalanges, and adjacent phalanges of the same finger are rotatably connected. Each phalange has a joint drive assembly inside, which is used to drive the adjacent phalanges to rotate. The joint drive assembly consists of a first motor, a reduction mechanism, and an elastic plate. The elastic plate is slidably connected to the inner wall of the phalange along its length, and one end of the elastic plate is fixedly connected to an adjacent phalange. The reduction mechanism is connected to the first motor and is used to move the elastic plate.

[0008] By adopting the above technical solution, when a finger joint needs to be bent, the first motor in the joint closer to the palm rotates, driving the deceleration mechanism to move, and then pushes the elastic plate to move to achieve the movement and flexion / extension of the adjacent joint. At this time, the elastic plate will bend in an arc, thus realizing the bending of the finger joints of the dexterous hand.

[0009] Optionally, the reduction mechanism includes a worm and a first gear. The first gear is located on the motor shaft of the first motor. The worm is rotatably connected to the inner wall of the finger joint. One end of the worm is provided with a gear ring that matches the first gear. The elastic plate is provided with a tooth groove in the length direction, and the worm matches the tooth groove.

[0010] By adopting the above technical solution, when the first motor rotates, the motor shaft of the first motor will drive the first gear to rotate, and then the worm will rotate through the meshing of the gear ring and the first gear. Since the worm and the tooth groove always remain meshed, the elastic plate will be pushed in the length direction. Due to the connection and transmission method between the worm and the tooth groove, the position of the elastic plate is well maintained, and the complex structure of multi-stage gear reduction is eliminated.

[0011] Optionally, the fingers include a thumb and four fingers. The knuckles of the thumb near the palm are rotatably connected to the palm. A joint drive component is also provided at the rotatable connection between the palm and the thumb. In the natural state, the elastic plate at the base of the thumb rotates along the thickness direction of the palm. The four fingers are rotatably connected to the palm. The palm is provided with a swing drive component that corresponds to each of the four fingers. The swing drive component is used to drive the four fingers to swing.

[0012] By adopting the above technical solution, when it is necessary to swing the thumb, the first motor inside the thumb root drive component is driven to rotate the elastic sheet, thereby bending the elastic sheet and finally swinging the thumb. The swing component drives the four fingers to swing left and right.

[0013] Optionally, the swing drive assembly includes a second motor and a first housing. The second motor is provided with a second gear. The inner wall of the first housing is provided with a slide rod. The axis of the slide rod is perpendicular to the length direction of the second motor. The slide rod is provided with a slider. A rack is provided on one side of the slider. The rack is adapted to the second gear. The slider is provided with a first pull rod. One end of the first pull rod is fixedly connected to the slider. The other end of the first pull rod is connected to the knuckle of the four fingers near the palm.

[0014] By adopting the above technical solution, when it is necessary for the four fingers to swing individually, the second motor rotates and drives the second gear to rotate. Since the second gear meshes with the rack on the slider, it drives the slider to move along the length of the slide rod, which in turn moves the first pull rod. Since the four fingers are rotatably connected to the palm, when the first pull rod moves, the four fingers will rotate around the rotatable connection, realizing the overall swing of the four fingers.

[0015] Optionally, an internal rotation component is provided inside the palm. The internal rotation component is located at the base of the thumb. The internal rotation component includes a second housing, an internal rotation motor, a transmission belt, and a mounting bracket. The internal rotation motor is fixedly connected to the inside of the palm. A section at the base of the thumb is provided with a rotating shaft. The rotating shaft is rotatably connected to the mounting bracket. The rotating shaft extends to the outside of the mounting bracket. The transmission belt is located between the internal rotation motor and the rotating shaft.

[0016] By adopting the above technical solution, when it is necessary to rotate the thumb inward, the internal rotation motor drives the transmission belt to rotate. Since the thumb is rotatably connected to the mounting bracket, the transmission belt will drive the rotating shaft to rotate, thus realizing the rotation of the thumb towards the base of the palm.

[0017] Optionally, the palm is provided with a rotating bracket, the rotating bracket is provided with a mounting hole, one end of the mounting bracket is provided with a connecting rod, the connecting rod passes through the mounting hole and is rotatably connected to the inner wall of the mounting hole, the end of the connecting rod away from the mounting bracket is fixedly connected to the second housing, and the palm is provided with a flip joint for driving the mounting bracket to rotate.

[0018] By adopting the above technical solution, since the inner wall of the rotating bracket is rotatably connected to the connecting rod, and the rotatable connection is directly connected to the second housing and the mounting bracket, when the flip joint pulls the mounting bracket to rotate, the entire thumb, the second housing and the internal rotating motor inside the second housing will flip as a whole towards the inside of the palm, realizing the flipping of the thenar eminence of the dexterous hand towards the inside of the palm.

[0019] Optionally, the tilting joint includes a tilting motor, a transmission assembly, a third housing, and a second pull rod. The tilting motor and the transmission assembly are both located inside the third housing. One end of the second pull rod is fixedly connected to one side of the mounting bracket. The moving assembly includes a first bevel gear, a second bevel gear, a central rotating rod, a screw, a third gear, a fourth gear, and a displacement block. The first bevel gear is located on the motor shaft of the tilting motor, and the second bevel gear is located on the central rotating rod. The first bevel gear and the second bevel gear are meshed. The central rotating rod is rotatably connected to the inner wall of the third housing. The third gear is located on the central rotating rod, and the fourth gear is located on the screw. The third gear and the fourth gear are meshed. The screw is threaded and is rotatably connected to the third housing. The displacement block is threaded to the screw and is movably connected to the second pull rod.

[0020] By adopting the above technical solution, when the flip motor rotates, the motor shaft of the flip motor will drive the first bevel gear to rotate. The rotation of the second bevel gear is achieved through the meshing of the first bevel gear and the second bevel gear, thereby realizing the rotation of the central rotating rod. The third gear on the central rotating rod also rotates accordingly. The synchronous rotation of the fourth gear and the screw is achieved through the meshing of the third gear and the fourth gear. When the screw rotates, since the displacement block and the screw are rotatably connected, the second pull rod will also move up and down when the displacement block moves up and down. Since the other end of the second pull rod is connected to the mounting bracket, the mounting bracket will also swing when the second pull rod is displaced, realizing the inward rotation of the thenar eminence. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of a highly integrated dexterous hand.

[0022] Figure 2 This is a diagram illustrating the bent state of the finger joint.

[0023] Figure 3 This is a front view of the finger joint in a bent state.

[0024] Figure 4 yes Figure 3 Schematic diagram of the AA section.

[0025] Figure 5 This is a schematic diagram of the swing component and the four fingers.

[0026] Figure 6 This is a schematic diagram of the thumb structure.

[0027] Figure 7 yes Figure 6 An enlarged schematic diagram of part A in the middle.

[0028] Figure 8 This is a structural diagram of the thumb from another angle.

[0029] Figure 9 yes Figure 8 Enlarged diagram of part B.

[0030] Explanation of reference numerals in the attached drawings: 1. Palm; 2. Finger; 21. Thumb; 211. First motor; 212. Gear ring; 213. First gear; 214. Worm; 215. Elastic plate; 22. Four fingers; 23. Knuckle; 231. Rotating shaft; 3. Swing drive assembly; 311. Second gear; 31. Second motor; 32. First housing; 33. Slide rod; 34. Slider; 35. First pull rod; 4. Internal rotation assembly; 41. Internal rotation motor; 42. Transmission belt; 43. Second housing; 5. Mounting bracket; 6. Rotating bracket; 7. Flip joint; 71. First bevel gear; 72. Second bevel gear; 721. Central rotating rod; 722. Third gear; 73. Screw; 731. Fourth gear; 74. Displacement block; 75. Second pull rod; 76. Third housing. Detailed Implementation

[0031] The present application will be further described in detail below with reference to all the accompanying drawings.

[0032] This application discloses a highly integrated dexterous hand.

[0033] Reference Figures 1 to 9 A highly integrated dexterous hand includes a palm 1 and fingers 2. Each finger 2 has several phalanges 23, and adjacent phalanges 23 of the same finger 2 are rotatably connected. Each phalange 23 contains a joint drive assembly for driving the rotation of adjacent phalanges 23. The joint drive assembly consists of a first motor 211, a reduction mechanism, and an elastic plate 215. The elastic plate 215 is slidably connected to the inner wall of the phalange 23 along its length, and one end of the elastic plate 215 is fixedly connected to an adjacent phalange 23. The reduction mechanism is connected to the first motor 211 and is used to move the elastic plate 215. When a phalange 23 of the finger 2 needs to be bent, the first motor 211 in the phalange 23 closest to the palm 1 rotates, driving the reduction mechanism to move. The movement of the elastic plate 215 then achieves the movement and flexion / extension of the adjacent phalange 23. At this time, the elastic plate 215 will exhibit an arc-shaped bend, thus realizing the bending of the finger 2 joint of the dexterous hand.

[0034] The reduction mechanism includes a worm 214 and a first gear 213. The first gear 213 is located on the motor shaft of the first motor 211. The worm 214 is rotatably connected to the inner wall of the finger joint 23. One end of the worm 214 is provided with a gear ring 212 adapted to the first gear 213. The elastic plate 215 has a toothed groove along its length, and the worm 214 is adapted to the toothed groove. When the first motor 211 rotates, the motor shaft of the first motor 211 drives the first gear 213 to rotate, thereby realizing the rotation of the worm 214 through the meshing of the gear ring 212 and the first gear 213. Since the worm 214 and the toothed groove are always meshed, the elastic plate 215 is pushed along its length. Due to the transmission method of the worm 214 and the toothed groove, the position of the elastic plate 215 is well maintained. Since the deceleration mechanism inside a traditional dexterous hand usually uses multi-stage gears to achieve deceleration, the combination of the worm 214 and the elastic plate 215 in this invention can effectively reduce the space occupied inside the knuckle 23. Therefore, a relatively large first motor 211 can be selected to increase the output force at the knuckle 23.

[0035] The fingers 2 include a thumb 21 and four fingers 22. The knuckle 23 of the thumb 21 near the palm 1 is rotatably connected to the palm 1. A joint drive component is also provided at the rotatable connection between the palm 1 and the thumb 21. In the natural state, the elastic plate 215 at the base of the thumb 21 rotates along the thickness direction of the palm 1. The four fingers 22 are rotatably connected to the palm 1. The palm 1 is provided with a swing drive component 3 corresponding to each of the four fingers 22. The swing drive component 3 is used to drive the four fingers 22 to swing.

[0036] Since each of the four fingers 22 of a human hand has three phalanges 23, and each phalange 23 can rotate automatically, in this paper, the fingers 2 are referred to as fingertip, first phalanx, second phalanx, and so on, from the tip inwards. Taking the four fingers 22 as an example, since the part of the four fingers 22 that protrudes from the palm 1 consists of the fingertip, first phalanx, second phalanx, and third phalanx, the joint drive component in the first phalanx enables bending between the fingertip and the first phalanx; the joint drive component in the second phalanx enables bending between the first and second phalanxes; the joint drive component in the third phalanx enables bending between the second and third phalanxes; to achieve bending between the third phalanx, that is, the part of the four fingers 22 that protrudes from the palm 1 and the palm 1, a fourth phalanx is provided inside the palm 1. The joint drive component inside the fourth phalanx enables the overall swinging of the first, second, and third phalanxes. Since the thumb 21 has one less phalanx 23 protruding from the palm 1 than the four fingers 22, and has a total of three phalanges 23.

[0037] When the thumb 21 needs to be swung, the first motor 211 inside the drive assembly at the base of the thumb 21 is driven to rotate the elastic sheet 215, thereby bending the elastic sheet 215 and ultimately swaying the thumb 21. The swaying assembly drives the four fingers 22 to sway left and right.

[0038] This embodiment provides a swinging assembly. To achieve the swinging of the four fingers 22, the palm 1 is composed of two plates on the upper side. The swinging drive assembly 3 includes a second motor 31 and a first housing 32. The second motor 31 is provided with a second gear 311. The inner wall of the first housing 32 is provided with a slide rod 33. The axis of the slide rod 33 is perpendicular to the length direction of the second motor 31. The slide rod 33 is provided with a slider 34. A rack is provided on one side of the slider 34. The rack is adapted to the second gear 311. The slider 34 is provided with a first pull rod 35. One end of the first pull rod 35 is fixedly connected to the slider 34, and the other end of the first pull rod 35 is connected to the knuckle 23 of the four fingers 22 near the end of the palm 1. When the four fingers 22 need to swing individually, the second motor 31 rotates, driving the second gear 311 to rotate. Since the second gear 311 meshes with the rack on the slider 34, it drives the slider 34 to move along the length of the slide rod 33, which in turn moves the first pull rod 35. Since the four fingers 22 are rotatably connected to the palm 1, when the first pull rod 35 moves, the four fingers 22 will rotate around the rotatable connection, realizing the overall swing of the four fingers 22.

[0039] To enable the thumb 21 to swing along the thickness of the palm 1, increasing the freedom of movement of the dexterous hand, an internal rotation component 4 is provided inside the palm 1. The internal rotation component 4 is located at the base of the thumb 21. The internal rotation component 4 includes a second housing 43, an internal rotation motor 41, a transmission belt 42, and a mounting bracket 5. The internal rotation motor 41 is fixedly connected to the inside of the palm 1. A section at the base of the thumb 21 has a rotating shaft 231, which is rotatably connected to the mounting bracket. The rotating shaft 231 extends outward from the mounting bracket 5. The transmission belt 42 is located between the internal rotation motor 41 and the rotating shaft 231. When it is necessary to rotate the thumb 21 inward, the internal rotation motor 41 drives the transmission belt 42 to rotate. Since the thumb 21 is rotatably connected to the mounting bracket 5, the transmission belt 42 drives the rotating shaft 231 to rotate, thus realizing the rotation of the thumb 21 towards the base of the palm 1.

[0040] To further enable the thenar eminence of the bionic hand to rotate inwards towards the palm 1, thereby increasing the dexterity of the thenar eminence and thumb 21, the palm 1 is equipped with a rotating bracket 6. The rotating bracket 6 has a mounting hole, and a connecting rod is provided at one end of the mounting bracket 5. The connecting rod passes through the mounting hole and is rotatably connected to the inner wall of the mounting hole. The end of the connecting rod away from the mounting bracket 5 is fixedly connected to the second housing 43. The palm 1 is equipped with a flip joint 7 for driving the mounting bracket 5 to rotate. Since the inner wall of the rotating bracket 6 is rotatably connected to the connecting rod, and the rotatable connection directly connects the second housing 43 and the mounting bracket 5, when the flip joint 7 pulls the mounting bracket 5 to rotate, the entire thumb 21, the second housing 43, and the internal rotation motor 41 inside the second housing 43 will rotate inwards towards the palm 1, realizing the rotation of the thenar eminence of the dexterous hand towards the inside of the palm 1.

[0041] The flip joint 7 includes a flip motor, a transmission assembly, a third housing 76, and a second pull rod 75. The flip motor and transmission assembly are both located inside the third housing 76. One end of the second pull rod 75 is fixedly connected to one side of the mounting bracket 5. The moving assembly includes a first bevel gear 71, a second bevel gear 72, a central rotating rod 721, a screw 73, a third gear 722, a fourth gear 731, and a displacement block 74. The first bevel gear 71 is located on the motor shaft of the flip motor, and the second bevel gear 72 is located on the central rotating rod 721. The first bevel gear 71 and the second bevel gear 72 are meshed. The central rotating rod 721 is rotatably connected to the inner wall of the third housing 76. The third gear 722 is located on the central rotating rod 721, and the fourth gear 731 is located on the screw 73. The third gear 722 and the fourth gear 731 are meshed. The screw 73 is threaded, and the screw 73 is rotatably connected to the third housing 76. The displacement block 74 is threadedly connected to the screw 73, and the displacement block 74 is movably connected to the second pull rod 75. When the flip motor rotates, the motor shaft of the flip motor will drive the first bevel gear 71 to rotate. The rotation of the second bevel gear 72 is achieved through the meshing of the first bevel gear 71 and the second bevel gear 72, which in turn achieves the rotation of the central rotating rod 721. The third gear 722 on the central rotating rod 721 also rotates accordingly. The synchronous rotation of the fourth gear 731 and the screw 73 is achieved through the meshing of the third gear 722 and the fourth gear 731. When the screw 73 rotates, since the displacement block 74 and the screw 73 are rotatably connected, the second pull rod 75 will also move up and down when the displacement block 74 moves up and down. Since the other end of the second pull rod 75 is connected to the mounting bracket 5, the mounting bracket 5 will also swing when the second pull rod 75 is displaced, thus achieving the inward rotation of the thenar eminence.

[0042] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A highly integrated dexterous hand, comprising a palm (1) and fingers (2), characterized in that: The finger (2) is provided with a plurality of phalanges (23). Adjacent phalanges (23) of the same finger (2) are rotatably connected. A joint drive assembly is provided inside the phalanges (23). The joint drive assembly is used to drive the adjacent phalanges (23) to rotate. The joint drive assembly consists of a first motor (211), a reduction mechanism and an elastic plate (215). The elastic plate (215) is slidably connected to the inner wall of the phalanges (23) along the length direction. One end of the elastic plate (215) is fixedly connected to the adjacent phalanges (23). The reduction mechanism is connected to the first motor (211) and is used to move the elastic plate (215).

2. The highly integrated dexterous hand according to claim 1, characterized in that: The reduction mechanism includes a worm (214) and a first gear (213). The first gear (213) is located on the motor shaft of the first motor (211). The worm (214) is rotatably connected to the inner wall of the finger joint (23). One end of the worm (214) is provided with a gear ring (212) that is adapted to the first gear (213). The elastic plate (215) is provided with a tooth groove in the length direction, and the worm (214) is adapted to the tooth groove.

3. A highly integrated dexterous hand according to claim 2, characterized in that: The fingers (2) include a thumb (21) and four fingers (22). The knuckle (23) of the thumb (21) near the palm (1) is rotatably connected to the palm (1). A joint drive assembly is also provided at the rotatable connection between the palm (1) and the thumb (21). In the natural state, the elastic plate (215) at the base of the thumb (21) rotates along the thickness direction of the palm (1). The four fingers (22) are rotatably connected to the palm (1). The palm (1) is provided with a swing drive assembly (3) corresponding to each of the four fingers (22). The swing drive assembly (3) is used to drive the four fingers (22) to swing.

4. A highly integrated dexterous hand according to claim 3, characterized in that: The swing drive assembly (3) includes a second motor (31) and a first housing (32). The second motor (31) is provided with a second gear (311). The inner wall of the first housing (32) is provided with a slide rod (33). The axis of the slide rod (33) is perpendicular to the length direction of the second motor (31). The slide rod (33) is provided with a slider (34). A rack is provided on one side of the slider (34). The rack is adapted to the second gear (311). The slider (34) is provided with a first pull rod (35). One end of the first pull rod (35) is fixedly connected to the slider (34). The other end of the first pull rod (35) is connected to the knuckle (23) of the four fingers (22) near the palm (1).

5. A highly integrated dexterous hand according to claim 4, characterized in that: The palm (1) is provided with an internal rotation component (4), which is located at the base of the thumb (21). The internal rotation component (4) includes a second housing (43), an internal rotation motor (41), a transmission belt (42), and a mounting bracket (5). The internal rotation motor (41) is fixedly connected to the inside of the palm (1). A section at the base of the thumb (21) is provided with a rotating shaft (231). The rotating shaft (231) is rotatably connected to the mounting bracket. The rotating shaft (231) extends outward from the mounting bracket (5). The transmission belt (42) is located between the internal rotation motor (41) and the rotating shaft (231).

6. A highly integrated dexterous hand according to claim 5, characterized in that: The palm (1) is provided with a rotating bracket (6), the rotating bracket (6) is provided with a mounting hole, one end of the mounting bracket (5) is provided with a connecting rod, the connecting rod passes through the mounting hole, the connecting rod is rotatably connected to the inner wall of the mounting hole, and the end of the connecting rod away from the mounting bracket (5) is fixedly connected to the second housing (43). The palm (1) is provided with a flipping joint (7) for driving the mounting bracket (5) to rotate.

7. A highly integrated dexterous hand according to claim 1, characterized in that: The flip joint (7) includes a flip motor, a transmission assembly, a third housing (76), and a second pull rod (75). The flip motor and the transmission assembly are both located inside the third housing (76). One end of the second pull rod (75) is fixedly connected to one side of the mounting bracket (5). The moving assembly includes a first bevel gear (71), a second bevel gear (72), a central rotating rod (721), a screw (73), a third gear (722), a fourth gear (731), and a displacement block (74). The first bevel gear (71) is located on the motor shaft of the flip motor, and the second bevel gear (72) is located on the central rotating rod. On (721), the first bevel gear (71) and the second bevel gear (72) are meshed. The central rotating rod (721) is rotatably connected to the inner wall of the third housing (76). The third gear (722) is located on the central rotating rod (721). The fourth gear (731) is located on the screw (73). The third gear (722) and the fourth gear (731) are meshed. The screw (73) is threaded. The screw (73) and the third housing (76) are rotatably connected. The displacement block (74) is threaded to the screw (73). The displacement block (74) is movably connected to the second pull rod (75).

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