Multi-joint precision dexterous hand

Abstract

The invention relates to the field of manipulators, in particular to a multi-joint precise dexterous hand which comprises a left hand plate, a thumb unit, an index finger unit, a middle finger unit, a ring finger unit and a little finger unit are sequentially and rotationally arranged on the left hand plate, and each of the index finger unit, the middle finger unit, the ring finger unit and the little finger unit is composed of a long plate, a proximal phalanx, a middle phalanx and a fingertip. A double-output-shaft motor is adopted to drive a plurality of tendon ropes, actions of more than 15 joints can be achieved only through six motors, the complexity and cost of the system are remarkably reduced, a reasonably-designed tendon rope guide structure is achieved through a first guide rod and a second guide rod, and flexible switching between fingertip pinching and wrapping grabbing is achieved in cooperation with radius configuration of an underactuated pulley. The second motor drives the rotating shaft to drive the metacarpal bone plate to rotate, multi-angle finger aligning actions of the thumb unit are achieved, the grabbing type diversity is improved, all the finger units are independently detachable, tendon ropes are rapidly installed and replaced through wire binding holes and wire pulling grooves, and the maintainability of the system is improved.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and more particularly to multi-joint precision dexterous hands. Background Technology

[0002] With the rapid development of humanoid robots, service robots, and industrial collaborative robots, end effectors—especially dexterous hands with compliant grasping capabilities—have become key components for autonomous robot operation. Currently, research on robot hands is gradually evolving from rigid grippers to multi-fingered dexterous hands, and from simple opening and closing to highly compliant systems with underactuated and force-position hybrid control.

[0003] Existing dexterous hands are mainly divided into two categories: one is the fully driven dexterous hand, such as the Shadow Hand (UK), where each joint is driven by an independent motor, resulting in a wide range of movements, but the large number of motors, large size, high cost, and complex maintenance; the other is the underactuated dexterous hand, such as the Barrett Hand (USA), which achieves multi-finger adaptive grasping through differential and chord underactuation, but its finger module is highly integrated with the palm, making it difficult to maintain, and the thumb's degree of freedom is limited, resulting in insufficient finger opposition function. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing a multi-joint precision dexterity hand.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A multi-joint precision dexterous hand includes a left hand plate, on which a thumb unit, index finger unit, middle finger unit, ring finger unit, and little finger unit are rotatably arranged in sequence. Each of the index finger unit, middle finger unit, ring finger unit, and little finger unit is composed of a long plate, a proximal phalanx, a middle phalanx, and a fingertip. Each of the long plates is equipped with a dual-output shaft motor, and tendon ropes are connected to the output shafts at both ends of the dual-output shaft motor.

[0007] The thumb unit consists of a metacarpal plate, a middle finger phalanx, and a fingertip. The proximal phalanx has the same structure as the middle finger phalanx. The upper and lower ends of the proximal phalanx are symmetrically provided with first rotating holes, and a second guide rod is provided in the middle of the proximal phalanx.

[0008] In addition, a preferred structure is that the bottom of the fingertip is provided with a second rotating hole for connecting with the middle finger phalanx, the top of the fingertip is provided with a binding hole for connecting the tendon rope, and a pull groove is provided on one side surface of the fingertip.

[0009] Furthermore, in a preferred configuration, the top of the long plate is provided with a rotating connector for connecting the proximal phalanx, and the top of the long plate is provided with a first guide rod for guiding the tendon ligament.

[0010] In addition, a preferred structure is that a first motor is provided at the end of the bottom surface of the left hand plate away from the metacarpal plate, a rotating seat is provided on the side of the left hand plate close to the metacarpal plate, and a second motor is provided on the upper surface of the rotating seat.

[0011] In addition, a preferred structure is that a rotating shaft is rotatably mounted on the rotating seat, the metacarpal plate is rotatably mounted on the rotating shaft, and the top of the rotating shaft is connected to the output end of the second motor.

[0012] In addition, a preferred structure is that the proximal phalanx and the middle phalanx are symmetrically provided with locking holes on the top and bottom, and the top of the long plate is provided with a locking hole.

[0013] The beneficial effects of this invention are as follows: This invention uses a dual-output shaft motor to drive multiple tendon cords, requiring only 6 motors to achieve more than 15 joint movements, significantly reducing system complexity and cost. The first and second guide rods realize a rationally designed tendon cord guiding structure, and with the underactuated pulley radius configuration, flexible switching between fingertip pinching and wrapping gripping is achieved. The second motor drives the rotating shaft to rotate the metacarpal plate, realizing multi-angle finger-to-finger movements of the thumb unit, improving the diversity of gripping shapes. Each finger unit is independently detachable, and the tendon cords can be quickly installed and replaced through binding holes and pull grooves, improving system maintainability. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the robotic arm;

[0015] Figure 2 This is a structural diagram showing the installation location of the long board;

[0016] Figure 3 This is a schematic diagram of the disassembled robotic arm.

[0017] Figure 4 This is a schematic diagram of the proximal phalanx.

[0018] Figure 5 A schematic diagram of the structure of the fingertip;

[0019] Figure 6 This is a schematic diagram of the structure after the dual-output shaft motor and the long plate are separated.

[0020] Figure 7 This is a schematic diagram of the structure after the rotating base and the left hand plate are separated;

[0021] Figure 8 This is a schematic diagram of the rotating seat.

[0022] Figure 9 A schematic diagram of a structure with an elastic band attached to the cable opening.

[0023] In the diagram: 01 Thumb unit, 02 Index finger unit, 03 Middle finger unit, 04 Ring finger unit, 05 Little finger unit, 1 Left hand plate, 11 First motor, 12 Second motor, 13 Rotating seat, 131 Rotating shaft, 2 Long plate, 21 Rotating connector, 22 First guide rod, 3 Dual output shaft motor, 4 Proximal phalanx, 41 First rotating hole, 42 Second guide rod, 5 Middle phalanx, 6 Fingertip, 61 Second rotating hole, 62 Binding hole, 63 Pulling groove, 7 Metacarpal plate, 8 Wire clamping port, 9 Elastic ring. Detailed Implementation

[0024] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0025] Reference Figure 1-8 The multi-joint precision dexterity hand includes a left hand plate 1. The left hand plate 1 is rotatably equipped with a thumb unit 01, an index finger unit 02, a middle finger unit 03, a ring finger unit 04, and a little finger unit 05. The index finger unit 02, middle finger unit 03, ring finger unit 04, and little finger unit 05 are all composed of a long plate 2, a proximal phalanx 4, a middle phalanx 5, and a fingertip 6. A dual-output shaft motor 3 is installed on the long plate 2. Tendon ropes are connected to the output shafts at both ends of the dual-output shaft motor 3. The tendon ropes are used to pull the movement of each fingertip 6.

[0026] The thumb unit 01 consists of a metacarpal plate 7, a middle finger phalanx 5, and a fingertip 6. The proximal phalanx 4 has the same structure as the middle finger phalanx 5. The upper and lower ends of the proximal phalanx 4 are symmetrically provided with first rotating holes 41. A second guide rod 42 is provided in the middle of the proximal phalanx 4. The second guide rod 42 facilitates the guidance of the tendon chord.

[0027] Furthermore, the fingertip 6 has a second rotating hole 61 at the bottom for connecting with the middle finger phalanx 5, a binding hole 62 at the top of the fingertip 6 for connecting the tendon rope, and a pull groove 63 on one side surface of the fingertip 6 to facilitate the tendon rope connection.

[0028] Meanwhile, the top of the long plate 2 is provided with a rotating connector 21 for connecting the proximal phalanx 4, and the top of the long plate 2 is provided with a first guide rod 22 for guiding the tendon ligament.

[0029] Among them, a first motor 11 is provided at the bottom surface of the left hand plate 1, away from the metacarpal plate 7, and a rotating seat 13 is provided on the side of the left hand plate 1 close to the metacarpal plate 7. A second motor 12 is provided on the upper surface of the rotating seat 13.

[0030] Meanwhile, a rotating shaft 131 is rotatably mounted on the rotating seat 13, and the metacarpal plate 7 is rotatably mounted on the rotating shaft 131. The top of the rotating shaft 131 is connected to the output end of the second motor 12.

[0031] Furthermore, both the proximal phalanx (4) and the middle phalanx (5) are symmetrically provided with suture openings (8). The top of the long plate (2) is provided with a suture opening (8). The suture opening 8 at the top of the long plate (2) and the suture opening 8 at the bottom of the proximal phalanx (4) are crossed and bound with an elastic ring 9. The suture opening 8 at the top of the proximal phalanx 4 and the suture opening 8 at the bottom of the middle phalanx 5 are crossed and bound with an elastic ring 9. The suture opening 8 at the top of the middle phalanx 5 and the pull groove 63 are crossed and bound with an elastic ring 9. The elastic ring 9 is used for elastic repositioning.

[0032] In this embodiment, when the index finger unit 02, middle finger unit 03, ring finger unit 04, and little finger unit 05 are in operation, the rotating shafts at both ends of the dual output shaft motor 3 respectively wind up different tendon ropes. The tendon ropes are respectively connected to the binding hole 62 and the pull groove 63 of the fingertip 6. When tightening the index finger unit 02, middle finger unit 03, ring finger unit 04, and little finger unit 05, the tendon rope at the binding hole 62 is wound up and passes through the second guide rod 42 to achieve synchronous movement of the proximal phalanx 4 and the middle phalanx 5. Moreover, when releasing, only the tendon rope at the pull groove 63 needs to be wound up to open the fingertip 6.

[0033] When the thumb unit 01 is in motion, it can not only be moved by the first motor 11 winding the tendon rope, but also by the second motor 12 driving the rotating shaft 131 to turn the metacarpal plate 7 and adjust the angle of the thumb unit 01.

[0034] In this invention, a dual-output shaft motor 3 drives multiple tendon cords, requiring only 6 motors to achieve more than 15 joint movements, significantly reducing system complexity and cost. A rationally designed tendon cord guiding structure is achieved through the first guide rod 22 and the second guide rod 42, and with the underactuated pulley radius configuration, flexible switching between fingertip pinching and wrapping gripping is realized. The second motor 12 drives the rotating shaft 131 to rotate the metacarpal plate 7, realizing multi-angle finger-to-finger movements of the thumb unit 01, improving the diversity of gripping shapes. Each finger unit is independently detachable, and the tendon cords can be quickly installed and replaced through the binding hole 62 and the pull groove 63, improving system maintainability.

[0035] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A multi-jointed precision dexterous hand, including a left hand plate (1), characterized in that, The left hand plate (1) is rotatably equipped with a thumb unit (01), an index finger unit (02), a middle finger unit (03), a ring finger unit (04), and a little finger unit (05). The index finger unit (02), the middle finger unit (03), the ring finger unit (04), and the little finger unit (05) are all composed of a long plate (2), a proximal phalanx (4), a middle phalanx (5), and a fingertip (6). A dual-output shaft motor (3) is installed on the long plate (2). Tendon ropes are connected to the output shafts at both ends of the dual-output shaft motor (3). The thumb unit (01) is composed of a metacarpal plate (7), a middle finger phalanx (5), and a fingertip (6). The proximal phalanx (4) has the same structure as the middle finger phalanx (5). The upper and lower ends of the proximal phalanx (4) are symmetrically provided with first rotating holes (41), and a second guide rod (42) is provided in the middle of the proximal phalanx (4).

2. The multi-joint precision dexterous hand according to claim 1, characterized in that, The fingertip (6) has a second rotating hole (61) at the bottom for connecting with the middle finger phalanx (5), a binding hole (62) for connecting tendon rope at the top of the fingertip (6), and a pull groove (63) on one side surface of the fingertip (6).

3. The multi-joint precision dexterous hand according to claim 1, characterized in that, The top of the long plate (2) is provided with a rotating connector (21) for connecting the proximal phalanx (4), and the top of the long plate (2) is provided with a first guide rod (22) for guiding the tendon rope.

4. The multi-joint precision dexterous hand according to claim 1, characterized in that, A first motor (11) is provided at the bottom surface of the left hand plate (1) away from the metacarpal plate (7), and a rotating seat (13) is provided on the side of the left hand plate (1) close to the metacarpal plate (7). A second motor (12) is provided on the upper surface of the rotating seat (13).

5. The multi-joint precision dexterous hand according to claim 4, characterized in that, A rotating shaft (131) is rotatably mounted on the rotating seat (13), and the metacarpal plate (7) is rotatably mounted on the rotating shaft (131). The top of the rotating shaft (131) is connected to the output end of the second motor (12).

6. The multi-joint precision dexterous hand according to claim 1, characterized in that, Both the proximal phalanx (4) and the middle phalanx (5) are symmetrically provided with suture holes (8), and the top of the long plate (2) is provided with a suture hole (8).

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