Multi-loop series-parallel four-degree-of-freedom active full-drive high dexterity high load-bearing mechanical finger

Abstract

The application relates to the technical field of robots and discloses a multi-ring mixed connection four-degree-of-freedom active full-drive high-skill high-load mechanical finger, which comprises a wrist metacarpal base, a center hooke joint, a finger hinge, a first telescopic mechanism, a first multi-link structure, a second telescopic mechanism, a second multi-link structure and a third telescopic mechanism, the center hooke joint is arranged on the wrist metacarpal base; the finger hinge is hinged to the center hooke joint; the finger hinge comprises a phalanx, a knuckle and a fingertip; the first multi-link structure and the second multi-link structure are both arranged on the center hooke joint; one end of the first telescopic mechanism is universally hinged to the wrist metacarpal base, and the other end is universally hinged to the phalanx; one end of the second telescopic mechanism is universally hinged to the wrist metacarpal base, and the other end is universally hinged to the first multi-link structure; one end of the third telescopic mechanism is universally hinged to the wrist metacarpal base, and the other end is universally hinged to the second multi-link structure. The multi-ring mixed connection mechanism has the motion decoupling characteristics, so that the finger has high skill and high load capacity.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a multi-ring hybrid four-degree-of-freedom active full-drive high-dexterity high-load mechanical finger. BACKGROUND

[0002] As a key end effector of a robot, the performance of a mechanical dexterous hand directly determines the level of refinement and intelligence of the interaction between the robot and the environment. An ideal dexterous hand needs to achieve the comprehensive goals of high load, high precision, large workspace and compact integration at the same time under the size of a human hand, and among them, the selection and design of transmission technology is a core difficulty. In the development history of transmission mode, there are mainly tendon transmission, gear (including worm and gear) transmission and linkage transmission and other technical routes.

[0003] Tendon transmission cannot meet the demand of high precision and high load due to creep and wear. The gear / worm and gear structure is complex, which will bring problems such as large weight and volume, high manufacturing cost, and high assembly difficulty. And simple linkage transmission cannot take into account excellent mechanism mechanics and large active workspace due to the multi-joint coupling characteristics of the mechanism, that is, the movement of one joint not only affects its own state, but also affects the movement of other joints through the transmission of the mechanical structure.

[0004] In summary, the existing mechanical finger cannot take into account the four-degree-of-freedom dexterity, high load capacity, high precision, and compact integration of the human-like finger (especially the index finger, middle finger, ring finger, and little finger), and it is difficult to meet the strict requirements of complex industrial scene dexterous operation.

[0005] Therefore, the prior art still needs to be improved and developed. SUMMARY

[0006] In view of the deficiencies of the prior art, the purpose of the present application is to provide a multi-ring hybrid four-degree-of-freedom active full-drive high-dexterity high-load mechanical finger, which aims to solve the problem that the existing dexterous hand cannot take into account the four-degree-of-freedom dexterity, high load capacity, high precision, and compact integration of the human-like finger (especially the index finger, middle finger, ring finger, and little finger), and it is difficult to meet the strict requirements of complex industrial scene dexterous operation.

[0007] The technical scheme of the present application is as follows:

[0008] A multi-ring hybrid four-degree-of-freedom active full-drive high-dexterity high-load mechanical finger, comprising:

[0009] A wrist metacarpal base;

[0010] A central hooke joint is provided on the wrist metacarpal base;

[0011] A finger hinge, articulated with the center hooke joint; the finger hinge comprises sequentially articulated phalange, knuckle and fingertip;

[0012] A first telescopic mechanism, one end of which is articulated with the wrist metacarpal base universal joint, and the other end of which is articulated with the phalange universal joint, for driving the rotation of the finger hinge;

[0013] A first multi-link structure, provided in the center hooke joint; the first multi-link structure is used for articulating with the knuckle;

[0014] A second telescopic mechanism, one end of which is articulated with the wrist metacarpal base universal joint, and the other end of which is articulated with the first multi-link structure universal joint, for driving the rotation of the knuckle;

[0015] A second multi-link structure, provided in the center hooke joint; the second multi-link structure is used for articulating with the fingertip;

[0016] A third telescopic mechanism, one end of which is articulated with the wrist metacarpal base universal joint, and the other end of which is articulated with the second multi-link structure universal joint, for driving the rotation of the fingertip.

[0017] The multi-ring hybrid four-degree-of-freedom active full-drive high-skill high-load mechanical finger, wherein the center hooke joint comprises a first hinge shaft connected with the wrist metacarpal base, and a second hinge shaft connected with the phalange, the axis of the second hinge shaft is perpendicular to the axis of the first hinge shaft;

[0018] The phalange comprises two connecting plates sleeved on the second hinge shaft and symmetrically distributed on both sides of the first hinge shaft; the first telescopic mechanism is provided with two, and the two first telescopic mechanisms are respectively articulated with the two connecting plates.

[0019] The multi-ring hybrid four-degree-of-freedom active full-drive high-skill high-load mechanical finger, wherein one end of the connecting plate is provided with a first connecting hole for articulating the second hinge shaft, and the other end is provided with a second connecting hole for articulating the knuckle; the side edge of the connecting plate is provided with a first connecting part, and the first connecting part is located between the first connecting hole and the second connecting hole; and the first connecting part is provided with a third connecting hole for articulating the first telescopic mechanism;

[0020] Both ends of the knuckle are respectively provided with a fourth connecting hole for articulating the connecting plate and a fifth connecting hole for articulating the fingertip; and the end of the knuckle connected with the connecting plate is further provided with a second connecting part, and the second connecting part is provided with a sixth connecting hole for articulating the first multi-link structure;

[0021] The extension direction of the first connecting part is opposite to the extension direction of the second connecting part.

[0022] The multi-ring hybrid four-degree-of-freedom active full-drive high-skill high-load mechanical finger, wherein the end of the second hinge shaft is vertically provided with a connecting block;

[0023] The first multi-link structure comprises:

[0024] A first hinge plate, which is triangularly arranged with a first hinge hole, a second hinge hole and a third hinge hole, the first hinge hole being used for being hingedly connected with the connecting block, and the second hinge hole being used for being hingedly connected with the second telescopic mechanism;

[0025] A first connecting rod, one end of which is hingedly connected with the third hinge hole;

[0026] A second connecting rod, which is hingedly connected with the other end of the first connecting rod, and the other end of the second connecting rod being hingedly connected with the connecting plate;

[0027] A third connecting rod, one end of which is hingedly connected with the other end of the first connecting rod, and the other end of the third connecting rod being hingedly connected with the sixth connecting hole;

[0028] The connecting plate, the connecting block, the first hinge plate, the first connecting rod, the second connecting rod, the third connecting rod and the knuckle constitute a seven-link mechanism.

[0029] The multi-ring hybrid four-degree-of-freedom active full-drive high-skill high-load mechanical finger, wherein the center hook hinge further comprises a third hinge shaft, which is parallel to the second hinge shaft;

[0030] The second multi-link structure comprises:

[0031] A fourth connecting rod, which is hingedly connected with the third hinge shaft, and one end of the fourth connecting rod being provided with a fourth hinge hole for hingedly connecting the third telescopic mechanism, and the other end of the fourth connecting rod being provided with a fifth hinge hole;

[0032] A fifth connecting rod, one end of which is hingedly connected with the fifth hinge hole;

[0033] A second hinge plate, which is triangularly arranged with a sixth hinge hole, a seventh hinge hole and an eighth hinge hole, the sixth hinge hole being used for being hingedly connected with the other end of the fifth connecting rod, and the seventh hinge hole being used for being hingedly connected with the connecting plate;

[0034] A sixth connecting rod, one end of which is hingedly connected with the seventh hinge hole, and the other end of the sixth connecting rod being hingedly connected with the fingertip;

[0035] The center hook hinge, the connecting plate, the knuckle, the fingertip, the fourth connecting rod, the fifth connecting rod, the second hinge plate and the sixth connecting rod constitute an eight-link mechanism.

[0036] The multi-loop series-parallel four-degree-of-freedom active full-drive high-skill high-load mechanical finger, wherein the center hooke joint, the connecting plate, the second articulated plate, the fifth connecting rod and the fourth connecting rod constitute a positive five-link mechanism.

[0037] The connecting plate, the knuckle, the fingertip, the sixth connecting rod and the second articulated plate constitute a negative five-link mechanism.

[0038] The multi-loop series-parallel four-degree-of-freedom active full-drive high-skill high-load mechanical finger, wherein the fourth connecting rod is arranged between the two connecting plates, and the fourth articulated hole and the fifth articulated hole are located on the two sides of the connecting plate along the rotation direction of the connecting plate.

[0039] The multi-loop series-parallel four-degree-of-freedom active full-drive high-skill high-load mechanical finger, wherein the wrist metacarpal base comprises a bottom plate and a support column protruding on the bottom plate, and the top end of the support column is provided with the center hooke joint; the first telescopic mechanism, the second telescopic mechanism and the third telescopic mechanism are all articulated with the bottom plate.

[0040] The multi-loop series-parallel four-degree-of-freedom active full-drive high-skill high-load mechanical finger, wherein the first telescopic mechanism, the second telescopic mechanism and the third telescopic mechanism are all linear telescopic mechanisms.

[0041] The linear telescopic mechanism comprises:

[0042] A first universal joint articulated with the wrist metacarpal base;

[0043] A housing connected with the first universal joint at one end and formed with a telescopic cavity at the other end;

[0044] A motor arranged in the telescopic cavity;

[0045] A lead screw drivingly connected with the output end of the motor through a shaft coupling; the lead screw extends along the axial direction of the telescopic cavity;

[0046] A lead screw nut nested on the housing; one end of the lead screw nut is screwed with the lead screw, and the other end is provided with a second universal joint connected with the phalanx or the first multi-link structure or the second multi-link structure.

[0047] The multi-loop series-parallel four-degree-of-freedom active full-drive high-skill high-load mechanical finger, wherein the first universal joint is a spherical joint or a hooke joint; and / or the second universal joint is a hooke joint.

[0048] Compared with the prior art, the embodiment of the present application has the following advantages:

[0049] The central hooke joint disclosed in the application plays the role of universal adjustment, so that the finger hinge, the first multi-link structure and the second multi-link structure can rotate synchronously, and therefore the finger hinge can perform pitching and yawing actions under the driving of the first telescopic mechanism, and has two degrees of freedom; the rotation of the knuckles can be controlled individually through the second telescopic mechanism and the first multi-link structure; the rotation of the fingertips can be further controlled individually through the third telescopic mechanism and the second multi-link structure; the whole mechanical finger has four degrees of freedom, the motion parts of the knuckles and the fingertips are decoupled on the basis of not affecting the size of the body and meeting the size requirements, and the flexibility and the control accuracy are higher when the action of the mechanical finger is controlled, and the active working space and the load capacity of the finger are increased. BRIEF DESCRIPTION OF DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0051] Figure 1 The structural schematic diagram of the multi-ring hybrid four-degree-of-freedom active full-drive high-skill high-load mechanical finger in the present application is shown in the figure.

[0052] Figure 2 The structural explosion diagram of the multi-ring hybrid four-degree-of-freedom active full-drive high-skill high-load mechanical finger in the present application is shown in the figure.

[0053] Figure 3 The structural schematic diagram of the central hooke joint in the present application is shown in the figure.

[0054] Figure 4 The structural explosion diagram of the finger hinge in the present application is shown in the figure.

[0055] Figure 5 The structural schematic diagram of the first multi-link structure and the second telescopic mechanism assembled on the wrist metacarpal base in the present application is shown in the figure.

[0056] Figure 6 The structural schematic diagram of the seven-link mechanism in the present application is shown in the figure.

[0057] Figure 7 The structural schematic diagram of the second multi-link structure and the third telescopic mechanism assembled on the wrist metacarpal base in the present application is shown in the figure.

[0058] Figure 8 The structural schematic diagram of the eight-link mechanism in the present application is shown in the figure.

[0059] Figure 9 The structural schematic diagram of the linear telescopic mechanism in the present application is shown in the figure.

[0060] Figure 10 Figure 1 is an axial sectional view of a linear extension mechanism according to the present application.

[0061] Wherein, 100, metacarpal base; 110, bottom plate; 120, support column; 200, center hooke joint; 210, first hinge shaft; 220, second hinge shaft; 230, connecting block; 240, third hinge shaft; 300, finger hinge; 310, phalanx; 311, connecting plate; 3111, first connecting hole; 3112, second connecting hole; 3113, first connecting part; 3114, third connecting hole; 320, knuckle; 321, fourth connecting hole; 322, fifth connecting hole; 323, second connecting part; 324, sixth connecting hole; 330, fingertip; 400, first extension mechanism; 500, first multi-link structure; 510, first hinge plate; 511, first hinge hole; 512, second hinge hole; 513, third hinge hole; 520, first link; 530, second link; 540, third link; 600, second extension mechanism; 700, second multi-link structure; 710, fourth link; 711, fourth hinge hole; 712, fifth hinge hole; 720, fifth link; 730, second hinge plate; 731, sixth hinge hole; 732, seventh hinge hole; 733, eighth hinge hole; 740, sixth link; 800, third extension mechanism; 900, linear extension mechanism; 910, first universal joint; 920, housing; 921, extension cavity; 930, motor; 940, screw rod; 950, nut; 960, second universal joint. DETAILED DESCRIPTION

[0062] In order to make the personnel in the technical field better understand the present application scheme, the technical scheme in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by the person skilled in the art without creative labor are within the protection scope of the present application.

[0063] Due to manufacturing techniques and / or tolerances, variations in the shapes illustrated in the drawings can occur. Therefore, the examples described herein are not limited to the specific shapes illustrated in the drawings but include variations in shapes that occur during manufacturing.

[0064] As used herein, the term "and / or" includes any one of the listed related items and any combination of any two or more of the listed related items.

[0065] Although terms such as "first" and "second" and "third" can be used herein to describe various elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. Rather, these terms are only used to distinguish one element, component, region, layer or section from another element, component, region, layer or section. Thus, terms of a first element, component, region, layer or section described in the examples herein could also be termed a second element, component, region, layer or section without departing from the teachings of the examples.

[0066] For ease of description, spatial relationship terms such as "on", "upper", "under", and "lower" can be used herein to describe the relationship between one element and another element as shown in the drawings. Such spatial relationship terms are intended to encompass different orientations of the device in use or operation, in addition to the orientation depicted in the drawings. For example, if the device in the drawings is turned over, an element described as on "upper" or "upper" relative to another element would then be oriented "under" or "lower" relative to the other element. Accordingly, the term "on" encompasses both an "on" and "under" orientation based on the spatial orientation of the device. The device can be oriented in other ways and the spatial relationship terms used herein interpreted accordingly.

[0067] The terminology used herein is for the purpose of describing various examples only and is not intended to be limiting of the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises", "comprising", "includes", "including" and "has", "having" and "contains", "containing" as used herein, are meant to be open-ended terms that do not exclude additional features, numbers, operations, components, elements, and / or combinations thereof.

[0068] Referring to Figure 1 In one embodiment of the present application, a multi-loop series-parallel four-degree-of-freedom active full-drive high-dexterity high-load mechanical finger is disclosed, which comprises a wrist metacarpal base 100, a center hooke joint 200, a finger hinge 300, a first telescopic mechanism 400, a first multi-link structure 500, a second telescopic mechanism 600, a second multi-link structure 700, and a third telescopic mechanism 800. The center hooke joint 200 is arranged on the wrist metacarpal base 100. The finger hinge 300 is hinged to the center hooke joint 200. The finger hinge 300 comprises a phalanx 310, a phalangeal joint 320, and a fingertip 330 which are hinged in sequence.

[0069] As Figure 1 and Figure 2As shown, one end of the first telescopic mechanism 400 is articulated with the wrist metacarpal base 100, and the other end is articulated with the phalanx 310, for driving the finger hinge 300 to rotate. The first multi-link structure 500 is arranged on the center hooke joint 200; the first multi-link structure 500 is used for articulating with the finger joint 320; one end of the second telescopic mechanism 600 is articulated with the wrist metacarpal base 100, and the other end is articulated with the first multi-link structure 500, for driving the finger joint 320 to rotate. The second multi-link structure 700 is arranged on the center hooke joint 200; the second multi-link structure 700 is used for articulating with the fingertip 330; one end of the third telescopic mechanism 800 is articulated with the wrist metacarpal base 100, and the other end is articulated with the second multi-link structure 700, for driving the fingertip 330 to rotate.

[0070] The wrist metacarpal base 100 disclosed in the embodiment can be assembled on the palm of the dexterous hand as a support structure. The center hooke joint 200 connects the wrist metacarpal base 100, and plays a role of universal adjustment, so that the finger hinge 300, the first multi-link structure 500 and the second multi-link structure 700 can rotate synchronously. The first telescopic mechanism 400, the second telescopic mechanism 600 and the third telescopic mechanism 800 can be stretched or contracted, and keep the support force when being static, so that the finger hinge 300 is kept stable. When moving, since both ends of the first telescopic mechanism 400, the second telescopic mechanism 600 and the third telescopic mechanism 800 are articulated in a universal manner, the transmission effect is not affected by the posture of the finger hinge 300.

[0071] Specifically, in the case that the first telescopic mechanism 400 is active and the second telescopic mechanism 600 and the third telescopic mechanism 800 are stopped, the phalanx 310 can rotate to realize the pitching or yawing motion, and further realize the in-out or yawing motion of the entire finger hinge 300, with two degrees of freedom; in the case that the second telescopic mechanism 600 is active and the first telescopic mechanism 400 and the third telescopic mechanism 800 are stopped, the first multi-link structure 500 can control the rotation of the finger joint 320 alone, with one degree of freedom; in the case that the third telescopic mechanism 800 is active and the first telescopic mechanism 400 and the second telescopic mechanism 600 are stopped, the second multi-link structure 700 can further control the rotation of the fingertip 330 alone, with one degree of freedom.

[0072] In summary, the entire mechanical finger has four degrees of freedom, the motion of the finger joint 320 and the fingertip 330 is decoupled on the basis of not affecting the size and meeting the size requirements, the force transmission efficiency is higher when controlling the motion of the mechanical finger, the flexibility of the finger is better, the control precision is higher, and the active working space and the load capacity of the finger are increased.

[0073] It should be noted that the embodiment only illustrates the working condition that only one of the first telescopic mechanism 400, the second telescopic mechanism 600 and the third telescopic mechanism 800 is active, and the other two are stopped, but the protection scope of the present application is not limited thereto. Since the transmission structures of the phalanx 310, the phalange 320 and the fingertip 330 do not interfere with each other, the first telescopic mechanism 400, the second telescopic mechanism 600 and the third telescopic mechanism 800 can be active at the same time, or only one or two can be active, and the mechanical finger can be controlled to achieve the technical effects disclosed in the present application. As an equivalent replacement of the concept of the present application, these embodiments should also be within the scope of protection of the present application. In addition, in the embodiment, by simultaneously controlling the first telescopic mechanism 400, the second telescopic mechanism 600 and the third telescopic mechanism 800, the flexibility of the mechanical finger can be further improved to complete more diverse finger movements and meet diverse operation requirements.

[0074] As shown in Figure 2 another embodiment of the present application, it is disclosed that the metacarpal base 100 comprises a bottom plate 110 and a support column 120 protruding on the bottom plate 110, and the top end of the support column 120 is provided with the center hooke joint 200; the first telescopic mechanism 400, the second telescopic mechanism 600 and the third telescopic mechanism 800 are all hinged with the bottom plate 110.

[0075] The mechanical finger disclosed in the embodiment adopts the design idea of being homologous to human hands, and the bottom plate 110 can be connected with the wrist of a robot, the support column 120 corresponds to the metacarpal bone (MC) of the human hand, the center hooke joint 200 corresponds to the metacarpophalangeal joint (MCP) of the human hand, the phalanx 310 corresponds to the proximal phalanx (PP) of the human hand, the phalange 320 corresponds to the middle phalanx (MP) of the human hand, and the fingertip 330 corresponds to the distal phalanx (DP) of the human hand. The hinge between the phalanx 310 and the phalange 320 corresponds to the proximal interphalangeal joint (PIP) of the human hand, and the phalange 320 and the fingertip 330 correspond to the distal interphalangeal joint (DIP) of the human hand.

[0076] Specifically, in the embodiment, the support column 120 is arranged to make the center hooke joint 200 away from the bottom plate 110, and sufficient space is formed between the finger hinge 300 and the bottom plate 110 to assemble the first telescopic mechanism 400, the second telescopic mechanism 600 and the third telescopic mechanism 800, so that the overall structure of the mechanical finger is compact and the size conflict is reduced.

[0077] In another embodiment of the present application, the support column 120 is integrally formed with the bottom plate 110 and can be made of hard plastic material or alloy material, which has strong rigidity and good stability.

[0078] As shown in Figure 3 and Figure 4As another embodiment of the present application, the center hinge 200 is disclosed to include a first hinge shaft 210 connected with the wrist metacarpal base 100, and a second hinge shaft 220 connected with the phalange 310, the axis of the second hinge shaft 220 being perpendicular to the axis of the first hinge shaft 210; the phalange 310 includes two connecting plates 311 sleeved on the second hinge shaft 220 and symmetrically distributed on both sides of the first hinge shaft 210; the first telescopic mechanism 400 is provided with two, and the two first telescopic mechanisms 400 are respectively hinged with the two connecting plates 311.

[0079] In the embodiment, the two first telescopic mechanisms 400 are arranged to operate cooperatively, so as to accurately control the rotating direction and angle of the phalange 310. Specifically, the second hinge shaft 220 is cross arranged with the first hinge shaft 210, and perpendicular to each other, so that the two connecting plates 311 are symmetrically arranged on both sides of the first hinge shaft 210. When one of the two first telescopic mechanisms 400 is elongated and the other is shortened, one connecting plate 311 is deflected downward and the other is deflected upward, and the whole finger hinge 300 swings toward one side with the first hinge shaft 210 as the axis. When the two first telescopic mechanisms 400 are simultaneously shortened, the two connecting plates 311 are simultaneously subjected to a pulling force, and the finger hinge 300 produces a retraction action with the second hinge shaft 220 as the axis. When the two first telescopic mechanisms 400 are simultaneously elongated, the two connecting plates 311 are simultaneously subjected to a pushing force, and the finger hinge 300 produces an abduction action with the second hinge shaft 220 as the axis.

[0080] It can be seen that the two first telescopic mechanisms 400 are arranged to support the phalange 310 simultaneously, so that the finger hinge 300 is more stable when at rest and has stronger load-bearing capacity. When in motion, the finger hinge 300 can accurately rotate through a large angle based on the cooperative operation of the two first telescopic mechanisms 400, so as to realize the pitching, retraction and abduction actions, improve the flexibility of the mechanical finger, and maintain high control accuracy.

[0081] In addition, in the embodiment, the two parallel connecting plates 311 are arranged to be respectively connected with the first telescopic mechanisms 400, and a clearance is formed between the two connecting plates 311 to facilitate the passage of the second multi-link structure 700, so as to improve the structural compactness of the mechanical finger, which is conducive to reducing the overall size to meet the requirements of human size.

[0082] As shown in FIG. 6, the second multi-link structure 700 is arranged to include a first link 710 connected with the phalange 310, and a second link 720 connected with the wrist metacarpal base 100, the first link 710 and the second link 720 being connected with each other through a third link 730. Figure 4As another embodiment of the present application, it is shown that one end of the connecting plate 311 is provided with a first connecting hole 3111 for hinging the second hinge shaft 220, and the other end is provided with a second connecting hole 3112 for hinging the knuckle 320; the side edge of the connecting plate 311 is provided with a first connecting part 3113, which is located between the first connecting hole 3111 and the second connecting hole 3112; and the first connecting part 3113 is provided with a third connecting hole 3114 for hinging the first telescopic mechanism 400.

[0083] The two ends of the knuckle 320 are respectively provided with a fourth connecting hole 321 for hinging the connecting plate 311 and a fifth connecting hole 322 for hinging the fingertip 330; and the end of the knuckle 320 connected with the connecting plate 311 is further provided with a second connecting part 323, which is provided with a sixth connecting hole 324 for hinging the first multi-link structure 500. The extension direction of the first connecting part 3113 is opposite to that of the second connecting part 323.

[0084] The connecting plate 311 and the knuckle 320 disclosed in the embodiment are connected by punching and inserting a shaft rod to form a hinged connection, which is simple in structure, low in manufacturing cost, and good in connection stability. The connecting plate 311 protrudes to the side to provide the first connecting part 3113, which is used to cooperate with the position of the first telescopic mechanism 400, avoid singular points, and keep the first telescopic mechanism 400 smooth during movement, avoiding interference with the center hooke joint 200.

[0085] The second connecting part 323 is formed on the side of the knuckle 320, so that even if the finger hinge 300 is completely straightened, the second connecting part 323 will not be blocked by the phalanx 310, which is conducive to maintaining the connection with the first multi-link structure 500, reducing interference, and avoiding singular points.

[0086] Moreover, the first connecting part 3113 is used to connect the first telescopic mechanism 400, and the second connecting part 323 is used to connect the first multi-link structure 500, and further connect the second telescopic mechanism 600; therefore, the first connecting part 3113 and the second connecting part 323 are reversely arranged, so that the first telescopic mechanism 400 and the second telescopic mechanism 600 can be staggered, avoiding spatial interference, further optimizing the occupied volume of the mechanical finger, and maintaining the control flexibility of the phalanx 310 and the knuckle 320.

[0087] As shown in FIG. 6, the first telescopic mechanism 400 is connected to the connecting plate 311 through the first connecting part 3113, and the second telescopic mechanism 600 is connected to the knuckle 320 through the second connecting part 323. Figure 5 and Figure 6As shown, as another embodiment of the present application, the end of the second hinge shaft 220 is vertically provided with a connecting block 230; the first multi-link structure 500 comprises a first hinge plate 510, a first link 520, a second link 530 and a third link 540, the first hinge plate 510 is triangularly arranged with a first hinge hole 511, a second hinge hole 512 and a third hinge hole 513, the first hinge hole 511 is used for being hinged with the connecting block 230; the second hinge hole 512 is used for being hinged with the second telescopic mechanism 600; one end of the first link 520 is hinged with the third hinge hole 513; the second link 530 is hinged with the other end of the first link 520; the other end of the second link 530 is hinged with the connecting plate 311; one end of the third link 540 is hinged with the other end of the first link 520, and the other end is hinged with the sixth connecting hole 324; wherein, the connecting plate 311, the connecting block 230, the first hinge plate 510, the first link 520, the second link 530, the third link 540 and the knuckle 320 constitute a seven-link mechanism.

[0088] The seven-link mechanism disclosed in the embodiment plays a role of transmitting thrust. When the second telescopic mechanism 600 is active, the first hinge plate 510 can be pushed to rotate around the shaft inserted into the first hinge hole 511, and the first link 520 and the second link 530 are simultaneously rotated, and the first link 520 is moved upward or downward in space. Since the central hooke joint 200 is hinged with the connecting plate 311, and the second link 530 is also hinged with the connecting plate 311, the connecting plate 311 can remain stable when the first multi-link structure 500 rotates.

[0089] That is, the connecting block 230, the connecting plate 311, the second link 530, the first link 520 and the first hinge plate 510 constitute a five-level rod group, which can decouple the rotation of the first multi-link structure 500 from the first telescopic mechanism 400. When the first link 520 moves up and down, the third link 540 is inevitably moved up and down, and finally the knuckle 320 is pulled to achieve the effect of decoupling the rotation of the knuckle 320 from the rotation of the phalanx 310, improve the flexibility of the mechanical finger rotation, and facilitate control.

[0090] In addition, the partial decoupling of the mechanical finger in the embodiment is beneficial to shorten the stroke of the first telescopic mechanism 400 and the second telescopic mechanism 600, so that the mechanical finger achieves better anthropomorphic effect, and further optimizes the transmission effect. The first hinge plate 510 is connected with the connecting block 230, the second link 530 is connected with the connecting plate 311, and the third link 540 is connected with the knuckle 320, so that the stability of the whole structure is good, the load capacity is strong, and the structural mechanical properties of the first multi-link structure 500 under extreme working conditions are optimized.

[0091] As Figure 3 , Figure 7 and Figure 8 shown, as another embodiment of the present application, the center hooke joint 200 further comprises a third hinge shaft 240, which is parallel to the second hinge shaft 220; the second multi-link structure 700 comprises a fourth link 710, a fifth link 720, a second hinge plate 730 and a sixth link 740, the fourth link 710 is hinged with the third hinge shaft 240; one end of the fourth link 710 is provided with a fourth hinge hole 711 for hinging the third telescopic mechanism 800, and the other end is provided with a fifth hinge hole 712; one end of the fifth link 720 is hinged with the fifth hinge hole 712.

[0092] The sixth hinge hole 731, the seventh hinge hole 732 and the eighth hinge hole 733 are arranged in a triangular shape on the second hinge plate 730, the sixth hinge hole 731 is used for hinging with the other end of the fifth link 720; the seventh hinge hole 732 is used for hinging with the connecting plate 311; one end of the sixth link 740 is hinged with the seventh hinge hole 732, and the other end is hinged with the fingertip 330; the center hooke joint 200, the connecting plate 311, the knuckle 320, the fingertip 330, the fourth link 710, the fifth link 720, the second hinge plate 730 and the sixth link 740 constitute an eight-link mechanism.

[0093] In the embodiment disclosed in the present application, the third hinge shaft 240 is arranged on the center hooke joint 200, which makes the fourth link 710 staggered with the connecting plate 311, avoiding mutual interference, and at the same time, the second multi-link structure 700 is connected through the third hinge shaft 240, so that the second multi-link structure 700 and the finger hinge 300 can keep synchronous rotation, making the rotation of the mechanical finger more smooth, avoiding singular points and increasing flexibility.

[0094] Specifically, without considering the activity of the first telescopic mechanism 400 and the second telescopic mechanism 600, the fourth link 710 is only driven by the third telescopic mechanism 800 and can rotate around the third hinge shaft 240. Under the drive of the eight-link mechanism, the rotation of the fourth link 710 can drive the fifth link 720, the second hinge plate 730 and the sixth link 740 to move, and under the condition that the knuckle 320 and the phalanx 310 remain unchanged, the fingertip 330 can rotate alone, achieving the effect of partial decoupling and realizing the pitching action.

[0095] Therefore, in the embodiment, the eight-link mechanism is arranged to stably support and control the fingertip 330, which further improves the load capacity and control flexibility of the mechanical finger, is also beneficial to shorten the stroke of the third telescopic mechanism 800, makes the transmission effect of the mechanical finger better, and achieves better anthropomorphic effect.

[0096] Specifically, as another embodiment of the present application, the center hook joint 200, the connecting plate 311, the second articulated plate 730, the fifth connecting rod 720 and the fourth connecting rod 710 form a positive five-bar linkage; the connecting plate 311, the knuckle 320, the fingertip 330, the sixth connecting rod 740 and the second articulated plate 730 form a negative five-bar linkage. In this embodiment, the motion of the knuckle 320 and the fingertip 330 is decoupled by the positive five-bar linkage, and the motion of the phalanx 310 and the fingertip 330 is decoupled by the negative five-bar linkage; and the coupling of the positive five-bar linkage and the negative five-bar linkage together forms an eight-bar linkage, which optimizes the number of connecting rods of the transmission structure, is conducive to improving the transmission efficiency, and realizes the effect of part of the structure, further improves the flexibility of control on the basis of ensuring control accuracy.

[0097] Specifically, as another embodiment of the present application, the fourth connecting rod 710 is arranged between the two connecting plates 311, and along the rotation direction of the connecting plate 311, the fourth articulated hole 711 and the fifth articulated hole 712 are respectively located on the two sides of the connecting plate 311.

[0098] The fourth connecting rod 710 disclosed in this embodiment is used to connect the third telescopic mechanism 800, and the fourth articulated hole 711 and the fifth articulated hole 712 are arranged separately, so that the third telescopic mechanism 800 can be arranged on one side of the center hook joint 200, while the fifth connecting rod 720, the second articulated plate 730, the sixth connecting rod 740, etc. can be arranged on the other side of the center hook joint 200, thereby reasonably arranging and staggering the first telescopic mechanism 400, the second telescopic mechanism 600 and the third telescopic mechanism 800 to avoid mutual interference.

[0099] As shown in Figure 9 As another embodiment of the present application, the first telescopic mechanism 400, the second telescopic mechanism 600 and the third telescopic mechanism 800 are all linear telescopic mechanisms 900. The three are driven by the same structure, which is convenient for manufacturing and assembling, and is also conducive to saving costs. In addition, the linear telescopic mechanism 900 disclosed in this embodiment is in a linear shape as a whole, occupies small space, and the direction of the acting force coincides with the direction of its own axis, which can ensure high precision, high output torque, large structural rigidity and good stability.

[0100] As shown in Figure 9 and Figure 10As shown, the linear telescopic mechanism 900 comprises a first universal joint 910, a housing 920, a motor 930, a screw rod 940, a nut 950 and a second universal joint 960, the first universal joint 910 is hinged with the wrist metacarpal base 100; one end of the housing 920 is connected with the first universal joint 910, and the other end forms a telescopic cavity 921; the motor 930 is arranged in the telescopic cavity 921; the screw rod 940 is in transmission connection with the output end of the motor 930 through a shaft coupling; the screw rod 940 extends along the axial direction of the telescopic cavity 921; the nut 950 is nested on the housing 920; one end of the nut 950 is screwed with the screw rod 940, and the other end is provided with the second universal joint 960, and the second universal joint 960 is connected with the phalanx 310 or the first multi-link structure 500 or the second multi-link structure 700.

[0101] In this embodiment, the motor 930 is powered by an external power supply or a battery placed in the housing 920, and the maximum output force of the motor 930 is 200 Newton (N). The torque generated by the motor 930 is transmitted to the screw rod 940, and then the torque is further transmitted to the nut 950 through the screw connection between the screw rod 940 and the nut 950, so that the nut 950 moves relative to the housing 920, realizing the elongation or shortening of the whole structure. The overall transmission efficiency is high, the control accuracy is high, and the load performance is high.

[0102] Specifically, the first universal joint 910 and the second universal joint 960 arranged at both ends play a dual role of connection and transmission, so that the first telescopic mechanism 400, the second telescopic mechanism 600 and the third telescopic mechanism 800 have sufficient flexibility, can freely rotate on the wrist metacarpal base 100, and maintain transmission connection with the finger hinge 300.

[0103] Specifically, as another embodiment of the present application, the first universal joint 910 is a spherical joint or a hooke joint, and the second universal joint 960 is a hooke joint. Both the spherical joint and the hooke joint have the function of universal connection. The first universal joint 910 disclosed in this embodiment connects the housing 920 and the wrist metacarpal base 100, so it only needs to play the role of connection and support, and can adopt a spherical joint or a hooke joint. The second universal joint 960 disclosed in this embodiment plays the role of connection, support and transmission, so it is provided as a hooke joint to facilitate efficient transmission of torque.

[0104] Preferably, the second universal joint 960 disclosed in this embodiment can adopt a hooke joint with bias to further improve flexibility, avoid interference, and also increase the force lever length of the first telescopic mechanism 400, the second telescopic mechanism 600 or the third telescopic mechanism 800, and play the effect of saving effort.

[0105] Specifically, as another embodiment of the present application, the independent freedom motion ranges of the multi-ring hybrid four-degree-of-freedom active full-drive high-skill high-load mechanical finger are disclosed and compared with those of the human index finger, as shown in Table 1 below.

[0106] Table 1

[0107]

[0108] The human index finger reference data in Table 1 is the data of the range of motion of the human finger that can be found in the existing published literature. It can be seen that the range of motion of each joint of the mechanical finger is larger than that of the human finger, so the flexibility is good, and large angle actions can be made, which is beneficial to meet the use requirements of the robot.

[0109] In summary, the present application discloses a multi-ring hybrid four-degree-of-freedom active full-drive high-skill high-load mechanical finger, which comprises a wrist metacarpal base 100, a center hooke joint 200, a finger hinge 300, a first telescopic mechanism 400, a first multi-link structure 500, a second telescopic mechanism 600, a second multi-link structure 700 and a third telescopic mechanism 800. The center hooke joint 200 is arranged on the wrist metacarpal base 100. The finger hinge 300 is hinged to the center hooke joint 200. The finger hinge 300 comprises a phalanx 310, a finger joint 320 and a finger tip 330 which are hinged in sequence. One end of the first telescopic mechanism 400 is hingedly connected to the wrist metacarpal base 100, and the other end is hingedly connected to the phalanx 310, for driving the finger hinge 300 to rotate. The first multi-link structure 500 is arranged on the center hooke joint 200. The first multi-link structure 500 is hingedly connected to the finger joint 320. One end of the second telescopic mechanism 600 is hingedly connected to the wrist metacarpal base 100, and the other end is hingedly connected to the first multi-link structure 500, for driving the finger joint 320 to rotate. The second multi-link structure 700 is arranged on the center hooke joint 200. The second multi-link structure 700 is hingedly connected to the finger tip 330. One end of the third telescopic mechanism 800 is hingedly connected to the wrist metacarpal base 100, and the other end is hingedly connected to the second multi-link structure 700, for driving the finger tip 330 to rotate.

[0110] The center hooke joint 200 disclosed in the embodiment plays the role of universal adjustment, so that the finger hinge 300, the first multi-link structure 500 and the second multi-link structure 700 can rotate synchronously, and therefore the finger hinge 300 can perform pitching and yawing actions under the driving of the first telescopic mechanism 400, and has two degrees of freedom; the rotation of the knuckles 320 can be controlled individually through the second telescopic mechanism 600 and the first multi-link structure 500; the rotation of the fingertips 330 can be further controlled individually through the third telescopic mechanism 800 and the second multi-link structure 700; the entire mechanical finger has four degrees of freedom, the motion of the knuckles 320 and the fingertips 330 is decoupled without affecting the size of the self-body, meets the size requirements, is more flexible in controlling the action of the mechanical finger, has higher control precision, and increases the active working space and load capacity of the finger.

[0111] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0112] It should be noted that the present application takes the multi-loop hybrid four-degree-of-freedom active full-drive high-sophistication high-load mechanical finger as an example to introduce the specific structure and working principle of the present application, but the application of the present application is not limited to the multi-loop hybrid four-degree-of-freedom active full-drive high-sophistication high-load mechanical finger, and can also be applied to the production and use of other similar workpieces.

[0113] It should be understood that the present application is not limited to the precise structures described above and shown in the drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the present application is only limited by the appended claims.

[0114] The above only describes the preferred embodiments of the present application, and is not intended to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A multi-loop series-parallel four-degree-of-freedom active full-drive high-dexterity high-load mechanical finger, characterized in that, The wrist metacarpal base; The center hooke joint is arranged in the wrist metacarpal base; The finger hinge is hinged with the center hooke joint; The finger hinge comprises phalange, knuckle and fingertip which are hinged in sequence; The first telescopic mechanism is hingedly connected to the wrist metacarpal base at one end and hingedly connected to the phalange at the other end, and is used to drive the finger hinge to rotate; The first multi-link structure is arranged in the center hooke joint; The first multi-link structure is used to be hinged with the knuckle; The second telescopic mechanism is hingedly connected to the wrist metacarpal base at one end and hingedly connected to the first multi-link structure at the other end, and is used to drive the knuckle to rotate; The second multi-link structure is arranged in the center hooke joint; The second multi-link structure is used to be hinged with the fingertip; The third telescopic mechanism is hingedly connected to the wrist metacarpal base at one end and hingedly connected to the second multi-link structure at the other end, and is used to drive the fingertip to rotate; The center hooke joint comprises a first hinge shaft connected with the wrist metacarpal base and a second hinge shaft connected with the phalange, and the axis of the second hinge shaft is perpendicular to the axis of the first hinge shaft; The phalange comprises two connecting plates which are sleeved on the second hinge shaft and symmetrically distributed on both sides of the first hinge shaft; The first telescopic mechanism is provided with two, and the two first telescopic mechanisms are hingedly connected with the two connecting plates respectively; One end of the connecting plate is provided with a first connecting hole for hinging the second hinge shaft, and the other end is provided with a second connecting hole for hinging the knuckle; The side edge of the connecting plate is provided with a first connecting part, and the first connecting part is located between the first connecting hole and the second connecting hole; And the first connecting part is provided with a third connecting hole for hinging the first telescopic mechanism; Both ends of the knuckle are respectively provided with a fourth connecting hole for hinging the connecting plate and a fifth connecting hole for hinging the fingertip; And one end of the knuckle connected with the connecting plate is also provided with a second connecting part, and the second connecting part is provided with a sixth connecting hole for hinging the first multi-link structure; The extension direction of the first connecting part and the extension direction of the second connecting part are opposite; The wrist metacarpal base comprises a bottom plate and a support column protruding from the bottom plate, and the top end of the support column is provided with the center hooke joint; The first telescopic mechanism, the second telescopic mechanism and the third telescopic mechanism are hingedly connected with the bottom plate. The end of the second hinge shaft is vertically provided with a connecting block; 2. The multi-loop series-parallel four-degree-of-freedom active fully-driven high-dexterity high-load-carrying mechanical finger according to claim 1, wherein, The first multi-link structure comprises: The first hinge plate is triangularly arranged with a first hinge hole, a second hinge hole and a third hinge hole, the first hinge hole is used for hinging with the connecting block; The second hinge hole is used for hinging with the second telescopic mechanism; The first connecting rod is hingedly connected to the third hinge hole at one end; The second connecting rod is hingedly connected to the other end of the first connecting rod; The other end of the second connecting rod is hingedly connected to the connecting plate; The third connecting rod is hingedly connected to the other end of the first connecting rod at one end, and the other end is hingedly connected to the sixth connecting hole; ​ The connecting plate, the connecting block, the first hinged plate, the first connecting rod, the second connecting rod, the third connecting rod and the knuckle constitute a seven-connecting-rod mechanism.

3. The multi-loop series-parallel four-degree-of-freedom active fully-driven high-dexterity high-load-carrying mechanical finger according to claim 1, wherein, The central hooke joint further comprises a third hinge shaft, which is parallel to the second hinge shaft; The second multi-connecting-rod structure comprises: A fourth connecting rod, which is hinged to the third hinge shaft; one end of the fourth connecting rod is provided with a fourth hinge hole for hinging the third telescopic mechanism, and the other end is provided with a fifth hinge hole; A fifth connecting rod, one end of which is hinged to the fifth hinge hole; A second hinged plate, which is triangularly arranged with a sixth hinge hole, a seventh hinge hole and an eighth hinge hole; the sixth hinge hole is used for hinging the other end of the fifth connecting rod; and the seventh hinge hole is used for hinging the connecting plate; A sixth connecting rod, one end of which is hinged to the seventh hinge hole, and the other end is hinged to the fingertip; The central hooke joint, the connecting plate, the knuckle, the fingertip, the fourth connecting rod, the fifth connecting rod, the second hinged plate and the sixth connecting rod constitute an eight-connecting-rod mechanism.

4. The multi-loop series-parallel four-degree-of-freedom active fully-driven high-dexterity high-load-carrying mechanical finger according to claim 3, characterized in that, The central hooke joint, the connecting plate, the second hinged plate, the fifth connecting rod and the fourth connecting rod constitute a positive five-connecting-rod mechanism; The connecting plate, the knuckle, the fingertip, the sixth connecting rod and the second hinged plate constitute a negative five-connecting-rod mechanism.

5. The multi-loop series-parallel four-degree-of-freedom active fully-driven high-dexterity high-load-carrying mechanical finger according to claim 3, wherein, The fourth connecting rod is arranged between the two connecting plates, and along the rotation direction of the connecting plate, the fourth hinge hole and the fifth hinge hole are respectively located on the two sides of the connecting plate.

6. The multi-loop series-parallel four-degree-of-freedom active fully-driven high-dexterity high-load-carrying mechanical finger according to any one of claims 1 to 5, characterized in that, The first telescopic mechanism, the second telescopic mechanism and the third telescopic mechanism are all linear telescopic mechanisms; The linear telescopic mechanism comprises: A first universal joint, which is hinged to the carpus-phalangeal base; A shell, one end of which is connected to the first universal joint, and the other end of which is formed with a telescopic cavity; A motor, which is arranged in the telescopic cavity; A lead screw, which is in transmission connection with the output end of the motor through a shaft coupling; the lead screw extends along the axial direction of the telescopic cavity; A lead screw nut, which is nested on the shell; one end of the lead screw nut is screwed with the lead screw, and the other end of the lead screw nut is provided with a second universal joint, which is connected with the phalanx or the first multi-connecting-rod structure or the second multi-connecting-rod structure.

7. The multi-loop series-parallel four-degree-of-freedom active fully-driven high-dexterity high-load-carrying mechanical finger according to claim 6, wherein, The first universal joint is a spherical joint or a hooke joint; and / or, the second universal joint is a hooke joint.

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