Finger structure of dexterous hand

Abstract

The dexterous hand finger structure comprises a driving assembly, a connecting rod assembly and a finger assembly, the driving assembly is connected with the finger assembly, the connecting rod assembly is located in a containing space formed by the finger assembly, and the connecting rod assembly comprises a first connecting rod and a second connecting rod; the finger assembly comprises knuckles and a rotating assembly, the knuckles comprise a first knuckle, a second knuckle and a third knuckle, and the rotating assembly comprises a first rotating center and a second rotating center; the first knuckles are connected with the driving assembly in a nested mode, and the second knuckles are located between the first knuckles and the third knuckles. The first knuckles and the second knuckles rotate around a first rotating center, and the second knuckles and the third knuckles rotate around a second rotating center; the first connecting rod is connected with the driving assembly and the second knuckle; the second connecting rod is connected with the first knuckle, the second knuckle and the third knuckle; compared with the prior art, the flexibility of the fingers is greatly enhanced, the transmission efficiency is higher, the size of the fingers of the dexterous hand is reduced, and improvement of the overall compactness and miniaturization of the bionic hand is facilitated.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, in particular to a dexterous hand finger structure. BACKGROUND

[0002] Humanoid robots have received extensive social attention in recent years, and their scientific and technological level has also been greatly improved. Bionic dexterous hand is the end effector of humanoid robot, and its design goal is to create a robot hand that can simulate the complex motion and fine operation ability of human hand. As an important end execution part of robot, dexterous hand is indispensable in the daily work and future development of robot. In order to make the dexterous hand play the same function as the human hand, the design of the dexterous hand is more demanding, not only requires the dexterous hand to have high degree of freedom, but also requires the size of the dexterous hand to be small. However, the existing dexterous hand mainly has the following shortcomings: (1) It is impossible to realize the motion decoupling between the bending and side swing of the dexterous hand finger, while considering the motion accuracy and size of the dexterous hand; (2) The current dexterous hand driver needs to be external, which undoubtedly increases the complexity and difficulty of dexterous hand control; (3) The dexterous hand thumb with 3 degrees of freedom can make the dexterous hand closer to the function of human hand, but the current dexterous hand thumb with 3 degrees of freedom cannot simultaneously consider the joint decoupling of the dexterous hand thumb and the size of the dexterous hand thumb; (4) The current dexterous hand uses large volume gear transmission, which makes the size of the dexterous hand finger larger, is not conducive to improving the compactness and miniaturization of the bionic hand, and the transmission efficiency of the current dexterous hand gear transmission and tendon connection is relatively low. SUMMARY

[0003] The purpose of the present application is to solve the above-mentioned deficiencies and provide a dexterous hand finger structure, which can realize more delicate and complex actions, greatly enhance the flexibility of the finger, has higher transmission efficiency, at the same time, reduces the space occupied by the driving structure, reduces the size of the dexterous hand finger, makes the internal structure of the bionic hand more simple, provides more space for the layout of each part of the finger, and is conducive to improving the compactness and miniaturization degree of the bionic hand as a whole.

[0004] To achieve the above object, a dexterous hand finger structure is designed, which comprises a driving assembly 1, a connecting rod assembly 2 and a finger assembly. The output end of the driving assembly 1 is connected to the finger assembly, the connecting rod assembly 2 is located in the accommodating space formed by the finger assembly, and the connecting rod assembly 2 comprises a first connecting rod 3 and a second connecting rod 4. The finger assembly comprises knuckles 5 and a rotating assembly 6, the knuckles 5 comprise a first knuckle 7, a second knuckle 8 and a third knuckle 9, and the rotating assembly 6 comprises a first rotation center 10 and a second rotation center 11. The first knuckle 7 is a knuckle close to the driving assembly 1 and is nestedly connected with the driving assembly 1, the third knuckle 9 is a knuckle away from the driving assembly 1, and the second knuckle 8 is located between the first knuckle 7 and the third knuckle 9. The first rotation center 10 connects the first knuckle 7 and the second knuckle 8, and the first knuckle 7 and the second knuckle 8 rotate around the first rotation center 10. The second rotation center 11 connects the second knuckle 8 and the third knuckle 9, and the second knuckle 8 and the third knuckle 9 rotate around the second rotation center 11. The first connecting rod 3 is located in the accommodating space formed by the first knuckle 7, and the first connecting rod 3 connects the driving assembly 1 and the second knuckle 8. The second connecting rod 4 is located in the accommodating space formed by the second knuckle 8, and the second connecting rod 4 connects the first knuckle 7, the second knuckle 8 and the third knuckle 9. After the motor of the driving assembly 1 is started, the first knuckle 7 is driven to rotate, and at the same time, an angle sensor 12 is driven to rotate. After the first knuckle 7 rotates, the movement track of the second knuckle 8 is controlled through the first connecting rod 3. After the second knuckle 8 rotates, the movement track of the third knuckle 9 is controlled through the second connecting rod 4. The first knuckle 7, the second knuckle 8 and the third knuckle 9 realize linkage and bending between fingers through the connecting rod assembly 2. The chip of the driving assembly 1 controls the bending action of the finger assembly by identifying the angle of the angle sensor 12.

[0005] Further, the driving assembly 1 comprises an FPC circuit board 13, a motor 14, a sensing assembly 15, a transverse gear 16, a radial gear 17 and a driving fixed part 18. The FPC circuit board 13 comprises a circuit board and a chip. The motor 14, the sensing assembly 15, the transverse gear 16 and the radial gear 17 are located in the accommodating space formed by the driving assembly 1. The driving fixed part 18 is located on the side of the driving assembly 1 away from the bending direction of the dexterous hand. The driving fixed part 18 is connected with the first connecting rod 3 through a first axis 19, and the first connecting rod 3 can rotate around the first axis 19. The axis of the transverse gear 16 is located in the vertical direction and is perpendicular to the first axis 19. The transverse gear 16 moves along the axis in the vertical direction. The axis of the radial gear 17 is located in the horizontal direction and is parallel to the first axis 19. The radial gear 17 moves along the axis in the horizontal direction. The radial gear 17 and the transverse gear 16 are nested to form a gear transmission structure.

[0006] Further, the transverse gear 16 comprises a D-shaped nesting hole, the motor 14 of the driving assembly 1 comprises a motor output shaft, the motor output shaft comprises a D-shaped connecting part, the D-shaped connecting part is connected with the D-shaped nesting hole in a matched mode, and the motor 14 is connected with the transverse gear 16 in a nested mode through the D-shaped connecting part and the D-shaped nesting hole; after the motor 14 is started, the motor output shaft rotates, the transverse gear 16 nested by the D-shaped connecting part rotates, the transverse gear 16 drives the radial gear 17 to rotate, the inductive assembly 15 senses the rotation angle of the radial gear 17, and the chip controls the finger to form a bending action.

[0007] Further, the radial gear 17 comprises an extension shaft 20 and a protruding part 21, the extension shaft 20 is in a D-shaped cross section, the D-shaped extension shaft of the radial gear 17 is connected with the inductive assembly 15 in a nested mode, the extension shaft 20 rotates after the radial gear 17 rotates, the extension shaft 20 drives the angle sensor 12 of the inductive assembly 15 to rotate, the angle sensor 12 senses the rotation angle of the radial gear 17, and the chip controls the finger to form a bending action after the angle sensor 12 senses the rotation angle of the radial gear 17; the protruding part 21 is connected with the first phalanx 7 in a nested mode, the protruding part 21 rotates after the radial gear 17 rotates, and the protruding part 21 drives the first phalanx 7 to rotate through the protruding matching part of the first phalanx 7.

[0008] Further, the inductive assembly 15 comprises an angle sensor 12, the angle sensor 12 comprises a D-shaped matching hole 22, the D-shaped matching hole 22 is connected with the D-shaped extension shaft of the radial gear 17 in a matched mode, the axis of the angle sensor 12 is arranged in coincidence with the axis of the radial gear 17, and the FPC circuit board 13 is connected with the motor 14, the chip and the inductive assembly 15 in a circuit board mode; the angle of the angle sensor 12 changes after the radial gear 17 rotates, the chip detects the position of the finger through the angle, and controls whether the motor 14 stops rotating after the angle of the finger bending is detected; the motor 14 rotates after the chip sends a bending instruction of a certain angle, the radial gear 17 drives the first phalanx 7 and the angle sensor 12 to rotate at the same time, the angle of the angle sensor 12 corresponds to the bending angle of the finger, the chip controls the bending action of the finger through the recognition of the angle of the angle sensor 12, so that the bending instruction is completed.

[0009] Further, the first phalange 7 comprises a first phalange body 23, a first phalange fixing part 24, a first limiting part 25 and a first matching part 26. The first phalange fixing part 24 is located on the side of the first phalange body 23 close to the driving assembly 1 and away from the bending direction of the finger. The first rotation center 10 and the first matching part 26 are located on the side of the first phalange body 23 away from the driving assembly 1. The first limiting part 25 is located on the side away from the bending direction of the finger. The first phalange fixing part 24 is rotatably connected with the driving fixing part 18 around the first axis 19, so that the first phalange 7 and the driving assembly 1 can rotate around the first axis 19. The first limiting part 25 is located in the first phalange body 23 and is used to realize the rotation angle of the first connecting rod 3 relative to the first phalange fixing part 24 around the first axis 19. The first rotation center 10 is rotatably connected with the second phalange 8, so that the first phalange 7 and the second phalange 8 can rotate around the first rotation center 10. The first matching part 26 is rotatably connected with the second connecting rod 4 and the second phalange 8 around the second axis 27, so that the first phalange 7, the second phalange 8 and the second connecting rod 4 can rotate around the second axis 27.

[0010] Further, the second phalange 8 comprises a second phalange body 28, a second phalange fixing part 29, a first connecting rod fixing part 30 and a second limiting part 31. The rotation point of the second rotation center 11 is located at the center position in the width direction of the second phalange 8 and comprises a second upper rotation center 32 and a second lower rotation center 33. The second lower rotation center 33 is located at the position of the second phalange body 28 close to the first phalange 7 and coincides with the first phalange rotation center, so that the first phalange 7 and the second phalange 8 can rotate around the second lower rotation center 33. The second upper rotation center 32 is located at the position of the second phalange body 28 close to the third phalange 9 and is rotatably connected with the third phalange 9, so that the second phalange 8 and the third phalange 9 can rotate around the second upper rotation center 32. The second phalange fixing part 29 is located on the side of the second phalange 8 close to the first phalange 7 and away from the bending direction of the finger. The first connecting rod fixing part 30 is located on the side of the second phalange 8 close to the first phalange 7 and close to the bending direction of the finger. The second phalange fixing part 29 is rotatably connected with the first matching part 26 around the third axis 34, so that the first phalange 7 and the second phalange 8 can rotate around the third axis 34. The second limiting part 31 is located in the second phalange body 28 and is used to realize the rotation angle of the second connecting rod 4 around the third axis 34.

[0011] Further, the first connecting rod 3 comprises a first upper connecting part 35 and a first lower connecting part 36, the first connecting rod 3 is rotatably connected with the driving fixed part 18 around the first axis 19 through the first lower connecting part 36, and the first connecting rod 3 is rotatably connected with the first connecting rod fixed part 30 of the second knuckle 8 around the second axis 27 through the first upper connecting part 35; the driving fixed part 18 is rotatably connected with the first knuckle fixed part 24 and the first lower connecting part 36 around the first axis 19; the driving fixed part 18 fixes the positions of the first lower connecting part 36 of the first connecting rod 3 and the first knuckle fixed part 24 at the first axis 19, and the first lower connecting part 36 and the first knuckle fixed part 24 can rotate around the first axis 19, and the first connecting rod 3 rotates within a certain angle range under the action of the first limiting part 25.

[0012] Further, the third knuckle 9 comprises a third knuckle main body 37, a third rotation center 38 and a third knuckle fixed part 39, the rotation point of the third rotation center 38 is located at the position of the third knuckle main body 37 close to the second knuckle 8, the third rotation center 38 is located at the central position of the width direction of the third knuckle 9, and coincides with the second knuckle rotation center, so that the second knuckle 8 and the third knuckle 9 can rotate around the second upper rotation center 32; the third knuckle fixed part 39 is located at the side of the third knuckle 9 close to the bending direction of the finger.

[0013] Further, the second connecting rod 4 comprises a second upper connecting part 40 and a second lower connecting part 41, the second connecting rod 4 is rotatably connected with the second knuckle fixed part 29 around the third axis 34 through the second lower connecting part 41, and the second connecting rod 4 is rotatably connected with the third knuckle fixed part 39 of the third knuckle 9 around the fourth axis 42 through the second upper connecting part 40; the third rotation center 38 coincides with the second upper rotation center 32, so that the third knuckle 9 can rotate around the second knuckle 8; the first upper connecting part 35 is rotatably connected with the first connecting rod fixed part 30 of the second knuckle 8 around the second axis 27, so that the first connecting rod 3 and the first connecting rod fixed part 30 can rotate around the second axis 27; the second upper connecting part 40 is rotatably connected with the third knuckle fixed part 39 around the fourth axis 42, so that the second connecting rod 4 and the third knuckle fixed part 39 can rotate around the fourth axis 42; the first matching part 26 is rotatably connected with the second knuckle fixed part 29 and the second lower connecting part 41 around the third axis 34; the second knuckle fixed part 29 fixes the positions of the second lower connecting part 41 of the second connecting rod 4 and the first matching part 26 at the third axis 34, and the second lower connecting part 41 and the first matching part 26 can rotate around the third axis 34, and the second connecting rod 4 rotates within a certain angle range under the action of the second limiting part 31.

[0014] Compared with the prior art, the present application has the following advantages: (1) The application can balance the degree of freedom and size, and solves the problem that the motion decoupling between the bending and side swing of the fingers of the dexterous hand cannot be realized while the motion precision and size of the dexterous hand are considered; (2) The joint module of the application is modularized and independently driven, which simplifies the structure, enhances the holding effect when the dexterous hand holds, and guarantees the flexibility and reliability when the dexterous hand holds the object; (3) The application can realize the pinch of the thumb assembly and the finger assembly when the dexterous hand holds the object, which increases the holding effect of the object and guarantees the stability and reliability when the dexterous hand holds the object; (4) The dexterous hand control method receives remote operation data, determines the target angle of the driving motor according to the first mapping data and the remote operation data, sends the target angle of the driving motor to the driving motor, and makes the driving motor rotate to the target angle, so that the driving motor drives the joint to move, so that the finger moves to the target position or the joint rotates to the target angle, realizing the control of the joint, and then controlling the dexterous hand to realize the action of remote operation, realizing the control of the dexterous hand to realize various actions by using the remote operation device, and improving the versatility of the dexterous hand; (5) The metacarpal bone driving assembly and the interphalangeal driving assembly are arranged on the palm base plate, so that the fingers of the dexterous hand have three degrees of freedom, and the size of the thumb of the dexterous hand is reduced; (6) The direct driving mode makes the movement of the finger joint more direct and sensitive, can realize more delicate and complex actions, greatly enhances the flexibility of the finger, at the same time, reduces the space occupied by the driving structure, makes the internal structure of the bionic hand more simple, provides more space for the layout of each part of the finger, and is beneficial to improve the compactness and miniaturization degree of the whole bionic hand; (7) The application does not use a gear transmission with a large volume, reduces the size of the fingers of the dexterous hand, and the transmission mode is mainly link transmission, which has higher transmission efficiency and smaller size compared with gear transmission and tendon connection, and realizes miniaturization; (8) The motor driving gear rotates, thereby driving the finger to complete the bending action, the angle sensor is used for detecting the position of the finger opening or closing, and the linkage and bending between the fingers are realized through the link mechanism, and the dexterous hand thumb structure can realize 0°, 45° and 90° finger bending; (9) The transmission device is a gear transmission, in the electrified state, the motor drives the gear transmission, drives the finger to bend or open, compared with the traditional push-pull structure, when power off, the knuckles can be pried open by external force, at this time, the link driving gear in the knuckle rotates, the gear drives the motor to rotate; when the dexterous hand holds the object and suddenly loses power, the gear transmission structure can take out the object by prying open the fingers, and the transmission efficiency of the link driving is higher, and the cost is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is a schematic diagram of the three-dimensional structure of the present application Figure 1 ; Figure 2 is a schematic diagram of the internal structure of the present application Figure 3 is a schematic diagram of the partial structure of the present application Figure 4 is a schematic diagram of the three-dimensional structure of the present application Figure 2 ; Figure 5 is a schematic diagram of the three-dimensional structure of the present application Figure 3 ; Figure: 1, driving assembly; 2, connecting rod assembly; 3, first connecting rod; 4, second connecting rod; 5, knuckle; 6, rotating assembly; 7, first knuckle; 8, second knuckle; 9, third knuckle; 10, first rotation center; 11, second rotation center; 12, angle sensor; 13, FPC circuit board; 14, motor; 15, induction assembly; 16, transverse gear; 17, radial gear; 18, driving fixed part; 19, first axis; 20, extension shaft; 21, protruding part; 22, D-shaped matching hole; 23, first knuckle body; 24, first knuckle fixed part; 25, first limiting part; 26, first matching part; 27, second axis; 28, second knuckle body; 29, second knuckle fixed part; 30, first connecting rod fixed part; 31, second limiting part; 32, second upper rotation center; 33, second lower rotation center; 34, third axis; 35, first upper connecting part; 36, first lower connecting part; 37, third knuckle body; 38, third rotation center; 39, third knuckle fixed part; 40, second upper connecting part; 41, second lower connecting part; 42, fourth axis. DETAILED DESCRIPTION

[0016] The present application is further described below in conjunction with the drawings and specific embodiments: As shown in the accompanying Figure 1 to the accompanying Figure 5As shown, the present application provides a dexterous hand finger structure, including a driving assembly 1, a connecting rod assembly 2 and a finger assembly, wherein the output end of the driving assembly 1 is connected to the finger assembly, the connecting rod assembly 2 is located in the accommodating space formed by the finger assembly, the connecting rod assembly 2 includes a first connecting rod 3 and a second connecting rod 4; the finger assembly includes a knuckle 5 and a rotating assembly 6, the knuckle 5 includes a first knuckle 7, a second knuckle 8 and a third knuckle 9, the rotating assembly 6 includes a first rotation center 10 and a second rotation center 11; the first knuckle 7 is a knuckle close to the driving assembly 1 and nestedly connected with the driving assembly 1, the third knuckle 9 is a knuckle away from the driving assembly 1, the second knuckle 8 is located between the first knuckle 7 and the third knuckle 9; the first rotation center 10 connects the first knuckle 7 and the second knuckle 8, so that the first knuckle 7 and the second knuckle 8 can rotate around the first rotation center 10, the second rotation center 11 connects the second knuckle 8 and the third knuckle 9, so that the second knuckle 8 and the third knuckle 9 can rotate around the second rotation center 11; the first knuckle 7 is connected with the driving assembly 1, the first connecting rod 3 is located in the accommodating space formed by the first knuckle 7, the first connecting rod 3 is connected with the driving assembly 1 and the second knuckle 8, the second connecting rod 4 is located in the accommodating space formed by the second knuckle 8, and the second connecting rod 4 is connected with the first knuckle 7, the second knuckle 8 and the third knuckle 9; after the motor of the driving assembly 1 is started, the first knuckle 7 is driven to rotate, and at the same time the angle sensor 12 is driven to rotate; after the first knuckle 7 rotates, the movement track of the second knuckle 8 is controlled through the first connecting rod 3, after the second knuckle 8 rotates, the movement track of the third knuckle 9 is controlled through the second connecting rod 4, and the first knuckle 7, the second knuckle 8 and the third knuckle 9 realize linkage and bending between fingers through the connecting rod assembly 2; the chip of the driving assembly 1 controls the bending action of the finger assembly by identifying the angle of the angle sensor 12.

[0017] The driving assembly 1 includes an FPC circuit board 13, a motor 14, a sensing assembly 15, a transverse gear 16, a radial gear 17 and a driving fixed part 18, the FPC circuit board 13 includes a circuit board and a chip, the motor 14, the sensing assembly 15, the transverse gear 16 and the radial gear 17 are located in the accommodating space formed by the driving assembly 1, the driving fixed part 18 is located on the side of the driving assembly 1 away from the bending direction of the dexterous hand, the driving fixed part 18 is connected with the first connecting rod 3 through a first axis 19, so that the first connecting rod 3 can rotate around the first axis 19; the axis of the transverse gear 16 is located in the vertical direction and is perpendicular to the first axis 19, the transverse gear 16 moves along the axis in the vertical direction, the axis of the radial gear 17 is located in the horizontal direction and is parallel to the first axis 19, the radial gear 17 moves along the axis in the horizontal direction, and the radial gear 17 and the transverse gear 16 are nested to form a gear transmission structure.

[0018] Specifically, the transverse gear 16 comprises a D-shaped nesting hole, the motor 14 of the driving assembly 1 comprises a motor output shaft, the motor output shaft comprises a D-shaped connecting part, after the D-shaped connecting part is connected with the D-shaped nesting hole in a matched mode, the motor 14 is connected with the transverse gear 16 in a nested mode through the D-shaped connecting part and the D-shaped nesting hole; when the motor 14 is started, the motor output shaft rotates, the transverse gear 16 nested with the D-shaped connecting part rotates, the radial gear 17 is driven to rotate through the transverse gear 16, and the chip controls the finger to form a bending action after the rotation angle of the radial gear 17 is sensed by the sensing assembly 15.

[0019] The radial gear 17 comprises an extension shaft 20 and a protruding part 21, the cross section of the extension shaft 20 is in a D-shaped mode, the D-shaped extension shaft of the radial gear 17 is connected with the sensing assembly 15 in a nested mode, the extension shaft 20 rotates when the radial gear 17 rotates, thereby driving the angle sensor 12 of the sensing assembly 15 to rotate; the chip controls the finger to form a bending action after the rotation angle of the radial gear 17 is sensed by the angle sensor 12; the protruding part 21 is connected with the first phalanx 7 in a nested mode, the protruding part 21 rotates when the radial gear 17 rotates, thereby driving the first phalanx 7 to rotate through the protruding matching part of the first phalanx 7.

[0020] The sensing assembly 15 comprises an angle sensor 12, the angle sensor 12 comprises a D-shaped matching hole 22, the D-shaped matching hole 22 is connected with the D-shaped extension shaft of the radial gear 17 in a matching mode, so that the axis of the angle sensor 12 coincides with the axis of the radial gear 17; the circuit board of the FPC circuit board 13 is connected with the motor 14, the chip and the sensing assembly 15; the angle of the angle sensor 12 changes when the radial gear 17 rotates, the chip detects the position of the finger through the angle detection finger, detects the bending angle of the finger, and controls the motor 14 to stop rotating; the motor 14 starts to rotate after the chip sends a bending instruction of a certain angle to the finger, the radial gear 17 drives the first phalanx 7 and the angle sensor 12 to rotate at the same time, the angle of the angle sensor 12 corresponds to the bending angle of the finger, the chip controls the bending action of the finger through the recognition of the angle of the angle sensor 12, thereby completing the bending instruction.

[0021] The first knuckle 7 comprises a first knuckle body 23, a first knuckle fixing part 24, a first limiting part 25 and a first matching part 26. The first knuckle fixing part 24 is located on the side of the first knuckle body 23 close to the driving assembly 1 and away from the bending direction of the finger. The first rotating center 10 and the first matching part 26 are located on the side of the first knuckle body 23 away from the driving assembly 1. The first limiting part 25 is located on the side away from the bending direction of the finger. The first knuckle fixing part 24 is rotatably connected with the driving fixing part 18 around the first axis 19, so that the first knuckle 7 and the driving assembly 1 can rotate around the first axis 19. The first limiting part 25 is located in the first knuckle body 23 and can be any shape structure as long as it can realize the rotation angle of the first connecting rod 3 relative to the first knuckle fixing part 24 around the first axis 19. The first rotating center 10 is rotatably connected with the second knuckle 8, so that the first knuckle 7 and the second knuckle 8 can rotate around the first rotating center 10. The first matching part 26 is rotatably connected with the second connecting rod 4 and the second knuckle 8 around the second axis 27, so that the first knuckle 7, the second knuckle 8 and the second connecting rod 4 can rotate around the second axis 27.

[0022] The second knuckle 8 comprises a second knuckle body 28, a second knuckle fixing part 29, a first connecting rod fixing part 30 and a second limiting part 31. The rotating point of the second rotating center 11 is located at the center position of the width direction of the second knuckle 8, comprising a second upper rotating center 32 and a second lower rotating center 33. The second lower rotating center 33 is located at the position of the second knuckle body 28 close to the first knuckle 7 and coincides with the first knuckle rotating center, so that the first knuckle 7 and the second knuckle 8 can rotate around the second lower rotating center 33. The second upper rotating center 32 is located at the position of the second knuckle body 28 close to the third knuckle 9 and rotates with the third knuckle 9, so that the second knuckle 8 and the third knuckle 9 can rotate around the second upper rotating center 32. The second knuckle fixing part 29 is located on the side of the second knuckle 8 close to the first knuckle 7 and away from the bending direction of the finger. The first connecting rod fixing part 30 is located on the side of the second knuckle 8 close to the first knuckle 7 and close to the bending direction of the finger. The second knuckle fixing part 29 is rotatably connected with the first matching part 26 around the third axis 34, so that the first knuckle 7 and the second knuckle 8 can rotate around the third axis 34. The second limiting part 31 is located in the second knuckle body 28 and can be any shape structure as long as it can realize the rotation angle of the second connecting rod 4 around the third axis 34.

[0023] The first connecting rod 3 comprises a first upper connecting part 35 and a first lower connecting part 36, and the first connecting rod 3 is rotatably connected with the driving fixed part 18 around the first axis 19 through the first lower connecting part 36 and rotatably connected with the first connecting rod fixed part 30 of the second knuckle 8 around the second axis 27 through the first upper connecting part 35; specifically, the driving fixed part 18 is rotatably connected with the first knuckle fixed part 24 and the first lower connecting part 36 around the first axis 19; the driving fixed part 18 fixes the positions of the first lower connecting part 36 of the first connecting rod 3 and the first knuckle fixed part 24 at the first axis 19, and meanwhile, the first lower connecting part 36 and the first knuckle fixed part 24 can rotate around the first axis 19, and under the action of the first limiting part 25, the first connecting rod 3 can rotate within a certain angle range.

[0024] The third knuckle 9 comprises a third knuckle main body 37, a third rotation center 38 and a third knuckle fixed part 39, the rotation point of the third rotation center 38 is located at the position of the third knuckle main body 37 close to the second knuckle 8, and the third rotation center 38 is located at the central position of the third knuckle 9 in the width direction and coincides with the second knuckle rotation center, so as to rotate and cooperate, thereby enabling the second knuckle 8 and the third knuckle 9 to rotate around the second upper rotation center 32; the third knuckle fixed part 39 is located at the side of the third knuckle 9 close to the bending direction of the finger.

[0025] The second connecting rod 4 comprises a second upper connecting part 40 and a second lower connecting part 41, and the second connecting rod 4 is rotatably connected with the second knuckle fixed part 29 around the third axis 34 through the second lower connecting part 41, and rotatably connected with the third knuckle fixed part 39 of the third knuckle 9 around the fourth axis 42 through the second upper connecting part 40; the third rotation center 38 coincides with the second upper rotation center 32, thereby enabling the third knuckle 9 to rotate around the second knuckle 8; specifically, the first upper connecting part 35 is rotatably connected with the first connecting rod fixed part 30 of the second knuckle 8 around the second axis 27, so as to enable the first connecting rod 3 and the first connecting rod fixed part 30 to rotate around the second axis 27; the second upper connecting part 40 is rotatably connected with the third knuckle fixed part 39 around the fourth axis 42, so as to enable the second connecting rod 4 and the third knuckle fixed part 39 to rotate around the fourth axis 42; the first cooperating part 26 is rotatably connected with the second knuckle fixed part 29 and the second lower connecting part 41 around the third axis 34; the second knuckle fixed part 29 fixes the positions of the second lower connecting part 41 of the second connecting rod 4 and the first cooperating part 26 at the third axis 34, and meanwhile, the second lower connecting part 41 and the first cooperating part 26 can rotate around the third axis 34, and under the action of the second limiting part 31, the second connecting rod 4 can rotate within a certain angle range.

[0026] The relative rotation between the above various components can be realized by hinging, or by other structures, as long as rotation around the corresponding axis can be realized, and the specific rotation mode is not limited in the application; for example, the two components in relative rotation can be provided with shaft holes, and then an activity shaft is inserted into the shaft holes of the two components in relative rotation, so that the relative rotation of the two components is realized; for example, a bearing can also be arranged between the activity shaft and the two components to improve the flexibility of rotation.

[0027] The working principle of the dexterous hand finger is as follows: the chip sends a bending instruction to the dexterous hand finger, the bending instruction includes making the finger of the dexterous hand complete 0°-90° bending, the motor starts to rotate, and the motor output shaft drives the transverse gear and the radial gear to rotate. When the radial gear rotates, on the one hand, the radial gear drives the nested first knuckle through the protruding part, the first knuckle and the second knuckle are connected through the first rotation center, and the second knuckle and the third knuckle are connected through the second rotation center, so that when the first knuckle moves, the first knuckle and the second knuckle are driven to move; when the first knuckle rotates, the first connecting rod controls the movement trajectory of the second knuckle, and the second connecting rod controls the movement trajectory of the third knuckle. On the other hand, when the radial gear rotates, the D-shaped extension shaft of the radial gear also rotates in the angle sensor, and the angle sensor transmits the angle to the chip at any time after sensing the angle of the radial gear rotation, the chip identifies the angle, detects the finger movement position through the angle, and sends a stop signal when the finger moves to the instruction position, and the motor stops rotating.

[0028] The present application drives the gear to rotate through the motor, thereby driving the finger to complete the bending action, the angle sensor is used for detecting the position of the finger opening or closing, and the linkage and bending between the fingers are realized through the connecting rod mechanism, and the dexterous hand thumb structure can realize 0°, 45° and 90° finger bending. The transmission device is a gear transmission, in the energized state, the motor drives the gear transmission, and drives the finger to bend or open, compared with the traditional push-pull structure, when power off, the knuckles can be pried open by external force, at this time, the connecting rod in the knuckle drives the gear to rotate, and the gear drives the motor to rotate; when the dexterous hand holds an object and suddenly loses power, the gear transmission structure of the present application can take out the object by prying open the fingers. The transmission efficiency of the connecting rod drive is higher, and the present application can realize cost reduction.

[0029] The contents not described in detail in the specification belong to the prior art known to those skilled in the art, the standard parts used therein can be purchased from the market, the special-shaped parts can be ordered according to the description and drawings, the specific connection mode of each part adopts the conventional means such as bolt, rivet and welding in the prior art, the mechanical parts and equipment adopt the conventional types in the prior art, the circuit connection adopts the conventional connection mode in the prior art, and the details are not described herein.

[0030] The present application is not limited to the above-mentioned embodiments, and any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present application shall be equivalent replacements and shall be included in the protection scope of the present application.

Claims

1. A dexterous hand finger structure, characterized by: The application relates to a finger bending device, which comprises a driving assembly (1), a connecting rod assembly (2) and a finger assembly, wherein, the output end of the driving assembly (1) is connected with the finger assembly, the connecting rod assembly (2) is arranged in a containing space formed by the finger assembly, and the connecting rod assembly (2) comprises a first connecting rod (3) and a second connecting rod (4); the finger assembly comprises knuckles (5) and a rotating assembly (6), the knuckles (5) comprise a first knuckle (7), a second knuckle (8) and a third knuckle (9), the rotating assembly (6) comprises a first rotating center (10) and a second rotating center (11), the first knuckle (7) is a knuckle close to the driving assembly (1) and is connected with the driving assembly (1) in a nesting mode, the third knuckle (9) is a knuckle away from the driving assembly (1), the second knuckle (8) is arranged between the first knuckle (7) and the third knuckle (9), the first rotating center (10) is connected with the first knuckle (7) and the second knuckle (8), the first knuckle (7) and the second knuckle (8) rotate around the first rotating center (10), the second rotating center (11) is connected with the second knuckle (8) and the third knuckle (9), and the second knuckle (8) and the third knuckle (9) rotate around the second rotating center (11); the first connecting rod (3) is arranged in a containing space formed by the first knuckle (7), the first connecting rod (3) is connected with the driving assembly (1) and the second knuckle (8), the second connecting rod (4) is arranged in a containing space formed by the second knuckle (8), and the second connecting rod (4) is connected with the first knuckle (7), the second knuckle (8) and the third knuckle (9); after the motor of the driving assembly (1) is started, the first knuckle (7) is driven to rotate, and at the same time, an angle sensor (12) is driven to rotate; after the first knuckle (7) rotates, the movement track of the second knuckle (8) is controlled through the first connecting rod (3), after the second knuckle (8) rotates, the movement track of the third knuckle (9) is controlled through the second connecting rod (4), the first knuckle (7), the second knuckle (8) and the third knuckle (9) realize linkage and bending between fingers through the connecting rod assembly (2); and the chip of the driving assembly (1) controls the finger assembly to form a bending action by identifying the angle of the angle sensor (12).

2. The dexterous hand finger structure of claim 1, wherein: The driving assembly (1) comprises an FPC circuit board (13), a motor (14), an induction assembly (15), a transverse gear (16), a radial gear (17) and a driving fixed part (18), the FPC circuit board (13) comprises a circuit board and a chip, the motor (14), the induction assembly (15), the transverse gear (16) and the radial gear (17) are located in an accommodating space formed by the driving assembly (1), the driving fixed part (18) is located on a side of the driving assembly (1) away from a bending direction of the dexterous hand, the driving fixed part (18) is connected with the first connecting rod (3) through a first axis (19), and the first connecting rod (3) can rotate around the first axis (19); an axis of the transverse gear (16) is located in a vertical direction and is perpendicular to the first axis (19), the transverse gear (16) moves along the axis in the vertical direction, an axis of the radial gear (17) is located in a horizontal direction and is parallel to the first axis (19), the radial gear (17) moves along the axis in the horizontal direction, and the radial gear (17) and the transverse gear (16) are nested to form a gear transmission structure.

3. The dexterous hand finger structure of claim 2, wherein: The transverse gear (16) comprises a D-shaped nested hole, the motor (14) of the driving assembly (1) comprises a motor output shaft, the motor output shaft comprises a D-shaped connecting part, the D-shaped connecting part is connected with the D-shaped nested hole in a matched mode, and the motor (14) and the transverse gear (16) are connected in a nested mode through the D-shaped connecting part and the D-shaped nested hole; after the motor (14) is started, the motor output shaft rotates, the transverse gear (16) nested with the D-shaped connecting part rotates, the transverse gear (16) drives the radial gear (17) to rotate, after the induction assembly (15) senses a rotation angle of the radial gear (17), the chip controls the fingers to form a bending action.

4. The dexterous hand finger structure of claim 3, wherein: The radial gear (17) comprises an extension shaft (20) and a protruding part (21), a section of the extension shaft (20) is in a D shape, the D-shaped extension shaft of the radial gear (17) is connected with the induction assembly (15) in a nested mode, after the radial gear (17) rotates, the extension shaft (20) rotates, the extension shaft (20) drives the angle sensor (12) of the induction assembly (15) to rotate, after the angle sensor (12) senses a rotation angle of the radial gear (17), the chip controls the fingers to form a bending action; the protruding part (21) is connected with the first phalanx (7) in a nested mode, after the radial gear (17) rotates, the protruding part (21) rotates, and the protruding part (21) drives the first phalanx (7) to rotate through the protruding matching part of the first phalanx (7).

5. The dexterous hand finger structure of claim 4, wherein: The sensing assembly (15) comprises an angle sensor (12), the angle sensor (12) comprises a D-shaped matching hole (22) matched with a D-shaped extended shaft of the radial gear (17), the axis of the angle sensor (12) is arranged coincidently with the axis of the radial gear (17), the FPC circuit board (13) is connected with the motor (14), the chip and the sensing assembly (15); the angle of the angle sensor (12) changes after the radial gear (17) rotates, the chip detects the position of the finger through the angle, and controls whether the motor (14) stops rotating after detecting the angle of the finger bending; the motor (14) rotates after the chip sends a bending instruction of a certain angle, the radial gear (17) drives the first phalanx (7) and the angle sensor (12) to rotate at the same time, the angle of the angle sensor (12) corresponds to the bending angle of the finger, and the chip controls the bending action of the finger through the angle of the angle sensor (12), so that the bending instruction is completed.

6. The dexterous hand finger structure of any one of claims 2 to 5, wherein: The first phalanx (7) comprises a first phalanx body (23), a first phalanx fixing part (24), a first limiting part (25) and a first matching part (26), the first phalanx fixing part (24) is located on the side of the first phalanx body (23) close to the driving assembly (1) and away from the bending direction of the finger, the first rotation center (10) and the first matching part (26) are located on the side of the first phalanx body (23) away from the driving assembly (1), and the first limiting part (25) is located on the side away from the bending direction of the finger; the first phalanx fixing part (24) is rotatably connected with the driving fixing part (18) around the first axis (19), so that the first phalanx (7) and the driving assembly (1) can rotate around the first axis (19); the first limiting part (25) is located in the first phalanx body (23) and is used for realizing the rotation angle of the first connecting rod (3) relative to the first phalanx fixing part (24) around the first axis (19); the first rotation center (10) is rotatably connected with the second phalanx (8), so that the first phalanx (7) and the second phalanx (8) can rotate around the first rotation center (10); and the first matching part (26) is rotatably connected with the second connecting rod (4) and the second phalanx (8) around the second axis (27), so that the first phalanx (7), the second phalanx (8) and the second connecting rod (4) can rotate around the second axis (27).

7. The dexterous hand finger structure of claim 6, wherein: The second knuckle (8) comprises a second knuckle body (28), a second knuckle fixing part (29), a first connecting rod fixing part (30) and a second limiting part (31), the rotation point of the second rotation center (11) is located at the center position of the width direction of the second knuckle (8), and comprises a second upper rotation center (32) and a second lower rotation center (33), the second lower rotation center (33) is located at the position of the second knuckle body (28) close to the first knuckle (7), and is coincident with the first knuckle rotation center, so that the first knuckle (7) and the second knuckle (8) can rotate around the second lower rotation center (33); the second upper rotation center (32) is located at the position of the second knuckle body (28) close to the third knuckle (9), and is rotationally matched with the third knuckle (9), so that the second knuckle (8) and the third knuckle (9) can rotate around the second upper rotation center (32); the second knuckle fixing part (29) is located at the side of the second knuckle (8) close to the first knuckle (7) and away from the finger bending direction, and the first connecting rod fixing part (30) is located at the side of the second knuckle (8) close to the first knuckle (7) and close to the finger bending direction; the second knuckle fixing part (29) is rotatably connected with the first matching part (26) around the third axis (34), so that the first knuckle (7) and the second knuckle (8) can rotate around the third axis (34); the second limiting part (31) is located in the second knuckle body (28) and is used for realizing the rotation angle of the second connecting rod (4) around the third axis (34).

8. The dexterous hand finger structure of claim 6, wherein: The first connecting rod (3) comprises a first upper connecting part (35) and a first lower connecting part (36), the first connecting rod (3) is rotatably connected with the driving fixing part (18) around the first axis (19) through the first lower connecting part (36), and the first connecting rod (3) is rotatably connected with the first connecting rod fixing part (30) of the second knuckle (8) around the second axis (27) through the first upper connecting part (35); the driving fixing part (18) is rotatably connected with the first knuckle fixing part (24) and the first lower connecting part (36) around the first axis (19); the driving fixing part (18) fixes the positions of the first lower connecting part (36) of the first connecting rod (3) and the first knuckle fixing part (24) at the first axis (19), the first lower connecting part (36) and the first knuckle fixing part (24) can rotate around the first axis (19), and the first connecting rod (3) rotates within a certain angle range under the action of the first limiting part (25).

9. The dexterous hand finger structure of claim 7, wherein: The third knuckle (9) comprises a third knuckle body (37), a third rotation center (38) and a third knuckle fixing part (39), the rotation point of the third rotation center (38) is located at the position of the third knuckle body (37) close to the second knuckle (8), the third rotation center (38) is located at the center position of the width direction of the third knuckle (9), and is coincident with the second knuckle rotation center, so that the second knuckle (8) and the third knuckle (9) can rotate around the second upper rotation center (32); the third knuckle fixing part (39) is located at the side of the third knuckle (9) close to the finger bending direction.

10. The dexterous hand finger structure of claim 9, wherein: The second connecting rod (4) comprises a second upper connecting part (40) and a second lower connecting part (41), the second connecting rod (4) is rotatably connected with the second knuckle fixing part (29) around the third axis (34) through the second lower connecting part (41), and the second connecting rod (4) is rotatably connected with the third knuckle fixing part (39) of the third knuckle (9) around the fourth axis (42) through the second upper connecting part (40); the third rotation center (38) coincides with the second upper rotation center (32), so that the third knuckle (9) can rotate around the second knuckle (8); the first upper connecting part (35) is rotatably connected with the first connecting rod fixing part (30) of the second knuckle (8) around the second axis (27), so that the first connecting rod (3) and the first connecting rod fixing part (30) can rotate around the second axis (27); the second upper connecting part (40) is rotatably connected with the third knuckle fixing part (39) around the fourth axis (42), so that the second connecting rod (4) and the third knuckle fixing part (39) can rotate around the fourth axis (42); the first matching part (26) is rotatably connected with the second knuckle fixing part (29) and the second lower connecting part (41) around the third axis (34); the second knuckle fixing part (29) fixes the positions of the second lower connecting part (41) of the second connecting rod (4) and the first matching part (26) at the third axis (34), the second lower connecting part (41) and the first matching part (26) can rotate around the third axis (34), and the second connecting rod (4) rotates within a certain angle range under the action of the second limiting part (31).

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