Parameterized multi-connecting-rod multi-mode dexterous hand

Abstract

The invention provides a parameterized multi-connecting-rod multi-mode dexterous hand, and relates to the technical field of robots. The parameterized multi-connecting-rod multi-mode dexterous hand comprises a palm, a finger assembly, a thumb assembly and a visual touch module, the finger assembly and the thumb assembly are movably installed on the palm, and the visual touch module is installed on at least one of the finger assembly and the thumb assembly. According to the dexterous hand, the integration of visual identification and tactile perception capabilities is realized, accurate contact information can be provided, identification, control and dynamic adjustment of tiny objects are supported, and the dexterous hand is suitable for accurate identification and grabbing in an unstructured environment.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a parametric multi-link multimodal dexterous hand. Background Technology

[0002] With the deep integration of intelligent technology and robotics, dexterous hands, as end effectors that simulate human hand functions and achieve precise operations, have become a key research subject for improving the overall performance of robot systems and expanding their application areas. Their high degree of freedom in finger movement and compact structural design have a decisive impact on achieving precise grasping and complex interactive tasks. Against the backdrop of the current industrial automation technology paradigm shifting from single repetitive tasks to humanoid robots performing multi-dimensional complex tasks, dexterous hands have gradually evolved from dedicated actuators into new types of manipulators with high versatility and environmental adaptability, playing an increasingly important supporting role in promoting the intelligent development of robots.

[0003] However, existing dexterous hand technologies still have significant shortcomings in motion trajectory planning and posture control accuracy, and lack multimodal perception capabilities of external physical properties. These limitations severely restrict their applicability in high-end application scenarios requiring sub-millimeter-level operational precision or real-time dynamic interaction with the environment. Summary of the Invention

[0004] The purpose of this invention is to provide a parameterized multi-link multimodal dexterous hand to alleviate the technical problem of insufficient multimodal perception capability of existing robotic hands.

[0005] In a first aspect, the present invention provides a parametric multi-link multimodal dexterous hand, comprising a palm, a finger assembly, a thumb assembly, and a visual-tactile module, wherein the finger assembly and the thumb assembly are respectively movably mounted on the palm, and at least one of the finger assembly and the thumb assembly is equipped with the visual-tactile module.

[0006] In conjunction with the first aspect, the present invention provides a first possible implementation of the first aspect, wherein the visual-tactile module is mounted on the distal phalanx of the finger assembly and / or the fingertip surface of the thumb assembly.

[0007] In conjunction with the first aspect, the present invention provides a second possible implementation of the first aspect, wherein the visual-tactile module includes a contact layer, a reflective layer, a flexible body, a support body, a camera, and a light assembly; The contact layer covers the outside of the reflective layer, and the flexible body is supported between the reflective layer and the support body; Both the camera and the light assembly face the reflective layer and are respectively mounted inside the support body.

[0008] In conjunction with the first aspect, the present invention provides a third possible implementation of the first aspect, wherein the parameterized multi-link multimodal dexterous hand further includes a palm eye module, the palm eye module being connected to the lower end of the palm and facing the working area of ​​the parameterized multi-link multimodal dexterous hand.

[0009] In conjunction with the third possible implementation of the first aspect, the present invention provides a fourth possible implementation of the first aspect, wherein the palm-mounted eye module includes a palm-mounted eye mounting base, an adjustment mechanism, and a camera module; the palm-mounted eye mounting base is connected to the palm, the adjustment mechanism is mounted on the palm-mounted eye mounting base, and the movable part of the adjustment mechanism is connected to the camera module to realize the angle adjustment of the camera module.

[0010] In conjunction with the fourth possible implementation of the first aspect, the present invention provides a fifth possible implementation of the first aspect, wherein the adjustment mechanism includes a first connector and a second connector, the camera module is connected to the second connector, the first connector is slidably connected to the palm-eye mounting base along a first direction, the second connector is hinged to the first connector about a hinge axis parallel to a second direction, and the first connector swings relative to the palm-eye mounting base about a hinge axis parallel to a third direction; wherein the first direction, the second direction, and the third direction are perpendicular to each other.

[0011] In conjunction with the fifth possible implementation of the first aspect, the present invention provides a sixth possible implementation of the first aspect, wherein the camera module includes a palm-eye camera and a TOF sensor, the palm-eye camera and the TOF sensor being spaced apart and respectively facing the working area of ​​the parameterized multi-link multimodal dexterous hand.

[0012] In conjunction with the first aspect, the present invention provides a seventh possible implementation of the first aspect, wherein the finger assembly includes a finger drive fixing seat, a finger drive component, a lead screw and nut pair, and a multi-link mechanism; the finger drive component is mounted on the finger drive fixing seat; the lead screw and nut pair is movably mounted on the finger drive fixing seat, and the lead screw and nut pair is throttle connected to the finger drive component; the multi-link mechanism is linked with the lead screw and nut pair to convert linear motion into bending motion of each phalanx of the finger assembly and lateral swing motion of the fingers.

[0013] In conjunction with the seventh possible implementation of the first aspect, the present invention provides an eighth possible implementation of the first aspect, wherein the finger drive includes a first finger motor, a second finger motor, and a third finger motor; the first motor, the second finger motor, and the third finger motor respectively drive the multi-link mechanism via the lead screw and nut pair.

[0014] With reference to the seventh possible implementation manner of the first aspect, the present application provides a ninth possible implementation manner of the first aspect, wherein the multi-link mechanism comprises a finger No.1 link, a finger No.2 link, a finger No.3 link, a finger No.4 link, a finger No.5 link, a finger No.6 link, a finger No.7 link and a finger rotating fixed seat; The finger rotating fixed seat is hinged with the palm, and the finger rotating fixed seat is hinged with one end of a single finger proximal phalanx; one end of the finger No.1 link is drivingly connected with the corresponding screw-nut pair, and the other end is hinged with the finger No.4 link; one end of the finger No.2 link and the finger No.3 link is drivingly connected with the corresponding screw-nut pair respectively, and the other end is hinged with the single finger proximal phalanx; The finger No.4 link is hinged with the finger No.5 link, the finger No.5 link is hinged with the finger No.6 link, and the finger No.6 link is hinged with the finger No.7 link; The finger No.6 link is located inside a single finger middle phalanx, and the finger No.6 link is hinged with the single finger proximal phalanx, and the finger rotating fixed seat is hinged with the single finger proximal phalanx; One end of the finger No.7 link is hinged with the single finger middle phalanx, and the other end is fixedly connected with a single finger distal phalanx.

[0015] With reference to the first aspect, the present application provides a tenth possible implementation manner of the first aspect, wherein the thumb assembly comprises a thumb driving member, a transmission box and a four-bar mechanism; the thumb driving member drives the four-bar mechanism through the transmission box.

[0016] With reference to the tenth possible implementation manner of the first aspect, the present application provides an eleventh possible implementation manner of the first aspect, wherein the thumb driving member comprises a thumb first electric motor, a thumb second electric motor and a thumb third electric motor; the thumb first electric motor, the thumb second electric motor and the thumb third electric motor are drivingly connected with the four-bar mechanism through the transmission box respectively; The thumb first electric motor is used to drive a coupled motion of the thumb assembly for realizing the thumb assembly's supination and side swing; The thumb second electric motor is used to independently cause the thumb assembly's supination motion; The thumb third electric motor is used to drive the thumb assembly's fingertip to realize a bending motion.

[0017] With the eleventh possible implementation manner of the first aspect, the twelfth possible implementation manner of the first aspect is provided, wherein the transmission box comprises a thumb mounting base, a first worm, a second worm, a side swing worm wheel, a side swing shaft, a turning-in shaft, a turning-in worm wheel, a circular arc bevel gear, a circular arc bevel gear shaft, an inner side swing base and an outer side swing base; the thumb mounting base is connected with the palm, the side swing shaft is rotationally connected with the thumb mounting base, the inner side swing base, the side swing worm wheel, the circular arc bevel gear and the turning-in worm wheel are respectively installed on the thumb mounting base, the side swing shaft is connected with the turning-in shaft and rotates synchronously, the circular arc bevel gear shaft is sleeved on the turning-in shaft, and the circular arc bevel gear shaft is engaged with the circular arc bevel gear; the outer side swing base is sleeved on the turning-in shaft, and the inner side swing base is fixedly connected with the outer side swing base; The first thumb motor is in transmission connection with the first worm, and the first worm is in transmission engagement with the side swing worm wheel. The second thumb motor is in transmission connection with the second worm, and the second worm is in transmission engagement with the turning-in worm wheel.

[0018] With the twelfth possible implementation manner of the first aspect, the thirteenth possible implementation manner of the first aspect is provided, wherein the four-bar linkage mechanism comprises a thumb middle finger joint, a thumb fingertip, a thumb driving member support, a turning-in base, a thumb middle finger joint connecting rod, a thumb fingertip connecting rod, a turning-in worm wheel and a third worm; the third thumb motor is arranged inside the thumb middle finger joint, and the third thumb motor is in transmission connection with the third worm. One end of the turning-in base is hingedly connected with the thumb middle finger joint connecting rod, and the other end of the turning-in base is hingedly connected with the thumb middle finger joint. The circular arc bevel gear shaft is rotationally installed on the turning-in base, the turning-in worm wheel is hingedly connected with the thumb middle finger joint connecting rod, the thumb fingertip connecting rod is connected to the middle part of the turning-in worm wheel, the thumb fingertip connecting rod is connected with the thumb fingertip, and the turning-in worm wheel is in transmission engagement with the third worm.

[0019] The finger assembly and the thumb assembly are respectively movably installed on the palm, at least one of the finger assembly and the thumb assembly is provided with a visual and tactile module, visual recognition and tactile perception ability are integrated, and precise recognition and grasping in an unstructured environment are achieved.

[0020] In order to make the above-mentioned purpose, features and advantages of the present application more obvious and easy to understand, the following preferred embodiments are specifically described below, and the accompanying drawings are referred to for detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0021] To more clearly illustrate the technical solutions in the specific embodiments or related technologies of the present invention, the drawings used in the description of the specific embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0022] Figure 1 A schematic diagram of the extension posture of a parameterized multi-link multimodal dexterous hand provided in an embodiment of the present invention; Figure 2 A schematic diagram of the fist-clenching posture of a parameterized multi-link multimodal dexterous hand provided in an embodiment of the present invention; Figure 3 A schematic diagram of the visual-tactile module of a parameterized multi-link multimodal dexterous hand provided in an embodiment of the present invention; Figure 4 A schematic diagram showing the positions of the first axis and the second axis in the palm eye module of the parameterized multi-link multimodal dexterous hand provided in an embodiment of the present invention; Figure 5 A schematic diagram of the position of the third axis in the palm eye module of the parameterized multi-link multimodal dexterous hand provided in an embodiment of the present invention; Figure 6 A schematic diagram of the palm-eye module of the parameterized multi-link multimodal dexterous hand provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the parametric multi-link multimodal dexterous hand provided in an embodiment of the present invention when grasping a target object. Figure 1 ; Figure 8 This is a schematic diagram of the parametric multi-link multimodal dexterous hand provided in an embodiment of the present invention when grasping a target object. Figure 2 ; Figure 9 A cross-sectional view of the finger assembly of the parametric multi-link multimodal dexterous hand provided in an embodiment of the present invention; Figure 10 A schematic diagram of the finger assembly of a parameterized multi-link multimodal dexterous hand provided in an embodiment of the present invention; Figure 11 A schematic diagram showing the positions of the seventh, eighth, and ninth axes in the finger actuator of the parameterized multi-link multimodal dexterous hand provided in an embodiment of the present invention; Figure 12 A schematic diagram showing the positions of the fourth, fifth, and sixth axes in the finger assembly of the parameterized multi-link multimodal dexterous hand provided in an embodiment of the present invention; Figure 13 A schematic diagram showing the positions of the seventeenth and eighteenth axes in the finger assembly of the parameterized multi-link multimodal dexterous hand provided in an embodiment of the present invention; Figure 14 A schematic diagram of the axis position in the multi-link mechanism of the parameterized multi-link multimodal dexterous hand provided in an embodiment of the present invention; Figure 15 A schematic diagram of the thumb assembly of a parameterized multi-link multimodal dexterous hand provided in an embodiment of the present invention; Figure 16 A partial schematic diagram of the transmission box of the thumb assembly of the parameterized multi-link multimodal dexterous hand provided in an embodiment of the present invention; Figure 17 Schematic diagram of the central axis position of the thumb assembly of the parameterized multi-link multimodal dexterous hand provided in the embodiments of the present invention. Figure 1 ; Figure 18 Schematic diagram of the central axis position of the thumb assembly of the parameterized multi-link multimodal dexterous hand provided in the embodiments of the present invention. Figure 2 .

[0023] Icons: 100 - Palm; 200 - Finger assembly; 210 - Finger drive mounting base; 220 - Finger drive component; 221 - First finger motor; 222 - Second finger motor; 223 - Third finger motor; 230a, 230b, 230c - Screw and nut assembly; 240 - Multi-link mechanism; 241 - Finger link 1; 242 - Finger link 2; 243 - Finger link 3; 244 - Finger link 4; 245 - Finger link 5; 246 - Finger link 6; 247 - Finger link 7; 248 - Finger rotation mounting base; 250 - Single finger distal phalanx; 260 - Single finger middle phalanx; 270 - Single finger proximal phalanx 300-Thumb assembly; 310-Thumb drive; 311-Thumb first motor; 312-Thumb second motor; 313-Thumb third motor; 320-Transmission box; 321-Thumb mounting base; 322-Worn gear No. 1; 323-Worn gear No. 2; 324-Side swing worm gear; 325-Side swing shaft; 326-Inward-flipping shaft; 327-Inward-flipping worm gear; 328-Circular arc bevel gear; 329-Circular arc bevel gear shaft; 32a-Inner swing seat; 32b-Outer swing seat; 330-Four-bar linkage; 331-Thumb middle knuckle; 332-Thumb fingertip; 333-Thumb drive bracket; 334-Inward-flipping seat; 335-Thumb middle knuckle Linkage; 336 - Thumb fingertip linkage; 337 - Inward-curved worm gear; 338 - No. 3 worm gear; 400 - Vision-tactile module; 410 - Contact layer; 420 - Reflective layer; 430 - Flexible body; 440 - Support body; 450 - Camera; 460 - Lamp assembly; 500 - Palm eye module; 510 - Palm eye mounting base; 520 - Adjustment mechanism; 521 - First connector; 522 - Second connector; 530 - Camera module; 531 - Palm eye camera; 532 - TOF sensor; 540 - Bottom flange; 600 - Target object; 01 - First axis; 02 - Second axis; 03 - Third axis; 04 - Fourth axis; 05 - Fifth axis; 06-Sixth axis; 07-Seventh axis; 08-Eighth axis; 09-Ninth axis; 10-Tenth axis; 11-Eleventh axis; 12-Twelfth axis; 13-Thirteenth axis; 14-Fourteenth axis; 15-Fifteenth axis; 16-Sixteenth axis; 17-Seventeenth axis; 18-Eighteenth axis; 20-Twentieth axis; 21-Twenty-first axis; 22-Twenty-second axis; 23-Twenty-third axis; 24-Twenty-fourth axis; 25-Twenty-fifth axis; 26-Twenty-sixth axis; 27-Twenty-seventh axis; 28-Twenty-eighth axis; 29-Twenty-ninth axis; 30-Thirtieth axis. Detailed Implementation

[0024] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used only to describe differences in name and should not be construed as indicating or implying relative importance. Physical quantities in formulas, unless otherwise specified, should be understood as basic quantities in the International System of Units (SI), or derived quantities derived from basic quantities through mathematical operations such as multiplication, division, differentiation, or integration.

[0026] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0027] like Figures 1 to 18 As shown, the parameterized multi-link multimodal dexterous hand provided in this embodiment of the invention is suitable for scenarios such as robot precision operation, human-robot collaboration, or bionic grasping, and is especially suitable for complex tasks requiring high-sensitivity tactile perception and multi-degree-of-freedom motion control. The dexterous hand includes a palm 100, finger components 200, thumb components 300, and a visual-tactile module 400. The finger components 200 and thumb components 300 are movably mounted on the palm 100, and at least one of them is equipped with the visual-tactile module 400 to achieve real-time perception and feedback of the contact state of external objects.

[0028] In this embodiment, there are multiple finger components 200, such as three to four, which are arranged in an arc above the palm 100 to simulate the layout of human fingers; the thumb component 300 is located on the opposite side and can perform pinching actions relative to other fingers to complete various operations such as grasping and clamping.

[0029] Furthermore, the visual-tactile module 400 is disposed on the distal phalanx surface of the finger assembly 200 and the fingertip surface of the thumb assembly 300 to collect contact patterns, pressure distribution and sliding information between the finger and the target object 600.

[0030] Furthermore, the visual-tactile module 400 includes a contact layer 410, a reflective layer 420, a flexible body 430, a support body 440, a camera 450, and a light assembly 460.

[0031] The contact layer 410 is made of an elastic material such as silicone and is directly exposed to the external environment. As the first interface for contact with the object, it has good friction performance and deformation compliance. The reflective layer 420 is disposed inside the contact layer 410, that is, embedded in the flexible body 430 near the upper surface. The reflective layer 420 has an array of marker dots, such as a black and white dot pattern, on its surface and has high reflectivity in the visible light band. The flexible body 430, made of a transparent or semi-transparent elastomer material such as PDMS, is filled between the reflective layer 420 and the support 440. When an external force is applied to the contact layer 410, the flexible body 430 undergoes localized minor deformation, causing the marker dots on the reflective layer 420 to shift accordingly. The support 440 is fixed below the flexible body 430, serving as a rigid base to support and constrain the deformation direction of the flexible body 430, preventing excessive compression in the vertical direction and ensuring that the deformation is concentrated in the horizontal plane for shearing and stretching. The camera 450 faces the reflective layer 420 and images the reflective layer 420 through the through-holes in the support 440, capturing the displacement trajectory of the marker dots. The lamp group 460 is located below the support 440, with light propagating from bottom to top, reflected by the reflective layer 420, and entering the camera 450 to form a high-contrast image, improving image quality.

[0032] In particular, the reflective layer 420 not only enhances the intensity of the optical signal, but also shields against external ambient light, enabling the entire visual-tactile system to work stably under different lighting conditions, significantly improving the robustness and applicability of the system.

[0033] Through the above structural design, the visual-tactile module 400 can accurately calculate the magnitude, direction and shape of the contact force under non-invasive conditions, providing key inputs for subsequent closed-loop control.

[0034] Furthermore, the parametric multi-link multimodal dexterous hand also includes a palm eye module 500, which is connected to the lower end of the palm 100 and faces the working area of ​​the dexterous hand, i.e. the operating space in front of the fingers, to acquire visual and depth information of the surrounding environment of the hand.

[0035] The palm-mounted eye module 500 includes a palm-mounted eye mounting base 510, an adjustment mechanism 520, and a camera module 530. The palm-mounted eye mounting base 510 is fixedly connected to the bottom of the palm 100 via a connector such as a screw, and is mounted on a bottom flange 540. The adjustment mechanism 520 is mounted on the end of the palm-mounted eye mounting base 510 with a cavity, and is used to adjust the posture of the camera module 530. The camera module 530 is connected to the movable end of the adjustment mechanism 520 via another connector, and can flexibly adjust the observation angle in three-dimensional space.

[0036] Furthermore, the adjustment mechanism 520 includes a first connector 521 and a second connector 522. The first connector 521 is slidably connected to the palm-mounted eye mounting base 510 along a first direction, such as the Z-axis, and can be adjusted by a lead screw or linear guide. The first connector 521 also swings relative to the palm-mounted eye mounting base 510 about a hinge axis parallel to a third direction, such as the Y-axis, to achieve pitch angle adjustment. The second connector 522 is hinged to the first connector 521 about a hinge axis parallel to a second direction, such as the X-axis, to achieve roll angle adjustment. The first direction, the second direction, and the third direction are all perpendicular to each other and together form an orthogonal adjustment system, enabling the camera module 530 to achieve multi-degree-of-freedom attitude adjustment in space.

[0037] The camera module 530 includes a palm-sized eye camera 531 and a TOF sensor 532. The palm-sized eye camera 531 is an RGB camera, fixedly installed inside the palm-sized eye module 500, with its lens passing through the module wall and facing the working area to capture color images. The TOF sensor 532 is also fixed inside the module, spaced apart from the palm-sized eye camera 531, and is used to acquire distance information of the target object 600 in real time to generate a depth map. Working together, the two can realize target recognition, localization, and obstacle avoidance functions under hand-eye coordination, which is especially suitable for autonomous grasping tasks in dynamic environments.

[0038] Furthermore, the finger assembly 200 includes a finger drive holder 210, a finger drive component 220, a lead screw and nut assembly 230a, 230b, 230c, and a multi-link mechanism 240. The finger-driven mounting base 210 serves as a basic support component, fixed to the palm 100. The finger-driven component 220 includes a first finger motor 221, a second finger motor 222, and a third finger motor 223, which are symmetrically distributed in a triangle and installed below the finger-driven mounting base 210, which is beneficial for torque balance and compact space design. Each motor output shaft is connected to a lead screw, forming lead screw and nut pairs 230a, 230b, and 230c, specifically including a first finger nut mounting base, a second finger nut mounting base, and a third finger nut mounting base, which are respectively controlled by the corresponding motor and move linearly along their respective axes from the fourth to the sixth axis 06. Among them, the first finger motor 221 drives the first finger nut mounting base to move along the sixth axis 06, the second finger motor 222 drives the second finger nut mounting base to move along the fourth axis 04, and the third finger motor 223 drives the third finger nut mounting base to move along the fifth axis 05. The multi-link mechanism 240 is linked with the lead screw and nut pairs 230a, 230b, and 230c to convert the rotational motion of the motor into the bending motion of each finger joint and the lateral swinging motion of the fingers.

[0039] Further, the multi-link mechanism 240 includes the following components: one end of finger link 241 is connected to the first finger nut fixing seat via a ball joint, and the other end is hinged to finger link 244; one end of finger link 242 and finger link 243 are respectively connected to the second and third finger nut fixing seats via ball joints, and the other end is hinged to the proximal phalanx 270 of a single finger; the movement of the second finger nut fixing seat drives finger link 242 to rotate around the seventh axis 07, and the movement of the third finger nut fixing seat drives finger link 243 to rotate around the eighth axis 08; the movement of the second and third finger nut fixing seats together drives the proximal phalanx 270 of a single finger to rotate around the ninth axis 09; finger link 244 and finger link 245 rotate around the fourteenth axis 14. Both are hinged, located inside the proximal phalanx 270 of a single finger; finger link 5 245 and finger link 6 246 are hinged with the twelfth axis 12 as the rotation axis; finger link 6 246 is located inside the middle phalanx 260 of a single finger and is hinged with the proximal phalanx 270 of a single finger with the thirteenth axis 13 as the rotation axis; the proximal phalanx of a single finger and the proximal phalanx 270 of a single finger are hinged with the thirtieth axis 30 as the rotation axis; finger link 6 246 is also hinged with finger link 7 247 with the fifteenth axis 15 as the rotation axis; one end of finger link 7 247 is hinged with the middle phalanx 260 of a single finger with the sixteenth axis 16 as the rotation axis, and the other end is fixedly connected to the distal phalanx 250 of a single finger through a connector; the movement of the first finger nut fixing seat drives finger link 1 241 to rotate around the tenth axis 10, moving it away from the first motor 221 of the finger. The movement of finger link 241 drives finger link 244 to rotate around the eleventh axis 11, moving it away from the first finger motor 221. The movements of the second and third finger nut holders together drive finger link 241 to rotate around the seventeenth axis 17, causing it to make a lateral swinging motion.

[0040] The finger rotation fixing seat 248 is hinged to the palm 100 with the eighteenth axis 18 as the rotation axis, and also hinged to one end of the proximal phalanx 270 of the single finger with the ninth axis 09 as the rotation axis. It is also hinged to the fourth link 244 of the finger with the ninth axis 09 as the rotation axis, which plays the role of structural anchoring and force transmission. This multi-link mechanism 240 can realize biomimetic flexion, extension and lateral swing movements. Moreover, due to the use of distributed motor drive and independent screw transmission, each finger can achieve a certain degree of independent control, which can adapt to the envelope grasping of objects of different shapes.

[0041] The thumb assembly 300 includes a thumb drive 310, a transmission box 320, and a four-bar linkage 330, wherein the thumb drive 310 drives the four-bar linkage 330 through the transmission box 320 to realize the compound movement of the thumb in space.

[0042] The thumb drive component 310 includes three independent motors: a first thumb motor 311, used to drive the inward and lateral coupled movements of the thumb assembly 300; a second thumb motor 312, used to independently cause the inward movement of the thumb assembly 300; and a third thumb motor 313, used to drive the thumb tip 332 to achieve bending movement. All of these motors are installed in the palm 100 or the base of the thumb area, and power distribution and path guidance are achieved through a transmission box 320.

[0043] In the transmission box 320: the thumb mounting base 321 is fixedly connected to the palm 100, serving as the base of the entire transmission system; a pair of motor mounting holes are provided on the thumb mounting base 321 for assembling the first thumb motor 311 and the second thumb motor 312; the first worm gear 322 is coaxially connected to the output shaft of the first thumb motor 311, and the first worm gear 322 meshes with the side-swing worm wheel 324 for transmission; the second worm gear 323 is coaxially connected to the output shaft of the second thumb motor 312, and the second worm gear 323 meshes with the inward-turning worm wheel 327 for transmission; the first thumb motor 311 and the first worm gear 322 are rotatably connected along the twentieth axis 20, for transmitting the rotational motion of the first thumb motor 311 to the side-swing worm wheel 324; the second thumb motor 312 and the second worm gear 323 are rotatably connected along the twenty-first axis 21, for transmitting the rotational motion of the second thumb motor 312 to the inward-turning worm wheel 327. The side swing shaft 325 and the thumb mounting base 321 are rotatably connected about the twenty-second axis 22. The inner swing base 32a, the side swing worm gear 324, the circular arc bevel gear 328 and the inward worm gear 327 are fixed on it in sequence. The inward worm gear 326 is fixedly connected to the side swing shaft 325 through a connector to achieve synchronous rotation. The circular arc bevel gear shaft 329 is loosely fitted on the inward worm gear 326 and meshes with the circular arc bevel gear 328 to achieve vertical power transmission. The outer swing base 32b is also loosely fitted on the inward worm gear 326 and is fixedly connected to the inner swing base 32a through a connector extending along the twenty-third axis 23 to form a double-layer swing frame.

[0044] By differentially driving the first thumb motor 311 and the second thumb motor 312, pure lateral sway motion can be decoupled. For example, when the two motors are running in opposite directions at differential speeds, the torques generated by the lateral sway worm gear and the inward sway worm gear cancel each other out the inward sway component, retaining only the lateral sway output, thus achieving independent motion control in the orthogonal direction.

[0045] In the four-bar linkage 330: the thumb middle joint 331 and the thumb tip 332 constitute the thumb body; the third motor bracket is placed inside the thumb middle joint 331, fixed to the middle part by a set screw, and connected to the output shaft of the thumb third motor 313; the third worm gear 338 is coaxially connected to the thumb third motor 313 and meshes with the inner curved worm wheel 337 for transmission; one end of the inward-folding seat 334 is hinged to the thumb middle joint connecting rod 335 about the twenty-seventh axis 27 as the rotation axis, and the other end is hinged to the thumb middle joint 331 about the twenty-eighth axis 28 as the rotation axis. The shaft is hinged; the inner flip seat 334 has a protruding round hole at one end and is fitted with the arc bevel gear shaft 329 with the twenty-fourth axis 24 as a loose sleeve, allowing it to rotate freely relative to the thumb drive bracket 333; one end of the inner curved worm gear 337 is hinged to the thumb middle joint connecting rod 335 with the twenty-ninth axis 29 as the rotation axis, and the middle part is fixedly connected to the thumb fingertip connecting rod 336; the other end of the thumb fingertip connecting rod 336 is fixedly connected to the thumb fingertip 332 by a screw, and the inner curved worm gear 337 is rotatably mounted on the thumb middle joint 331 around the twenty-sixth axis 26.

[0046] The third motor 313 of the thumb is rotatably connected to the third worm gear 338 along the twenty-fifth axis 25, and is used to transmit the rotational motion of the third motor 313 of the thumb to the inner curved worm gear 337. When the third motor 313 of the thumb is started, the power is transmitted to the inner curved worm gear 337 through the third worm gear 338, which drives the thumb fingertip connecting rod 336 to pull the thumb fingertip 332 to complete the bending action, realizing a flexion function similar to the distal phalanx of the human thumb.

[0047] It should be noted that during processing and assembly, the first axis 01, the second axis 02, and the third axis 03 should be orthogonal; the fourth axis 04 and the sixth axis 06 should be parallel; the seventh axis 07, the eighth axis 08, and the ninth axis 09 should be parallel; and the fifth axis 05, the tenth axis 10, the eleventh axis 11, the twelfth axis 12, the thirteenth axis 13, the fourteenth axis 14, the fifteenth axis 15, and the sixteenth axis 16 should be parallel.

[0048] In addition, a dust cover is placed over the outside of the transmission housing 320 to prevent dust and foreign objects from entering and affecting transmission accuracy and lifespan.

[0049] The parameterized multi-link multimodal dexterous hand provided in this embodiment of the invention has the following outstanding advantages: 1. High perception capability: By integrating a visual-tactile module 400 into the fingertip, high-resolution perception of physical quantities such as contact force, slippage, and texture is achieved, supporting closed-loop force control in fine operations; 2. High flexibility: The thumb component 300 has three degrees of freedom: inward turning, side swinging, and bending, and achieves independent control through a differential decoupling mechanism, which greatly enhances grip adaptability; 3. Wide field of view perception: The palm-sized eye module 500 integrates RGB and TOF sensors and is equipped with a multi-degree-of-freedom adjustment mechanism (it can translate along the first axis 01, pitch with the second axis 02 as the rotation axis, and sway with the third axis 03 as the rotation axis), which can actively adjust the viewing angle and avoid the problem of hand self-blocking. 4. Compact and efficient transmission: The finger assembly adopts a triangular distributed motor + lead screw nut + multi-link structure to achieve lightweight and high response speed; the thumb transmission box uses a combination of worm gear and bevel gear to effectively reduce the size and improve transmission efficiency, and increase output torque; the thumb end adopts a fan-shaped worm gear to reduce the size and achieve lightweight. 5. Modular design: Each functional unit (palm, fingers, thumb, sensor module) can be maintained and replaced independently, which facilitates later upgrades and mass production.

[0050] In summary, the parameterized multi-link multimodal dexterous hand proposed in this invention has a reasonable structure, complete functions, and flexible control. It is applicable to multiple cutting-edge fields such as service robots, medical assistive devices, and industrial automation, and has broad prospects for industrialization.

[0051] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A parameterized multi-link multimodal dexterous hand, characterized in that, It includes a palm (100), a finger assembly (200), a thumb assembly (300), and a visual-tactile module (400), wherein the finger assembly (200) and the thumb assembly (300) are movably mounted on the palm (100), and at least one of the finger assembly (200) and the thumb assembly (300) is equipped with the visual-tactile module (400).

2. The parameterized multi-link multimodal dexterous hand according to claim 1, characterized in that, The visual-tactile module (400) is mounted on the distal phalanx of the finger assembly (200) and / or the fingertip surface of the thumb assembly (300).

3. The parameterized multi-link multimodal dexterous hand according to claim 1 or 2, characterized in that, The visual-tactile module (400) includes a contact layer (410), a reflective layer (420), a flexible body (430), a support body (440), a camera (450), and a light assembly (460). The contact layer (410) covers the outside of the reflective layer (420), and the flexible body (430) is supported between the reflective layer (420) and the support body (440); The camera (450) and the light group (460) are both facing the reflective layer (420) and are respectively installed inside the support (440).

4. The parameterized multi-link multimodal dexterous hand according to claim 1, characterized in that, The parametric multi-link multimodal dexterous hand also includes a palm eye module (500), which is connected to the lower end of the palm (100) and faces the working area of ​​the parametric multi-link multimodal dexterous hand.

5. The parameterized multi-link multimodal dexterous hand according to claim 4, characterized in that, The palm-mounted eye module (500) includes a palm-mounted eye mounting base (510), an adjustment mechanism (520), and a camera module (530); the palm-mounted eye mounting base (510) is connected to the palm (100), the adjustment mechanism (520) is mounted on the palm-mounted eye mounting base (510), and the movable part of the adjustment mechanism (520) is connected to the camera module (530) to realize the angle adjustment of the camera module (530).

6. The parameterized multi-link multimodal dexterous hand according to claim 5, characterized in that, The adjustment mechanism (520) includes a first connector (521) and a second connector (522). The camera module (530) is connected to the second connector (522). The first connector (521) is slidably connected to the palm-eye mounting base (510) along a first direction. The second connector (522) is hinged to the first connector (521) about a hinge axis parallel to a second direction. The first connector (521) swings relative to the palm-eye mounting base (510) about a hinge axis parallel to a third direction. The first direction, the second direction, and the third direction are perpendicular to each other.

7. The parameterized multi-link multimodal dexterous hand according to claim 6, characterized in that, The camera module (530) includes a palm-sized eye camera (531) and a TOF sensor (532). The palm-sized eye camera (531) and the TOF sensor (532) are spaced apart and face the working area of ​​the parametric multi-link multimodal dexterous hand.

8. The parameterized multi-link multimodal dexterous hand according to claim 1, characterized in that, The finger assembly (200) includes a finger drive base (210), a finger drive component (220), a lead screw and nut pair (230a, 230b, 230c), and a multi-link mechanism (240). The finger drive component (220) is mounted on the finger drive base (210). The lead screw and nut pair (230a, 230b, 230c) is movably mounted on the finger drive base (210), and the lead screw and nut pair (230a, 230b, 230c) is connected to the finger drive component (220) in a transmission connection. The multi-link mechanism (240) is linked with the lead screw and nut pair (230a, 230b, 230c) to convert linear motion into bending motion of each phalanx of the finger assembly (200) and lateral swing motion of the fingers.

9. The parameterized multi-link multimodal dexterous hand according to claim 8, characterized in that, The finger drive unit (220) includes a first finger motor (221), a second finger motor (222), and a third finger motor (223); the first finger motor (221), the second finger motor (222), and the third finger motor (223) drive the multi-link mechanism (240) respectively via the lead screw and nut pair (230a, 230b, 230c).

10. The parameterized multi-link multimodal dexterous hand according to claim 8, characterized in that, The multi-link mechanism (240) includes finger link 1 (241), finger link 2 (242), finger link 3 (243), finger link 4 (244), finger link 5 (245), finger link 6 (246), finger link 7 (247) and finger rotation fixing seat (248). The finger rotation fixing seat (248) is hinged to the palm (100), and the finger rotation fixing seat (248) is hinged to one end of the proximal phalanx (270) of a single finger; one end of the first finger connecting rod (241) is connected to the corresponding lead screw nut pair (230a, 230b, 230c) for transmission, and the other end is hinged to the fourth finger connecting rod (244); one end of the second finger connecting rod (242) and the third finger connecting rod (243) are respectively connected to the corresponding lead screw nut pair (230a, 230b, 230c) for transmission, and the other end is hinged to the proximal phalanx (270) of a single finger; The fourth finger link (244) is hinged to the fifth finger link (245), the fifth finger link (245) is hinged to the sixth finger link (246), and the sixth finger link (246) is hinged to the seventh finger link (247). The sixth link (246) of the finger is located inside the middle phalanx (260) of the single finger, and the sixth link (246) of the finger is hinged to the proximal phalanx (270) of the single finger, and the finger rotation fixing seat (248) is hinged to the proximal phalanx (270) of the single finger; One end of the finger link 7 (247) is hinged to the middle phalanx (260) of the single finger, and the other end is fixedly connected to the distal phalanx (250) of the finger.

11. The parameterized multi-link multimodal dexterous hand according to claim 1, characterized in that, The thumb assembly (300) includes a thumb drive (310), a transmission box (320), and a four-bar linkage (330); the thumb drive (310) drives the four-bar linkage (330) through the transmission box (320).

12. The parameterized multi-link multimodal dexterous hand according to claim 11, characterized in that, The thumb drive unit (310) includes a first thumb motor (311), a second thumb motor (312), and a third thumb motor (313); the first thumb motor (311), the second thumb motor (312), and the third thumb motor (313) are respectively connected to the four-bar linkage (330) via the transmission box (320). The first motor (311) of the thumb is used to drive the coupled movement of the thumb assembly (300) to achieve inward and lateral movement; The second motor (312) for thumb is used to individually cause the inversion movement of the thumb assembly (300); The third motor (313) of the thumb is used to drive the fingertip of the thumb assembly (300) to achieve bending movement.

13. The parameterized multi-link multimodal dexterous hand according to claim 12, characterized in that, The transmission box (320) includes a thumb mounting seat (321), a first worm gear (322), a second worm gear (323), a side-swing worm wheel (324), a side-swing shaft (325), an inward-turning shaft (326), an inward-turning worm wheel (327), a circular arc bevel gear (328), a circular arc bevel gear shaft (329), an inner side-swing seat (32a), and an outer side-swing seat (32b); the thumb mounting seat (321) is connected to the palm (100), the side-swing shaft (325) is rotatably connected to the thumb mounting seat (321), and the inner side-swing seat (32a), the second worm gear (323), the third worm gear (324), the fourth worm gear (325), the fifth worm gear (326), the sixth worm gear (327), the seventh worm gear (328), the eighth worm gear (329), the ninth worm gear (320), the elliptical bevel ... The side-swing worm gear (324), the circular arc bevel gear (328), and the inward-turning worm gear (327) are respectively mounted on the thumb mounting seat (321). The side-swing shaft (325) is connected to the inward-turning shaft (326) and rotates synchronously. The circular arc bevel gear shaft (329) is sleeved on the inward-turning shaft (326), and the circular arc bevel gear shaft (329) meshes with the circular arc bevel gear (328). The outer swing seat (32b) is sleeved on the inward-turning shaft (326), and the inner swing seat (32a) is fixedly connected to the outer swing seat (32b). The first electric motor (311) of the thumb is connected to the first worm (322), and the first worm (322) meshes with the side-swing worm wheel (324) for transmission. The second motor (312) of the thumb is connected to the second worm (323), and the second worm (323) meshes with the inverted worm wheel (327) for transmission.

14. The parameterized multi-link multimodal dexterous hand according to claim 13, characterized in that, The four-bar linkage (330) includes the middle phalanx of the thumb (331), the tip of the thumb (332), the thumb drive bracket (333), the inverted seat (334), the middle phalanx link (335), the tip of the thumb link (336), the inward-curved worm gear (337), and the third worm gear (338); the third motor of the thumb (313) is located inside the middle phalanx of the thumb (331), and the third motor of the thumb (313) is connected to the third worm gear (338). One end of the inverting seat (334) is hinged to the thumb middle phalanx connecting rod (335), and the other end of the inverting seat (334) is hinged to the thumb middle phalanx (331). The circular arc bevel gear shaft (329) is rotatably mounted on the inner flip seat (334). The inner curved worm gear (337) is hinged to the thumb middle phalanx connecting rod (335). The thumb fingertip connecting rod (336) is connected to the middle part of the inner curved worm gear (337) and is connected to the thumb fingertip (332). The inner curved worm gear (337) meshes with the third worm (338) for transmission.

Images