Grabbing structure, grabbing device, grabbing system and intelligent terminal

Abstract

The invention provides a grabbing structure, a grabbing device, a grabbing system and an intelligent terminal. The grabbing structure comprises a first base, a knuckle assembly, a first tendon rope assembly and a first driving assembly. The first end of the knuckle assembly is rotatably arranged on the first base, the first driving assembly is installed on the first base, and the first base is used for being installed on a palm structure; the first tendon rope assembly is arranged in the knuckle assembly and the first base in a penetrating mode, the first end of the first tendon rope assembly is connected with the second end of the knuckle assembly, and the second end of the first tendon rope assembly is connected with the driving assembly; the first driving assembly is used for controlling the first tendon rope assembly to be in a winding state or a releasing state. The grabbing structure is simple in structure, the first tendon rope assembly is matched with the first driving assembly, bending or stretching of the grabbing structure is conveniently controlled, the regulation and control effect on the grabbing structure is improved, and the use requirement is met.

Description

Technical Field

[0001] This invention relates to the field of gripping devices, and more particularly to a gripping structure, gripping device, gripping system, and intelligent terminal. Background Technology

[0002] With societal development, intelligent terminals such as robots are increasingly appearing in people's lives, gaining significant attention and development, especially in the field of service robots, where high requirements are placed on various indicators of end effectors. As the grasping structure of an end effector, its integration level, anthropomorphism, driving method, and flexibility have received widespread attention from researchers. Extensive research has been conducted both domestically and internationally on grasping structures, ranging from three-finger to five-finger grips, from industrial to everyday applications, and from simple grasping to dexterous manipulation, aiming to solve complex practical operational problems. However, most existing grasping structures suffer from structural complexity and inconvenient operation and control. Summary of the Invention

[0003] This invention provides a gripping structure, gripping device, gripping system, and intelligent terminal to solve the problems of complex structure and inconvenient operation and control of existing gripping structures.

[0004] A gripping structure includes a first base, a knuckle assembly, a first tendon ligament assembly, and a first drive assembly; The first end of the knuckle assembly is rotatably disposed on the first base, the first drive assembly is mounted on the first base, and the first base is used to be mounted on the palm structure; The first tendon cord assembly is inserted into the knuckle assembly and the first base, and a first end of the first tendon cord assembly is connected to a second end of the knuckle assembly, and a second end of the first tendon cord assembly is connected to the drive assembly. The first drive component is used to control the first tendon rope component to be in a winding state or a releasing state.

[0005] Preferably, the knuckle assembly includes a proximal knuckle and a distal knuckle; The first end of the proximal phalanx is rotatably disposed on the first base, and the first end of the distal phalanx is rotatably disposed on the second end of the proximal phalanx; The first tendon cord assembly is inserted into the distal phalanx, the proximal phalanx, and the first base, with a first end of the first tendon cord assembly connected to a second end of the distal phalanx and a second end of the first tendon cord assembly connected to the first drive assembly.

[0006] Preferably, the first drive assembly includes a first motor and a first winding reel; The first motor is mounted on the first base, and the first winding wheel is connected to the output shaft of the first motor; The second end of the first tendon cord assembly passes through the first base and is connected to the first winding reel.

[0007] Preferably, the first tendon cord assembly includes a first elastic tendon cord; The first elastic tendon cord is threaded through the knuckle assembly and the first base; The first end of the first elastic tendon cord is connected to the second end of the knuckle assembly, and the second end of the first elastic tendon cord is connected to the first drive assembly.

[0008] Preferably, the first tendon ligament assembly includes a first contraction tendon ligament and a first extension tendon ligament; The first contractile tendon cord is threaded through the abdomen of the knuckle assembly and the abdomen of the first base, and the first end of the first contractile tendon cord is connected to the abdomen of the second end of the knuckle assembly, and the second end of the first contractile tendon cord is connected to the first drive assembly. The first extension tendon cord is threaded through the back of the knuckle assembly and the back of the first base, and the first end of the first extension tendon cord is connected to the back of the second end of the knuckle assembly, and the second end of the first extension tendon cord is connected to the first drive assembly; the first contraction tendon cord is wound in the opposite direction to the first extension tendon cord. The first drive component is used to control either the first contraction tendon cord or the first extension tendon cord to be in a wound state and the other to be in a released state.

[0009] Preferably, the gripping structure further includes a second base, a transfer knuckle, a second tendon ligament assembly, and a second drive assembly; The first end of the transfer phalanx is rotatably mounted on the second base, and the second end of the transfer phalanx is connected to the end of the first base away from the phalanx assembly. The second base is provided with a second drive assembly and is used to be mounted on the palm structure. The second tendon cord assembly is inserted into the pivot phalanx and the second base, and the first end of the second tendon cord assembly is connected to the second end of the pivot phalanx, and the second end of the second tendon cord assembly is connected to the second drive assembly. The second drive component is used to control the second tendon rope assembly to be in a coiled or released state.

[0010] Preferably, the second tendon cord assembly includes a second elastic tendon cord; The second elastic tendon cord is threaded through the middle phalanx and the second base; The first end of the second elastic tendon is connected to the second end of the pivot phalanx, and the second end of the second elastic tendon is connected to the second drive assembly.

[0011] Preferably, the second tendon cord assembly includes a second contraction tendon cord and a second extension tendon cord; The second contractile tendon cord is threaded through the abdomen of the pivot phalanx and the abdomen of the second base, and the first end of the second contractile tendon cord is connected to the abdomen of the second end of the pivot phalanx, and the second end of the second contractile tendon cord is connected to the second drive assembly. The second extension tendon cord is threaded through the back of the pivot phalanx and the back of the second base, and the first end of the second extension tendon cord is connected to the back of the second end of the pivot phalanx, and the second end of the second extension tendon cord is connected to the second drive assembly; the second contraction tendon cord is wound in the opposite direction to the second extension tendon cord. The second drive component is used to control either the second contraction tendon rope or the second extension tendon rope to be in a wound state and the other to be in a released state.

[0012] The aforementioned gripping structure includes a first base for forming one rotational degree of freedom, a knuckle assembly, a first tendon ligament assembly, and a first drive assembly. The first tendon ligament assembly is inserted into the knuckle assembly and the first base, with its first end connected to the second end of the knuckle assembly and its second end connected to the first drive assembly. The first drive assembly controls the first tendon ligament assembly to be in a coiled or released state, thereby controlling the bending or extension of the knuckle assembly. This simplifies and facilitates the control process of the gripping structure, ensuring its controllability. Furthermore, the overall structure is simple and employs a modular design, which helps reduce costs. Here, the gripping structure also includes a second base for forming another rotational degree of autonomy, a transition knuckle, a second tendon ligament assembly, and a second drive assembly, making its overall structure more human-like.

[0013] A grasping device includes a palm structure, a little finger module, a ring finger module, a middle finger module, an index finger module, and a thumb module; The little finger module, the ring finger module, the middle finger module, the index finger module, and the thumb module are arranged on the palm structure in a manner similar to a human hand; Any one of the little finger module, the ring finger module, the middle finger module, and the index finger module is the grasping structure in the above embodiment.

[0014] Preferably, the palm structure includes metacarpal bones and a foregut; The metacarpal bone of the hand is arranged with five mounting holes in a manner similar to a human hand. The five mounting holes are respectively used to install the little finger module, the ring finger module, the middle finger module, the index finger module, and the thumb module. The forehand cover is mounted on the metacarpal bone of the hand, forming an accommodating space.

[0015] Preferably, the metacarpal bone of the hand includes a palm region and five finger mounting regions disposed on the palm region, and each finger mounting region is provided with a mounting hole for mounting a grasping structure. The angle between the plane where the little finger module is installed and the plane where the palm area is located is 5 to 7 degrees.

[0016] In the aforementioned grasping device, the little finger module, ring finger module, middle finger module, and index finger module are grasping structures with one degree of freedom, while the thumb module is a grasping structure with two degrees of freedom, making its overall layout more human-like. Furthermore, the grasping structure is simple, utilizing the first tendon ligament assembly and the first drive assembly to facilitate control over the bending or extension of the grasping structure, improving the control effect and meeting usage requirements. Moreover, while maintaining its intended functions, the grasping device reduces the number of parts in a single grasping structure. Each finger's parts are made of aluminum alloy, machined in one piece, resulting in high strength, light weight, and high precision. Simultaneously, the modular design solves the problems of complex part installation and difficult maintenance found in other designs.

[0017] A grasping system includes a control module, a sensing module, and the grasping device described above; Both the control module and the sensing module are mounted on the grasping device; The sensing module is used to acquire sensing data; The control module is used to control the grasping device to perform a grasping action based on the sensing data.

[0018] Preferably, the sensing module includes a pressure sensor, which is disposed on the knuckle assembly of the grasping system for collecting pressure information of the knuckle assembly; The control module is connected to the pressure sensor and is used to adjust the output torque of the knuckle assembly based on the pressure information collected by the pressure sensor.

[0019] Preferably, the pressure sensor includes a pressure plate resistor and wires; The pressure resistor is disposed on the abdomen of the knuckle assembly in the gripping system and is used to collect pressure information of the knuckle assembly. The wires are disposed on both sides of the knuckle assembly of the gripping system; The control module is connected to the pressure plate resistor via the wire to acquire the pressure information collected by the pressure resistor.

[0020] Preferably, the sensing module further includes a vision module; The vision module is mounted on the palm structure of the grasping system and is used to collect visual information; The control module is connected to the vision module and is used to control the grasping device of the grasping system to perform grasping actions based on visual information.

[0021] In the aforementioned grasping system, the little finger, ring finger, middle finger, and index finger modules are grasping structures with one degree of freedom, while the thumb module is a grasping structure with two degrees of freedom, making its overall layout more human-like. Furthermore, the grasping structure is simple, utilizing the first tendon ligament assembly and the first drive assembly to facilitate control over bending or extension, improving the control effect and meeting usage requirements. Moreover, while maintaining its intended functions, the grasping device reduces the number of parts in each grasping structure. Each finger part is made of aluminum alloy, machined as a single piece, resulting in high strength, light weight, and high precision. Simultaneously, the modular design solves the problems of complex part installation and difficult maintenance found in other designs. The control module intelligently controls the grasping device to perform grasping actions based on the sensor data collected by the sensor module. Its high degree of integration fully utilizes the internal space of the grasping device and avoids interference, helping to ensure the control accuracy of the grasping device.

[0022] A smart terminal, including the above-mentioned grasping system. In the aforementioned smart terminal, the little finger, ring finger, middle finger, and index finger modules are grasping structures with one degree of freedom, while the thumb module is a grasping structure with two degrees of freedom, making its overall layout more human-like. Furthermore, the grasping structure is simple, utilizing the first tendon ligament assembly and the first drive assembly to facilitate control over bending or extension, improving the control effect and meeting usage requirements. Moreover, while maintaining its intended functions, the grasping device reduces the number of parts in each grasping structure. Each finger's parts are made of aluminum alloy, machined in a single piece, resulting in high strength, light weight, and high precision. Simultaneously, the modular design solves the problems of complex part installation and difficult maintenance found in other designs. The control module intelligently controls the grasping device to perform grasping actions based on the sensor data collected by the sensor module. Its high degree of integration fully utilizes the internal space of the grasping device and avoids interference, helping to ensure the control accuracy of the grasping device. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is an exploded view of a grasping system according to an embodiment of the present invention. Figure 2 This is a top view of the gripping device in one embodiment of the present invention; Figure 3 This is a bottom view of the gripping device in one embodiment of the present invention; Figure 4 This is a bottom view of the grasping system in one embodiment of the present invention; Figure 5 This is a top view of the grasping system in one embodiment of the present invention; Figure 6 This is a top view of the metacarpal bones of the hand in one embodiment of the present invention; Figure 7 This is a front view of the metacarpal bone of the hand in one embodiment of the present invention.

[0025] The components are as follows: 1. First base; 2. Knuckle assembly; 21. Proximal phalanx; 22. Distal phalanx; 3. First tendon ligament assembly; 4. First drive assembly; 41. First motor; 42. First winding reel; 5. Second base; 6. Intermediate phalanx; 7. Second tendon ligament assembly; 8. Second drive assembly; 81. Second motor; 82. Second winding reel; 9. Palm structure; 91. Palm metacarpal bone; 92. Palm front cover; 10. Mounting hole; 11. Control module; 111. Control integrated circuit; 112. Power management circuit; 12. Sensing module; 121. Pressure sensor; 1211. Pressure plate resistor; 1212. Wire; 122. Vision module; A. Little finger module; B. Ring finger module; C. Middle finger module; D. Index finger module; E. Thumb module. Detailed Implementation

[0026] To make the technical problems solved, technical solutions, and beneficial effects of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0027] In the description of this invention, it should be understood that the terms "longitudinal," "radial," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and 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, and therefore should not be construed as a limitation of the invention. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0028] 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.

[0029] This invention provides a grasping structure, referring to... Figure 1 , Figure 2 and Figure 3 The gripping structure includes a first base 1, a knuckle assembly 2, a first tendon cord assembly 3, and a first drive assembly 4. The first end of the knuckle assembly 2 is rotatably mounted on the first base 1, which is used to mount on the palm structure 9. The first drive assembly 4 is mounted on the first base 1. The first tendon cord assembly 3 passes through the knuckle assembly 2 and the first base 1, and the first end of the first tendon cord assembly 3 is connected to the second end of the knuckle assembly 2. The second end of the first tendon cord assembly 3 is connected to the first drive assembly 4. The first drive assembly 4 is used to control the first tendon cord assembly 3 to be in a coiled state or a released state. As an example, the grasping structure specifically includes a first base 1, a knuckle assembly 2, a first tendon ligament assembly 3, and a first drive assembly 4. The grasping structure is the finger in the grasping device, which can be any one of the index finger, middle finger, ring finger, little finger, and thumb. This grasping structure can be directly installed on the palm structure 9 of the grasping device, or indirectly installed on the palm structure 9. During installation, the first base 1 serves as a support reference and is used to install on the palm structure 9. The first end of the knuckle assembly 2 is rotatably mounted on the first base 1, specifically for the gripping of the finger. The rotatable mounting is specifically connected by a hinge, a rotating shaft, or other means. The first drive assembly 4 is mounted on the first base 1 and serves as the power source for driving the first tendon ligament assembly 3. The first tendon cord assembly 3 is inserted into the knuckle assembly 2 and the first base 1, and the first end of the first tendon cord assembly 3 is connected to the second end of the knuckle assembly 2. The second end of the first tendon cord assembly 3 is connected to the first drive assembly 4. The first drive assembly 4 is used to control the first tendon cord assembly 3 to be in a coiled state or a released state, so as to control the bending or stretching of the knuckle assembly 2.

[0030] In this example, the overall structure of the gripping structure is simple. The first tendon rope assembly 3 and the first drive assembly 4 work together to facilitate the control of the bending or extension of the gripping structure, improve the control effect of the gripping structure, meet the usage requirements, and the gripping structure can be modularly designed, which helps to reduce costs.

[0031] In one embodiment, reference is made to Figure 1 , Figure 2 and Figure 3 The knuckle assembly 2 includes a proximal knuckle 21 and a distal knuckle 22; the first end of the proximal knuckle 21 is rotatably disposed on the first base 1, and the first end of the distal knuckle 22 is rotatably disposed on the second end of the proximal knuckle 21; the first tendon cord assembly 3 is inserted into the distal knuckle 22, the proximal knuckle 21 and the first base 1, and the first end of the first tendon cord assembly 3 is connected to the second end of the distal knuckle 22, and the second end of the first tendon cord assembly 3 is connected to the first drive assembly 4.

[0032] As an example, the knuckle assembly 2 includes a proximal knuckle 21 and a distal knuckle 22. During installation, the first base 1 is used as a support reference. The first end of the proximal knuckle 21 is rotatably mounted on the first base 1, and the first end of the distal knuckle 22 is rotatably mounted on the second end of the proximal knuckle 21. The rotatable mounting is specifically connected by a hinge, a rotating shaft, or other means.

[0033] For example, the first tendon cord assembly 3 is threaded through the interior of the distal phalanx 22, the proximal phalanx 21, and the first base 1, with the first end of the first tendon cord assembly 3 connected to the interior of the second end of the distal phalanx 22, and the second end of the first tendon cord assembly 3 connected to the first drive assembly 4; the first drive assembly 4 can control the winding or unwinding of the first tendon cord assembly 3; when the first tendon cord assembly 3 is wound, it can drive the distal phalanx 22 to rotate clockwise around the axis where the second end of the proximal phalanx 21 connects with the distal phalanx 22 (i.e., the second axis of rotation of the distal phalanx 22 around the proximal phalanx 21), thus driving the proximal phalanx 21 to rotate clockwise. The proximal phalanx 21 rotates clockwise around the axis where its first end meets the first base 1 (i.e., the first axis of rotation of the proximal phalanx 21 around the first base 1), causing the phalanx assembly 2 to bend. When the first tendon ligament assembly 3 is released, the distal phalanx 22 rotates counterclockwise around the axis where its second end meets the proximal phalanx 21 (i.e., the second axis of rotation of the distal phalanx 22 around the proximal phalanx 21), causing the proximal phalanx 21 to rotate counterclockwise around the axis where its first end meets the first base 1 (i.e., the first axis of rotation of the proximal phalanx 21 around the first base 1), causing the phalanx assembly 2 to extend. The first axis of rotation of the proximal phalanx 21 around the first base 1 is parallel to the second axis of rotation of the distal phalanx 22 around the proximal phalanx 21, so that the proximal phalanx 21 and distal phalanx 22 can cooperate to mimic human grasping operations.

[0034] In this example, the knuckle assembly 2 includes two phalanges, a proximal phalanx 21 and a distal phalanx 22, to address the problem of a large number of phalanges and a complex overall structure in a single grasping structure. Furthermore, by utilizing the first tendon cord assembly 3 and the first drive assembly 4, the distal phalanx 22 and the proximal phalanx 21 are rotated, and the proximal phalanx 21 is rotated relative to the first base 1, so that the knuckle assembly 2 can bend or extend, thereby improving the control effect on the grasping structure and meeting the usage requirements.

[0035] In one embodiment, reference is made to Figure 1 , Figure 2 and Figure 3 The first drive assembly 4 includes a first motor 41 and a first winding wheel 42; the first motor 41 is mounted on the first base 1, and the first winding wheel 42 is connected to the output shaft of the first motor 41; the second end of the first tendon rope assembly 3 passes through the first base 1 and is connected to the first winding wheel 42. As an example, the first drive assembly 4 includes a first motor 41 and a first winding wheel 42; the first motor 41 is mounted on the first base 1, and the first winding wheel 42 is connected to the output shaft of the first motor 41; the second end of the first tendon rope assembly 3 passes through the first base 1 and is connected to the first winding wheel 42. By controlling the first motor 41 to rotate forward or reverse, the first winding wheel 42 can be driven to rotate, thereby winding or releasing the first tendon rope assembly 3 to control the bending or stretching of the knuckle assembly 2. In one embodiment, the first tendon cord assembly 3 includes a first elastic tendon cord (not shown in the figure); the first elastic tendon cord is inserted into the knuckle assembly 2 and the first base 1; a first end of the first elastic tendon cord is connected to a second end of the knuckle assembly 2, and a second end of the first elastic tendon cord is connected to a first drive assembly 4.

[0036] As an example, the first tendon cord assembly 3 may include a first elastic tendon cord, which is inserted inside the knuckle assembly 2 and the first base 1. When the first end of the first elastic tendon cord is connected to the inside of the second end of the knuckle assembly 2, when the first drive assembly 4 is controlled to wind up the first elastic tendon cord, it can drive the knuckle assembly 2 to rotate clockwise around the axis where the first end of the knuckle assembly 2 connects with the first base 1 (i.e., the first axis of rotation of the knuckle assembly 2 around the first base 1), causing the knuckle assembly 2 to bend. At the same time, the first elastic tendon cord is stretched and deformed to generate a rebound force. When the first drive assembly 4 is controlled to release the first elastic tendon cord, the rebound force of the first elastic tendon cord can be used to drive the knuckle assembly 2 to rotate counterclockwise around the axis where the first end of the knuckle assembly 2 connects with the first base 1 (i.e., the first axis of rotation of the knuckle assembly 2 around the first base 1), causing the knuckle assembly 2 to extend.

[0037] In one specific embodiment, the first tendon cord assembly 3 may include a first elastic tendon cord, and the phalanx assembly 2 includes a proximal phalanx 21 and a distal phalanx 22; the first end of the proximal phalanx 21 is rotatably disposed on the first base 1, and the first end of the distal phalanx 22 is rotatably disposed on the second end of the proximal phalanx 21; the first elastic tendon cord is inserted into the distal phalanx 22, the proximal phalanx 21 and the first base 1, and the first end of the first elastic tendon cord is connected to the second end of the distal phalanx 22, and the second end of the first elastic tendon cord is connected to the first drive assembly 4. A first elastic tendon cord is threaded through the interior of the distal phalanx 22, the proximal phalanx 21, and the first base 1. The first end of the first elastic tendon cord is connected to the interior of the second end of the distal phalanx 22, and the second end of the first elastic tendon cord is connected to the first drive assembly 4. When the first drive assembly 4 is controlled to wind up the first elastic tendon cord, it can drive the distal phalanx 22 to rotate clockwise around the axis where the second end of the proximal phalanx 21 connects with the distal phalanx 22 (i.e., the second axis of rotation of the distal phalanx 22 around the proximal phalanx 21), and drive the proximal phalanx 21 to rotate clockwise around the axis where the first end of the proximal phalanx 21 connects with the first base 1 (i.e., the axis of rotation of the proximal phalanx 21 around the proximal phalanx 21). The first axis of rotation of the first base 1 rotates clockwise, causing the knuckle assembly 2 to bend. At the same time, the first elastic tendon is stretched and deformed to generate a rebound force. When the first drive assembly 4 releases the first elastic tendon, the rebound force of the first elastic tendon is used to drive the distal knuckle 22 to rotate counterclockwise around the axis where the second end of the proximal knuckle 21 connects with the distal knuckle 22 (i.e., the second axis of rotation of the distal knuckle 22 around the proximal knuckle 21), and drive the proximal knuckle 21 to rotate counterclockwise around the axis where the first end of the proximal knuckle 21 connects with the first base 1 (i.e., the first axis of rotation of the proximal knuckle 21 around the first base 1), causing the knuckle assembly 2 to extend.

[0038] In one embodiment, reference is made to Figure 1 , Figure 2 and Figure 3 The first tendon cord assembly 3 includes a first contraction tendon cord and a first extension tendon cord; the first contraction tendon cord is threaded through the abdomen of the knuckle assembly 2 and the abdomen of the first base 1, and the first end of the first contraction tendon cord is connected to the abdomen of the second end of the knuckle assembly 2, and the second end of the first contraction tendon cord is connected to the first drive assembly 4; the first extension tendon cord is threaded through the back of the knuckle assembly 2 and the back of the first base 1, and the first end of the first extension tendon cord is connected to the back of the second end of the knuckle assembly 2, and the second end of the first extension tendon cord is connected to the first drive assembly 4; the first contraction tendon cord and the first extension tendon cord are wound in opposite directions; the first drive assembly 4 is used to control either the first contraction tendon cord or the first extension tendon cord to be in a wound state and the other to be in a released state. As an example, the first tendon cord assembly 3 includes a first contraction tendon cord and a first extension tendon cord. The first contraction tendon cord is threaded through the abdomen of the knuckle assembly 2 and the abdomen of the first base 1, with the first end of the first contraction tendon cord connected to the abdomen of the second end of the knuckle assembly 2, and the second end of the first contraction tendon cord connected to the first drive assembly 4. The first drive assembly 4 is controlled to wind up the first contraction tendon cord, thereby causing the knuckle assembly 2 to rotate around the axis where the first end of the knuckle assembly 2 connects with the first base 1, causing the knuckle assembly 2 to bend. The first extension tendon cord is threaded through the back of the knuckle assembly 2 and the back of the first drive assembly 4, with the first end of the first extension tendon cord connected to the back of the second end of the knuckle assembly 2, and the second end of the first extension tendon cord connected to the first drive assembly 4. The first drive assembly 4 is controlled to wind up the first extension tendon cord, thereby causing the knuckle assembly 2 to rotate around the axis where the first end of the knuckle assembly 2 connects with the first base 1, causing the knuckle assembly 2 to extend.

[0039] In this example, the first contraction tendon cord and the first extension tendon cord are wound in opposite directions. Driven by the first drive component 4, either the first contraction tendon cord or the first extension tendon cord is in a wound state, while the other is in a released state. Here, the wound state refers to the state where the tendon cord is wound up, and the released state refers to the state where the tendon cord is straightened. When the first contraction tendon cord is in the wound state and the first extension tendon cord is in the released state, it drives the knuckle assembly 2 to rotate clockwise around the axis where the first end of the knuckle assembly 2 connects with the first base 1, causing the finger to bend and grasp, ensuring the smooth completion of the bending action. When the first contraction tendon cord is in the released state and the first extension tendon cord is in the wound state, it drives the knuckle assembly 2 to rotate counterclockwise around the axis where the first end of the knuckle assembly 2 connects with the first base 1, causing the finger to extend. The first contraction tendon cord and the first extension tendon cord are used together. By controlling either one of the two tendon cords to be wound up and the other to be taut and straightened, the bending or extension of the grasping structure can be precisely controlled, improving the control effect of the grasping structure, meeting usage requirements, and improving the practicality of the equipment. The first winding wheel 42 of the first drive assembly 4 is a double-groove winding wheel, which includes a first groove and a second groove spaced apart along the axial direction of the first winding wheel 42. One of the first contraction tendon cord and the first extension tendon cord is wound in the first groove, and the other is wound in the second groove. The winding direction of the first contraction tendon cord is opposite to that of the first extension tendon cord. The first contraction tendon cord is wound counterclockwise into the first groove, and the first extension tendon cord is wound clockwise into the second groove; or, the first contraction tendon cord is wound counterclockwise into the second groove, and the first extension tendon cord is wound clockwise into the first groove. Both tendon cords are tangentially inserted into the corresponding through holes of the first base 1. When the first winding wheel 42 rotates, one winding groove winds the tendon cord, and the other winding groove releases the tendon cord. That is, when the first winding wheel 42 rotates one revolution, one winding groove winds the tendon cord, causing the knuckle assembly 2 to bend to this side under the tension of the tendon cord. Meanwhile, another winding groove releases a corresponding proportion of the tendon cord length to compensate for the change in tendon cord length on that side caused by the bending of the knuckle assembly 2.

[0040] In one embodiment, reference is made to Figure 1 , Figure 2 and Figure 3The grasping structure also includes a second base 5, a transfer knuckle 6, a second tendon cord assembly 7, and a second drive assembly 8. The first end of the transfer knuckle 6 is rotatably mounted on the second base 5, and the second end of the transfer knuckle 6 is connected to the end of the first base 1 away from the knuckle assembly 2. The second base 5 is provided with the second drive assembly 8 and is used to be mounted on the palm structure 9. The second tendon cord assembly 7 passes through the transfer knuckle 6 and the second base 5, and the first end of the second tendon cord assembly 7 is connected to the second end of the transfer knuckle 6. The second end of the second tendon cord assembly 7 is connected to the second drive assembly 8. The second drive assembly 8 is used to control the second tendon cord assembly 7 to be in a coiled state or a released state. As an example, the gripping structure also includes a second base 5, a transfer knuckle 6, a second tendon ligament assembly 7, and a second drive assembly 8. During installation, the second base 5 serves as a support reference and is mounted on the palm structure 9. The first end of the transfer knuckle 6 is rotatably mounted on the second base 5, specifically connected by a hinge, a rotating shaft, or other means. The second end of the transfer knuckle 6 is connected to the end of the first base 1 away from the knuckle assembly 2. The second drive assembly 8 is mounted on the second base 5 and serves as the power source for driving the second tendon ligament assembly 7. The second tendon ligament assembly 7 passes through the transfer knuckle 6 and the second base 5, with its first end connected to the second end of the transfer knuckle 6 and its second end connected to the second drive assembly 8. The second drive assembly 8 controls the second tendon ligament assembly 7 to be in a wound or released state. The second drive assembly 8 can control the winding or unwinding of the second tendon cable assembly 7. When the second tendon cable assembly 7 is winding, it can drive the intermediate phalanx 6 to rotate clockwise around the axis where the first end of the intermediate phalanx 6 connects with the second base 5 (i.e., the third axis of rotation of the intermediate phalanx 6 around the second base 5), causing the intermediate phalanx 6 to bend. When the second tendon cable assembly 7 is unwinding, it can drive the intermediate phalanx 6 to rotate counterclockwise around the axis where the first end of the intermediate phalanx 6 connects with the second base 5, causing the intermediate phalanx 6 to extend. The third axis of rotation of the intermediate phalanx 6 around the second base 5 is perpendicular to the first axis of rotation of the phalanx assembly 2 around the first base 1.

[0041] In this example, the grasping structure can be a thumb module E. The second base 5 of the thumb module E is connected to the palm structure 9. The first end of the intermediate phalanx 6 is rotatably mounted on the second base 5, and the second end of the intermediate phalanx 6 is fixedly connected to the end of the first base 1 away from the phalanx assembly 2. First, the first tendon cable assembly 3 and the first drive assembly 4 cooperate to facilitate the bending or extension of the phalanx portion of the thumb module E. Then, the second tendon cable assembly 7 and the second drive assembly 8 cooperate to facilitate the bending or extension of the intermediate phalanx 6, driving the entire thumb module E to move towards the palm structure 9, thereby completing the rotation of the thumb module E relative to the palm structure 9, improving the control effect of the intermediate phalanx 6, and meeting the usage requirements.

[0042] As an example, the second drive assembly 8 has the same structure and function as the first drive assembly 4, but is applied in different positions to control different mechanisms. The second drive assembly 8 includes a second motor 81 and a second winding wheel 82; the second motor 81 is mounted on the second base 5, and the second winding wheel 82 is connected to the output shaft of the second motor 81; the second end of the second tendon rope assembly 7 passes through the second base 5 and is connected to the second winding wheel 82. By controlling the second motor 81 to rotate forward or backward, the second winding wheel 82 can be driven to rotate, thereby winding or releasing the second tendon rope assembly 7 to control the bending or extension of the intermediate finger joint 6.

[0043] In one embodiment, the second tendon cord assembly 7 includes a second elastic tendon cord; the second elastic tendon cord is inserted into the pivot joint 6 and the second base 5; the first end of the second elastic tendon cord is connected to the second end of the pivot joint 6, and the second end of the second elastic tendon cord is connected to the second drive assembly 8.

[0044] As an example, the second tendon ligament assembly 7 can be a second elastic tendon ligament. The second elastic tendon ligament is inserted inside the intermediate phalanx 6 and the second base 5. When the first end of the second elastic tendon ligament is connected to the inside of the second end of the intermediate phalanx 6, controlling the second drive assembly 8 to wind up the second elastic tendon ligament can cause the intermediate phalanx 6 to rotate clockwise around the axis where the first end of the intermediate phalanx 6 connects to the second base 5 (i.e., the third axis of rotation of the intermediate phalanx 6 around the second base 5), causing the intermediate phalanx 6 to bend. Simultaneously, the second elastic tendon ligament is stretched and deformed, generating a rebound force. When controlling the second drive assembly 8 to release the second elastic tendon ligament, the rebound force of the second elastic tendon ligament can be used to cause the intermediate phalanx 6 to rotate counterclockwise around the axis where the first end of the intermediate phalanx 6 connects to the second base 5, causing the intermediate phalanx 6 to extend. The third axis of rotation of the intermediate phalanx 6 around the second base 5 is perpendicular to the first axis of rotation of the phalanx assembly 2 around the first base 1.

[0045] In one embodiment, reference is made to Figure 1 , Figure 2 and Figure 3 The second tendon cable assembly 7 includes a second contraction tendon cable and a second extension tendon cable; the second contraction tendon cable passes through the abdomen of the pivot phalanx 6 and the abdomen of the second base 5, and the first end of the second contraction tendon cable is connected to the abdomen of the second end of the pivot phalanx 6, and the second end of the second contraction tendon cable is connected to the second drive assembly 8; the second extension tendon cable passes through the back of the pivot phalanx 6 and the back of the second base 5, and the first end of the second extension tendon cable is connected to the back of the second end of the pivot phalanx 6, and the second end of the second extension tendon cable is connected to the second drive assembly 8; the second contraction tendon cable and the second extension tendon cable are wound in opposite directions; the second drive assembly 8 is used to control either the second contraction tendon cable or the second extension tendon cable to be in a wound state and the other to be in a released state. As an example, the second tendon ligament assembly 7 includes a second contraction tendon ligament and a second extension tendon ligament. The second contraction tendon ligament is threaded through the abdomen of the pivot phalanx 6 and the abdomen of the second base 5, with the first end of the second contraction tendon ligament connected to the abdomen of the second end of the pivot phalanx 6. The second end of the second contraction tendon ligament is connected to the second drive assembly 8, which controls the second drive assembly 8 to wind up the second contraction tendon ligament, thereby causing the pivot phalanx 6 to rotate around the axis where the first end of the pivot phalanx 6 connects to the second base 5, thus bending the pivot phalanx 6. The second extension tendon ligament is threaded through the back of the pivot phalanx 6 and the back of the second drive assembly 8, with the first end of the second extension tendon ligament connected to the back of the second end of the pivot phalanx 6. The second end of the second extension tendon ligament is connected to the second drive assembly 8, which controls the second drive assembly 8 to wind up the second extension tendon ligament, thereby causing the pivot phalanx 6 to rotate around the axis where the first end of the pivot phalanx 6 connects to the second base 5, thus extending the pivot phalanx 6.

[0046] In this example, the second contraction tendon cord and the second extension tendon cord are wound in opposite directions. Driven by the second drive assembly 8, one of the second contraction tendon cords and the other is controlled to be in a wound state while the other is in a released state. Here, the wound state refers to the state where the tendon cord is wound up, and the released state refers to the state where the tendon cord is straightened. When the second contraction tendon cord is in the wound state and the second extension tendon cord is in the released state, it drives the pivot joint 6 to rotate clockwise around the axis where the first end of the pivot joint 6 connects with the second drive assembly 8, causing the finger to bend and grasp, ensuring the smooth completion of the bending action. When the second extension tendon cord is in the released state and the second extension tendon cord is in the wound state, it drives the pivot joint 6 to rotate counterclockwise around the axis where the first end of the pivot joint 6 connects with the second drive assembly 8, causing the finger to extend. The second contraction tendon cord and the second extension tendon cord are used together. By controlling one of the two tendon cords to be wound up while the other is taut and straightened, the bending or extension of the grasping structure can be precisely controlled, improving the control effect of the grasping structure, meeting usage requirements, and improving the practicality of the equipment. This invention provides a gripping device, referring to... Figure 1-7 It includes a palm structure 9, a little finger module A, a ring finger module B, a middle finger module C, an index finger module D, and a thumb module E; the little finger module A, ring finger module B, middle finger module C, index finger module D, and thumb module E are arranged on the palm structure 9 in the manner of a human hand; the little finger module A, ring finger module B, middle finger module C, and index finger module D are grasping structures in the above embodiment that have a first base 1, a knuckle assembly 2, a first tendon cord assembly 3, and a first drive assembly 4; the thumb module E is a grasping structure in the above embodiment that has a first base 1, a knuckle assembly 2, a first tendon cord assembly 3, a first drive assembly 4, a second base 5, a middle knuckle 6, a second tendon cord assembly 7, and a second drive assembly 8. As an example, the grasping device of the grasping system includes a palm structure 9, a little finger module A, a ring finger module B, a middle finger module C, an index finger module D, and a thumb module E. The little finger module A, ring finger module B, middle finger module C, index finger module D, and thumb module E are arranged on the palm structure 9 in a manner mimicking a human hand, with the five fingers positioned similarly to a human hand for a more human-like grasp. Any one of the little finger module A, ring finger module B, middle finger module C, index finger module D, and thumb module E is the grasping structure in the above embodiment. This grasping structure is simple in structure, utilizing the first tendon ligament assembly 3 and the first drive assembly 4 to facilitate control of the bending or extension of the grasping structure, improving the control effect of the grasping structure and meeting usage requirements. In this example, the grasping device, while fully realizing its intended function, reduces the number of parts in a single grasping structure. Each finger part is made of aluminum alloy, machined in one piece, resulting in high strength, light weight, and high precision in fit. Simultaneously, through modular design, it solves the problems of complex part installation and difficult maintenance found in other designs. The little finger module A, ring finger module B, middle finger module C, and index finger module D are equipped with a first base 1, a knuckle assembly 2, a first tendon cord assembly 3, and a first drive assembly 4, each having one degree of freedom. The thumb module E is equipped with not only a first base 1, a knuckle assembly 2, a first tendon cord assembly 3, and a first drive assembly 4, but also a second base 5, a middle knuckle 6, a second tendon cord assembly 7, and a second drive assembly 8, each having two degrees of freedom, making its overall structure more human-like.

[0047] In one embodiment, reference is made to Figure 1 The hand structure 9 includes a metacarpal bone 91 and a palm front cover 92; the metacarpal bone 91 has five mounting holes 10 arranged in the shape of a human hand, which are respectively used to install the little finger module A, the ring finger module B, the middle finger module C, the index finger module D and the thumb module E; the palm front cover 92 is installed on the metacarpal bone 91 to form an accommodating space. As an example, the hand structure 9 includes a metacarpal bone 91 and a palm front cover 92. Five mounting holes 10 are arranged on the metacarpal bone 91, mimicking the shape of a human hand. The little finger module A, ring finger module B, middle finger module C, index finger module D, and thumb module E are then installed into the five mounting holes 10 respectively. Finally, screws and nuts are used to tighten them, completing the installation of the grasping structure. Specifically, the first winding wheels 42 of the little finger module A, ring finger module B, middle finger module C, and index finger module D are placed in their respective mounting holes 10, and the second winding wheel 82 of the thumb module E is placed in its respective mounting hole 10. The palm front cover 92 is installed on the metacarpal bone 91, forming an accommodating space for placing other components of the grasping device, including but not limited to control circuitry. In one embodiment, reference is made to Figure 1 , Figure 6 and Figure 7The metacarpal bone 91 includes a palm region and five finger mounting regions set on the palm region. Each finger mounting region is provided with a mounting hole 10 for mounting a grasping structure. The angle between the plane where the finger mounting region of the little finger module A is located and the plane where the palm region is located is 5 to 7°. As an example, the palmar metacarpal bone 91 includes a palm region and five finger mounting areas disposed on the palm region. Each finger mounting area has a mounting hole 10 for mounting any one of the grasping structures from the little finger module A, ring finger module B, middle finger module C, index finger module D, and thumb module E. In this example, the angles between adjacent grasping structures are arranged to mimic the angles between human fingers, so that the angles between any two of the little finger modules A, ring finger module B, middle finger module C, and index finger module D are relatively small, while the angle between the thumb module E and the index finger module D is relatively large. To address the issue of the grasping posture not being human-like enough, based on the layout of human fingers, the thumb module E is rotated outward by R1, i.e., 19° to 21° (for example, it can be set to 20°). This allows the thumb module E to form a certain angle (rather than parallel) with the remaining four fingers after rotation, which matches the angle of a human thumb after rotation. The angles between the index finger module D and the middle finger module C, and between the middle finger module C and the ring finger module B, are also similar to the layout of human fingers. In this example, the plane where the finger mounting area of ​​the little finger module A is located is not the same plane as the plane where the palm area is located (the human palm is not flat, and the little finger module A will have a certain angle offset). The angle formed between the plane where the finger mounting area of ​​the little finger module A is located and the plane of the palm area is 5° to 7°. Specifically, the angle R2 in the direction perpendicular to the palm structure 9 is 5° to 7°, and the most accurate angle is 6°. At the same time, the offset angle will improve the load-bearing capacity of the whole hand, so as to solve the problem that the shape of the whole hand and the grip posture are not human-like enough. This invention provides a crawling system, referring to... Figure 1 , Figure 4 and Figure 5 It includes a control module 11, a sensing module 12, and a grasping device; both the control module 11 and the sensing module 12 are mounted on the grasping device; the sensing module 12 is used to acquire sensing data; the control module 11 is used to control the grasping device to perform grasping actions based on the sensing data.

[0048] As an example, the grasping device of the grasping system includes a palm structure 9, a little finger module A, a ring finger module B, a middle finger module C, an index finger module D, and a thumb module E. The little finger module A, ring finger module B, middle finger module C, index finger module D, and thumb module E are arranged on the palm structure 9 in a manner mimicking a human hand, with the five fingers positioned similarly to a human hand for a more human-like grasp. Any one of the little finger module A, ring finger module B, middle finger module C, index finger module D, and thumb module E is the grasping structure in the above embodiment. This grasping structure is simple in structure, utilizing the first tendon ligament assembly 3 and the first drive assembly 4 to facilitate control of the bending or extension of the grasping structure, improving the control effect of the grasping structure and meeting usage requirements. In this example, the grasping device, while fully realizing its intended function, reduces the number of parts in a single grasping structure. Each finger part is made of aluminum alloy, machined in one piece, resulting in high strength, light weight, and high precision in fit. Simultaneously, through modular design, it solves the problems of complex part installation and difficult maintenance found in other designs.

[0049] As an example, both the control module 11 and the sensing module 12 of the gripping system are located on the gripping device, specifically within the internal space of the gripping device. During use, the sensing module 12 acquires sensing data; the control module 11, based on the sensing data, controls the gripping device to perform a gripping action. When the sensing data acquired by the sensing module 12 meets the gripping conditions, the control module 11 controls the first drive component 4 in the gripping device to retract the first tendon rope component 3, which can cause the knuckle component 2 to bend, thus performing the gripping action. When the sensing data acquired by the sensing module 12 meets the release conditions, the control module 11 controls the first drive component 4 in the gripping device to release the first tendon rope component 3, which can cause the knuckle component 2 to extend, thus performing the release action.

[0050] In this example, to further enhance the integrated design, the control module 11 includes a control integrated circuit 111 and a power management circuit 112. The external design of both the control integrated circuit 111 and the power management circuit 112 fully utilizes the remaining space of the hand structure 9, without interfering with the movement of the grasping structure. The control integrated circuit 111 includes a main control circuit, a drive circuit for driving the motors, a data acquisition circuit for collecting motor feedback pulses and current, and a communication circuit for reading and writing to external systems. These integrated circuits are interconnected. The drive circuit primarily uses three highly integrated motor drive chips, which can independently control the rotation and stopping of each motor. The acquisition of encoder and current data for each motor is completed through a sensor data acquisition chip and the data is transmitted to the main control chip. The communication circuit uses a serial port chip, enabling the main control chip to perform functions such as program reading and writing and data transmission with external systems. The power management circuit 112 includes a voltage buck circuit and a power output interface. The voltage buck circuit can convert the high voltage input from the outside into the required voltage through the buck chip. The converted voltage can be supplied to different chips to work, preventing malfunctions caused by unstable and uncertain external power supply, and improving the durability and scalability of the design. The voltage output interface provides output interfaces for various voltages, which facilitates the debugging in the later stages of the design.

[0051] In one embodiment, reference is made to Figure 1 The sensing module 12 includes a pressure sensor 121, which is installed on the knuckle assembly 2 of the gripping system and is used to collect pressure information of the knuckle assembly 2. The control module 11 is connected to the pressure sensor 121 and is used to adjust the output torque of the knuckle assembly 2 according to the pressure information collected by the pressure sensor 121. As an example, the sensing module 12 includes a pressure sensor 121. In use, the pressure sensor 121 is installed on the knuckle assembly 2 of the grasping system, specifically on the distal knuckle 22 of the knuckle assembly 2, to collect pressure information when the knuckle assembly 2 is bent. The control module 11 is connected to the pressure sensor 121 and is used to adjust the output torque of the knuckle assembly 2 according to the pressure information collected by the pressure sensor 121. When the knuckle assembly 2 of the grasping structure is bent, the pressure information at the distal knuckle 22 can be monitored, making it easier to determine how much output torque is needed to achieve the grasping action and improve grasping accuracy. The pressure sensor 121 is fitted to the size of the knuckle assembly 2 of the grasping structure to ensure that the installation of the pressure sensor 121 does not affect the normal operation of the fingers.

[0052] In one embodiment, reference is made to Figure 1The pressure sensor 121 includes a pressure plate resistor 1211 and a wire 1212; the pressure plate resistor 1211 is disposed on the abdomen of the knuckle assembly 2 in the gripping system and is used to collect pressure information of the knuckle assembly 2; the wire 1212 is disposed on both sides of the knuckle assembly 2 in the gripping system; the control module 11 is connected to the pressure plate resistor 1211 through the wire 1212 and is used to acquire the pressure information collected by the pressure plate resistor 1211. As an example, the pressure sensor 121 includes a pressure plate resistor 1211 and a wire 1212. The pressure plate resistor 1211 is disposed on the abdomen of the knuckle assembly 2 in the grasping system, specifically attached to the surface of the abdomen of the knuckle assembly 2 in the grasping system, for example, it can be installed on the finger cover plate of the abdomen of the second end of the distal knuckle 22. The wire 1212 is disposed on both sides of the knuckle assembly 2 in the grasping system, that is, on both sides of the rotation axis of the knuckle assembly 2, to prevent the grasping structure from squeezing the pressure sensor 121 during movement, thereby improving the measurement accuracy and service life of the pressure sensor 121. The control module 11 is connected to the pressure plate resistor 1211 through the wire 1212 and is used to acquire the pressure information collected by the pressure plate resistor 1211. Specifically, the sampling chip in the control module 11 identifies the pressure information collected by the pressure plate resistor 1211. The wire 1212 is made of copper flexible wire, which is resistant to bending. As a signal transmission line, it greatly improves the accuracy of signal transmission and solves the problem that the signal transmission line is easily damaged when the finger is bent.

[0053] In one embodiment, reference is made to Figure 1 and Figure 4 The sensing module 12 also includes a vision module 122; the vision module 122 is disposed on the palm structure 9 of the grasping system and is used to monitor visual information; the control module 11 is connected to the vision module 122 and is used to control the grasping device of the grasping system to perform grasping actions according to the visual information.

[0054] As an example, the sensing module 12 also includes a vision module 122. In use, the vision module 122 is mounted on the palm structure 9 of the grasping system to collect visual information. The control module 11 is connected to the vision module 122 and is used to control the grasping device of the grasping system to perform grasping actions based on the visual information. The specific implementation process includes: responding to the received grasping command, controlling the mobile carrier to move the grasping device in front of the grasping target; determining whether the grasping device has reached the grasping target based on the visual information monitored by the vision module 122; if not, controlling the mobile carrier to adjust the position of the grasping device; if it has reached the target, the control module 11 controls the grasping device to perform grasping based on the visual information monitored by the vision module 122; determining whether the grasping device has successfully grasped the target based on the visual information monitored by the vision module 122; if the grasping is unsuccessful, the control module 11 adjusts the output torque of the drive component in the grasping device based on the pressure information collected by the pressure sensor 121; if the grasping is successful, the task is completed.

[0055] To enable precise grasping, a vision module 122 is integrated into this design. The vision module 122 is a depth camera, fixed to the hand structure 9 using copper pillars and screws. The working angle of the depth camera must align with the pointing directions of the index finger module D, middle finger module C, and ring finger module B (i.e., the depth camera lens points towards the fingertips). With the vision module 122 integrated into the hand structure 9, the grasping task no longer relies on an external visual positioning system, improving the versatility of the design and the accuracy of the grasp.

[0056] The grasping system in this embodiment is a rigid, bionic multi-finger hand with a compact structure, high integration, and high hardware versatility. It can form a modular multi-finger hand system integrating structure, drive, sensing, and control. The rigid fingers compensate for the insufficient gripping force of flexible, dexterous hands, while the angle between the thumb and other fingers is more in line with the layout of human fingers. This design is modular, with simple structures and few parts for each grasping component. The parts are machined in one piece, simplifying secondary assembly and facilitating later maintenance and replacement. The pressure sensor 121 in this design uses soft copper wire as the signal transmission line, greatly improving the accuracy of signal transmission and solving the problem of easy damage to the signal transmission line when the finger bends. This design adds a vision module 122 to the back of the palm structure 9 to obtain the target position, improving the accuracy of the grasping device when performing tasks.

[0057] This invention provides a smart terminal, including a grasping system.

[0058] As an example, the grasping device of the grasping system includes a palm structure 9, a little finger module A, a ring finger module B, a middle finger module C, an index finger module D, and a thumb module E. The little finger module A, ring finger module B, middle finger module C, index finger module D, and thumb module E are arranged on the palm structure 9 in a manner mimicking a human hand, with the five fingers positioned similarly to a human hand for a more human-like grasp. Any one of the little finger module A, ring finger module B, middle finger module C, index finger module D, and thumb module E is the grasping structure in the above embodiment. This grasping structure is simple in structure, utilizing the first tendon ligament assembly 3 and the first drive assembly 4 to facilitate control of the bending or extension of the grasping structure, improving the control effect of the grasping structure and meeting usage requirements. In this example, the grasping device, while fully realizing its intended function, reduces the number of parts in a single grasping structure. Each finger part is made of aluminum alloy, machined in one piece, resulting in high strength, light weight, and high precision in fit. Simultaneously, through modular design, it solves the problems of complex part installation and difficult maintenance found in other designs.

[0059] As an example, both the control module 11 and the sensing module 12 are mounted on the gripping device. During use, the sensing module 12 acquires sensing data; the control module 11, based on the sensing data, controls the gripping device to perform a gripping action. When the sensing data acquired by the sensing module 12 meets the gripping conditions, the control module 11 controls the first drive component 4 in the gripping device to wind up the first tendon rope component 3, which can cause the knuckle component 2 to bend, thus performing the gripping action. When the sensing data acquired by the sensing module 12 meets the release conditions, the control module 11 controls the first drive component 4 in the gripping device to release the first tendon rope component 3, which can cause the knuckle component 2 to extend, thus performing the release action.

[0060] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. 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 of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A grasping structure, characterized in that, Includes a first base, a knuckle assembly, a first tendon ligament assembly, and a first drive assembly; The first end of the knuckle assembly is rotatably disposed on the first base, the first drive assembly is mounted on the first base, and the first base is used to be mounted on the palm structure; The first tendon cord assembly is inserted into the knuckle assembly and the first base, and a first end of the first tendon cord assembly is connected to a second end of the knuckle assembly, and a second end of the first tendon cord assembly is connected to the drive assembly. The first drive component is used to control the first tendon rope assembly to be in a coiled state or a released state.

2. The grasping structure according to claim 1, characterized in that, The phalanx assembly includes a proximal phalanx and a distal phalanx; The first end of the proximal phalanx is rotatably disposed on the first base, and the first end of the distal phalanx is rotatably disposed on the second end of the proximal phalanx; The first tendon cord assembly is inserted into the distal phalanx, the proximal phalanx, and the first base, with a first end of the first tendon cord assembly connected to a second end of the distal phalanx and a second end of the first tendon cord assembly connected to the first drive assembly.

3. The grasping structure according to claim 1, characterized in that, The first drive assembly includes a first motor and a first winding reel; The first motor is mounted on the first base, and the first winding wheel is connected to the output shaft of the first motor; The second end of the first tendon cord assembly passes through the first base and is connected to the first winding reel.

4. The grasping structure according to claim 1, characterized in that, The first tendon ligament assembly includes a first elastic tendon ligament; The first elastic tendon cord is threaded through the knuckle assembly and the first base; The first end of the first elastic tendon cord is connected to the second end of the knuckle assembly, and the second end of the first elastic tendon cord is connected to the first drive assembly.

5. The gripping structure according to claim 1, characterized in that, The first chord assembly includes a first contraction chord and a first extension chord; The first contractile tendon cord is threaded through the abdomen of the knuckle assembly and the abdomen of the first base, and the first end of the first contractile tendon cord is connected to the abdomen of the second end of the knuckle assembly, and the second end of the first contractile tendon cord is connected to the first drive assembly. The first extension tendon cord is threaded through the back of the knuckle assembly and the back of the first base, and the first end of the first extension tendon cord is connected to the back of the second end of the knuckle assembly, and the second end of the first extension tendon cord is connected to the first drive assembly; the first contraction tendon cord is wound in the opposite direction to the first extension tendon cord. The first drive component is used to control either the first contraction tendon cord or the first extension tendon cord to be in a wound state and the other to be in a released state.

6. The grasping structure according to claim 1, characterized in that, It also includes a second base, a central knuckle, a second tendon ligament assembly, and a second drive assembly; The first end of the transfer phalanx is rotatably mounted on the second base, and the second end of the transfer phalanx is connected to the end of the first base away from the phalanx assembly. The second base is provided with a second drive assembly and is used to be mounted on the palm structure. The second tendon cord assembly is inserted into the pivot phalanx and the second base, and the first end of the second tendon cord assembly is connected to the second end of the pivot phalanx, and the second end of the second tendon cord assembly is connected to the second drive assembly. The second drive component is used to control the second tendon rope assembly to be in a coiled or released state.

7. The gripping structure according to claim 6, characterized in that, The second tendon cord assembly includes a second elastic tendon cord; The second elastic tendon cord is threaded through the middle phalanx and the second base; The first end of the second elastic tendon is connected to the second end of the pivot phalanx, and the second end of the second elastic tendon is connected to the second drive assembly.

8. The grasping structure according to claim 6, characterized in that, The second tendon ligament assembly includes a second contraction tendon ligament and a second extension tendon ligament; The second contractile tendon cord is threaded through the abdomen of the pivot phalanx and the abdomen of the second base, and the first end of the second contractile tendon cord is connected to the abdomen of the second end of the pivot phalanx, and the second end of the second contractile tendon cord is connected to the second drive assembly. The second extension tendon cord is threaded through the back of the pivot phalanx and the back of the second base, and the first end of the second extension tendon cord is connected to the back of the second end of the pivot phalanx, and the second end of the second extension tendon cord is connected to the second drive assembly; the second contraction tendon cord is wound in the opposite direction to the second extension tendon cord. The second drive component is used to control either the second contraction tendon rope or the second extension tendon rope to be in a wound state and the other to be in a released state.

9. A gripping device, characterized in that, It includes the palm structure, little finger module, ring finger module, middle finger module, index finger module, and thumb module; The little finger module, the ring finger module, the middle finger module, the index finger module, and the thumb module are arranged on the palm structure in a manner similar to a human hand; The little finger module, the ring finger module, the middle finger module, and the index finger module are grasping structures according to any one of claims 1-5, and the thumb module is a grasping structure according to any one of claims 6-8.

10. The gripping device according to claim 9, characterized in that, The hand structure includes the metacarpal bones and the foregut; The metacarpal bone of the hand is arranged with five mounting holes in a manner similar to a human hand. The five mounting holes are respectively used to install the little finger module, the ring finger module, the middle finger module, the index finger module, and the thumb module. The palm cover is installed on the metacarpal bone of the hand to form an accommodating space.

11. The gripping device according to claim 10, characterized in that, The metacarpal bone includes a palm region and five finger mounting regions disposed on the palm region. Each finger mounting region is provided with a mounting hole for mounting a grasping structure. The angle between the plane where the little finger module is installed and the plane where the palm area is located is 5 to 7 degrees.

12. A grasping system, characterized in that, Includes a control module, a sensing module, and the grasping device according to any one of claims 9-11; Both the control module and the sensing module are mounted on the grasping device; The sensing module is used to acquire sensing data; The control module is used to control the grasping device to perform a grasping action based on the sensing data.

13. The grasping system according to claim 12, characterized in that, The sensing module includes a pressure sensor, which is disposed on the knuckle assembly of the gripping device and is used to collect pressure information of the knuckle assembly. The control module is connected to the pressure sensor and is used to adjust the output torque of the knuckle assembly based on the pressure information collected by the pressure sensor.

14. The grasping system according to claim 13, characterized in that, The pressure sensor includes a pressure plate resistor and wires; The pressure resistor is disposed on the abdomen of the knuckle assembly of the gripping device and is used to collect pressure information of the knuckle assembly. The wires are disposed on both sides of the knuckle assembly of the gripping device; The control module is connected to the pressure plate resistor via the wire to acquire the pressure information collected by the pressure resistor.

15. The grasping system according to claim 12, characterized in that, The sensing module also includes a vision module; The vision module is mounted on the palm structure of the grasping device and is used to collect visual information; The control module is connected to the vision module and is used to control the grasping device to perform grasping actions based on visual information.

16. A smart terminal, characterized in that, Includes the grasping system according to any one of claims 12-15.

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