Fiber-driven multi-finger clamping jaw of coupling ball track mechanism

Abstract

The invention discloses a fiber-driven multi-finger clamping jaw coupled with a ball track mechanism. The fiber-driven multi-finger clamping jaw comprises a small arm integration unit, the ball track mechanism and a multi-finger clamping jaw body. The multi-finger clamping jaw comprises a palm part and a plurality of non-thumbs and thumbs, the non-thumbs and the thumbs comprise a plurality of cascaded joint assemblies, the length of each joint assembly is adjustable, the cascaded joint assemblies achieve linkage stretching through stretching fibers and achieve linkage bending through driving fibers, and the joint assemblies of the thumbs further achieve swinging through rotating fibers; the ball track mechanism generates linkage output through cooperation of three independent powers. And a plurality of groups of fiber winding mechanisms are arranged in the small arm integration unit. Lightweight clamping jaws are achieved through under-actuated design and fiber transmission, the number of driving units is greatly reduced through linkage of a small number of fibers and multiple joints, unified control logic is established based on fiber cooperative transmission, action synchronization of the multi-finger clamping jaws and a ball track mechanism is achieved, the aim of simplifying a control algorithm is achieved, and control operand and energy consumption are reduced.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a fiber-driven multi-finger gripper with a coupled ball trajectory mechanism. Background Technology

[0002] With the rapid development of industrial automation and human-machine collaboration technologies, people have placed increasingly stringent demands on the operational flexibility, load adaptability, and motion response speed of multi-finger grippers. Fiber-driven systems, with their advantages of compact transmission mechanisms, good motion decoupling, and the ability to achieve long-distance power transmission, have become one of the mainstream choices for multi-finger gripper drive methods, especially demonstrating significant application value in scenarios requiring lightweight design.

[0003] Currently, most publicly available fiber-driven multi-finger gripper technologies employ underactuated designs to simplify control logic and achieve adaptive gripping. However, most solutions directly integrate the drive motor into the gripper's knuckles or palm, resulting in a significant increase in the gripper's end inertia. This not only reduces motion response speed and control accuracy but also easily generates large impact loads in high-speed operation or collision scenarios. At the same time, the integration design of existing multi-finger grippers and ball trajectory mechanisms generally suffers from coordination defects or uses a simple series rigid connection structure, which makes it impossible to precisely coordinate the attitude adjustment of the ball trajectory mechanism with the gripper's gripping action, making it difficult to achieve precise operation under complex spatial trajectories. Furthermore, some solutions with coordination functions often use rigid transmission mechanisms such as gears or lead screws, resulting in a bulky overall structure and high maintenance costs.

[0004] Furthermore, the grasping range of current adaptive multi-finger grippers is largely limited by the structural dimensions of the fingers themselves, lacking a scalable and adjustable design. This makes them unable to flexibly adapt to multi-scale grasping needs, ranging from tiny parts to large workpieces. Additionally, the dispersed motor layout easily leads to chaotic fiber cabling, reducing the reliability and lifespan of the transmission system. To address these issues, developing a low-inertia, highly collaborative, and scalable adaptive fiber-driven multi-finger gripper and coupled ball trajectory mechanism is a key direction for overcoming existing technological bottlenecks and expanding the application scenarios of multi-finger grippers. This approach aligns with the development trend of lightweight and efficient robots and meets the practical needs of industrial assembly, precision operation, and service robots. Summary of the Invention

[0005] This invention addresses the problems of large size, weight, complex structure, and high cost caused by the redundancy of existing fully driven multi-finger gripper drive units. It achieves gripper lightweighting through underactuation design and fiber transmission, significantly reducing the number of drive units by using a few fibers to link multiple joints. To address the wrist-grip kinematic coupling problem in fiber-driven schemes, the invention reduces or even eliminates kinematic coupling by optimizing fiber layout. To address the poor adaptability and limited posture adjustment caused by separate assembly of the ball trajectory mechanism and the multi-finger gripper, the invention couples the two to improve motion accuracy. To address the problems of chaotic layout, poor heat dissipation, and low overall control coordination caused by dispersed drive motor installation, the invention integrates all motors into the bottom of the ball trajectory mechanism and the forearm, optimizing the layout structure. Simultaneously, a unified control logic is established based on fiber-coordinated transmission to achieve synchronization of the multi-finger gripper and the ball trajectory mechanism's movements, simplifying the control algorithm and reducing control computation and energy consumption.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: A fiber-driven multi-finger gripper with a coupled ball trajectory mechanism includes a forearm integrated unit, a ball trajectory mechanism connected to the top of the forearm integrated unit, and a multi-finger gripper connected to the power output end of the top of the ball trajectory mechanism. The multi-finger gripper includes a palm, multiple non-thumb fingers rotatably disposed on the top of the palm, and a thumb rotatably disposed on the bottom side of the palm. The non-thumb fingers refer to the index finger, middle finger, ring finger, and little finger. The non-thumb fingers and the thumb include multiple cascaded joint components, and the length of each joint component is adjustable. The cascaded joint components are all linked to stretch through stretching fibers and linked to bend through driving fibers. The joint component of the thumb is also linked to swing through rotating fibers. The ball trajectory mechanism is produced by the cooperation of three independent power transmission devices to generate a linkage output, realizing the three degrees of freedom of the multi-finger gripper in pitch, yaw and rotation; The forearm integrated unit is equipped with multiple fiber winding mechanisms, which are used for traction control of each stretching fiber, driving fiber and rotating fiber.

[0007] Furthermore, the non-thumb part includes the base of the finger, the middle of the finger, and the tip of the finger. The base of the finger includes a base axis rotatably connected to the palm, a base rotation joint sleeved on the outside of the base axis, a base inner shell fixedly connected to the base rotation joint, a base middle part slidably sleeved on the outside of the base inner shell, and a base outer shell movably sleeved on the outside of the base middle part. The middle of the finger includes a middle axis rotatably disposed at the top of the base outer shell, a middle rotation joint sleeved on the outside of the middle axis, and a middle inner shell fixedly connected to the middle rotation joint. The fingertip includes a fingertip shaft rotatably mounted on the top of the fingertip shell, a fingertip rotation joint mounted on the outside of the fingertip shaft, a fingertip shell fixedly connected to the fingertip rotation joint, and a fingertip shell slidably mounted on the outside of the fingertip shell. A fingertip spring is connected between the top surface of the palm and the top surface of the fingertip shell, a fingertip spring is connected between the top surface of the fingertip shell and the top surface of the fingertip shell, and a fingertip spring is connected between the top surface of the fingertip shell and the top surface of the fingertip shell.

[0008] Furthermore, the outer circular surface of the finger base axis / finger middle axis / finger tip axis is fixedly provided with bosses evenly distributed in the circumferential direction, and an adaptive compression device is provided between two adjacent bosses. The inner circular surface of the finger base rotation joint / finger middle rotation joint / finger tip rotation joint is fixedly provided with protrusions evenly distributed in the circumferential direction and located on the radially outer side of the bosses. The finger base axis / finger middle axis / finger tip axis is fitted with bearings located on both sides of the bosses, protrusions and adaptive compression devices.

[0009] Furthermore, the adaptive compression device includes an inverted V-shaped flexible frame and a spring fixedly connected to the middle of the flexible frame. The two ends of the flexible frame abut against the opposite sides of two adjacent bosses, and the other end of the spring is fixedly connected to the outer circular surface of the finger base axis / finger middle axis / finger tip axis.

[0010] Furthermore, the stretching fibers include fingertip stretching fibers, fingertip linkage stretching fibers, finger middle stretching fibers, and fingertip stretching fibers; After passing through the fingertip rotation joint, the fingertip stretching fiber splits into two strands. The two ends of the fiber wrap around the first guide shaft and the second guide shaft on the inner wall of the fingertip shell, respectively, and then pass through the side wall of the fingertip shell and are fixedly connected to the two side walls in the middle of the fingertip. The middle part of the finger-base linkage stretching fiber is wrapped around the bottom side of the first guide shaft and the second guide shaft, and the two ends are wrapped around the third guide shaft and the fourth guide shaft on the inner wall of the middle part of the finger base respectively, and then pass through the side wall of the middle part of the finger base and are fixedly connected to the two side walls of the finger base shell. The middle part of the finger stretching fiber is wrapped around the bottom side of the fifth guide shaft on the inner wall of the middle part of the finger base. After passing through the finger rotation joint, the two ends are wrapped around the sixth guide shaft and the seventh guide shaft on the inner wall of the finger shell respectively, and then pass through the side wall of the finger shell and are fixedly connected to the two side walls of the finger shell. The middle part of the fingertip stretching fiber is wrapped around the bottom side of the eighth guide shaft on the inner wall of the fingertip inner shell. After passing through the fingertip rotation joint, the two ends are wrapped around the ninth and tenth guide shafts on the inner wall of the fingertip inner shell respectively, and then pass through the side wall of the fingertip inner shell and are fixedly connected to the two side walls of the fingertip outer shell.

[0011] Furthermore, the inner wall of the fingertip rotation joint is rotatably provided with a first guide wheel group distributed in the circumferential direction, and the fingertip stretching fiber passes around the first guide wheel group in sequence; The inner walls of the middle finger rotation joint and the fingertip rotation joint are respectively provided with two rows of second guide wheel groups distributed circumferentially, and the two ends of the middle finger stretching fiber and the fingertip stretching fiber are respectively wrapped around a row of second guide wheel groups.

[0012] Furthermore, one end of the driving fiber is wrapped around the base of the finger axis, passes through the inner shell of the base of the finger and then wraps around the middle of the finger axis, passes through the inner shell of the middle of the finger and then wraps around the tip of the finger axis. The driving fiber is in a relaxed state between the two adjacent axes.

[0013] Furthermore, the ball trajectory mechanism includes a static platform connected to the top of the forearm integration unit and a parallel platform located above the static platform; The power transmission device includes a ball track motor fixedly connected to a static platform, a rotating bracket fixedly set above the static platform, and a rotating seat rotatably sleeved on the outside of the rotating bracket. The output shaft end of the ball track motor is fixedly connected to a linkage drum movably embedded in the rotating bracket. Linkage drive fibers are wound on the linkage drum. The two ends of the linkage drive fibers are respectively fixedly connected to the side wall of the rotating seat. A branch chain active connecting rod is hinged to one side of the top of the rotating seat. The top end of the branch chain active connecting rod is hinged to the side of the parallel platform through a branch chain driven connecting rod.

[0014] Furthermore, the forearm integration unit includes a left forearm unit and a right forearm unit; The left forearm unit includes a left arm housing, a first traction motor and a second traction motor respectively fixedly disposed on the inner wall of the left arm housing, a first traction drum connected to the output shaft of the first traction motor, and a second traction drum connected to the output shaft of the second traction motor. The stretching fibers on the non-thumb are wound onto the first traction drum in the same direction of rotation, and the rotating fibers on the thumb are wound onto the second traction drum in the opposite direction of rotation. The right forearm unit includes a right arm housing, a third traction motor, a fourth traction motor, and a fifth traction motor respectively fixedly mounted on the inner wall of the right arm housing, a third traction drum connected to the output shaft of the third traction motor, a fourth traction drum connected to the output shaft of the fourth traction motor, a fifth traction drum connected to the output shaft of the fifth traction motor, and drive fibers not on the thumb wound onto the third traction drum in the same direction of rotation, while stretching fibers on the thumb are wound onto the fourth traction drum, and drive fibers on the thumb are wound onto the fifth traction drum.

[0015] Furthermore, the left arm housing and the right arm housing are respectively provided with guide wheels that are matched with each stretching fiber, driving fiber and rotating fiber.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This invention designs a retractable adaptive finger. The finger length can be changed through the telescopic device, and the adaptive device can achieve adaptive grasping of irregular objects. Compared with the current adaptive finger design, this design can adopt an adaptive grasping method for irregular objects of different sizes.

[0017] 2. This invention designs two grasping control methods for retractable, adaptive fingers. One is direct fingertip grasping, suitable for small objects, where the finger's extension and retraction length is controlled according to the distance to the object, and the thumb can form a finger-to-finger grasp with any finger. The other is adaptive grasping, which controls the finger's extension and retraction length according to the size of the object, achieving adaptive grasping of irregular objects through an adaptive device. Compared to current finger designs, this design is closer to the human hand's grasping method and can adopt different grasping methods according to different objects.

[0018] 3. This invention designs a fiber-through integrated transmission structure. The fiber passes through the center of each finger joint of the multi-finger gripper and the rotating joint of the ball trajectory mechanism, and is connected to the output end of the drive motor in the forearm. This avoids the kinematic coupling problem of the multi-finger gripper caused by the movement of the ball trajectory mechanism. At the same time, the ball trajectory mechanism is also driven by fiber. All motors are integrated at the bottom of the wrist and inside the forearm. Compared with the current design where the motor is placed in the palm or inside the joint, this design makes the gripper end and the ball trajectory mechanism lighter, which is convenient for long-term use.

[0019] 4. This invention designs an underactuated fiber control mechanism that uses 8 motors to control 23 degrees of freedom, including three degrees of freedom for the ball trajectory mechanism and three rotational joint degrees of freedom and one extension degree of freedom for each finger. Compared with the current fully driven design, this design significantly reduces the number of drive units by linking multiple joints with a few fibers, making the overall control simpler, the cost lower, and taking into account both lightweight and motion flexibility.

[0020] 5. This invention addresses the problems of chaotic layout, poor heat dissipation, and low overall control coordination caused by the dispersed installation of drive motors. It integrates all motors at the bottom and forearm of the ball trajectory mechanism and optimizes the layout structure, making the overall layout coordinated and improving coordination. Based on fiber collaborative transmission, a unified control logic is established to achieve synchronization of the movements of the multi-finger gripper and the ball trajectory mechanism, thereby simplifying the control algorithm and reducing the amount of control computation and energy consumption. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the fiber-driven multi-finger gripper of the coupling ball trajectory mechanism of the present invention. Figure 2 This is a schematic diagram of the structure of a multi-finger gripper; Figure 3 A schematic diagram of the original structure of the index finger; Figure 4 A schematic diagram of the structure of the index finger in a stretched state; Figure 5 A schematic diagram of the dissected structure of the index finger's base joint; Figure 6 This is a schematic diagram of the structure of the base of the index finger joint; Figure 7 This is a schematic diagram of the structure of a fingertip rotation joint; Figure 8 This is a schematic diagram of the structure of the middle finger rotation joint; Figure 9 A schematic diagram of the structure of the thumb; Figure 10 This is a schematic diagram of the front of the palm. Figure 11 This is a schematic diagram of the structure of the back of the palm. Figure 12 This is a schematic diagram of the ball trajectory mechanism; Figure 13 This is a partial structural diagram of the ball trajectory mechanism; Figure 14 This is a schematic diagram of the forearm integrated unit. Figure 15 This is a schematic diagram of the left forearm unit. Figure 16 This is a schematic diagram of the right forearm unit. Detailed Implementation

[0022] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby providing a clearer and more explicit definition of the scope of protection of the present invention.

[0023] Please see Figure 1A fiber-driven multi-finger gripper with a coupled ball trajectory mechanism includes a forearm integrated unit 3, a ball trajectory mechanism 2 connected to the top of the forearm integrated unit 3, and a multi-finger gripper 1 connected to the power output end of the top of the ball trajectory mechanism 2.

[0024] like Figure 2 As shown, the multi-finger gripper includes a palm portion, multiple non-thumb fingers rotatably disposed on the top of the palm portion, and a thumb rotatably disposed on the bottom side of the palm portion. The non-thumb fingers refer to the index, middle, ring, and little fingers. The non-thumb fingers and the thumb include multiple cascaded joint components, each with an adjustable length. The cascaded joint components achieve linked stretching through stretching fibers and linked bending through driving fibers. The thumb joint component also achieves oscillation through rotating fibers.

[0025] Let's take the index finger as an example to illustrate the specific structure of the fingers other than the thumb. Figure 3 , 4 As shown in Figure 5, the index finger comprises three parts: the base, the middle, and the tip. The base includes a base shaft 1204 rotatably connected to the palm, a base rotation joint 1209 sleeved on the outside of the base shaft 1204, a base inner shell 1217 fixedly connected to the base rotation joint 1209, a base middle portion 1218 slidably sleeved on the outside of the base inner shell 1217, and a base outer shell 1201 movably sleeved on the outside of the base middle portion 1218. The middle portion includes a middle shaft 1205 rotatably mounted at the top of the base outer shell 1201, a middle portion 1205, and a tip. The fingertip includes a finger rotation joint 1210 located outside the finger axis 1205, a finger inner shell 1219 fixedly connected to the finger rotation joint 1210, and a finger outer shell 1202 slidably sleeved outside the finger inner shell 1219; the fingertip includes a fingertip shaft 1206 rotatably disposed at the top of the finger outer shell 1202, a fingertip rotation joint 1211 sleeved outside the fingertip shaft 1206, a fingertip inner shell 1220 fixedly connected to the fingertip rotation joint 1211, and a fingertip outer shell 1203 slidably sleeved outside the finger inner shell 1220.

[0026] Specifically, such as Figure 5 and 6As shown, in the index finger's base joint, the outer circular surface of the base shaft 1204 is fixedly provided with protrusions 1249 evenly distributed circumferentially, and the inner circular surface of the base rotation joint 1209 is fixedly provided with protrusions 1248 evenly distributed circumferentially and located radially outside the protrusions 1249. To satisfy force balance, a set of protrusions 1249 is symmetrically provided at both ends of the base shaft 1204, and correspondingly, a set of protrusions 1248 is symmetrically provided at both ends of the base rotation joint 1209. A first adaptive compression device 1216 is provided between two adjacent protrusions 1249 on the left end, and a second adaptive compression device 1232 is provided between two adjacent protrusions 1249 on the right end. The protrusions 1249, protrusions 1248, and adaptive compression devices on the same side have the same circumferential thickness and their end faces are located in the same plane. The finger base shaft 1204 is respectively fitted with the first finger base bearing 1229 and the second finger base bearing 1230 located on both sides of the first adaptive compression device 1216, and the third finger base bearing 1231 and the fourth finger base bearing 1233 located on both sides of the second adaptive compression device 1232.

[0027] The first adaptive compression device 1216 / second adaptive compression device 1232 includes an inverted V-shaped flexible frame and a spring fixedly connected to the middle of the flexible frame. The two ends of the flexible frame abut against the opposite sides of two adjacent protrusions 1249, and the other end of the spring is fixedly connected to the outer surface of the finger base shaft 1204. When the finger base rotation joint 1209 rotates relative to the finger base shaft 1204, the rotation of the finger base shaft 1204 drives the first adaptive compression device 1216 to rotate. The first adaptive rotation device 1216 abuts against the protrusion 1248 on the finger base rotation joint 1209, thus driving the finger base rotation joint 1209 to rotate. When external resistance causes the spring on the first adaptive compression device 1216 to be compressed, the protrusion 1248 on the finger base rotation joint 1209 will not be able to abut against the first adaptive compression device 1216, causing the finger base shaft 1204 to rotate freely, that is, the rotation of the finger base shaft 1204 does not drive the rotation of the finger base rotation joint 1209.

[0028] The finger bearings 1207 on both sides of the finger shaft 1205 are mounted on the bearing base above the finger base shell 1201, and the finger tip bearings 1208 on both sides of the finger tip shaft 1206 are mounted on the bearing base above the finger base shell 1202.

[0029] The assembly relationship between the central axis 1205 and the central rotation joint 1210, and the assembly relationship between the fingertip axis 1206 and the fingertip rotation joint 1211 are similar to the assembly relationship between the base axis 1204 and the base rotation joint 1209, and will not be described again.

[0030] A finger base spring 1212 is connected between the top surface of the palm and the top surface of the finger base shell 1201. A finger middle spring 1213 is connected between the top surface of the finger base shell 1201 and the top surface of the finger middle shell 1202. A finger tip spring 1214 is connected between the top surface of the finger middle shell 1202 and the top surface of the finger tip shell 1203. The ends of each spring are fixedly connected to the top surface of the corresponding shell by screws 1215.

[0031] like Figure 7 As shown, the inner wall of the fingertip rotary joint 1209 is rotatably provided with a first guide wheel 1252, a second guide wheel 1251, and a third guide wheel 1250 distributed circumferentially. Figure 8 As shown, two rows of second guide wheel groups are rotatably arranged circumferentially on the inner wall of the middle finger rotation joint 1210. The fourth guide wheel 1256, the fifth guide wheel 1257, and the sixth guide wheel 1258 form one group, and the seventh guide wheel 1255, the eighth guide wheel 1254, and the ninth guide wheel 1253 form another group. The fingertip rotation joint 1211 also has two rows of guide wheel groups similar to those in the middle finger rotation joint 1210. By setting the guide wheel groups, the fibers entering the base of the finger rotation joint 1209, the middle finger rotation joint 1210, and the fingertip rotation joint 1211 are guided by the corresponding guide wheel groups, allowing the fibers to fit as close as possible to the inner wall of the rotation joint for transmission, thus avoiding motion interference between the fibers and the rotating shaft located within the rotation joint.

[0032] like Figure 4As shown, the finger-base stretching fiber 1221 passes sequentially through the first guide wheel 1252, the second guide wheel 1251, and the third guide wheel 1250 on the finger-base rotation joint 1209, branching into two strands. The two ends of each strand wind around the first guide shaft 1259 and the second guide shaft 1235 on the inner wall of the finger-base inner shell 1217, respectively, and then penetrate the side wall of the finger-base inner shell 1217, where they are fixedly connected to the first fiber hole 1225 and the second fiber hole 1236 on the two side walls of the finger-base middle portion 1218. To allow for relative sliding between the finger-base middle portion 1218 and the finger-base inner shell 1217, strip-shaped through-holes are formed on the two side walls of the finger-base inner shell 1217 along the sliding direction, with the ends of the two strands of finger-base stretching fiber 1221 located within the corresponding strip-shaped through-holes. The middle portion of the finger-base linkage stretching fiber 1222 wraps around the bottom side of the first guide shaft 1259 and the second guide shaft 1235, and its two ends wrap around the third guide shaft 1237 and the fourth guide shaft 1238 on the inner wall of the finger-base middle portion 1218, respectively, and then pass through the side wall of the finger-base middle portion 1218 and are fixedly connected to the third fiber hole 1226 and the fourth fiber hole 1239 opened on the two side walls of the finger-base shell. Similarly, strip-shaped through grooves are also opened on the two side walls of the finger-base middle portion 1218 along the sliding direction, and the two ends of the finger-base linkage stretching fiber 1222 are respectively located in the strip-shaped through grooves on the corresponding sides. The middle part of the finger stretching fiber 1223 is wrapped around the bottom side of the fifth guide shaft 1240 on the inner wall of the middle part of the finger base 1218. The two ends pass through the two rows of second guide wheel groups in the finger rotation joint 1210, and then wrap around the sixth guide shaft 1241 and the seventh guide shaft 1242 on the inner wall of the finger inner shell 1219, respectively. Then it passes through the side wall of the finger inner shell and is fixedly connected to the fifth fiber hole 1227 and the sixth fiber hole 1243 opened on the two side walls of the finger outer shell. The middle part of the fingertip stretching fiber 1224 is wrapped around the bottom side of the eighth guide shaft 1244 on the inner wall of the fingertip inner shell 1219. The two ends pass through the two rows of guide pulleys in the fingertip rotation joint 1211 and then wrap around the ninth guide shaft 1245 and the tenth guide shaft 1246 on the inner wall of the fingertip inner shell 1220 respectively. Then it passes through the side wall of the fingertip inner shell 1220 and is fixedly connected to the seventh fiber hole 1228 and the eighth fiber hole 1247 opened on the two side walls of the fingertip outer shell 1203.

[0033] One end of the driving fiber 1234 is wrapped around the base of the finger shaft 1204, passes through the inner shell of the base of the finger 1217, then wraps around the middle of the finger shaft 1205, passes through the inner shell of the middle of the finger 1219, and then wraps around the tip of the finger shaft 1206. It is worth noting that the driving fiber 1234 is in a slack state between the two adjacent shafts, that is, there is a margin between the two shafts.

[0034] The middle, ring, and little fingers have the same structure as the index finger, so I will not repeat them here.

[0035] like Figure 9As shown, the thumb includes a thumb base 1101, a thumb middle 1102, and a thumb tip 1103. Fiber holes 1104 are provided on both sides of the thumb base 1101 to fix a first thumb base rotating fiber 1107 and a second thumb base rotating fiber 1108, respectively. The structures of the thumb middle 1102 and thumb tip 1103 are the same as those of the index finger base and index finger tip, and therefore will not be described further. The thumb stretching fiber 1109 and the thumb driving fiber 1110 exit from the ninth fiber hole 1105 and the tenth fiber hole 1106 on the thumb base 1101, respectively.

[0036] like Figure 10 and Figure 11 As shown, the palm portion includes an upper palm unit 1001, a lower palm unit 1002, and a palm fixing device 1003. The top of the upper palm unit 1001 is integrally provided with a first bearing base 1007, a second bearing base 1008, a third bearing base 1009, a fourth bearing base 1010, and a fifth bearing base 1011. The index finger is installed between the fifth bearing base 1011 and the fourth bearing base 1010, the middle finger is installed between the fourth bearing base 1010 and the third bearing base 1009, the ring finger is installed between the third bearing base 1009 and the second bearing base 1008, and the little finger is installed between the second bearing base 1008 and the first bearing base 1007.

[0037] A connecting groove is provided on the right side of the bottom end of the upper palm unit 1001. A thumb fiber groove 1006 and a thumb bottom rotation center 1005, concentrically arranged with the thumb fiber groove 1006, are provided on the top wall of the connecting groove. A first fiber perforation 1012 and a second fiber perforation 1013 are respectively provided on the side walls of the connecting groove. The thumb base 1101 is installed inside the thumb bottom rotation center 1005. The first thumb base rotating fiber 1107 and the second thumb base rotating fiber 1108 pass through the first fiber perforation 1012 and the second fiber perforation 1013, respectively, and exit the palm through the bottom fiber hole 1004. The thumb stretching fiber 1109 and the thumb driving fiber 1110 pass through the thumb fiber groove 1006, respectively, and exit the palm through the bottom fiber hole 1004. The index finger's base stretching fiber 1221 and driving fiber 1234 enter through the third fiber perforation 1014 and the fourth fiber perforation 1015 between the fourth bearing base 1010 and the fifth bearing base 1011, respectively, and exit through the bottom fiber hole 1004 in the palm. The middle finger's base stretching fiber 1321 and driving fiber 1334 enter through the fifth fiber perforation 1016 and the sixth fiber perforation 1017 between the fourth bearing base 1010 and the third bearing base 1009, respectively, and exit through the bottom fiber hole 1004 in the palm. The ring finger's base stretching fiber 1421 and driving fiber 1434 enter through the seventh fiber perforation 1018 and the eighth fiber perforation 1019 between the third bearing base 1009 and the second bearing base 1008, respectively, and exit through the bottom fiber hole 1004 in the palm. The little finger base stretching fiber 1521 and the little finger driving fiber 1534 are respectively inserted into the ninth fiber perforation 1020 and the tenth fiber perforation 1021 between the second bearing base 1008 and the first bearing base 1007, and exit from the palm through the bottom fiber hole 1004.

[0038] The ball trajectory mechanism 2 consists of three independent power transmission devices that work together to produce a linked output, enabling the multi-finger gripper 1 to move in three degrees of freedom: pitch, yaw, and rotation. Specifically, as shown... Figure 12 and Figure 13 As shown, the ball trajectory mechanism 2 includes a stationary platform 2015 connected to the top of the forearm integration unit 3 and a parallel platform 2001 located above the stationary platform 2015. The power transmission device includes a top transmission device, a middle transmission device, and a bottom transmission device, providing three driving forces to the parallel platform 2001.

[0039] The top ends of the driven links 2002, 2003, and 2004 form revolute pairs with the three side surfaces of the parallel platform 2001, respectively. Their other ends form revolute pairs with the driving links 2005, 2006, and 2007, respectively. The bottom end of the driving link 2007 is connected to the side surface of the bottom rotating seat 2011 by screws, with screws installed in the first screw hole 2016 and the second screw hole 2017. Similarly, the bottom end of the driving link 2005 is also connected to the side surface of the top rotating seat 2009, and the bottom end of the driving link 2006 is connected to the side surface of the middle rotating seat 2010 by screws. The top rotating seat 2009 is rotatably mounted on the top rotating bracket 2019 to form a rotating pair. One end of the linkage drive fiber 2018 is fixedly connected to the top rotating seat 2009 at the fiber fixing hole 2021, and the other end is also fixed at the fiber fixing hole 2021 on the top rotating seat 2009 after winding around the top linkage drum 2020. The bottom end of the top linkage drum 2020 is connected to the first motor connector 2022, which is fixed to the output shaft of the first motor 2012. The first motor 2012 is fixed to the first motor frame 2024 on the stationary platform 2015. The side of the motor has a side plate 2023 for assisting in motor positioning. Thus, the first motor 2012 drives the top rotating seat 2009 to rotate around the top rotating bracket 2019. The second motor 2013 drives the middle rotating seat 2010 to rotate around the middle rotating bracket, and the third motor 2014 drives the bottom rotating seat 2011 to rotate around the bottom rotating bracket, and so on. The top rotating bracket 2019, the middle rotating bracket and the bottom rotating bracket are coaxially arranged. The top of the top rotating bracket 2019 is also provided with a top cover plate 2008, and each of them has three positioning holes. Three screws are threaded through the top cover plate 2008, the top rotating bracket 2019, the middle rotating bracket and the bottom rotating bracket in sequence to connect with the static platform 2015, so that the three rotating brackets are fixedly set at the center of the top surface of the static platform 2015.

[0040] The stationary platform 2015 has multiple screw holes 2025, which are fixedly connected to the forearm integration unit 3 by screws. The 12 fibers of the palm emerge from the bottom fiber hole 1004 and pass through the rope hole 2026 on the parallel platform 2001, the rope hole 2027 on the top rotating bracket 2019, and the rope hole 2028 on the stationary platform 2015 before reaching the forearm integration unit 3.

[0041] like Figure 14As shown, the forearm integration unit 3 includes a left forearm unit 3100 and a right forearm unit 3200. The left forearm unit 3100 and the right forearm unit 3200 are fixedly connected by a first bolt pair consisting of a first screw 3001 and a first nut 3002, a second bolt pair consisting of a second screw 3003 and a second nut 3004, and a third bolt pair consisting of a third screw 3005 and a third nut 3006.

[0042] like Figure 15 As shown, the left forearm unit 3100 includes a left arm housing, a first traction motor 3112 and a second traction motor 3118 respectively fixedly mounted on the inner wall of the left arm housing, a first traction drum 3114 connected to the output shaft of the first traction motor 3112, and a second traction drum 3120 connected to the output shaft of the second traction motor 3118. A first motor rear plate 3101 is integrally provided at the top of the left arm housing for assisting in fixing the motor of the ball trajectory mechanism 2. The top surface of the left arm housing has first screw holes 3102 and second screw holes 3103 corresponding to the screw holes 2025 on the stationary platform 2015, for fixing the ball trajectory mechanism 2 to the forearm integrated unit 3. The top side of the left arm housing has a third screw hole 3104 and a fourth screw hole 3105, and the lower side wall of the left arm housing has a fifth screw hole 3106, for fixing the left forearm unit 3100 and the right forearm unit 3200 using the aforementioned three bolt pairs.

[0043] A first motor base 3111 and a first motor side plate 3113 located below the first motor base 3111 are fixedly installed on one side of the upper inner wall of the left arm housing. A first traction motor 3112 is fixedly installed on the side of the first motor base 3111, and the first motor side plate 3113 assists in fixing the first traction motor 3112. One end of the first traction drum 3114 away from the first traction motor 3112 is rotatably connected to the other side of the upper inner wall of the left arm housing via a cylindrical pin. Four fiber tubes are provided on the first traction drum 3114. A first fiber guide wheel 3107, a second fiber guide wheel 3108, a third fiber guide wheel 3109, and a fourth fiber guide wheel 3110 are fixedly installed on the inner wall of the left arm housing above the first traction drum 3114 to facilitate the connection of fibers to the corresponding fiber tubes through the guide wheels. A second motor base 3117 and a second motor side plate 3119 located below the second motor base 3117 are fixedly installed on the lower part of the inner wall of the left arm housing. The second traction motor 3118 is fixedly installed on the side of the second motor base 3117, and the second motor side plate 3119 assists in fixing the second traction motor 3118. The end of the second traction drum 3120 away from the second traction motor 3118 is rotatably connected to the pin hole 3121 on the inner wall of the left arm housing through a cylindrical pin. Two fiber tubes are provided on the second traction drum 3120. A fifth fiber guide wheel 3115 and a sixth fiber guide wheel 3116 are fixedly installed on the inner wall of the left arm housing above the second traction drum 3120, so that the fibers can be connected to the corresponding fiber tubes through the guide wheels.

[0044] In the multi-finger gripper 1, the finger-base stretching fibers 1221 (controlling the stretching of the index finger), 1321 (controlling the stretching of the middle finger), 1421 (controlling the stretching of the ring finger), and 1521 (controlling the stretching of the little finger) are respectively connected to the first traction drum 3114 around a fiber guide wheel 3107, a second fiber guide wheel 3108, a third fiber guide wheel 3109, and a fourth fiber guide wheel 3110 in the same direction of rotation, and are controlled by the first traction motor 3112. In the multi-finger gripper 1, the first finger-base rotation fibers 1107 and 1108 (controlling the rotation of the thumb's finger base) are respectively connected to the second traction drum 3120 around a fifth fiber guide wheel 3115 and a sixth fiber guide wheel 3116 in opposite directions of rotation, and are controlled by the second traction motor 3118.

[0045] Figure 16As shown, similarly, the right forearm unit includes a right arm housing, a third traction motor 3212, a fourth traction motor 3219, and a fifth traction motor 3223 respectively fixedly mounted on the inner wall of the right arm housing, a third traction drum 3214 connected to the output shaft of the third traction motor 3212, a fourth traction drum 3221 connected to the output shaft of the fourth traction motor 3219, and a fifth traction drum 3225 connected to the output shaft of the fifth traction motor 3223. The top of the left arm housing is integrally provided with a second motor rear plate 3201 and a third motor rear plate 3202, which are used to assist in fixing the motors of the ball trajectory mechanism 2. The top surface of the right arm housing has a sixth screw hole 3203 corresponding to the screw hole 2025 on the static platform 2015, for the fixed connection between the ball trajectory mechanism 2 and the forearm integrated unit 3. The top side of the right arm housing has a seventh screw hole 3205 that matches the third screw hole 3104 and an eighth screw hole 3204 that matches the fourth screw hole 3105. The lower side wall of the right arm housing has a ninth screw hole 3206 that matches the fifth screw hole 3106, which are used to fix the left forearm unit 3100 and the right forearm unit 3200 by means of the above three bolt pairs.

[0046] A third motor base 3211 and a third motor side plate 3213 located below the third motor base 3211 are fixedly installed on the upper side of the inner wall of the right arm housing. The third traction motor 3212 is fixedly installed on the side of the third motor base 3211, and the third motor side plate 3213 assists in fixing the third traction motor 3212. The third traction drum 3214 is fixed to the pin hole 3215 away from the first traction motor 3112 by a cylindrical pin. Four fiber tubes are provided on the third traction drum 3214. The seventh fiber guide wheel 3207, the eighth fiber guide wheel 3208, the ninth fiber guide wheel 3209, and the tenth fiber guide wheel 3210 are fixedly installed on the inner wall of the right arm housing, located to the side of the third traction drum 3214, so that the fibers can be connected to the corresponding fiber tubes through the guide wheels. A fourth motor base 3218 and a fourth motor side plate 3219 located below the fourth motor base 3218 are fixedly installed on one side of the lower inner wall of the right arm housing. The fourth traction motor 3219 is fixedly installed on the side of the fourth motor base 3218, and the fourth motor side plate 3219 assists in fixing the fourth traction motor 3219. The end of the fourth traction drum 3221 away from the fourth traction motor 3219 is rotatably connected to the partition of the right arm housing via a cylindrical pin. Similarly, a fifth motor base 3222 and a fifth motor side plate 3224 located below the fifth motor base 3222 are fixedly installed on the other side of the lower inner wall of the right arm housing. The fifth traction motor 3223 is fixedly installed on the side of the fifth motor base 3222, and the fifth motor side plate 3224 assists in fixing the fifth traction motor 3223. The end of the fifth traction drum 3225 away from the fifth traction motor 3223 is rotatably connected to the partition of the right arm housing via a cylindrical pin. The inner wall of the right arm housing is fixedly equipped with an eleventh fiber guide wheel 3216 located above the fourth traction drum 3221 and a twelfth fiber guide wheel 3217 located above the fifth traction drum 3225, facilitating the connection of fibers to the corresponding fiber drums via the guide wheels. In the multi-finger gripper 1, the driving fibers 1234 controlling the index finger, 1334 controlling the middle finger, 1434 controlling the ring finger, and 1534 controlling the little finger are respectively wound around the seventh fiber guide wheel 3207, the eighth fiber guide wheel 3208, the ninth fiber guide wheel 3209, and the tenth fiber guide wheel 3210 and connected to the third traction drum 3214 in the same direction of rotation, and are controlled by the third traction motor 3212. In the multi-finger gripper 1, the thumb stretching fiber 1109 is wound around the eleventh fiber guide wheel 3216 and connected to the fourth traction drum 3221, and is controlled by the fourth traction motor 3219. In the multi-finger gripper 1, the thumb-driven fiber 1110 is connected to the fifth traction drum 3225 around the twelfth fiber guide wheel 3217 and is controlled by the fifth traction motor 3223 for traction.

[0047] This invention employs a core-sheath composite fiber structure. The core layer is made of ultra-high molecular weight polyethylene fiber twisted into a bundle, ensuring lightweight and high flexibility, and reducing the inertia at the end of multi-finger grippers. The sheath layer is woven and coated with aramid fiber, improving the fiber's high temperature resistance, cut resistance, and wear resistance, making it suitable for the transmission conditions of the wrist motor integration area. Modified polyurethane wear-resistant resin is impregnated between the core and sheath to enhance interlayer bonding, reduce creep rate, and improve transmission accuracy, solving the technical problem of simultaneously achieving lightweight and high temperature and wear resistance with a single fiber.

[0048] The specific usage process of the fiber-driven multi-finger gripper of the coupling ball trajectory mechanism of the present invention is as follows: When gripping is required, the first motor 2012 of the ball trajectory mechanism 2 starts to move, driving the first motor connector 2022 to rotate. The first motor connector 2022 drives the top linkage drum 2020 to rotate. Since the linkage drive fiber 2018 is connected to the top linkage drum 2020, the top linkage drum 2020 drives the linkage drive fiber 2018 to drive the top rotating seat 2009 to rotate around the top rotating bracket 2019. Because the branch chain active connecting rod 2006 is installed on the top rotating seat... In step 2009, the active link 2006 rotates around the top rotating bracket 2019, causing the revolute joint formed by the driven link 2003 and the active link 2006 to move, which in turn drives the parallel platform 2001. Similarly, the movements of the second motor 2013 and the third motor 2014 control the movement of the parallel platform 2001 of the ball trajectory mechanism 2. Therefore, the parallel platform 2001 of the ball trajectory mechanism 2 can achieve three degrees of freedom of movement: pitch, yaw, and rotation. When gripping is required, the ball trajectory mechanism 2, through the coordinated movements of the first motor 2012, the second motor 2013, and the third motor 2014, causes the parallel platform 2001 to drive the multi-finger gripper 1 to the appropriate gripping position. There are two main types of suitable gripping positions. When the object being gripped is a small object, it should be placed within the working space of the multi-finger gripper 1, but at a certain distance from the palm. When the object being gripped is a large, irregular object, it should be placed within the working space of the multi-finger gripper 1, but at a smaller distance from the palm.

[0049] When grasping a small object, the second traction motor 3118 in the forearm integrated unit 3, which controls the rotation of the thumb's base, rotates, driving the second traction drum 3120 to rotate. This causes the first base rotation fiber 1107 to shorten and the second base rotation fiber 1108 to lengthen, controlling the thumb's base 1101 to rotate around the thumb's base rotation center 1005. The thumb then retracts inward toward the palm. When the thumb and the other four fingers are positioned on either side of the object, the grasping action begins. The third traction motor 3212 in the forearm integrated unit 3, which controls the bending of the index, middle, ring, and little fingers, rotates, driving the third traction drum 3214 to rotate. This causes the drive fibers 1234 (controlling the index finger), 1334 (controlling the middle finger), 1434 (controlling the ring finger), and 1534 (controlling the little finger) to shorten, respectively driving the base axis 1204 of the index finger, the base axis of the middle finger, the base axis of the ring finger, and the base axis of the little finger to rotate. Because the index finger's base axis 1204 has a protrusion 1249, which is in the same plane as the first adaptive compression device 1216 and the protrusion 1248 on the base rotation joint 1209, the rotation of the index finger's base axis 1204 drives the first adaptive compression device 1216 to rotate. The first adaptive rotation device 1216 abuts against the protrusion 1248 on the base rotation joint 1209, thus driving the base rotation joint 1209 to rotate. Because the driving fibers leave a margin between the axes, when the index finger's base axis 1204 rotates, the fibers between the two axes wrap around the index finger's base axis 1204, and the index finger's middle axis 1205 does not rotate. Therefore, the index finger as a whole rotates around the index finger's base axis 1204; the middle finger, ring finger, and little finger rotate around their respective base axes. Simultaneously, the fifth traction motor 3223, which controls the bending of the thumb in the forearm integrated unit 3, rotates. Since the structure of the thumb's middle section 1102 and fingertip 1103 is the same as that of the index finger's base and tip, the rotation of the fifth traction motor 3223 drives the thumb to rotate around its central axis. If the thumb's fingertip 1103 touches the object first, the fifth traction motor 3223 stops rotating, waiting for any of the other four fingertips to touch the object. Once the fingertip touches the object, the grasping action is completed. Conversely, if any of the other four fingertips touch the object, the third traction motor 3212 stops rotating, waiting for the thumb's fingertip 1103 to touch the object; once the fingertip touches the object, the grasping action is completed.

[0050] When grasping large objects, the finger stretching can be selected according to the size of the object. If finger stretching is required, the first traction motor 3112 in the forearm integrated unit 3, which controls the stretching of the index, middle, ring, and little fingers, rotates, driving the first traction drum 3114 to rotate. This causes the finger-base stretching fiber 1221 controlling the stretching of the index finger, the finger-base stretching fiber 1321 controlling the stretching of the middle finger, the finger-base stretching fiber 1421 controlling the stretching of the ring finger, and the finger-base stretching fiber 1521 controlling the stretching of the little finger to all wind onto the first traction drum 3114. The four fingers have the same structure, and only the index finger 12 will be analyzed below. When the finger-stretching fiber 1221 controlling the stretching of the index finger winds onto the first traction drum 3114, the finger-stretching fiber 1221 splits into two strands that wind around the first guide shaft 1259 and the second guide shaft 1235 in the inner shell 1217 of the finger base and are then fixed to the first fiber holes 1225 and the second fiber holes 1236 on both sides of the middle part 1218 of the finger base. Therefore, the middle part 1218 of the finger base extends outward. Similarly, the outer shell 1201 of the finger base, the middle outer shell 1202 of the finger base, and the outer shell 1203 of the finger tip extend outward. The middle finger, ring finger, and little finger follow the same procedure, thus completing the stretching of the four fingers. The thumb is similar to the index finger, except that it lacks the middle part of the index finger. The fourth traction motor 3219 controlling the stretching of the thumb in the forearm integrated unit 3 rotates, driving the fourth traction drum 3221 to rotate, so that the thumb-stretching fiber 1109 controlling the stretching of the thumb winds onto the fourth traction drum 3221, thus completing the stretching of the thumb in a similar manner to the index finger. If finger stretching is not required, skip this step.

[0051] When grasping a large object, the initial steps are the same as when grasping a small object. The second traction motor 3118 in the forearm integrated unit 3, which controls the rotation of the thumb's base, rotates, driving the second traction drum 3120 to rotate. This causes the first fingertip rotation fiber 1107 to shorten and the second fingertip rotation fiber 1108 to lengthen, controlling the thumb's base 1101 to rotate around the thumb's base rotation center 1005, causing the thumb to retract inward toward the palm. When the thumb and the other four fingers are positioned on either side of the object, the grasping action begins. In the forearm integrated unit 3, the third traction motor 3212, which controls the bending of the index, middle, ring, and little fingers, rotates, driving the third traction drum 3214 to rotate. This causes the drive fibers 1234 (controlling the index finger), 1334 (controlling the middle finger), 1434 (controlling the ring finger), and 1534 (controlling the little finger) to shorten, respectively. This causes the base shafts 1204 of the index, middle, ring, and little fingers to rotate. Since the base shaft 1204 of the index finger has a protrusion 1249 that is in the same plane as the first adaptive compression device 1216 and the protrusion 1248 on the base rotation joint 1209, the rotation of the base shaft 1204 of the index finger drives the first adaptive compression device 1216 to rotate. The first adaptive rotation device 1216 abuts against the protrusion 1248 on the base rotation joint 1209, thus driving the base rotation joint 1209 to rotate. Because the driving fibers leave a margin between the shafts, when the index finger's base shaft 1204 rotates, the fibers between the two shafts wrap around the index finger's base shaft 1204, and the index finger's middle shaft 1205 does not rotate. Therefore, the index finger as a whole rotates around the index finger's base shaft 1204; the middle finger, ring finger, and little finger rotate around their respective base shafts.

[0052] Meanwhile, the fifth traction motor 3223 controlling the bending of the thumb in the forearm integrated unit 3 rotates. Since the structure of the middle part 1102 and the tip 1103 of the thumb is the same as that of the base and tip of the index finger, the rotation of the fifth traction motor 3223 drives the thumb to rotate around the middle axis of the thumb. When the outer shell 1201, the middle part 1218, or the inner shell 1217 of the base of the index finger touches an object, since the fifth traction motor 3223 is still rotating, the resistance of the object to the finger is transmitted to the first adaptive compression device 1216 on the rotation axis, causing the spring on the first adaptive compression device 1216 to be compressed. The protrusion 1248 on the base rotation joint 1209 cannot resist the first adaptive compression device 1216, causing the base axis 1204 of the index finger to spin freely, that is, the rotation of the base axis 1204 of the index finger does not drive the base rotation joint 1209 of the index finger to rotate. When the fibers between the axes are tightened, the rotation of the index finger's base axis 1204 causes the index finger's middle axis 1205 to rotate. Since the structures of the index finger's base axis 1204 and middle axis 1205 are similar, the index finger's middle axis 1205 begins to drive the index finger's middle rotation joint 1210 to rotate. When the index finger's middle outer shell 1202 or middle inner shell 1219 touches an object, the index finger's middle axis 1205 similarly rotates freely. Subsequently, the index finger's middle axis 1205 drives the index finger's fingertip axis 1206 to rotate. When the index finger's fingertip outer shell 1203 or fingertip inner shell 1220 touches an object, the index finger's fingertip axis 1206 similarly rotates freely, thus completing the index finger's adaptation to the object. The other fingers follow the same principle, completing the entire hand's adaptation to the object, thus completing the grasping action.

[0053] Upon completion of the task, the third traction motor 3212 controlling the bending of the index, middle, ring, and little fingers in the forearm integrated unit 3, and the first traction motor 3112 controlling the stretching of the index, middle, ring, and little fingers, are de-energized. The finger base spring 1212, finger middle spring 1213, and finger tip spring 1214 on the index finger act as reset springs, restoring the index finger to its initial state. The middle, ring, and little fingers are similarly restored to their initial states. The fifth traction motor 3223 controlling the bending of the thumb and the fourth traction motor 3219 controlling the stretching of the thumb in the forearm integrated unit 3 are de-energized, restoring the middle and fingertips of the thumb to their initial states. Subsequently, the second traction motor 3118 controlling the rotation of the thumb's base in the forearm integrated unit 3 rotates, driving the second traction drum 3120 to rotate, causing the thumb to abduct back to its initial state. At this point, all fingers have returned to their initial states, and all motors are de-energized.

[0054] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A fiber-driven multi-finger gripper with a coupled ball trajectory mechanism, characterized in that: It includes a forearm integration unit, a ball trajectory mechanism connected to the top of the forearm integration unit, and a multi-finger gripper connected to the power output end of the top of the ball trajectory mechanism; The multi-finger gripper includes a palm, multiple non-thumb fingers rotatably disposed on the top of the palm, and a thumb rotatably disposed on the bottom side of the palm. The non-thumb fingers refer to the index finger, middle finger, ring finger, and little finger. The non-thumb fingers and the thumb include multiple cascaded joint components, and the length of each joint component is adjustable. The cascaded joint components are all linked to stretch through stretching fibers and linked to bend through driving fibers. The joint component of the thumb is also linked to swing through rotating fibers. The ball trajectory mechanism is produced by the cooperation of three independent power transmission devices to generate a linkage output, realizing the three degrees of freedom of the multi-finger gripper in pitch, yaw and rotation; The forearm integrated unit is equipped with multiple fiber winding mechanisms, which are used for traction control of each stretching fiber, driving fiber and rotating fiber.

2. The fiber-driven multi-finger gripper of the coupled ball trajectory mechanism according to claim 1, characterized in that: The non-thumb portion includes the base, middle, and tip of the finger. The base includes a base axis rotatably connected to the palm, a base rotation joint sleeved on the outside of the base axis, a base inner shell fixedly connected to the base rotation joint, a base middle portion slidably sleeved on the outside of the base inner shell, and a base outer shell movably sleeved on the outside of the base middle portion. The middle portion includes a middle axis rotatably mounted on the top of the base outer shell, a middle rotation joint sleeved on the outside of the middle axis, a middle inner shell fixedly connected to the middle rotation joint, and a slid... The fingertip includes a fingertip outer shell located outside the inner shell of the fingertip, and a fingertip shaft rotatably mounted at the top of the fingertip outer shell, a fingertip rotation joint sleeved outside the fingertip shaft, a fingertip inner shell fixedly connected to the fingertip rotation joint, and a fingertip outer shell slidably sleeved outside the inner shell of the fingertip. A finger-bottom spring is connected between the top surface of the palm and the top surface of the finger-bottom shell, a finger-middle spring is connected between the top surface of the finger-bottom shell and the top surface of the finger-middle shell, and a fingertip spring is connected between the top surface of the finger-middle shell and the top surface of the fingertip shell.

3. The fiber-driven multi-finger gripper of the coupled ball trajectory mechanism according to claim 2, characterized in that: The outer circular surface of the finger base axis / finger middle axis / finger tip axis is fixedly provided with bosses evenly distributed in the circumferential direction, and an adaptive compression device is provided between two adjacent bosses. The inner circular surface of the finger base rotation joint / finger middle rotation joint / finger tip rotation joint is fixedly provided with protrusions evenly distributed in the circumferential direction and located on the radially outer side of the bosses. The finger base axis / finger middle axis / finger tip axis is fitted with bearings located on both sides of the bosses, protrusions and adaptive compression devices.

4. The fiber-driven multi-finger gripper of the coupled ball trajectory mechanism according to claim 3, characterized in that: The adaptive compression device includes an inverted V-shaped flexible frame and a spring fixedly connected to the middle of the flexible frame. The two ends of the flexible frame abut against the opposite sides of two adjacent bosses, and the other end of the spring is fixedly connected to the outer circular surface of the finger base axis / finger middle axis / finger tip axis.

5. The fiber-driven multi-finger gripper of the coupled ball trajectory mechanism according to claim 2, 3, or 4, characterized in that: The stretching fibers include fingertip stretching fibers, fingertip linkage stretching fibers, finger middle stretching fibers, and fingertip stretching fibers; After passing through the fingertip rotation joint, the fingertip stretching fiber splits into two strands. The two ends of the fiber wrap around the first guide shaft and the second guide shaft on the inner wall of the fingertip shell, respectively, and then pass through the side wall of the fingertip shell and are fixedly connected to the two side walls in the middle of the fingertip. The middle part of the finger-base linkage stretching fiber is wrapped around the bottom side of the first guide shaft and the second guide shaft, and the two ends are wrapped around the third guide shaft and the fourth guide shaft on the inner wall of the middle part of the finger base respectively, and then pass through the side wall of the middle part of the finger base and are fixedly connected to the two side walls of the finger base shell. The middle part of the finger stretching fiber is wrapped around the bottom side of the fifth guide shaft on the inner wall of the middle part of the finger base. After passing through the finger rotation joint, the two ends are wrapped around the sixth guide shaft and the seventh guide shaft on the inner wall of the finger shell respectively, and then pass through the side wall of the finger shell and are fixedly connected to the two side walls of the finger shell. The middle part of the fingertip stretching fiber is wrapped around the bottom side of the eighth guide shaft on the inner wall of the fingertip inner shell. After passing through the fingertip rotation joint, the two ends are wrapped around the ninth and tenth guide shafts on the inner wall of the fingertip inner shell respectively, and then pass through the side wall of the fingertip inner shell and are fixedly connected to the two side walls of the fingertip outer shell.

6. The fiber-driven multi-finger gripper of the coupled ball trajectory mechanism according to claim 5, characterized in that: The inner wall of the fingertip rotation joint is respectively provided with a first guide wheel group distributed in the circumferential direction, and the fingertip stretching fiber passes around the first guide wheel group in sequence; The inner walls of the middle finger rotation joint and the fingertip rotation joint are respectively provided with two rows of second guide wheel groups distributed circumferentially, and the two ends of the middle finger stretching fiber and the fingertip stretching fiber are respectively wrapped around a row of second guide wheel groups.

7. The fiber-driven multi-finger gripper of the coupled ball trajectory mechanism according to claim 2, 3, or 4, characterized in that: One end of the driving fiber is wrapped around the base of the finger axis, passes through the inner shell of the base of the finger and then wraps around the middle of the finger axis, passes through the inner shell of the middle of the finger and then wraps around the tip of the finger axis. The driving fiber is in a relaxed state between the two adjacent axes.

8. The fiber-driven multi-finger gripper of the coupled ball trajectory mechanism according to claim 1, characterized in that: The ball trajectory mechanism includes a static platform connected to the top of the forearm integrated unit and a parallel platform located above the static platform; The power transmission device includes a ball track motor fixedly connected to a static platform, a rotating bracket fixedly set above the static platform, and a rotating seat rotatably sleeved on the outside of the rotating bracket. The output shaft end of the ball track motor is fixedly connected to a linkage drum movably embedded in the rotating bracket. Linkage drive fibers are wound on the linkage drum. The two ends of the linkage drive fibers are respectively fixedly connected to the side wall of the rotating seat. A branch chain active connecting rod is hinged to one side of the top of the rotating seat. The top end of the branch chain active connecting rod is hinged to the side of the parallel platform through a branch chain driven connecting rod.

9. The fiber-driven multi-finger gripper of the coupled ball trajectory mechanism according to claim 1, characterized in that: The forearm integration unit includes a left forearm unit and a right forearm unit; The left forearm unit includes a left arm housing, a first traction motor and a second traction motor respectively fixedly disposed on the inner wall of the left arm housing, a first traction drum connected to the output shaft of the first traction motor, and a second traction drum connected to the output shaft of the second traction motor. The stretching fibers on the non-thumb are wound onto the first traction drum in the same direction of rotation, and the rotating fibers on the thumb are wound onto the second traction drum in the opposite direction of rotation. The right forearm unit includes a right arm housing, a third traction motor, a fourth traction motor, and a fifth traction motor respectively fixedly mounted on the inner wall of the right arm housing, a third traction drum connected to the output shaft of the third traction motor, a fourth traction drum connected to the output shaft of the fourth traction motor, a fifth traction drum connected to the output shaft of the fifth traction motor, and drive fibers not on the thumb wound onto the third traction drum in the same direction of rotation, while stretching fibers on the thumb are wound onto the fourth traction drum, and drive fibers on the thumb are wound onto the fifth traction drum.

10. The fiber-driven multi-finger gripper of the coupled ball trajectory mechanism according to claim 9, characterized in that: The left and right arm housings are respectively provided with guide wheels that match the various stretching fibers, driving fibers, and rotating fibers.

Images