Multi-degree-of-freedom thumb and control method thereof, computer device and readable storage medium
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- ZHEJIANG BRAIN ENHANCE TECH CO LTD
- Filing Date
- 2026-07-09
- Publication Date
- 2026-08-07
AI Technical Summary
[0005]本发明要解决的技术问题在于，针对现有技术的上述缺陷，提供一种多自由度拇指及其控制方法、计算机设备及可读存储介质，旨在解决现有技术中机器人的拇指的自由度有限的问题
[0016] Beneficial effects: The first and second drivers can drive the bent finger to rotate, or drive the bent finger and differential to rotate as a whole. The bent finger can also bend, thus forming a thumb with multiple degrees of freedom. Driving the bent finger and differential to rotate through the first and second drivers can produce a large torque, making the multi-degree-of-freedom thumb closer to a real thumb.
Smart Images
Figure CN122518320A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of robotic arm technology, and more particularly to a multi-degree-of-freedom thumb and its control method, computer device, and readable storage medium. Background Technology
[0002] Robotic hands are typically modeled after human hands, with real fingers possessing a high degree of dexterity. For example, the thumb of a real hand has multiple degrees of freedom.
[0003] In existing technologies, the robot's thumb has limited degrees of freedom, making it difficult to achieve high flexibility.
[0004] Therefore, existing technologies still need improvement and development. Summary of the Invention
[0005] The technical problem to be solved by the present invention is to provide a multi-degree-of-freedom thumb and its control method, computer device and readable storage medium, in order to solve the problem of limited degrees of freedom of the thumb of a robot in the prior art.
[0006] The technical solution adopted by this invention to solve the technical problem is as follows: A multi-degree-of-freedom thumb, comprising: Mounting base; Both the first driver and the second driver are disposed in the mounting base; Bend your fingers; The differential is connected to the first driver, the second driver, and the bent finger, respectively. The first driver and the second driver are located on both sides of the bent finger, respectively.
[0007] The multi-degree-of-freedom thumb, wherein the differential includes: The first gear, the second gear, the third gear, and the fourth gear mesh in sequence; The fourth gear meshes with the first gear; The first gear is connected to the first driver; The second gear is connected to the bent finger; The third gear is connected to the second driver.
[0008] The multi-degree-of-freedom thumb, wherein the flexing finger portion includes: The connecting part is connected to the second gear; A third driver, the output shaft of which is connected to the connecting part; The first phalanx is connected to the third driver.
[0009] The multi-degree-of-freedom thumb, wherein the flexing finger portion includes: The fourth actuator is located on the first knuckle; The second knuckle is connected to the output shaft of the fourth driver; The fifth actuator is located on the second knuckle; The third phalanx is connected to the output shaft of the fifth driver.
[0010] A method for controlling a multi-degree-of-freedom thumb as described above, comprising the steps of: Based on the first and second drivers, the bent finger is controlled to rotate circumferentially; Control the bending of the bent finger.
[0011] The multi-degree-of-freedom thumb control method further includes: Based on the first driver and the second driver, the bent finger is controlled to rotate together with the differential.
[0012] The multi-degree-of-freedom thumb control method, wherein controlling the bent finger and the differential to rotate together based on the first driver and the second driver includes: The first driver and the second driver are controlled to operate in the same direction and with equal torque, and the bent finger rotates together with the differential.
[0013] The multi-degree-of-freedom thumb control method, wherein controlling the flexed finger to rotate circumferentially based on a first actuator and a second actuator includes: The first and second drivers are controlled in opposite directions with equal torque, and the bent finger rotates circumferentially.
[0014] A computer device includes a memory and a processor, the memory storing a computer program, wherein the processor executes the computer program to implement the steps of any of the control methods described above.
[0015] A computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the control method as described in any of the above claims.
[0016] Beneficial effects: The first and second drivers can drive the bent finger to rotate, or drive the bent finger and differential to rotate as a whole. The bent finger can also bend, thus forming a thumb with multiple degrees of freedom. Driving the bent finger and differential to rotate through the first and second drivers can produce a large torque, making the multi-degree-of-freedom thumb closer to a real thumb. Attached Figure Description
[0017] Figure 1 This is a schematic diagram of the structure of a multi-degree-of-freedom thumb in an embodiment of the present invention.
[0018] Figure 2 This is an exploded view of a multi-degree-of-freedom thumb in an embodiment of the present invention.
[0019] Figure 3 This is a first cross-sectional view of the multi-degree-of-freedom thumb in an embodiment of the present invention.
[0020] Figure 4 This is a second cross-sectional view of the multi-degree-of-freedom thumb in an embodiment of the present invention.
[0021] Figure 5 yes Figure 4 Enlarged view of point A in the middle.
[0022] Figure 6 This is a schematic diagram of the differential in an embodiment of the present invention.
[0023] Figure 7 This is an exploded view of the differential in an embodiment of the present invention.
[0024] Figure 8 This is a cross-sectional view of the differential in an embodiment of the present invention.
[0025] Figure 9 This is a schematic diagram of the structure of the first gear, the second gear, the third gear and the fourth gear in an embodiment of the present invention.
[0026] Explanation of reference numerals in the attached figures: 10. Mounting base; 21. First driver; 22. Second driver; 30. Bending finger; 31. Connecting part; 32. Third actuator; 321. Third angle sensor; 33. First knuckle; 331. First tactile sensor; 34. Fourth actuator; 341. Fourth angle sensor; 35. Second knuckle; 351. Second tactile sensor; 36. Fifth actuator; 361. Fifth angle sensor; 37. Third knuckle; 371. Third tactile sensor; 301. Circuit board; 302. Flexible layer; 303. Third Hall element; 304. Third magnet; 40. Differential; 41. First gear; 42. Second gear; 43. Third gear; 44. Fourth gear; 45. Housing; 451. Inner housing; 452. Outer housing; 46. Cross; 471. First bearing; 472. Second bearing; 481. First angle sensor; 4811. First Hall element; 4812. First magnet; 482. Second angle sensor; 4821. Second Hall element; 4822. Second magnet. Detailed Implementation
[0027] To make the objectives, technical solutions, and advantages of this invention clearer and more explicit, 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.
[0028] Please also refer to Figures 1-9 This invention provides some embodiments of a multi-degree-of-freedom thumb.
[0029] like Figure 1 As shown, the multi-degree-of-freedom thumb of the present invention includes: Mounting base 10; The first driver 21 and the second driver 22 are both disposed on the mounting base 10; 30 degrees of bent fingers; The differential 40 is connected to the first driver 21, the second driver 22, and the bent finger 30, respectively. The first driver 21 and the second driver 22 are located on both sides of the bent finger 30, respectively.
[0030] Specifically, mounting base 10 is used to mount the first driver 21 and the second driver 22. The bendable finger 30 can be bent, and the differential 40 is connected to the first driver 21, the second driver 22, and the bendable finger 30 respectively. The first driver 21 and the second driver 22 are located on both sides of the bendable finger 30. The first driver 21 and the second driver 22 can drive the bendable finger 30 to rotate, or they can drive the bendable finger 30 and the differential 40 to rotate as a whole. The bendable finger 30 can also be bent, thus forming a thumb with multiple degrees of freedom. Mounting base 10 is a U-shaped base, with the first driver 21 and the second driver 22 mounted on both sides of the U-shaped base. The opening in the middle of the U-shaped base provides clearance for the overall rotation of the bendable finger 30 and the differential 40. Driving the bendable finger 30 and the differential 40 to rotate through the first driver 21 and the second driver 22 can produce a large torque, making the multi-degree-of-freedom thumb close to a real thumb.
[0031] In a preferred implementation of this invention, such as Figures 6-9 As shown, the differential 40 includes: The first gear 41, the second gear 42, and the third gear 43 mesh in sequence; The first gear 41 is connected to the first driver 21; the second gear 42 is connected to the bent finger 30; and the third gear 43 is connected to the second driver 22.
[0032] Specifically, the first driver 21 drives the first gear 41 to rotate, the second driver 22 drives the third gear 43 to rotate, and the second gear 42 can rotate together with the curved finger 30. The first driver 21 and the second driver 22 can be controlled independently. A coordinate system is established with the mounting base 10, and each coordinate axis is determined. The first driver 21 and the second driver 22 can rotate in opposite directions with the same torque (i.e., reverse equal torque mode), in which case the second gear 42 rotates circumferentially along the curved finger 30. The first driver 21 and the second driver 22 can rotate in the same direction with the same torque (i.e., same torque mode), and the second gear 42 is engaged by the first gear 41 and the third gear 43, in which case the curved finger 30 and the differential 40 rotate as a whole. The first driver 21 and the second driver 22 can have different torques (i.e., unequal torque mode), in which case the second gear 42 rotates circumferentially along the curved finger 30, and the curved finger 30 and the differential 40 also rotate as a whole.
[0033] The differential 40 also includes a housing 45, to which each gear is rotatably connected. For example, the gears can be rotatably connected to the housing 45 via a first bearing 471. The gears include a shaft and teeth, with the inner ring of the first bearing 471 fixed to the shaft and the outer ring of the first bearing 471 fixed to the housing 45.
[0034] In a preferred implementation of this invention, such as Figures 7-9 As shown, the differential 40 further includes: Fourth gear 44; The fourth gear 44 meshes with the first gear 41.
[0035] Specifically, the fourth gear 44 assists the first gear 41 and the third gear 43 in rotation, improving the rotational stability of the first gear 41 and the third gear 43. The rotation direction of the fourth gear 44 is opposite to that of the second gear 42. The fourth gear 44 is rotatably connected to the housing 45 through the first bearing 471.
[0036] In a preferred implementation of this invention, such as Figures 7-9 As shown, the differential 40 further includes: Cross 46; The first gear 41, the second gear 42, the third gear 43 and the fourth gear 44 are rotatably connected to the corresponding ends of the cross 46.
[0037] Specifically, to improve the rotational stability of the gears, a cross 46 or a ⊥-shaped bracket is configured. The cross 46 has four ends, and the ⊥-shaped bracket has three ends. The first gear 41, the second gear 42, and the third gear 43 can be rotatably connected to their respective ends, and the fourth gear 44 can also be rotatably connected to its corresponding end. For example, a second bearing 472 is configured on the end to achieve a rotatable connection between the gear and the end. The inner ring of the second bearing 472 is connected to the end, and the outer ring of the second bearing 472 is connected to the gear teeth.
[0038] In a preferred implementation of this invention, such as Figures 7-8 As shown, the housing 45 includes: Inner shell 451 and outer shell 452; The inner shell 451 encloses the first gear 41, the second gear 42, the third gear 43, and the fourth gear 44; the outer shell 452 encloses the inner shell 451.
[0039] Specifically, the housing 45 has an inner housing 451 and an outer housing 452, with all gears and crosses 46 located inside the inner housing 451. The outer housing 452 surrounds the inner housing 451. The outer housing 452 protects the inner housing 451 and the components within it. The outer ring of the first bearing 471 of the shaft is connected to the inner housing 451.
[0040] In a preferred implementation of this invention, such as Figure 8 As shown, the differential 40 further includes: The first angle sensor 481 and the second angle sensor 482 are disposed outside the inner shell 451; The first angle sensor 481 is configured to detect the rotation angle of the first gear 41; the second angle sensor 482 is configured to detect the rotation angle of the third gear 43.
[0041] Specifically, the first angle sensor 481 detects the rotation angle of the first gear 41, and the second angle sensor 482 detects the rotation angle of the third gear 43. The first angle sensor 481 includes a first Hall element 4811 and a first magnet 4812. The first Hall element 4811 is mounted outside the inner housing 451, and the first magnet 4812 is mounted on the shaft. When the first gear 41 and the third gear 43 rotate, the first magnet 4812 rotates accordingly, and is thus sensed by the first Hall element 4811, allowing the determination of the rotation angles of the first gear 41 and the third gear 43. The second angle sensor 482 includes a second Hall element 4821 and a second magnet 4822. The second Hall element 4821 can be installed outside the inner housing 451 or on the mounting base 10. When the second Hall element 4821 is installed outside the inner housing 451, since the first gear 41 and the third gear 43 are in a linked state, their rotation angles relative to the housing 45 are basically the same, so the angles collected by the first angle sensor 481 and the second angle sensor 482 are basically the same. If the second Hall element 4821 is installed on the mounting base 10, the second angle sensor 482 collects the rotation angle of the third gear 43 relative to the mounting base 10 (i.e., the overall rotation angle of the differential 40 and the bent finger 30), while the first angle sensor 481 collects the rotation angle of the first gear 41 relative to the housing 45 (i.e., reflecting the rotation angle of the bent finger 30).
[0042] In a preferred implementation of this invention, such as Figures 3-4 As shown, the bent finger portion 30 includes: The connecting part 31 is connected to the second gear 42; The third driver 32, the output shaft of which is connected to the connecting part 31; The first phalanx 33 is connected to the third driver 32.
[0043] Specifically, the connecting part 31 connects the first finger joint 33 to the differential 40. The third drive 32 drives the first finger joint 33 to rotate relative to the connecting part 31.
[0044] In a preferred implementation of this invention, such as Figures 3-4 As shown, the bent finger portion 30 includes: The fourth driver 34 is located on the first knuckle 33; The second phalanx 35 is connected to the output shaft of the fourth driver 34.
[0045] Specifically, the first phalanx 33 is relatively long and has two actuators installed thereon: a third actuator 32 and a fourth actuator 34, both of which are located on the first phalanx 33. The fourth actuator 34 drives the second phalanx 35 to rotate relative to the first phalanx 33.
[0046] In a preferred implementation of this invention, such as Figures 3-4 As shown, the bent finger portion 30 includes: The fifth actuator 36 is located on the second phalanx 35; The third phalanx 37 is connected to the output shaft of the fifth driver 36.
[0047] Specifically, the second phalanx 35 is shorter and has a driver installed thereon, while a fifth driver 36 is located on the second phalanx 35. The fifth driver 36 drives the third phalanx 37 to rotate relative to the second phalanx 35. The third phalanx 37 can serve as a fingertip and does not have a driver installed thereon.
[0048] In a preferred implementation of this invention, such as Figures 1-2 As shown, a first tactile sensor 331 is provided on the first phalanx 33, a second tactile sensor 351 is provided on the second phalanx 35, and a third tactile sensor 371 is provided on the third phalanx 37.
[0049] Specifically, tactile sensors are installed on the knuckles to sense the pressure of contact with other objects. Each tactile sensor includes a circuit board 301 and a flexible layer 302. The circuit board 301 is mounted on the corresponding knuckle, and the flexible layer 302 covers the circuit board 301. In the first tactile sensor 331, the circuit board 301 extends to three sides of the first knuckle 33; in the second tactile sensor 351, the circuit board 301 extends to three sides of the second knuckle 35; and in the third tactile sensor 371, the circuit board 301 extends to each side of the third knuckle 37.
[0050] In a preferred implementation of this invention, such as Figures 4-5 As shown, the third driver 32 is provided with a third angle sensor 321, the fourth driver 34 is provided with a fourth angle sensor 341, and the fifth driver 36 is provided with a fifth angle sensor 361.
[0051] Specifically, the driver is equipped with angle sensors. A third angle sensor 321 is configured to detect the rotation angle of the first phalanx 33, a fourth angle sensor 341 is configured to detect the rotation angle of the second phalanx 35, and a fifth angle sensor 361 is configured to detect the rotation angle of the third phalanx 37. Each of the third angle sensor 321, fourth angle sensor 341, or fifth angle sensor 361 includes a third Hall element 303 and a third magnet 304. The third Hall element 303 is located outside the driver, and the third magnet 304 is located on an adjacent phalanx or connecting portion 31.
[0052] In a preferred implementation of this invention, such as Figures 3-4As shown, the first driver 21 and the second driver 22 use the same driver. The third driver 32, the fourth driver 34 and the fifth driver 36 use the same driver.
[0053] Specifically, the drive includes a motor, a gear reducer, and a planetary gear reducer. The gear reducer is connected to the output shaft of the motor and the sun gear of the planetary gear reducer, respectively.
[0054] Based on the multi-degree-of-freedom thumb described in any of the above embodiments, the present invention also provides a preferred embodiment of a control method for a multi-degree-of-freedom thumb.
[0055] The control method of this invention includes the following steps: Step S100: Based on the first driver and the second driver, control the bent finger to rotate circumferentially; Step S200: Control the bending of the bent finger.
[0056] Specifically, the first driver drives the first gear, and the second driver drives the third gear, causing the second gear to rotate and thus causing the bent finger to rotate circumferentially. The third driver drives the first knuckle to rotate, the fourth driver drives the second knuckle to rotate, and the fifth driver drives the third knuckle to rotate, causing the bent finger to bend.
[0057] Control methods also include: Step S300: Based on the first driver and the second driver, control the bent finger and the differential to rotate together.
[0058] Specifically, the first drive drives the first gear, and the second drive drives the third gear, causing the bent finger and the differential to rotate together.
[0059] Step S100 specifically includes: Step S110: Control the first driver and the second driver to adopt a mode with opposite directions and equal torque, and the bent finger rotates circumferentially.
[0060] Specifically, when the driving directions of the first driver and the second driver are opposite and the driving torques of the first driver and the second driver are the same, the rotation direction of the first gear and the rotation direction of the third gear are opposite, and the force applied by the first gear and the third gear to the second gear pushes the second gear to rotate in the same direction.
[0061] Step S300 specifically includes: Step S310: Control the first driver and the second driver to adopt the same direction and equal torque mode, and the bent finger and the differential rotate together.
[0062] Specifically, when the driving direction of the first drive and the driving direction of the second drive are the same and the driving torque of the first drive and the driving torque of the second drive are the same, the force applied by the first gear and the third gear to the second gear pushes the second gear to rotate in the opposite direction. Then the second gear is locked by the first gear and the third gear, and the differential and the bent finger rotate as a whole.
[0063] Control methods also include: Step S400: Based on the first driver and the second driver, control the bent finger to rotate circumferentially, and the bent finger and the differential rotate together.
[0064] Specifically, the first drive drives the first gear, and the second drive drives the third gear, so that the bent finger rotates circumferentially, and the bent finger can also rotate together with the differential.
[0065] Step S400 specifically includes: Step S410: Control the first driver and the second driver to adopt an unequal torque mode, the bent finger rotates circumferentially, and the bent finger and the differential rotate together.
[0066] Specifically, when the driving torque of the first drive and the driving torque of the second drive are different, the drive with the larger torque overcomes the drive with the smaller torque, driving the second gear to rotate (and the bent finger rotates circumferentially), and also driving the differential and the bent finger to rotate as a whole.
[0067] Based on the multi-degree-of-freedom thumb control method described in any of the above embodiments, the present invention also provides an embodiment of a computer device.
[0068] The computer device of the present invention includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the control method as described in any of the above embodiments.
[0069] Based on the multi-degree-of-freedom thumb control method described in any of the above embodiments, the present invention also provides an embodiment of a computer-readable storage medium.
[0070] The present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the control method as described in any of the above embodiments.
[0071] It should be understood that the application of the present invention is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.
Claims
1. A multi-degree-of-freedom thumb, characterized in that, include: Mounting base; Both the first driver and the second driver are disposed in the mounting base; Bend your fingers; The differential is connected to the first driver, the second driver, and the bent finger, respectively. The first driver and the second driver are located on both sides of the bent finger, respectively.
2. The multi-degree-of-freedom thumb according to claim 1, characterized in that, The differential includes: The first gear, the second gear, the third gear, and the fourth gear mesh in sequence; The fourth gear meshes with the first gear; The first gear is connected to the first driver; The second gear is connected to the bent finger; The third gear is connected to the second driver.
3. The multi-degree-of-freedom thumb according to claim 2, characterized in that, The bent finger portion includes: The connecting part is connected to the second gear; A third driver, the output shaft of which is connected to the connecting part; The first phalanx is connected to the third driver.
4. The multi-degree-of-freedom thumb according to claim 3, characterized in that, The bent finger portion includes: The fourth actuator is located on the first knuckle; The second knuckle is connected to the output shaft of the fourth driver; The fifth actuator is located on the second knuckle; The third phalanx is connected to the output shaft of the fifth driver.
5. A method for controlling a multi-degree-of-freedom thumb as described in any one of claims 1 to 4, characterized in that, Including the following steps: Based on the first and second drivers, the bent finger is controlled to rotate circumferentially; Control the bending of the bent finger.
6. The method for controlling a multi-degree-of-freedom thumb according to claim 5, characterized in that, The control method further includes: Based on the first driver and the second driver, the bent finger is controlled to rotate together with the differential.
7. The method for controlling a multi-degree-of-freedom thumb according to claim 6, characterized in that, The method of controlling the bent finger and the differential to rotate together based on the first driver and the second driver includes: The first driver and the second driver are controlled to operate in the same direction and with equal torque, and the bent finger rotates together with the differential.
8. The method for controlling a multi-degree-of-freedom thumb according to claim 5, characterized in that, The method of controlling the circumferential rotation of the bent finger based on the first and second drivers includes: The first and second drivers are controlled in opposite directions with equal torque, and the bent finger rotates circumferentially.
9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the control method according to any one of claims 5 to 8.
10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the control method according to any one of claims 5 to 8.