Hand and control method thereof, robot

Abstract

The application discloses a hand palm and a control method thereof and a robot. The hand palm comprises at least one non-side-by-side finger and at least one side-by-side finger. The non-side-by-side finger comprises a double-drive differential structure and a first finger structure arranged on the double-drive differential structure. The side-by-side finger comprises a single-drive structure and a second finger structure arranged on the single-drive structure. The double-drive differential structure is configured to drive the first finger structure to rotate and / or swing. The single-drive structure is configured to drive the second finger structure to swing. The non-side-by-side finger adopts the double-drive differential structure, so that the non-side-by-side finger has a higher output torque. The side-by-side finger adopts the single-drive structure, so that the side-by-side finger has higher flexibility. Therefore, the function of the hand palm is close to that of a real hand palm, and the hand palm can perform more extensive tasks.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a hand, its control method, and a robot. Background Technology

[0002] The human hand has many different fingers, each with a different function and purpose. For example, the thumb is thicker and has greater strength. A robotic hand or mechanical hand mimics the human hand and performs corresponding tasks in place of a human.

[0003] In existing technologies, robots' hands do not have differentiated configurations for different fingers, resulting in a certain gap between the functions of a robot's hand and those of a real hand.

[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 hand and its control method, as well as a robot, in order to address the above-mentioned deficiencies of the prior art and solve the problem that the fingers of the hand of the robot in the prior art are not differentiated.

[0006] The technical solution adopted by this invention to solve the technical problem is as follows: A palm, comprising: at least one non-side-by-side finger and at least one side-by-side finger; The non-side-by-side fingers include: Dual-drive differential structure; The first finger structure is disposed in the dual-drive differential structure; The side-by-side fingers include: Single-drive structure; The second finger structure is disposed in the single drive structure; The dual-drive differential structure is configured to drive the first finger structure to rotate and / or swing. The single-drive structure is configured to drive the second finger structure to swing.

[0007] The hand described above, wherein the dual-drive differential structure includes: First drive unit, second drive unit, and differential structure; The first driving element, the second driving element, and the first finger structure are respectively connected to the three sides of the differential structure; The single-drive structure employs a third drive component, on which a third angle sensor is mounted. The third angle sensor is configured to detect the rotation angle of the output shaft of the third drive component. The differential structure is equipped with a first angle sensor and a second angle sensor. The first angle sensor is configured to detect the rotation angle of the output shaft of the first drive member, and the second angle sensor is configured to detect the rotation angle of the output shaft of the second drive member.

[0008] The palm described above, wherein the differential structure includes: The first bevel tooth, the second bevel tooth, and the third bevel tooth mesh in sequence; The first bevel tooth is connected to the output shaft of the first drive component; The second bevel tooth is connected to the first finger structure; The third bevel tooth is connected to the second drive component.

[0009] The palm described above, wherein the differential structure further includes: The fourth bevel tooth meshes with the first bevel tooth and the third bevel tooth, respectively.

[0010] The palm described herein, wherein both the first finger structure and the second finger structure include: Base; At least one phalanx; At least one fourth drive unit; The fourth driving element is configured to drive the corresponding knuckle to rotate.

[0011] The palm mentioned herein, wherein tactile sensors are provided on the knuckles.

[0012] The hand, wherein the fourth driving member is provided with a fourth angle sensor, the fourth angle sensor being configured to detect the rotation angle of the output shaft of the fourth driving member.

[0013] A robot, wherein it comprises: a hand as described in any of the above.

[0014] A method for controlling the palm of a hand as described in any of the above claims, comprising the steps of: Acquire the first angle collected by the first angle sensor, the second angle collected by the second angle sensor, and the third angle collected by the third angle sensor; Based on the first angle and the second angle, the dual-drive differential structure is controlled to drive the first finger structure to rotate and / or swing. Based on the third angle, the single-drive structure is controlled to drive the second finger structure to swing.

[0015] The hand control method further includes: Obtain the fourth angle acquired by the fourth angle sensor; Based on the fourth angle, the fourth driving element is controlled to drive the knuckle to rotate.

[0016] Beneficial effects: The non-parallel fingers, employing a dual-drive differential structure, possess higher output torque. The parallel fingers, using a single-drive structure, exhibit greater dexterity. Therefore, the hand's function closely resembles that of a real hand, enabling a wider range of tasks to be performed. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of non-side-by-side fingers in an embodiment of the present invention.

[0018] Figure 2 This is an exploded view of the non-side-by-side fingers in an embodiment of the present invention.

[0019] Figure 3 This is a schematic diagram of the differential structure in an embodiment of the present invention.

[0020] Figure 4 This is an exploded view of the differential structure in an embodiment of the present invention.

[0021] Figure 5 This is a cross-sectional view of the differential structure in an embodiment of the present invention.

[0022] Figure 6 This is a schematic diagram of the structure of the first bevel tooth, the second bevel tooth, the third bevel tooth and the fourth bevel tooth in an embodiment of the present invention.

[0023] Figure 7 This is a first cross-sectional view of the non-side-by-side fingers in an embodiment of the present invention.

[0024] Figure 8 This is a second cross-sectional view of the non-side-by-side fingers in an embodiment of the present invention.

[0025] Figure 9 yes Figure 8 Enlarged view of point A in the middle.

[0026] Figure 10 This is a schematic diagram of the structure of fingers arranged side by side in an embodiment of the present invention.

[0027] Figure 11 This is an exploded view of the fingers side by side in an embodiment of the present invention.

[0028] Figure 12 This is a first cross-sectional view of the fingers arranged side by side in an embodiment of the present invention.

[0029] Figure 13 This is a second cross-sectional view of the fingers arranged side by side in an embodiment of the present invention.

[0030] Explanation of reference numerals in the attached figures: 10. Non-parallel fingers; 11. Dual-drive differential structure; 111. First drive component; 112. Second drive component; 113. Differential structure; 1131. First bevel tooth; 1132. Second bevel tooth; 1133. Third bevel tooth; 1134. Fourth bevel tooth; 1135. Housing; 11351. Inner shell; 11352. Outer shell; 1136. First bearing; 1137. Cross; 1138. Second bearing; 11301. Shaft; 11302. Tooth; 114. First angle sensor; 1141. First Hall element; 1142. First magnet; 115. Second angle sensor; 1151. Second Hall element; 1152. Second magnet; 12. First finger structure; 20. Fingers side by side; 21. Single-drive structure; 22. Second finger structure; 31. Base; 32. Knuckle; 33. Fourth actuator; 34. Tactile sensor; 341. Circuit board; 342. Flexible layer; 35. Fourth angle sensor; 351. Third Hall element; 352. Third magnet. Detailed Implementation

[0031] 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.

[0032] Please also refer to Figures 1-13 This invention provides some embodiments of a hand.

[0033] like Figure 1 and Figure 10 As shown, the palm of the present invention includes: at least one non-parallel finger 10 and at least one parallel finger 20; the non-parallel finger 10 includes: Dual-drive differential structure 11; The first finger structure 12 is disposed on the dual-drive differential structure 11; The side-by-side fingers 20 include: Single-drive structure 21; The second finger structure 22 is disposed on the single drive structure 21; The dual-drive differential structure 11 is configured to drive the first finger structure 12 to rotate and / or swing; the single-drive structure 21 is configured to drive the second finger structure 22 to swing.

[0034] Specifically, the hand has two types of fingers: non-parallel fingers 10, which are independent fingers and do not align with other fingers; and parallel fingers 20, which align with each other. For example, in a real hand, the thumb is a non-parallel finger 10, and the index, middle, ring, and little fingers are parallel fingers 20. The hand in this application has at least one non-parallel finger 10 and at least one parallel finger 20. The non-parallel finger 10 employs a dual-drive differential structure 11, thus exhibiting higher output torque. The parallel finger 20 employs a single-drive structure 21, thus exhibiting higher dexterity. Therefore, the function of the hand is close to that of a real hand, allowing for a wider range of tasks to be performed.

[0035] The dual-drive differential structure 11 has two driving components, enabling it to output higher torque. The dual-drive differential structure 11 can drive the first finger structure 12 to rotate circumferentially or to swing. The single-drive structure 21 can drive the second finger structure 22 to swing. The structures of the parallel fingers 20 and the non-parallel fingers 10 are different, and they can cooperate to perform corresponding tasks. The first finger structure 12 can bend and extend, and the second finger structure 22 can bend and extend. The bending direction of the second finger structure 22 of multiple parallel fingers 20 is the same, while the swing direction of the second finger structure 22 is different from its bending direction.

[0036] In a preferred implementation of this invention, such as Figure 2 and Figure 5 As shown, the dual-drive differential structure 11 includes: First drive component 111, second drive component 112 and differential structure 113; The first drive member 111, the second drive member 112, and the first finger structure 12 are respectively connected to the three sides of the differential structure 113; the single drive structure 21 adopts a third drive member, and a third angle sensor is provided on the third drive member, which is configured to detect the rotation angle of the output shaft of the third drive member; a first angle sensor 114 is provided on the differential structure 113, which is configured to detect the rotation angle of the output shaft of the first drive member 111.

[0037] Specifically, the driving force output by the first driving member 111 and the second driving member 112 is transmitted to the first finger structure 12 through the differential structure 113, causing the first finger structure 12 to rotate or oscillate. The driving force output by the third driving member is directly transmitted to the second finger structure 22. A first angle sensor 114 is provided on the differential structure 113 to detect the rotation angle of the output shaft of the first driving member 111. A third angle sensor is provided on the third driving member to detect the rotation angle of the output shaft of the third driving member. Both the first driving member 111 and the second driving member 112 are mounted on a mounting base.

[0038] When controlling the first finger structure 12 and the second finger structure 22, the rotation angle of the output shaft of the first drive member 111 is determined by the first angle collected by the first angle sensor 114, which in turn determines the rotation angle of the first finger structure 12. The rotation angle of the output shaft of the third drive member is determined by the third angle collected by the third angle sensor, which in turn determines the swing angle of the second finger structure 22. The rotation angle of the finger structure can be detected by the angle sensors to perform the corresponding task.

[0039] In a preferred implementation of this invention, such as Figure 5 As shown, a second angle sensor 115 is provided on the differential structure 113; the second angle sensor 115 is configured to detect the rotation angle of the output shaft of the second drive member 112.

[0040] Specifically, the second sensor detects the rotation angle of the output shaft of the second drive unit 112.

[0041] In a preferred implementation of this invention, such as Figures 4-6 As shown, the differential structure 113 includes: The first bevel tooth 1131, the second bevel tooth 1132 and the third bevel tooth 1133 mesh sequentially; The first bevel tooth 1131 is connected to the output shaft of the first drive member 111; the second bevel tooth 1132 is connected to the first finger structure 12; and the third bevel tooth 1133 is connected to the second drive member 112.

[0042] Specifically, the differential structure 113 is used to rotate or oscillate the first finger structure 12. The first drive member 111 drives the first bevel tooth 1131 to rotate, and the second drive member 112 drives the third bevel tooth 1133 to rotate. The first drive member 111 and the second drive member 112 can be controlled independently. The first drive member 111 and the second drive member 112 can rotate in opposite directions with the same torque (i.e., reverse equal torque mode), in which case the first finger structure 12 and the second bevel tooth 1132 rotate in a certain direction. The first drive member 111 and the second drive member 112 can rotate in the same direction with the same torque (i.e., in the same direction equal torque mode), and the second bevel tooth 1132 is locked by the first bevel tooth 1131 and the third bevel tooth 1133, in which case the first finger structure 12 and the differential structure 113 rotate (oscillate) as a whole. The first driving member 111 and the second driving member 112 can have different torques (i.e. unequal torque mode), the first finger structure 12 and the second bevel tooth 1132 rotate in a certain direction, and the first finger structure 12 and the differential structure 113 also rotate (oscillate) as a whole.

[0043] The differential structure 113 also includes a housing 1135, and each bevel gear is rotatably connected to the housing 1135. For example, the bevel gear can be rotatably connected to the housing 1135 via a first bearing 1136. The bevel gear includes a shaft portion 11301 and a tooth portion 11302, with the inner ring of the first bearing 1136 fixed to the shaft portion 11301 and the outer ring of the first bearing 1136 fixed to the housing 1135.

[0044] In a preferred implementation of this invention, such as Figures 4-6 As shown, the differential structure 113 further includes: The fourth bevel tooth 1134 meshes with the first bevel tooth 1131 and the third bevel tooth 1133, respectively.

[0045] Specifically, the fourth bevel tooth 1134 assists the first bevel tooth 1131 and the third bevel tooth 1133 in rotation, improving the rotational stability of the first bevel tooth 1131 and the third bevel tooth 1133. The rotation direction of the fourth bevel tooth 1134 is opposite to that of the second bevel tooth 1132. The fourth bevel tooth 1134 is rotatably connected to the housing 1135 through the first bearing 1136.

[0046] In a preferred implementation of this invention, such as Figures 5-6 As shown, the differential structure 113 further includes: Cross 1137; The first bevel tooth 1131, the second bevel tooth 1132, the third bevel tooth 1133 and the fourth bevel tooth 1134 are rotatably connected to the corresponding ends of the cross 1137.

[0047] Specifically, to improve the rotational stability of the bevel teeth, a cross 1137 or a ⊥-shaped frame is configured. The cross 1137 has four ends, and the ⊥-shaped frame has three ends. The first bevel tooth 1131, the second bevel tooth 1132, and the third bevel tooth 1133 can be rotatably connected to their respective ends, and the fourth bevel tooth 1134 can also be rotatably connected to its corresponding end. For example, a second bearing 1138 is configured on the end to achieve the rotatable connection between the bevel tooth and the end. The inner ring of the second bearing 1138 is connected to the end, and the outer ring of the second bearing 1138 is connected to the tooth portion 11302.

[0048] In a preferred implementation of this invention, such as Figures 3-5 As shown, the housing 1135 includes: Inner shell 11351 and outer shell 11352; The inner shell 11351 is wrapped around the first bevel tooth 1131, the second bevel tooth 1132, the third bevel tooth 1133 and the fourth bevel tooth 1134; the outer shell 11352 is wrapped around the inner shell 11351.

[0049] Specifically, the housing 1135 has an inner shell 11351 and an outer shell 11352. Each bevel tooth and cross 1137 is located inside the inner shell 11351. The outer shell 11352 surrounds the inner shell 11351. The outer shell 11352 protects the inner shell 11351 and the components within it. The outer ring of the first bearing 1136 of the shaft 11301 is connected to the inner shell 11351. The first angle sensor 114 includes a first Hall element 1141 and a first magnet 1142. The first Hall element 1141 is mounted outside the inner shell 11351, and the first magnet 1142 is mounted on the shaft 11301. When the first bevel tooth 1131 and the third bevel tooth 1133 rotate, the first magnet 1142 rotates accordingly, and is thus sensed by the first Hall element 1141, obtaining the rotation angle of the first bevel tooth 1131 or the third bevel tooth 1133. The second angle sensor 115 includes a second Hall element 1151 and a second magnet 1152. The second Hall element 1151 can be mounted outside the inner shell 11351 or on a mounting base, and the second magnet 1152 is mounted on the shaft portion 11301. When the second Hall element 1151 is mounted outside the inner shell 11351, since the first bevel tooth 1131 and the third bevel tooth 1133 are in a linked state, their rotation angles relative to the housing 1135 are basically the same, so the angles collected by the first angle sensor 114 and the second angle sensor 115 are basically the same. If the second Hall element 1151 is mounted on the mounting base, the second angle sensor 115 collects the rotation angle of the third bevel tooth 1133 relative to the mounting base (that is, reflecting the swing angle of the first finger structure 12), and the first angle sensor 114 collects the rotation angle of the first bevel tooth 1131 relative to the housing 1135 (that is, reflecting the rotation angle of the first finger structure 12).

[0050] In a preferred implementation of this invention, such as Figure 2 , Figure 7 , Figure 8 , Figure 11 , Figure 12 and Figure 13 As shown, both the first finger structure 12 and the second finger structure 22 include: Base 31; At least one phalanx 32; At least one fourth drive unit 33; The fourth driving element 33 is configured to drive the corresponding knuckle 32 to rotate.

[0051] Specifically, a fourth drive member 33 can be configured for each phalanx 32, driving the corresponding phalanx 32 to rotate. The fourth drive member 33 corresponding to a phalanx 32 can be located on that phalanx 32 or on an adjacent phalanx 32. The number of phalanxes 32 can be configured as needed; for example, three phalanxes 32 can be configured with three fourth drive members 33. In terms of shape, the first finger structure 12 can be shaped like a thumb, and the second finger structure 22 can be shaped like an index finger, middle finger, ring finger, or little finger. Structurally, the first finger structure 12 and the second finger structure 22 can adopt the same structure. The phalanx 32 closest to the base 31 is the first phalanx, and the second and third phalanxes are named sequentially. The fourth drive member 33 closest to the base 31 is the first fourth drive member, and the second and third fourth drive members are named sequentially. The first fourth drive member is located on the first phalanx, and the output shaft of the first fourth drive member is connected to the base 31. The second fourth drive unit is located on the first joint, and its output shaft is connected to the second joint. The third fourth drive unit is located on the second joint, and its output shaft is connected to the third joint.

[0052] In a preferred implementation of this invention, such as Figure 2 and Figure 11 As shown, a tactile sensor 34 is provided on the knuckle 32.

[0053] Specifically, each phalanx 32 is equipped with a tactile sensor 34 to detect the pressure of the object being contacted. The tactile sensor 34 on the first phalanx 32 extends to the fingertip and side of the finger, the tactile sensor 34 on the second phalanx 32 extends to the fingertip and side of the finger, and the tactile sensor 34 on the third phalanx 32 extends to the fingertip, side of the finger, and back of the finger. The tactile sensor 34 includes a circuit board 341 and a flexible layer 342. The circuit board 341 is disposed on the phalanx 32, and the flexible layer 342 covers the circuit board 341.

[0054] In a preferred implementation of this invention, such as Figure 8 , Figure 9 and Figure 13 As shown, a fourth angle sensor 35 is provided on the fourth driving member 33, and the fourth angle sensor 35 is configured to detect the rotation angle of the output shaft of the fourth driving member 33.

[0055] Specifically, a fourth angle sensor 35 is provided on the fourth drive member 33 to detect the rotation angle of the output shaft of the fourth drive member 33, which is also the rotation angle of the corresponding phalanx 32. The third angle sensor or the fourth angle sensor 35 includes a third Hall element 351 and a third magnet 352. The third Hall element 351 is disposed on the drive member, and the third magnet 352 is located on the adjacent phalanx 32 or the base 31.

[0056] Based on the palm described in any of the above embodiments, the present invention also provides a preferred embodiment of a palm control method.

[0057] The control method of this invention includes the following steps: Step S100: Obtain the first angle collected by the first angle sensor, the second angle collected by the second angle sensor, and the third angle collected by the third angle sensor; Step S200: Based on the first angle and the second angle, control the dual-drive differential structure to drive the first finger structure to rotate and / or swing; Step S300: Based on the third angle, control the single-drive structure to drive the second finger structure to swing.

[0058] Specifically, when controlling the hand to perform tasks, especially fine motor tasks, a high degree of accuracy in the angle of finger rotation or movement is required. Therefore, it is necessary to collect angles using angle sensors and control or adjust the finger's drive structure based on these angles to ensure high accuracy in finger angles, thereby enabling better performance of the corresponding tasks.

[0059] The first angle sensor collects the first angle, which is the rotation angle of the output shaft of the first drive component. The second angle sensor collects the second angle, which is the rotation angle of the output shaft of the second drive component. If both the first and second angle sensors are mounted on the housing, since the first and third bevel teeth are in a linked state, their rotation angles relative to the housing are basically the same, and the first and second angles are also basically the same. If the first angle sensor is mounted on the housing and the second angle sensor is mounted on the mounting base, the rotation angles of the first bevel teeth relative to the housing and the third bevel teeth relative to the mounting base are different. The rotation angle of the first bevel teeth relative to the housing reflects the rotation angle of the first finger structure, and the rotation angle of the third bevel teeth relative to the mounting base reflects the swing angle of the first finger structure.

[0060] Control methods also include: Step S400: Obtain the fourth angle collected by the fourth angle sensor; Step S500: Based on the fourth angle, control the fourth driving component to drive the knuckle to rotate.

[0061] Specifically, each knuckle corresponds to a fourth driving component and a fourth angle sensor. The fourth angle is collected by the fourth angle sensor and the corresponding knuckle is driven to rotate by the corresponding fourth driving component.

[0062] 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 palm, characterized in that, include: At least one non-side-by-side finger and at least one side-by-side finger; The non-side-by-side fingers include: Dual-drive differential structure; The first finger structure is disposed in the dual-drive differential structure; The side-by-side fingers include: Single-drive structure; The second finger structure is disposed in the single drive structure; The dual-drive differential structure is configured to drive the first finger structure to rotate and / or swing. The single-drive structure is configured to drive the second finger structure to swing. The dual-drive differential structure includes: First drive unit, second drive unit, and differential structure; The first driving element, the second driving element, and the first finger structure are respectively connected to the three sides of the differential structure; The differential structure includes: The first bevel tooth, the second bevel tooth, and the third bevel tooth mesh in sequence; The first bevel tooth is connected to the output shaft of the first drive component; The second bevel tooth is connected to the first finger structure; The third bevel tooth is connected to the second driving component; The differential structure also includes: chassis; The fourth bevel tooth meshes with the first bevel tooth and the third bevel tooth, respectively; cross; The first bevel tooth, the second bevel tooth, the third bevel tooth, and the fourth bevel tooth are rotatably connected to the corresponding ends of the cross. The housing includes: Inner shell and outer shell; The inner shell is wrapped around the first conical tooth, the second conical tooth, the third conical tooth, and the fourth conical tooth; the outer shell is wrapped around the inner shell. The shaft portions of the first bevel tooth, the second bevel tooth, the third bevel tooth, and the fourth bevel tooth are rotatably connected to the inner shell via a first bearing. There are two inner shells, which are arranged one above the other. There are two outer shells, which are arranged one in front of the other.

2. The palm according to claim 1, characterized in that, The single-drive structure employs a third drive component, on which a third angle sensor is mounted. The third angle sensor is configured to detect the rotation angle of the output shaft of the third drive component. The differential structure is equipped with a first angle sensor and a second angle sensor. The first angle sensor is configured to detect the rotation angle of the output shaft of the first drive member, and the second angle sensor is configured to detect the rotation angle of the output shaft of the second drive member.

3. The palm according to claim 2, characterized in that, Both the first finger structure and the second finger structure include: Base; At least one phalanx; At least one fourth drive unit; The fourth driving element is configured to drive the corresponding knuckle to rotate.

4. The palm according to claim 3, characterized in that, The knuckles are equipped with tactile sensors.

5. The palm according to claim 3, characterized in that, The fourth drive unit is provided with a fourth angle sensor, which is configured to detect the rotation angle of the output shaft of the fourth drive unit.

6. A robot, characterized in that, It includes: The palm as described in any one of claims 1 to 5.

7. A method for controlling the palm of a hand as described in any one of claims 2 to 5, characterized in that, Including the following steps: Acquire the first angle collected by the first angle sensor, the second angle collected by the second angle sensor, and the third angle collected by the third angle sensor; Based on the first angle and the second angle, the dual-drive differential structure is controlled to drive the first finger structure to rotate and / or swing. Based on the third angle, the single-drive structure is controlled to drive the second finger structure to swing.

8. The hand control method according to claim 7, characterized in that, The control method further includes: Obtain the fourth angle acquired by the fourth angle sensor; Based on the fourth angle, the fourth driving element is controlled to drive the knuckle to rotate.

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