A dexterous hand system driven by motors

Abstract

A motor-driven dexterous hand system in the field of robotics comprises fingers, a palm, a wrist, a forearm, a driving motor, a speed reducer, a screw rod, a tendon, and a guide pipe. The fingers are arranged on the palm, the palm is connected with the forearm through the wrist, the driving motor is arranged in the forearm, and the speed reducer and the screw rod are arranged in the forearm. The input end of the speed reducer is connected with the output end of the driving motor, the output end of the speed reducer is connected with the input end of the screw rod, the output end of the screw rod is connected with one end of the tendon, the other end of the tendon is connected with the phalanges or metacarpal bones, and the guide pipe is nested outside the tendon. In the application, the motor drives the screw rod through the speed reducer, the screw rod converts the rotation of the motor shaft into the translation of the screw nut, thereby pulling the tendon to drive the fingers or the palm to move. The driving motor of the application is a brushless cogged motor, which has the advantages of high torque density, high impact resistance, low cost, etc.

Description

Technical Field

[0001] This invention relates to a dexterous hand system in the field of robotics, and in particular to a motor-driven dexterous hand system with a brushless cogging motor as the drive motor. Background Technology

[0002] A robot is an intelligent machine capable of semi-autonomous or fully autonomous operation, able to perform tasks such as work or movement through programming and automatic control. Robots possess fundamental characteristics such as perception, decision-making, and execution, and can assist or even replace humans in completing dangerous, heavy, and complex tasks, improving work efficiency and quality, serving human life, and expanding or extending the scope of human activities and capabilities. Humanoid robots represent the optimal solution for robots to adapt to human environments; they can quickly switch between different scenarios, possessing high versatility and flexibility, capable of performing various task types, and have broad application prospects. End effectors are directly mounted on the robot's wrist and are used to grip workpieces or to allow tools to complete tasks according to a prescribed program. Compared to ordinary industrial end effectors, humanoid dexterous hands have higher requirements for control precision and zero-accuracy. A robot dexterous hand is a high-degree-of-freedom mechanical device that simulates the functions of a human hand, possessing abilities such as grasping, manipulating, and sensing, and is the core actuator for humanoid robots to achieve fine interaction.

[0003] In existing technologies, robot dexterous hands are mainly driven by coreless motors. Coreless motors have advantages such as high energy efficiency, high speed, fast response, and stable operation. However, their output torque is relatively small, making them suitable only for applications with light loads. At the same time, their structure is relatively complex, resulting in higher manufacturing costs. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention proposes a motor-driven dexterous hand system. The drive motor is a brushless cogging motor, which has advantages such as high torque density, high impact resistance, and low cost.

[0005] The present invention is achieved through the following technical solution: The present invention includes fingers, palm, wrist, forearm, and drive motor. The fingers are arranged on the palm, the palm is connected to the forearm through the wrist, and the drive motor is arranged inside the forearm. The drive motor is a brushless toothed cogging motor, used to drive the fingers or palm to rotate along their joint axis.

[0006] Furthermore, the present invention also includes a reducer, a lead screw, a tendon cord, and a conduit; the reducer and the lead screw are both arranged inside the forearm; the input end of the reducer is connected to the output end of the drive motor, the output end of the reducer is connected to the input end of the lead screw, the output end of the lead screw is connected to one end of the tendon cord, and the other end of the tendon cord is connected to the finger bone or the metacarpal bone of the hand; the conduit is nested on the outside of the tendon cord.

[0007] Furthermore, the present invention also includes a lead screw, a tendon ligament, and a conduit; the lead screw is arranged inside the forearm; the input end of the lead screw is connected to the output end of the drive motor, the output end of the lead screw is connected to one end of the tendon ligament, the other end of the tendon ligament is connected to the phalanx of the finger or the metacarpal bone of the hand, and the conduit is nested on the outside of the tendon ligament. In this case, the drive motor is directly connected to the lead screw without going through a reducer.

[0008] Furthermore, the invention also includes a spring, which is nested on the outside of the conduit.

[0009] Furthermore, the present invention also includes a position sensor disposed at a joint in the fingers, palm, or wrist.

[0010] Furthermore, the invention also includes a force / torque sensor disposed on the finger.

[0011] Furthermore, in this invention, the force / torque sensor is a six-dimensional force / torque sensor.

[0012] Furthermore, in this invention, there are five fingers, and the tendon cord is made of tungsten steel wire rope or ultra-high molecular weight polyethylene rope.

[0013] Furthermore, the present invention also includes a tendon tension sensor disposed on the tendon chord for measuring the tension of the tendon chord in order to correct its control as the tendon chord ages.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention is reasonably designed, has a simple structure, and the drive motor is a brushless cogging motor, which has advantages such as high torque density, high impact resistance, and low cost. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall system structure according to an embodiment of the present invention; Figure 2 This is a cross-sectional view of a brushless cogging motor in an embodiment of the present invention; In the diagram, 1. Finger, 2. Palm, 3. Wrist, 4. Forearm, 5. Brushless cogging motor, 6. Reducer, 7. Lead screw, 8. Spring, 9. Conduit, 10. Cord, 501. Rotor, 502. Stator, 503. Stator teeth, 504. Coil. Detailed Implementation

[0016] To facilitate understanding of the present invention, the technical solutions described below are further illustrated with specific embodiments. These examples are for illustrative purposes only and are not limited to this scope. Example

[0017] like Figures 1 to 2As shown, the present invention includes fingers 1, palm 2, wrist 3, forearm 4, brushless toothed motor 5, reducer 6, lead screw 7, spring 8, conduit 9, and tendon cord 10. There are five fingers 1, all of which are arranged on the palm 2. The palm 2 is connected to the forearm 4 through the wrist 3. The brushless toothed motor 5, reducer 6, and lead screw 7 are all arranged inside the forearm 4. The input end of the reducer 6 is connected to the output end of the brushless toothed motor 5, and the output end of the reducer 6 is connected to the input end of the lead screw 7. The output end of the lead screw 7 is connected to one end of the tendon cord 10, and the other end of the tendon cord 10 is connected to the phalanx of the fingers 1. The rear end of the tendon cord 10 is arranged inside the forearm 4, the middle part is arranged in the wrist 3, and the front part is arranged in the fingers 1 and palm 2. The conduit 9 is nested on the outside of the tendon cord 10, and the spring 8 is nested on the outside of the conduit 9.

[0018] The brushless cogging motor 5 includes a rotor 501, a stator 502, stator teeth 503, and coils 504. The stator teeth 503 are evenly arranged in a matrix on the inner arm of the stator 502. The coils 504 are wound on the stator teeth 503. The rotor 501 is located at the center of the space enclosed by the stator 502.

[0019] In the implementation of this invention, position sensors can be arranged at various joints within the fingers 1, palm 2, and wrist 3, and a six-dimensional force / torque sensor can be arranged on the fingertip of the finger 1. The tendon ligament 10 is made of ultra-high molecular weight polyethylene rope. Depending on the degree of freedom requirements of the dexterous hand, multiple brushless toothed grooved motors 5 can be arranged within the forearm 4, and correspondingly, multiple tendon ligaments 10 can also be arranged. This invention also includes a tendon tension sensor, which is arranged on the tendon ligament to measure the tension of the tendon ligament, so that its control can be corrected after the tendon ligament ages.

[0020] In the implementation of this invention, the brushless toothed motor 5 drives the lead screw 7 through the reducer 6. The lead screw 7 converts the rotation of the motor shaft into the translational motion of the lead screw nut. The lead screw nut pulls the tendon ligament 10, the other end of which is connected to the phalanx of the finger 1, thereby pulling the finger 1 to rotate around its joint axis. To eliminate the influence of wrist 3 movement on the tendon ligament 10, as well as the influence between the individual tendon ligaments 10, a spring 8 is fitted over the tendon ligament 10. To reduce the friction between the tendon ligament 10 and the spring 8, a conduit 9 is fitted between them. This improves transmission efficiency and solves the wear problem caused by long-term friction between the tendon ligament 10 and the spring 8.

[0021] The above description is only a preferred embodiment of the present invention. Any equivalent changes and modifications made by those skilled in the art within the scope of the patent application of the present invention shall also fall within the scope covered by the appended claims.

Claims

1. A motor-driven dexterous hand system, comprising fingers, palm, wrist, and forearm, wherein the fingers are arranged on the palm, and the palm is connected to the forearm via the wrist, characterized in that... It also includes the drive motor; The drive motor is arranged inside the forearm; The drive motor is a brushless cogging motor used to drive the fingers or palm to rotate along their joint axis.

2. The motor-driven dexterous hand system according to claim 1, characterized in that... It also includes speed reducers, lead screws, tendon ligaments, and conduits; The reducer and lead screw are both arranged inside the forearm; The input end of the reducer is connected to the output end of the drive motor, the output end of the reducer is connected to the input end of the lead screw, the output end of the lead screw is connected to one end of the tendon rope, and the other end of the tendon rope is connected to the finger bone or the metacarpal bone of the hand. The catheter is nested on the outside of the tendon cord.

3. The motor-driven dexterous hand system according to claim 1, characterized in that... It also includes lead screws, tendon ligaments, and conduits; The lead screw is arranged inside the forearm; The input end of the lead screw is connected to the output end of the drive motor, the output end of the lead screw is connected to one end of the tendon rope, the other end of the tendon rope is connected to the finger bone or the metacarpal bone of the hand, and the conduit is nested on the outside of the tendon rope.

4. The motor-driven dexterous hand system according to claim 3 or 4, characterized in that... It also includes a spring, which is nested on the outside of the conduit.

5. The motor-driven dexterous hand system according to claim 4, characterized in that... It also includes position sensors located at joints inside the fingers, palms, and wrists.

6. The motor-driven dexterous hand system according to claim 5, characterized in that... It also includes a force / torque sensor, which is positioned on the finger.

7. The motor-driven dexterous hand system according to claim 6, characterized in that... The force / torque sensor is a six-dimensional force / torque sensor.

8. The motor-driven dexterous hand system according to claim 7, characterized in that... The fingers are five in number, and the tendons are made of tungsten steel wire rope or ultra-high molecular weight polyethylene rope.

9. The motor-driven dexterous hand system according to claim 8, characterized in that it further includes a tendon tension sensor, the tendon tension sensor being arranged on the tendon ligament.

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