Human-simulated five-finger dexterous hand with modularized fingers

Abstract

The utility model belongs to the technical field of robots, and discloses a humanoid five-finger dexterous hand with modularized fingers, which comprises continuous fingers, a side-sway mechanism and a bending driving mechanism, the five continuous fingers are hinged with the side-sway mechanism, and each finger comprises a front end, a nickel-titanium alloy rod, a constraint disc, a finger tip base, a driving steel wire and a finger base. The front end of the finger base is rotationally connected with the base, the base is fixed to the nickel-titanium alloy rod, the rod penetrates through the restraining disc, a limiting hole is formed in the disc, the driving steel wire penetrates through the restraining hole, the nickel-titanium alloy rod is connected with the finger base and the finger tip base, and the finger base is rotationally connected with the side swing mechanism. By means of the modular design, the flexibility of the finger is higher, the finger can better adapt to objects in irregular shapes, the grabbing flexibility and adaptability are improved, the manufacturing process is simplified through the modular design, the finger design complexity and manufacturing cost are reduced, in addition, the finger is easier and more convenient to maintain through the modular design, and the flexibility and adaptability of grabbing are improved. And the maintenance cost and the maintenance difficulty are reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and in particular relates to a humanoid five-fingered dexterous hand with modular fingers. Background Art

[0002] With the rapid development of robotics technology, the humanoid five-finger dexterous hand, as a key component of robot grasping operation, has received widespread attention. However, the finger design of existing robot dexterous hands usually adopts traditional mechanical structures, including components such as gears, connecting rods and motors, to achieve the movement and grasping functions of the fingers. These finger designs usually require complex preparation processes, including precision machining and assembly, as well as precise installation and debugging of motors and sensors. In addition, the problems and disadvantages of traditional finger designs include: complex structure, high manufacturing cost, difficult maintenance, low movement accuracy, uneven grasping force, etc. Utility Model Content

[0003] The utility model aims to provide a humanoid five-fingered dexterous hand with modular fingers to solve the problems raised in the above background technology.

[0004] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a humanoid five-finger dexterous hand with modular fingers, comprising continuous fingers, a finger side swing mechanism and a finger bending drive mechanism;

[0005] The five continuous fingers are hinged on the finger side swing mechanism, and the continuous finger includes a front end of the fingertip, a nickel-titanium alloy rod, a flexible constraint disk, a fingertip base, a driving wire and a finger base. The front end of the fingertip is rotatably connected to the fingertip base, the fingertip base is fixedly connected to the nickel-titanium alloy rod, and the nickel-titanium alloy rod passes through the flexible constraint disk. Each of the flexible constraint disks is provided with a limiting hole, one end of the driving wire passes through the constraint hole on the flexible constraint disk, the nickel-titanium alloy rod is fixedly connected between the finger base and the fingertip base, and the finger base is rotatably connected to the finger side swing mechanism.

[0006] Preferably, a detachable finger tip mechanism is installed on the front end of the finger tip, and the detachable finger tip mechanism is used to detect the pressure applied to the front end of the finger tip.

[0007] Preferably, the detachable fingertip mechanism includes a pressure sensor and a fingertip pad, the pressure sensor is installed on the front end of the fingertip, the fingertip pad is rotatably connected to the fingertip base through a pin, and the fingertip pad is in contact with the pressure sensor.

[0008] Preferably, the finger side-swing mechanism includes a finger frame, a servo, a dexterous hand housing and a connecting rod, the continuous fingers in the little finger, index finger and ring finger area are rotatably connected by a connecting rod, and the connecting rod at the middle position is fixedly connected to the servo, and the finger base is connected to the dexterous hand housing.

[0009] Preferably, the finger bending drive mechanism includes a wire trough, a motor and a winding disk, the motor is fixedly connected to the finger frame, the output end of the motor is fixedly connected to the winding disk, one end of the driving wire is fixed on the winding disk, and the other end passes through the wire trough and the flexible constraint disk in sequence and then is fixed on the finger tip base.

[0010] Preferably, the finger bending drive mechanism further comprises a potentiometer, one end of the winding reel is connected to the potentiometer, the potentiometer is installed inside the finger base, and the potentiometer is used to detect the angle signal and feed it back to the motor

[0011] Compared with the prior art, the beneficial effects of the utility model are:

[0012] (1) The utility model adopts modular design, so that the finger has higher dexterity and can better adapt to irregularly shaped objects, thereby improving the flexibility and adaptability of grasping. The modular design simplifies the preparation process, reduces the complexity of finger design and manufacturing cost, and makes the maintenance of the finger easier, thereby reducing the maintenance cost and difficulty of repair.

[0013] (2) On the basis of the above beneficial effects, when the utility model drives the continuous finger to bend through the finger bending drive mechanism, the servo and the connecting rod cooperate to make the driving wire synchronously drive the connecting rod completely, so that the device is easy to grasp objects, and the operation of grasping objects can be realized without complex transmission, thereby improving the efficiency of the device in grasping objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a front view of the utility model;

[0015] Figure 2 It is a side view of the continuous finger of the utility model when it is connected to the finger frame;

[0016] Figure 3 It is a structural schematic diagram of the front end of the finger tip of the utility model;

[0017] Figure 4 It is a three-dimensional diagram of the present invention when the fingertip base and the front end of the fingertip are separated;

[0018] Figure 5 This is one of the internal structure diagrams of the finger side swing mechanism of the utility model;

[0019] Figure 6This is the second internal structure diagram of the finger side swing mechanism of the utility model;

[0020] Figure 7 This is a schematic diagram of the structure of the finger bending drive mechanism of the utility model;

[0021] In the figure: 1. Continuous finger; 11. Front end of fingertip; 12. NiTi alloy rod; 13. Bendable constraint disk; 14. Fingertip base; 15. Driving wire; 16. Finger base; 2. Removable fingertip mechanism; 21. Pressure sensor; 22. Fingertip pad; 3. Finger side swing mechanism; 31. Finger frame; 32. Servo; 33. Dexterous hand housing; 34. Connecting rod; 4. Finger bending drive mechanism; 41. Wire trough; 42. Motor; 43. Winding reel; 44. Potentiometer. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0023] See also Figure 1-Figure 7 As shown, the utility model provides the following technical solutions:

[0024] A humanoid five-finger dexterous hand with modular fingers, comprising a continuous finger 1, a finger side swing mechanism 3 and a finger bending drive mechanism 4;

[0025] Five continuous fingers 1 are hinged on the finger side swing mechanism 3, and the continuous finger 1 includes a finger tip front end 11, a nickel-titanium alloy rod 12, a flexible constraint disk 13, a finger tip base 14, a driving wire 15 and a finger base 16. The finger tip front end 11 is rotatably connected to the finger tip base 14, the finger tip base 14 is fixedly connected to the nickel-titanium alloy rod 12, and the nickel-titanium alloy rod 12 passes through the flexible constraint disk 13. Each flexible constraint disk 13 is provided with a limiting hole. One end of the driving wire 15 passes through the constraint hole on the flexible constraint disk 13. The nickel-titanium alloy rod 12 is fixedly connected between the finger base 16 and the finger tip base 14, and the finger base 16 is rotatably connected to the finger side swing mechanism 3.

[0026] Through the above technical solution, when the device is working, the finger side swing mechanism 3 works, and then the finger side swing mechanism 3 drives the steel wire 15 to contract or extend. When the driving steel wire 15 contracts, the nickel-titanium alloy rod 12 is supported by the finger base 16, and the front end 11 of the fingertip is supported by the nickel-titanium alloy rod 12. The front end 11 of the fingertip is pulled by the driving steel wire 15, and cooperated with the flexible constraint disk 13, so that the continuous finger 1 generates bending movement.

[0027] Specifically, in one embodiment, regarding the finger tip front end 11:

[0028] like Figure 1-Figure 4 As shown, a detachable finger tip mechanism 2 is installed on the front end 11 of the finger tip, and the detachable finger tip mechanism 2 is used to detect the pressure applied to the front end 11 of the finger tip.

[0029] In this embodiment, when the continuous finger 1 is working, the pressure on the front end 11 of the finger tip is detected by the detachable finger tip mechanism 2, so that the device can easily know the pressure when the device grasps the object.

[0030] In addition, in the utility model, regarding the above-mentioned detachable fingertip mechanism 2, the detachable fingertip mechanism 2 includes a pressure sensor 21 and a fingertip pad 22, the pressure sensor 21 is installed on the front end 11 of the fingertip, the fingertip pad 22 is rotatably connected to the fingertip base 14 through a pin shaft, and the fingertip pad 22 is in contact with the pressure sensor 21.

[0031] In this embodiment, when the detachable fingertip mechanism 2 is working, the fingertip 22 contacts the object, and then the fingertip 22 squeezes the pressure sensor 21, and the pressure sensor 21 detects the pressure of the device grasping the object.

[0032] Specifically, in one embodiment, regarding the finger side swing mechanism 3:

[0033] like Figure 1-Figure 3 and Figure 5-Figure 6 As shown, the finger side swing mechanism 3 includes a finger frame 31, a servo 32, a dexterous hand housing 33 and a connecting rod 34. The continuous fingers 1 in the little finger, index finger and ring finger area are rotatably connected by the connecting rod 34, and the connecting rod 34 at the middle position is fixedly connected to the servo 32, and the finger base 16 is connected to the dexterous hand housing 33.

[0034] In this embodiment, the finger base 16 is supported by the dexterous hand housing 33. When the continuous finger 1 needs to be driven to bend, the finger bending drive mechanism 4 works, and the servo 32 and the connecting rod 34 cooperate to bend the continuous finger 1 in the little finger, index finger and ring finger area, thereby achieving the purpose of grasping objects.

[0035] In addition, in the present invention, regarding the finger bending drive mechanism 4:

[0036] like Figure 1-Figure 2 and Figure 5-Figure 7 As shown, the finger bending drive mechanism 4 includes a wire groove 41, a motor 42 and a winding drum 43. The motor 42 is fixedly connected to the finger frame 31, and the output end of the motor 42 is fixedly connected to the winding drum 43. One end of the driving wire 15 is fixed on the winding drum 43, and the other end passes through the wire groove 41 and the bendable constraint disk 13 in sequence and then is fixed on the finger tip base 14.

[0037] In this embodiment, the motor 42 works to drive the winding drum 43 to rotate, and the winding drum 43 winds up the driving wire 15, so that the driving wire 15 pulls the fingertip base 14, thereby causing the continuous finger 1 to generate a bending movement.

[0038] like Figure 7 As shown, the technical solution of the finger bending drive mechanism 4 is further refined. The finger bending drive mechanism 4 also includes a potentiometer 44. One end of the winding reel 43 is connected to the potentiometer 44. The potentiometer 44 is installed inside the finger base 16. The potentiometer 44 is used to detect the angle signal and feed it back to the motor 42.

[0039] In this embodiment, when the continuous finger 1 generates a bending motion, the angle signal is detected by the potentiometer 44 and fed back to the motor 42 to form a closed-loop control.

[0040] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A humanoid five-fingered dexterous hand with modular fingers, characterized in that: It comprises a continuous finger (1), a finger side swing mechanism (3) and a finger bending drive mechanism (4); The five continuous fingers (1) are hinged on the finger side swing mechanism (3), and the continuous finger (1) comprises a finger tip front end (11), a nickel-titanium alloy rod (12), a bendable constraint disk (13), a finger tip base (14), a driving wire (15) and a finger base (16). The finger tip front end (11) is rotatably connected to the finger tip base (14), the finger tip base (14) is fixedly connected to the nickel-titanium alloy rod (12), and the nickel-titanium alloy rod (12) passes through the bendable constraint disk (13). Each of the bendable constraint disks (13) is provided with a limiting hole. One end of the driving wire (15) passes through the constraint hole on the bendable constraint disk (13). The nickel-titanium alloy rod (12) is fixedly connected between the finger base (16) and the finger tip base (14), and the finger base (16) is rotatably connected to the finger side swing mechanism (3).

2. The humanoid five-fingered dexterous hand with modular fingers according to claim 1, characterized in that: A detachable finger tip mechanism (2) is installed on the front end (11) of the finger tip, and the detachable finger tip mechanism (2) is used to detect the pressure exerted on the front end (11) of the finger tip.

3. The humanoid five-fingered dexterous hand with modular fingers according to claim 2, characterized in that: The detachable fingertip mechanism (2) comprises a pressure sensor (21) and a fingertip pad (22), wherein the pressure sensor (21) is mounted on the front end (11) of the fingertip, and the fingertip pad (22) is rotatably connected to the fingertip base (14) via a pin shaft, and the fingertip pad (22) fits the pressure sensor (21).

4. The humanoid five-fingered dexterous hand with modular fingers according to claim 3, characterized in that: The finger side swing mechanism (3) comprises a finger frame (31), a steering gear (32), a dexterous hand housing (33) and a connecting rod (34); the continuous fingers (1) in the little finger, index finger and ring finger regions are rotatably connected via the connecting rod (34); the connecting rod (34) at the middle position is fixedly connected to the steering gear (32); and the finger base (16) is connected to the dexterous hand housing (33).

5. The humanoid five-fingered dexterous hand with modular fingers according to claim 4, characterized in that: The finger bending drive mechanism (4) comprises a wire groove (41), a motor (42) and a winding disk (43); the motor (42) is fixedly connected to the finger frame (31); the output end of the motor (42) is fixedly connected to the winding disk (43); one end of the driving steel wire (15) is fixed to the winding disk (43); the other end passes through the wire groove (41) and the bendable constraint disk (13) in sequence and is then fixed to the finger tip base (14).

6. The humanoid five-fingered dexterous hand with modular fingers according to claim 5, characterized in that: The finger bending drive mechanism (4) further comprises a potentiometer (44), one end of the winding reel (43) is connected to the potentiometer (44), the potentiometer (44) is installed inside the finger base (16), and the potentiometer (44) is used to detect an angle signal and feed it back to the motor (42).

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