Dexterous hand tendon rope routing device, finger structure and robot

Abstract

The utility model provides a dexterous hand tendon rope routing device, a finger structure and a robot, the dexterous hand tendon rope routing device comprises: a rotating shaft 1 located on a base, the base being fixed on a rotating axis of a third knuckle, the third knuckle being close to a palm; a first pulley is arranged on the first rotating shaft, and the first pulley rotates relative to the first rotating shaft; the second rotating shaft is located on the base, the second rotating shaft and the first rotating shaft are arranged in parallel, a second pulley is arranged on the second rotating shaft, and the second pulley rotates relative to the second rotating shaft; a whole circle area is formed between the first pulley and the second pulley, and a tendon rope can penetrate through the whole circle area. According to the utility model, the tendon rope can be effectively prevented from falling off from the pulley, and when the tendon rope tensions and drives the joint to rotate, torque cannot be generated to the subsequent joint, so that other joints can be prevented from being mistakenly driven.

Description

Technical Field

[0001] The utility model relates to the technical field of finger robots, and in particular to a dexterous hand tendon rope routing device, a finger structure and a robot. Background Art

[0002] A dexterous hand is an end effector whose finger joints can fully control the movement of an object. It has the characteristics of high degree of freedom, high level of intelligence, convenient maintenance, and strong versatility. At present, it has the characteristics of 5 fingers, multiple degrees of freedom, and multiple perceptions (position, force / torque), and can realize certain grasping operations of the human hand. As a highly intelligent robot end effector, the dexterous hand has broad application prospects in many fields such as humanoid robots, medical rehabilitation, manufacturing, and aerospace.

[0003] The fingers of the finger robot are highly flexible and functional, capable of performing a variety of actions such as bending, stretching, grasping and releasing to simulate the complex movements of human fingers.

[0004] In the prior art, the tendon rope drive of the finger joint uses a device that provides a pre-tightening force to prevent the tendon rope from falling off the pulley. This pre-tightening force device takes up space and is not conducive to the miniaturization design of the finger. In addition, when the tendon rope drives the joint to rotate, since the tendon rope does not pass the axis of the subsequent joint, it will generate a torque on the subsequent joint after being tightened, which may drive the subsequent joint by mistake. Utility Model Content

[0005] In view of the defects in the prior art, the purpose of the utility model is to provide a dexterous hand tendon rope routing device, a finger structure and a robot.

[0006] The utility model is realized through the following technical solutions:

[0007] According to a first aspect of the utility model, a dexterous hand tendon rope routing device is provided, the device comprising:

[0008] A first rotating shaft is located on a base, the base is fixed on the rotation axis of the third finger joint, and the third finger joint is close to the palm; a first pulley is provided on the first rotating shaft, and the first pulley rotates relative to the first rotating shaft;

[0009] The second rotating shaft is located on the base, and the second rotating shaft is arranged parallel to the first rotating shaft. The second rotating shaft is provided with a second pulley, and the second pulley rotates relative to the second rotating shaft; a full circular area is formed between the first pulley and the second pulley, and the full circular area is for the tendon rope to pass through.

[0010] Furthermore, one end of the tendon rope is connected to the driving mechanism, and the other end is connected to the rotation axis of the second finger joint. The tendon rope of the second finger joint passes through the entire circle area and passes through the rotation axis of the third finger joint.

[0011] Furthermore, the base is connected to the third finger joint via a T-shaped pin, and the third finger joint can rotate around the base.

[0012] Furthermore, the base is provided with a base hole for installing the rotating shaft one and the rotating shaft two, the two ends of the rotating shaft one and the rotating shaft two are tightly fitted with the base hole respectively, the pulley hole of the pulley one is loosely fitted with the rotating shaft one, and the pulley hole of the pulley two is loosely fitted with the rotating shaft two.

[0013] Furthermore, the first rotating shaft and / or the second rotating shaft is a metal shaft.

[0014] Furthermore, grooves are provided on the surfaces of the pulley 1 and the pulley 2, and the diameter of the whole circle formed by merging the grooves of the pulley 1 and the grooves of the pulley 2 is slightly larger than the diameter of the tendon rope.

[0015] According to a second aspect of the utility model, a finger structure is provided, wherein the finger structure comprises the dexterous hand tendon rope routing device described in the first aspect.

[0016] According to a third aspect of the utility model, a robot is provided, the robot comprising the dexterous hand tendon rope routing device described in the first aspect, or comprising the finger structure described in the second aspect.

[0017] Compared with the prior art, the utility model has at least one of the following beneficial effects:

[0018] The utility model forms a full circular area between pulley one and pulley two, and the tendon rope passes through the full circular area. When the tendon rope is tightened or relaxed, the tendon rope can be effectively prevented from falling off the pulley. Compared with the prior art method of using a preload device, space and cost can be saved. Since the tendon rope passes through the rotation axis of the subsequent joint, when the tendon rope is tightened to drive the joint to rotate, no torque will be generated on the subsequent joint, thereby avoiding accidental driving of other joints. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Other features, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0020] Figure 1 It is a structural schematic diagram of a dexterous hand tendon rope routing device in one embodiment of the utility model;

[0021] Figure 2 It is a schematic diagram of a tendon rope passing through the tendon rope routing device of a dexterous hand in one embodiment of the utility model;

[0022] Figure 3 This is a schematic diagram of the structure of the finger structure in one embodiment of the utility model;

[0023] Figure 4 It is a structural schematic diagram of the finger structure when the middle finger joint rotates in one embodiment of the utility model.

[0024] In the figure: 1 is a base, 2 is a rotating shaft 1, 3 is a rotating shaft 2, 4 is a pulley 1, 5 is a pulley 2, 6 is a full circle area, 7 is a tendon rope, 8 is a first finger joint, 9 is a second finger joint, and 10 is a third finger joint. DETAILED DESCRIPTION

[0025] The utility model is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the utility model, but do not limit the utility model in any form. It should be pointed out that for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the utility model. These all fall within the scope of protection of the utility model.

[0026] It should be noted that the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Moreover, the terms "first", "second", etc. are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0027] Reference Figure 1 and Figure 2 , an embodiment of the utility model provides a dexterous hand tendon rope routing device. In the embodiment of the utility model, the device includes a rotating shaft 1 2, a rotating shaft 2 3, a pulley 1 4, and a pulley 2 5, wherein: the rotating shaft 1 2 is located on a base 1, the base 1 is located at the root of the third finger joint 10, and is used to install the third finger joint 10. Specifically, the base 1 is fixed on the rotation axis of the third finger joint 10, and the finger structure includes a first finger joint 8, a second finger joint 9 and a third finger joint 10 in sequence, and the third finger joint 10 is close to the palm; a pulley 1 4 is provided on the rotating shaft 1 2, and the pulley 1 4 can rotate relative to the rotating shaft 1 2; the rotating shaft 2 3 is located on the base 1, and the rotating shaft 2 3 is arranged parallel to the rotating shaft 1 2, and a pulley 2 5 is provided on the rotating shaft 2 3, and the pulley 2 5 can rotate relative to the rotating shaft 2 3; a full circular area 6 is formed between the pulley 1 4 and the pulley 2 5, and the full circular area 6 is for the tendon rope 7 to pass through.

[0028] In the embodiment of the utility model, one end of the tendon rope 7 is connected to the driving mechanism, and the other end is connected to the rotation axis of the second finger joint 9. The tendon rope 7 of the second finger joint 9 passes through the full circle area 6 after the two pulleys are combined. Since the base 1 fixes the rotation axis of the third finger joint 10, the tendon rope 7 passes through the rotation axis of the third finger joint 10. When the tendon rope 7 is tightened to drive the second finger joint 9 to move, since the tendon rope 7 passes through the rotation center of the third finger joint 10, no torque will be generated on the third finger joint 10. Compared with the method of using a preload device in the prior art, the tendon rope anti-falling design can save space and cost; since the tendon rope passes through the rotation axis of the subsequent joint, no torque will be generated on the subsequent joint, so the subsequent joint will not be driven by mistake.

[0029] In some embodiments, the base 1 is located at the root of the third finger joint 10, and the base 1 is connected to the third finger joint 10 through a T-shaped pin, and the third finger joint 10 can rotate around the base 1. The base 1 is provided with a base hole for installing the rotating shaft 1 2 and the rotating shaft 2 3, and the two ends of the rotating shaft 1 2 and the rotating shaft 2 3 are respectively tightly matched with the base hole, the pulley hole of the pulley 1 4 is loosely matched with the rotating shaft 1 2, and the pulley hole of the pulley 2 5 is loosely matched with the rotating shaft 2 3, so that the pulley can rotate freely on the rotating shaft. Exemplarily, the rotating shaft 1 2 and the rotating shaft 2 3 use cylindrical pins.

[0030] In some embodiments, shaft 1 2 and / or shaft 2 3 are metal shafts. Metal materials have high strength and stable diameter. The pulley is made of self-lubricating material. The friction coefficient between the metal shaft and the pulley is small, so that the pulley can rotate freely on the shaft.

[0031] In some embodiments, grooves are provided on the surface of pulley 1 4 and pulley 2 5, and the diameter of the whole circle formed by the grooves of pulley 1 4 and pulley 2 5 is slightly larger than the diameter of the tendon. For example, the diameter of the tendon is 0.8 mm, and the diameter of the whole circle formed by the grooves is 0.9 mm. The gap between the two grooves is as small as possible, about 0.1 mm, to ensure that the rotation of the two pulleys does not interfere with each other and effectively prevent the tendon from falling off.

[0032] exist Figure 1 and Figure 2 In the embodiment, two pulleys and two rotating shafts are installed on the base 1, and the semicircles of the two pulleys form a full-circle area 6, through which the tendon rope 7 passes. When the tendon rope 7 is tightened or relaxed, it cannot fall off from the full-circle area 6. Figure 3 When the tendon rope 7 is tightened to drive the first finger joint 8 and the second finger joint 9, the second finger joint 9 rotates to Figure 4Due to the tension on the tendon rope 7, if the tendon rope 7 does not pass through the axis of the third finger joint 10, a torque will be generated on the third finger joint 10, thereby driving the third finger joint 10 by mistake. This design makes the tendon rope 7 pass through the rotation axis of the third finger joint 10, and the lever arm is 0, so that no torque is generated on the third finger joint 10, and when the tendon rope 7 is tightened to drive the second finger joint 9 to rotate, the third finger joint is prevented from being driven by mistake.

[0033] Based on the same concept, another embodiment of the utility model provides a finger structure, which includes the above-mentioned dexterous hand tendon rope routing device.

[0034] Based on the same concept, another embodiment of the utility model provides a robot, which includes the above-mentioned dexterous hand tendon rope routing device, or includes the above-mentioned finger structure.

[0035] In the above-mentioned embodiment of the utility model, a full circular area is formed between pulley one and pulley two, and the tendon rope passes through the full circular area. When the tendon rope is tightened or relaxed, the tendon rope can be effectively prevented from falling off the pulley. Compared with the prior art method of using a preload device, space and cost can be saved. Since the tendon rope passes through the rotation axis of the subsequent joint, when the tendon rope is tightened to drive the joint to rotate, no torque will be generated on the subsequent joint, thereby avoiding accidental driving of other joints.

[0036] The above describes the specific embodiments of the utility model. It should be understood that the utility model is not limited to the above specific embodiments, and those skilled in the art can make various deformations or modifications within the scope of the claims, which does not affect the essence of the utility model. The above preferred features can be used in any combination without conflicting with each other.

Claims

1. A dexterous hand tendon rope routing device, characterized in that: include: A first rotating shaft is located on a base, the base is fixed on the rotation axis of the third finger joint, and the third finger joint is close to the palm; a first pulley is provided on the first rotating shaft, and the first pulley rotates relative to the first rotating shaft; The second rotating shaft is located on the base, and the second rotating shaft is arranged parallel to the first rotating shaft. The second rotating shaft is provided with a second pulley, and the second pulley rotates relative to the second rotating shaft; a full circular area is formed between the first pulley and the second pulley, and the full circular area is for the tendon rope to pass through.

2. The dexterous hand tendon rope routing device according to claim 1, characterized in that: One end of the tendon rope is connected to the driving mechanism, and the other end is connected to the rotation axis of the second finger joint. The tendon rope of the second finger joint passes through the entire circle area and passes through the rotation axis of the third finger joint.

3. The dexterous hand tendon rope routing device according to claim 1, characterized in that: The base is connected to the third finger joint via a T-shaped pin, and the third finger joint can rotate around the base.

4. The dexterous hand tendon rope routing device according to claim 1, characterized in that: The base is provided with a base hole for installing the rotating shaft 1 and the rotating shaft 2, the two ends of the rotating shaft 1 and the rotating shaft 2 are tightly matched with the base hole respectively, the pulley hole of the pulley 1 is loosely matched with the rotating shaft 1, and the pulley hole of the pulley 2 is loosely matched with the rotating shaft 2.

5. The dexterous hand tendon rope routing device according to claim 1, characterized in that: The first rotating shaft and / or the second rotating shaft is a metal shaft.

6. The dexterous hand tendon rope routing device according to claim 1, characterized in that: Grooves are provided on the surfaces of the pulley 1 and the pulley 2, and the diameter of the whole circle formed by merging the grooves of the pulley 1 and the grooves of the pulley 2 is slightly larger than the diameter of the tendon rope.

7. A finger structure, characterized in that: The invention comprises the dexterous hand tendon rope routing device as described in any one of claims 1-6.

8. A robot, characterized in that: It comprises the dexterous hand tendon rope routing device as described in any one of claims 1-6, or comprises the finger structure as described in claim 7.

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