Bionic five-finger manipulator for driving knuckles in mixed mode

Abstract

The utility model relates to a bionic five-finger manipulator for driving knuckles in a mixed mode. The bionic five-finger manipulator comprises a palm module, the palm module comprises a palm skeleton, and a four-finger mounting seat and a thumb mounting seat are arranged on the palm skeleton; four multi-section fingers are mounted on the four-finger mounting seat side by side, and a multi-section finger is mounted on the thumb mounting seat; each multi-section finger structurally comprises a base fixedly connected with the palm module, a first knuckle is installed on the base, and a second knuckle is installed at the tail end of the first knuckle in a hinged mode. A first driving motor is arranged on the first knuckle and is in driving connection with the base; the air bags are located on the sides, facing the palm position of the palm module, of the first knuckles and the second knuckles, one ends of the air bags in the length direction are connected with the first knuckles, and the other ends of the air bags in the length direction are connected with the second knuckles. Therefore, the action fineness and flexibility of the bionic manipulator are improved, the fault risk of the bionic manipulator is reduced, and the maintenance cost is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a bionic five-finger manipulator with a hybrid drive for finger joints. Background Art

[0002] Bionic hands can play roles in various scenarios. In the industrial field, bionic hands can be used to complete tasks such as fine assembly and operating sensitive equipment; in emergencies, bionic hands can be used in search and rescue operations, such as searching for survivors or handling dangerous items at disaster sites; bionic hands can be used in military tasks, such as disarming explosives and operating drones.

[0003] However, most of the design structures of bionic hands adopt a wire-pulling drive method, which has the following disadvantages:

[0004] 1. Potential failure risk: The operation of a wire-pulling manipulator depends on the wire-pulling system, which means that if the wire is damaged or loosened, it may cause unstable movement or failure of the manipulator;

[0005] 2. Require regular maintenance: Due to the existence of the wire-pulling system, the manipulator needs regular maintenance and inspection to ensure the tightness and operating status of the wire, increasing the maintenance cost and time;

[0006] 3. The complexity of actions is not high: Due to the design of the wire, the movement range and flexibility of the manipulator may be limited, and it is unable to complete some complex actions or tasks that require high precision. Content of the Utility Model

[0007] The applicant of the present utility model aims at the above-mentioned disadvantages in the existing production technology, and provides a bionic five-finger manipulator with a hybrid drive for finger joints, so as to improve the action fineness and flexibility of the bionic manipulator, reduce the failure risk of the bionic manipulator, and reduce the maintenance cost.

[0008] The technical solution adopted by the present utility model is as follows:

[0009] A bionic five-finger manipulator with a hybrid drive for finger joints, including a palm module;

[0010] The palm module includes a palm skeleton, and four-finger mounting seats and a thumb mounting seat are arranged on the palm skeleton;

[0011] Four multi-joint fingers are arranged side by side on the four-finger mounting seat, and one multi-joint finger is arranged on the thumb mounting seat;

[0012] The structure of the multi-joint finger is: including a base fixedly connected to the palm module, a first finger joint is installed on the base, and a second finger joint is hingedly installed at the end of the first finger joint;

[0013] A first driving motor is arranged on the first finger joint, and the first driving motor is drivingly connected to the base and is used for driving the first finger joint to swing relative to the base;

[0014] It further includes an airbag, the airbag is located on one side of the palm positions of the first finger joint and the second finger joint facing the palm module, one end of the airbag in the length direction is connected to the first finger joint, and the other end of the airbag in the length direction is connected to the second finger joint, and the airbag is used for driving the second finger joint to swing relative to the first finger joint.

[0015] As a further improvement of the above technical solution:

[0016] The first driving motor is fixedly installed inside the first finger joint, a first worm gear is fixedly installed on the base, the output end of the first driving motor is drivingly connected with a first worm, and the first worm is drivingly connected with the first worm gear.

[0017] It further includes a motor mounting seat fixedly installed at the lower end of the first finger joint, the first driving motor is fixedly installed on the motor mounting seat, the first worm is rotatably installed on the motor mounting seat, and the motor mounting seat is hinged to the base.

[0018] The first finger joint is hinged to the base, the first worm is located on the back of the hand side of the palm skeleton, and it further includes a torsion spring, one end of the torsion spring is connected to the first finger joint, and the other end of the torsion spring is connected to the base, and is used for ensuring the contact between the first worm and the first worm gear.

[0019] The thumb mounting seat is rotatably installed on the palm skeleton, and it further includes a driving mechanism installed on the palm skeleton, the driving mechanism is drivingly connected with the thumb mounting seat, and is used for driving the thumb mounting seat to swing relative to the palm skeleton.

[0020] The structure of the driving mechanism is:

[0021] It includes a second driving motor fixedly installed on the palm skeleton, and the output end of the second driving motor is drivingly connected with a second worm;

[0022] A second worm gear is fixedly installed on the thumb mounting seat, the axis of the second worm gear coincides with the rotation axis of the thumb mounting seat, and the second worm is drivingly connected with the second worm gear.

[0023] A thumb joint baffle is fixedly installed on the thumb mounting seat, and the thumb joint baffle is used for shielding the connection between the thumb mounting seat and the multi-jointed finger.

[0024] The airbag is columnar. One end of the airbag is located inside the first phalanx, and the other end of the airbag is located inside the second phalanx. The central axis of the airbag is located on the palm side deviating from the hinge axis of the first phalanx and the second phalanx. After the airbag is inflated, it elongates, and after the airbag exhausts, it shortens, thereby driving the second phalanx to swing relative to the first phalanx.

[0025] A fixing sleeve is installed in the middle of the airbag in the length direction. The fixing sleeve is fixedly installed on the first phalanx. The fixing sleeve is opposite to the hinge axis of the first phalanx and the second phalanx, and is used to control the bending deformation position of the airbag to adapt to the swing of the first phalanx relative to the second phalanx.

[0026] The outer shell of the airbag is bellows-shaped.

[0027] The beneficial effects of the present utility model are as follows:

[0028] The structure of the present utility model is compact and reasonable, and the operation is convenient. By adopting the driving modes of the motor drive and the airbag drive to drive the multi-joint finger movement, compared with the wire-pulling drive mode, the bending and stretching of the joint can be better controlled, thereby improving the movement fineness and flexibility of the bionic manipulator, reducing the failure risk of the bionic manipulator, and reducing the maintenance cost.

[0029] The present utility model also has the following advantages:

[0030] The first driving motor is built inside the first phalanx and the worm and worm gear transmission is adopted, which makes full use of the space, reduces the overall volume of the manipulator, reduces the size and quantity of parts, reduces the overall weight of the manipulator, and at the same time improves the movement fineness of the root of the multi-joint finger. Description of the Drawings

[0031] Figure 1 It is a schematic structural diagram of the present utility model.

[0032] Figure 2 It is an exploded view of the present utility model.

[0033] Figure 3 It is a schematic structural diagram of the palm module of the present utility model.

[0034] Figure 4 It is a schematic structural diagram of the multi-joint finger of the present utility model.

[0035] Figure 5 It is a cross-sectional view of the multi-joint finger of the present utility model.

[0036] Figure 6 It is an exploded view of the multi-joint finger of the present utility model.

[0037] Figure 7Exploded view of the multi - joint finger of the present utility model (another perspective).

[0038] Figure 8 Structural schematic diagram of the airbag of the present utility model.

[0039] Figure 9 Structural schematic diagram of the airbag of the present utility model (another perspective).

[0040] Wherein:

[0041] 1. Palm module; 11. Four - finger mounting seat; 12. Thumb mounting seat; 1200. Thumb mounting seat connection structure; 13. Palm skeleton; 14. Dorsal hand housing; 15. Thumb joint baffle; 16. Palm - side housing; 17. Driving mechanism; 1701. Second driving motor; 1703. Second worm; 1704. Second worm gear.

[0042] 2. Multi - joint finger; 21. Base; 211. Hinge hole; 22. First finger joint; 23. Second finger joint; 24. First driving motor; 241. Motor mounting seat; 242. Finger - joint rotating shaft; 25. First worm; 251. Rotating frame; 26. First worm gear; 27. Airbag; 271. Fixed sleeve; 272. Air inlet hole; 273. Exhaust hole; 28. Torsion spring; 29. Joint housing. Detailed implementation manners

[0043] The following combines with the attached drawings to illustrate the detailed implementation manners of the present utility model.

[0044] As Figure 1 - Figure 2 shown, the bionic five - finger manipulator with hybrid - mode driving finger joints in this embodiment includes a palm module 1; the palm module 1 includes a palm skeleton 13, on which a four - finger mounting seat 11 and a thumb mounting seat 12 are arranged; four multi - joint fingers 2 are arranged side - by - side on the four - finger mounting seat 11, and one multi - joint finger 2 is installed on the thumb mounting seat 12.

[0045] The structure of the multi - joint finger 2 is: including a base 21 fixedly connected to the palm module 1, a first finger joint 22 is installed on the base 21, and a second finger joint 23 is hingedly installed at the end of the first finger joint 22.

[0046] A first driving motor 24 is arranged on the first finger joint 22, and the first driving motor 24 is drivingly connected to the base 21 for driving the first finger joint 22 to swing relative to the base 21;

[0047] It also includes an airbag 27, which is located on the side of the palm of the palm module 1 where the first knuckle 22 and the second knuckle 23 face the palm, one end of the airbag 27 in the length direction is connected to the first knuckle 22, and the other end of the airbag 27 in the length direction is connected to the second knuckle 23. The airbag 27 is used to drive the second knuckle 23 to swing relative to the first knuckle 22, and the swinging direction of the second knuckle 23 is the same as the swinging direction of the first knuckle 22, that is, the swinging axes are parallel.

[0048] Specifically, the palm module 1 and the five multi-segmented fingers 2 installed on the palm module 1 constitute a bionic five-finger manipulator, wherein four multi-segmented fingers 2 are installed on the four-finger mounting seat 11, and one multi-segmented finger 2 is installed on the thumb mounting seat 12, imitating the five-finger distribution of the hand, and the two sides of the palm module 1 are the palm side and the back of the hand respectively; the movement of the base of each finger is driven by a motor, and the movement between adjacent knuckles of the finger is driven by an airbag. Compared with the pull-type drive, it can avoid potential risks to a greater extent, has higher control accuracy, and higher gripping force.

[0049] By using motor drive and airbag drive to drive the multi-segment finger 2 to move, the bending and stretching of the joints can be better controlled compared to the wire drive method, thereby improving the movement precision and flexibility of the bionic manipulator, reducing the risk of failure of the bionic manipulator and reducing maintenance costs.

[0050] like Figure 4 - Figure 7 As shown, the first drive motor 24 is fixedly installed inside the first finger joint 22, the first worm gear 26 is fixedly installed on the base 21, the output end of the first drive motor 24 is drivingly connected to the first worm 25, and the first worm 25 is drivingly connected to the first worm gear 26. The first drive motor 24 is built into the first finger joint 22 and the worm gear transmission is adopted, so as to make full use of the space, reduce the overall volume of the manipulator, reduce the size and number of parts, reduce the overall weight of the manipulator, and also improve the precision of the action at the root of the multi-section finger 2.

[0051] like Figure 4 - Figure 7 As shown, it also includes a motor mounting seat 241 fixedly mounted on the lower end of the first finger joint 22, a first driving motor 24 is fixedly mounted on the motor mounting seat 241, a first worm 25 is rotatably mounted on the motor mounting seat 241, and the motor mounting seat 241 is hinged to the base 21. The first worm 25 is rotatably mounted on the motor mounting seat 241 to ensure the stability of the first worm 25 and the first worm wheel 26 during the transmission process.

[0052] like Figure 4 - Figure 7 As shown, the first finger joint 22 is hinged to the base 21, and the first worm 25 is located on the back of the palm skeleton 13. It also includes a torsion spring 28, one end of which is connected to the first finger joint 22, and the other end of the torsion spring 28 is connected to the base 21, which is used to ensure that the first worm 25 is in contact with the first worm wheel 26.

[0053] Specifically, the motor mounting seat 241 is provided with a knuckle shaft 242, and the knuckle shaft 242 cooperates with the hinge hole 211 on the base 21 to realize the hinge connection between the motor mounting seat 241 and the base 21, and the hinge hole 211 is located at the center of the first worm gear 26;

[0054] The first worm 25 is rotatably mounted on the rotating frame 251 , the rotating frame 251 is fixedly mounted on the motor mounting seat 241 , the torsion spring 28 is sleeved on the finger joint rotating shaft 242 , and a joint cover 29 is installed outside the thumb mounting seat 12 .

[0055] like Figure 2 - Figure 3 As shown, the thumb mounting seat 12 is rotatably mounted on the palm frame 13, and also includes a driving mechanism 17 mounted on the palm frame 13, the driving mechanism 17 is connected to the thumb mounting seat 12 in a transmission manner, and is used to drive the thumb mounting seat 12 to swing relative to the palm frame 13. Specifically, the thumb mounting seat 12 is fixedly connected to a multi-section finger 2 base 21 through a thumb mounting seat connection structure 1200. The thumb mounting seat 12 is rotatably mounted on the palm frame 13, and is driven to rotate by the driving mechanism 17, so that the multi-section finger 2 as a thumb has more freedom of movement, and the precision of the movement of the manipulator is further improved.

[0056] like Figure 2 - Figure 3 As shown, the structure of the driving mechanism 17 is as follows: it includes a second driving motor 1701 fixedly mounted on the palm frame 13, the output end of the second driving motor 1701 is drivingly connected to a second worm 1703; a second worm wheel 1704 is fixedly mounted on the thumb mounting seat 12, the axis of the second worm wheel 1704 coincides with the rotation axis of the thumb mounting seat 12, and the second worm wheel 1703 is drivingly connected to the second worm wheel 1704. The motor drive and the transmission through the worm gear structure further improve the precision of the thumb movement.

[0057] Furthermore, a thumb joint baffle 15 is fixedly mounted on the thumb mounting seat 12, and the thumb joint baffle 15 is used to shield the connection between the thumb mounting seat 12 and the multi-jointed finger 2. A palm shell 16 is provided on the palm side of the palm skeleton 13, and a back shell 14 is provided on the back side of the palm skeleton 13.

[0058] like Figure 4 - Figure 9 As shown, the airbag 27 is columnar, one end of the airbag 27 is located inside the first knuckle 22, and the other end of the airbag 27 is located inside the second knuckle 23. The central axis of the airbag 27 is located on the palm side that deviates from the hinge axis of the first knuckle 22 and the second knuckle 23. The airbag 27 extends when inflated and shortens when deflated, thereby driving the second knuckle 23 to swing relative to the first knuckle 22.

[0059] Specifically, the airbag 27 is provided with an air inlet hole 272 and an air outlet hole 273 for connecting a control air circuit. When the airbag 27 is inflated, it drives the distal second phalanx 23 to extend. When air is pumped out, the airbag 27 contracts, realizing the bending of the distal second phalanx 23. Among them, there are various ways for the airbag 27 to drive the first phalanx 22 to swing relative to the second phalanx 23:

[0060] In one case, the airbag 27 has a partitioned chamber, and the bending degree of the airbag 27 can be adjusted by regulating the air pressure difference in different chambers, thereby driving the second phalanx 23 to swing around the hinge part;

[0061] In one case, a torsion spring is arranged at the hinge shaft part of the first phalanx 22 and the second phalanx 23, so that the second phalanx 23 has a tendency to swing towards the back of the hand. The change in the length of the airbag 27 changes the angle between the first phalanx 22 and the second phalanx 23, and at the same time makes the posture of the entire multi - joint finger 2 in a relatively stable state.

[0062] As Figure 4 - Figure 9 shown, a fixing sleeve 271 is installed in the middle of the length direction of the airbag 27. The fixing sleeve 271 is fixedly installed on the first phalanx 22 and is opposite to the hinge shaft of the first phalanx 22 and the second phalanx 23, and is used to control the bending deformation position of the airbag 27 to adapt to the swing of the first phalanx 22 relative to the second phalanx 23. Specifically, the fixing sleeve 271 can be a hard plastic ring. When the airbag 27 is pumped out, the airbag 27 bends with the fixing sleeve 271 as the center.

[0063] As Figure 4 - Figure 9 shown, the outer shell of the airbag 27 is in a corrugated shape, which is convenient for the deformation of the airbag 27.

[0064] The above description is an explanation of the present invention, not a limitation of the invention. The scope defined by the present invention is referred to the claims. Within the protection scope of the present invention, any form of modification can be made.

Claims

1. A bionic five-finger manipulator that drives finger joints in a hybrid manner, characterized in that: It includes a palm module (1); The palm module (1) includes a palm skeleton (13), and a four-finger mount (11) and a thumb mount (12) are arranged on the palm skeleton (13); Four multi-jointed fingers (2) are arranged side by side on the four-finger mount (11), and one multi-jointed finger (2) is arranged on the thumb mount (12); The structure of the multi-jointed finger (2) is as follows: it includes a base (21) fixedly connected to the palm module (1), a first finger joint (22) is mounted on the base (21), and a second finger joint (23) is hingedly mounted at the end of the first finger joint (22); A first driving motor (24) is arranged on the first finger joint (22), and the first driving motor (24) is drivingly connected to the base (21) for driving the first finger joint (22) to swing relative to the base (21); It further includes an airbag (27), the airbag (27) is located on one side of the palm position of the first finger joint (22) and the second finger joint (23) facing the palm module (1), one end of the airbag (27) in the length direction is connected to the first finger joint (22), the other end of the airbag (27) in the length direction is connected to the second finger joint (23), and the airbag (27) is used to drive the second finger joint (23) to swing relative to the first finger joint (22).

2. The bionic five-finger manipulator with a hybrid drive for finger joints according to claim 1, wherein: The first driving motor (24) is fixedly installed inside the first finger joint (22), a first worm gear (26) is fixedly installed on the base (21), the output end of the first driving motor (24) is drivingly connected with a first worm (25), and the first worm (25) is drivingly connected with the first worm gear (26).

3. The bionic five-finger manipulator with a hybrid drive for finger joints according to claim 2, characterized in that: It further includes a motor mount (241) fixedly installed at the lower end of the first finger joint (22), the first driving motor (24) is fixedly installed on the motor mount (241), the first worm (25) is rotatably installed on the motor mount (241), and the motor mount (241) is hinged to the base (21).

4. The bionic five-finger manipulator with a hybrid drive for finger joints according to claim 2, characterized in that: The first finger joint (22) is hinged to the base (21), the first worm (25) is located on the back of the hand side of the palm skeleton (13), and it further includes a torsion spring (28), one end of the torsion spring (28) is connected to the first finger joint (22), and the other end of the torsion spring (28) is connected to the base (21) for ensuring the contact between the first worm (25) and the first worm gear (26).

5. The bionic five-finger manipulator with a hybrid drive for finger joints according to claim 1, characterized in that: The thumb mount (12) is rotatably installed on the palm skeleton (13), and it further includes a driving mechanism (17) installed on the palm skeleton (13), the driving mechanism (17) is drivingly connected with the thumb mount (12) for driving the thumb mount (12) to swing relative to the palm skeleton (13).

6. The bionic five-finger manipulator with a hybrid drive for finger joints according to claim 5, characterized in that: The structure of the driving mechanism (17) is as follows: It includes a second driving motor (1701) fixedly installed on the palm skeleton (13), and the output end of the second driving motor (1701) is drivingly connected with a second worm (1703); A second worm gear (1704) is fixedly mounted on the thumb mount (12), the axis of the second worm gear (1704) coincides with the rotation axis of the thumb mount (12), and the second worm (1703) is in driving connection with the second worm gear (1704).

7. The bionic five-finger manipulator with a hybrid drive for finger joints according to claim 5, wherein: A thumb joint baffle (15) is fixedly mounted on the thumb mount (12), and the thumb joint baffle (15) is used to shield the connection between the thumb mount (12) and the multi-jointed finger (2).

8. The bionic five-finger manipulator with a hybrid drive for finger joints according to claim 1, wherein: The airbag (27) is columnar. One end of the airbag (27) is located inside the first finger joint (22), and the other end of the airbag (27) is located inside the second finger joint (23). The central axis of the airbag (27) is located on the palm side deviating from the hinge axis of the first finger joint (22) and the second finger joint (23). The airbag (27) elongates after being inflated and shortens after exhausting air, thereby driving the second finger joint (23) to swing relative to the first finger joint (22).

9. The bionic five-finger manipulator with a hybrid-driven knuckle as claimed in claim 8, characterized in that: A fixing sleeve (271) is installed in the middle of the airbag (27) in the length direction. The fixing sleeve (271) is fixedly mounted on the first finger joint (22). The fixing sleeve (271) faces the hinge axis of the first finger joint (22) and the second finger joint (23), and is used to control the bending deformation position of the airbag (27) to adapt to the swing of the first finger joint (22) relative to the second finger joint (23).

10. The bionic five-finger manipulator with a hybrid-driven knuckle as claimed in claim 8, wherein: The outer shell of the airbag (27) is bellows-shaped.

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