Grabbing structure, grabbing device, grabbing system and intelligent terminal

Abstract

The utility model provides a grabbing structure, a grabbing device, a grabbing system and an intelligent terminal. The grabbing structure comprises a first base, a knuckle assembly, a first tendon rope assembly and a first driving assembly. The first end of the knuckle assembly is rotatably arranged on the first base, the first driving assembly is installed on the first base, and the first base is used for being installed on a palm structure; the first tendon rope assembly is arranged in the knuckle assembly and the first base in a penetrating mode, the first end of the first tendon rope assembly is connected with the second end of the knuckle assembly, and the second end of the first tendon rope assembly is connected with the driving assembly; the first driving assembly is used for controlling the first tendon rope assembly to be in a winding state or a releasing state. The grabbing structure is simple in structure, the first tendon rope assembly is matched with the first driving assembly, bending or stretching of the grabbing structure is conveniently controlled, the regulation and control effect on the grabbing structure is improved, and the use requirement is met.

Description

Technical Field

[0001] The utility model relates to the field of gripping devices, and in particular to a gripping structure, a gripping device, a gripping system and an intelligent terminal. Background Art

[0002] With the development of society, intelligent devices such as robots are increasingly emerging and gaining significant attention and development. This is particularly true in the field of service robotics, where high requirements are placed on various performance indicators of end-effectors. The gripping structure of an end-effector, with its degree of integration, anthropomorphism, drive method, and flexibility, has attracted extensive research attention. Extensive research has been conducted both domestically and internationally on gripping structures, ranging from three-fingered to five-fingered, from industrial to everyday use, and from simple grasping to dexterous manipulation, aiming to solve complex practical operational problems. However, most existing gripping structures suffer from complex structures and inconvenient operation and control. Utility Model Content

[0003] The utility model provides a grabbing structure, a grabbing device, a grabbing system and an intelligent terminal, so as to solve the problems of the existing grabbing structure having a complex structure and inconvenient operation and control.

[0004] A gripping structure includes a first base, a finger joint assembly, a first tendon cord assembly, and a first drive assembly;

[0005] The first end of the finger joint assembly is rotatably disposed on the first base, the first driving assembly is mounted on the first base, and the first base is used to be mounted on the palm structure;

[0006] The first tendon cord assembly is inserted into the finger joint assembly and the first base, and the first end of the first tendon cord assembly is connected to the second end of the finger joint assembly, and the second end of the first tendon cord assembly is connected to the driving assembly;

[0007] The first driving assembly is used to control the first tendon rope assembly to be in a reeled state or a released state.

[0008] Preferably, the knuckle assembly comprises a proximal knuckle and a distal knuckle;

[0009] The first end of the proximal finger joint is rotatably disposed on the first base, and the first end of the distal finger joint is rotatably disposed on the second end of the proximal finger joint;

[0010] The first tendon cord assembly is passed through the distal finger joint, the proximal finger joint and the first base, and the first end of the first tendon cord assembly is connected to the second end of the distal finger joint, and the second end of the first tendon cord assembly is connected to the first drive assembly.

[0011] Preferably, the first drive assembly comprises a first motor and a first winding reel;

[0012] The first motor is mounted on the first base, and the first winding wheel is connected to the output shaft of the first motor;

[0013] The second end of the first tendon assembly passes through the first base and is connected to the first winding wheel.

[0014] Preferably, the first tendon assembly comprises a first elastic tendon;

[0015] The first elastic tendon rope is inserted into the finger joint assembly and the first base;

[0016] The first end of the first elastic tendon cord is connected to the second end of the finger joint assembly, and the second end of the first elastic tendon cord is connected to the first drive assembly.

[0017] Preferably, the first tendon assembly includes a first contraction tendon and a first extension tendon;

[0018] The first contraction tendon cord is passed through the belly of the finger joint assembly and the belly of the first base, and the first end of the first contraction tendon cord is connected to the belly of the second end of the finger joint assembly, and the second end of the first contraction tendon cord is connected to the first driving assembly;

[0019] The first extension tendon cord is passed through the back of the finger joint assembly and the back of the first base, and the first end of the first extension tendon cord is connected to the back of the second end of the finger joint assembly, and the second end of the first extension tendon cord is connected to the first driving assembly; the first contraction tendon cord is wound in the opposite direction to the first extension tendon cord;

[0020] The first driving assembly is used to control either one of the first contraction tendon cord and the first extension tendon cord to be in a retracted state and the other to be in a released state.

[0021] Preferably, the grasping structure further comprises a second base, a transfer knuckle, a second tendon cord assembly and a second drive assembly;

[0022] The first end of the transfer knuckle is rotatably mounted on the second base, the second end of the transfer knuckle is connected to an end of the first base away from the knuckle assembly, a second drive assembly is mounted on the second base, and the second base is used to be mounted on the palm structure;

[0023] The second tendon cord assembly is inserted into the transfer knuckle and the second base, and the first end of the second tendon cord assembly is connected to the second end of the transfer knuckle, and the second end of the second tendon cord assembly is connected to the second drive assembly;

[0024] The second driving assembly is used to control the second tendon rope assembly to be in a reeled state or a released state.

[0025] Preferably, the second tendon assembly comprises a second elastic tendon;

[0026] The second elastic tendon rope is inserted into the transfer knuckle and the second base;

[0027] The first end of the second elastic tendon cord is connected to the second end of the transfer knuckle, and the second end of the second elastic tendon cord is connected to the second drive assembly.

[0028] Preferably, the second tendon assembly includes a second contraction tendon and a second extension tendon;

[0029] The second contraction tendon cord is passed through the belly of the transfer knuckle and the belly of the second base, and the first end of the second contraction tendon cord is connected to the belly of the second end of the transfer knuckle, and the second end of the second contraction tendon cord is connected to the second drive assembly;

[0030] The second extension tendon cord is passed through the back of the transfer knuckle and the back of the second base, and the first end of the second extension tendon cord is connected to the back of the second end of the transfer knuckle, and the second end of the second extension tendon cord is connected to the second drive assembly; the second contraction tendon cord is wound in the opposite direction to the second extension tendon cord;

[0031] The second driving assembly is used to control either the second contraction tendon cord or the second extension tendon cord to be in a retracted state and the other to be in a released state.

[0032] The above-mentioned grasping structure includes a first base, a knuckle assembly, a first tendon assembly, and a first drive assembly for forming a rotational degree of freedom. The first tendon assembly is inserted into the knuckle assembly and the first base, and the first end of the first tendon assembly is connected to the second end of the knuckle assembly, and the second end of the first tendon assembly is connected to the first drive assembly. The first drive assembly is used to control the first tendon assembly to be in a reeled state or a released state to control the bending or extension of the knuckle assembly, making the control process of the grasping structure simple and convenient, and can ensure the control effect of the grasping structure. In addition, the overall structure of the grasping structure is simple and adopts a modular design to help reduce costs. Here, the grasping structure also includes a second base, a transfer knuckle, a second tendon assembly, and a second drive assembly for forming another degree of rotational autonomy, so that its overall structure is more human-like.

[0033] A grasping device includes a palm structure, a little finger module, a ring finger module, a middle finger module, an index finger module, and a thumb module;

[0034] The little finger module, the ring finger module, the middle finger module, the index finger module and the thumb module are arranged on the palm structure in the manner of a human hand;

[0035] Any one of the little finger module, the ring finger module, the middle finger module and the index finger module is the grasping structure in the above embodiment.

[0036] Preferably, the palm structure includes the palm metacarpal bones and the palm anterior cover;

[0037] The palm metacarpal bone is provided with five mounting holes modeled after a human hand, and the five mounting holes are used to mount the little finger module, the ring finger module, the middle finger module, the index finger module and the thumb module respectively;

[0038] The palm front cover is mounted on the palm metacarpal bone to form an accommodating space.

[0039] Preferably, the palm metacarpal bone includes a palm area and five finger mounting areas provided on the palm area, and each of the finger mounting areas is provided with a mounting hole for mounting a gripping structure;

[0040] The angle formed between the plane where the finger installation area of ​​the little finger module is located and the plane where the palm area is located is 5 to 7 degrees.

[0041] In the above-mentioned grasping device, the little finger module, ring finger module, middle finger module and index finger module are grasping structures with one degree of freedom, while the thumb module is a grasping structure with two degrees of freedom, so that its overall layout can better realize anthropomorphic design; in addition, the grasping structure is simple in structure, and the first tendon rope assembly and the first drive assembly are used in combination to facilitate the control of the bending or extension of the grasping structure, thereby improving the control effect of the grasping structure and meeting the use requirements; moreover, the grasping device reduces the number of parts of a single grasping structure under the premise of fully realizing the established functions. The part material of each finger is aluminum alloy, which is integrally formed by machining, and the parts have high strength, light weight and high fitting precision; at the same time, through modular design, the problems of complex part installation and difficult subsequent maintenance in other designs are solved.

[0042] A gripping system comprises a control module, a sensing module and the above-mentioned gripping device;

[0043] The control module and the sensing module are both arranged on the grasping device;

[0044] The sensing module is used to obtain sensing data;

[0045] The control module is used to control the grasping device to perform a grasping action according to the sensing data.

[0046] Preferably, the sensing module includes a pressure sensor, which is provided on the finger joint assembly of the gripping system and is used to collect pressure information of the finger joint assembly;

[0047] The control module is connected to the pressure sensor and is used to adjust the output torque of the knuckle assembly according to the pressure information collected by the pressure sensor.

[0048] Preferably, the pressure sensor comprises a sheet resistor and a wire;

[0049] The sheet resistor is provided on the belly of the knuckle assembly in the gripping system and is used to collect pressure information of the knuckle assembly;

[0050] The wires are arranged on both sides of the knuckle assembly of the gripping system;

[0051] The control module is connected to the sheet resistor via the wire, and is used to obtain pressure information collected by the sheet resistor.

[0052] Preferably, the sensing module further includes a visual module;

[0053] The visual module is arranged on the palm structure of the grasping system and is used to collect visual information;

[0054] The control module is connected to the vision module and is used to control the grasping device of the grasping system to perform a grasping action according to the visual information.

[0055] In the aforementioned grasping system, the pinky, ring, middle, and index finger modules are grasping structures with one degree of freedom, while the thumb module is a grasping structure with two degrees of freedom, making its overall layout more humanoid. Furthermore, the grasping structure is simple, utilizing a first tendon assembly and a first drive assembly to facilitate control over the bending or extension of the grasping structure, improving the control effect of the grasping structure and meeting user requirements. Furthermore, while maintaining its intended function, the grasping device reduces the number of parts in a single grasping structure. Each finger part is made of aluminum alloy and machined into a single piece, resulting in high strength, light weight, and high precision fit. Furthermore, the modular design solves the problems of complex part installation and subsequent maintenance difficulties encountered in other designs. The control module intelligently controls the grasping device to execute grasping actions based on the sensing data collected by the sensing module. This high level of integration allows for full utilization of the internal space of the grasping device and avoids interference with the grasping device, helping to ensure control accuracy.

[0056] An intelligent terminal comprises the above-mentioned grasping system.

[0057] In the aforementioned smart terminal, the pinky, ring, middle, and index finger modules are gripping structures with one degree of freedom, while the thumb module is a gripping structure with two degrees of freedom, making its overall layout more humanoid. Furthermore, the gripping structure is simple, utilizing a first tendon assembly and a first drive assembly to facilitate control over the bending or extension of the gripping structure, improving the control effect of the gripping structure and meeting user requirements. Furthermore, while maintaining its intended functionality, the gripping device reduces the number of parts within a single gripping structure. Each finger part is made of aluminum alloy and machined into a single piece, resulting in high strength, light weight, and precise fit. Furthermore, the modular design addresses the complex installation and subsequent maintenance challenges encountered in other designs. The control module intelligently controls the gripping device to execute gripping actions based on the sensing data collected by the sensing module. This high level of integration allows for full utilization of the gripping device's internal space and avoids interference with the gripping device, helping to ensure control accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0059] Figure 1 This is an exploded view of the grabbing system in one embodiment of the utility model

[0060] Figure 2 This is a top view of a grabbing device in one embodiment of the present utility model;

[0061] Figure 3 This is a bottom view of a grabbing device in one embodiment of the present utility model;

[0062] Figure 4 This is a bottom view of a gripping system in one embodiment of the present invention;

[0063] Figure 5 is a top view of a gripping system in one embodiment of the present invention;

[0064] Figure 6 is a top view of the metacarpal bones of the hand in one embodiment of the present utility model;

[0065] Figure 7 It is a front view of the metacarpal bones of the palm in one embodiment of the present utility model.

[0066] Among them, 1. first base; 2. knuckle assembly; 21. proximal knuckle; 22. distal knuckle; 3. first tendon assembly; 4. first drive assembly; 41. first motor; 42. first winding wheel; 5. second base; 6. intermediate knuckle; 7. second tendon assembly; 8. second drive assembly; 81. second motor; 82. second winding wheel; 9. palm structure; 91. metacarpal bone; 92. front cover of palm; 10. mounting hole; 11. control module; 111. control integrated circuit; 112. power management circuit; 12. sensing module; 121. pressure sensor; 1211. chip resistor; 1212. wire; 122. visual module; A. little finger module; B. ring finger module; C. middle finger module; D. index finger module; E. thumb module. DETAILED DESCRIPTION

[0067] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0068] In the description of the present invention, it should be understood that the terms "longitudinal," "radial," "length," "width," "thickness," "upper," "lower," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0069] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0070] The present invention provides a gripping structure, referring to Figure 1 、 Figure 2 and Figure 3The grasping structure includes a first base 1, a finger joint assembly 2, a first tendon assembly 3 and a first drive assembly 4; the first end of the finger joint assembly 2 can be rotatably set on the first base 1, the first base 1 is used to be installed on the palm structure 9, and the first drive assembly 4 is installed on the first base 1; the first tendon assembly 3 is passed through the finger joint assembly 2 and the first base 1, and the first end of the first tendon assembly 3 is connected to the second end of the finger joint assembly 2, and the second end of the first tendon assembly 3 is connected to the first drive assembly 4; the first drive assembly 4 is used to control the first tendon assembly 3 to be in a retracted state or a released state.

[0071] As an example, the grasping structure specifically includes a first base 1, a finger joint assembly 2, a first tendon assembly 3, and a first drive assembly 4. The grasping structure is a finger in the grasping device, which can be any one of the index finger, middle finger, ring finger, pinky finger, and thumb. The grasping structure can be directly mounted on the palm structure 9 of the grasping device, or can be indirectly mounted on the palm structure 9. During installation, the first base 1 is used as a support reference. The first base 1 is used to be mounted on the palm structure 9. The first end of the finger joint assembly 2 is rotatably set on the first base 1, specifically for the grasping of the finger. The rotatable setting is specifically connected by a hinge, a rotating shaft, or other methods. The first drive assembly 4 is mounted on the first base 1 and serves as a power source for driving the first tendon assembly 3 to work. The first tendon assembly 3 is passed through the finger joint assembly 2 and the first base 1, and the first end of the first tendon assembly 3 is connected to the second end of the finger joint assembly 2, and the second end of the first tendon assembly 3 is connected to the first drive assembly 4. The first drive assembly 4 is used to control the first tendon assembly 3 to be in a retracted state or a released state to control the bending or extension of the finger joint assembly 2.

[0072] In this example, the overall structure of the grabbing structure is simple. The first tendon assembly 3 and the first drive assembly 4 are used in conjunction to facilitate the control of the bending or stretching of the grabbing structure, thereby improving the control effect of the grabbing structure and meeting the use requirements. Moreover, the grabbing structure can be modularly designed, which helps to reduce costs.

[0073] In one embodiment, referring to Figure 1 、 Figure 2 and Figure 3 The finger joint assembly 2 includes a proximal finger joint 21 and a distal finger joint 22; the first end of the proximal finger joint 21 is rotatably set on the first base 1, and the first end of the distal finger joint 22 is rotatably set on the second end of the proximal finger joint 21; the first tendon assembly 3 is passed through the distal finger joint 22, the proximal finger joint 21 and the first base 1, and the first end of the first tendon assembly 3 is connected to the second end of the distal finger joint 22, and the second end of the first tendon assembly 3 is connected to the first drive assembly 4.

[0074] As an example, the finger joint assembly 2 includes a proximal finger joint 21 and a distal finger joint 22; during installation, the first base 1 is used as a support reference, the first end of the proximal finger joint 21 can be rotatably set on the first base 1, and the first end of the distal finger joint 22 can be rotatably set on the second end of the proximal finger joint 21. The rotatable setting is specifically connected by a hinge, a rotating shaft or other means.

[0075] For example, the first tendon assembly 3 is passed through the interior of the distal phalanx 22, the interior of the proximal phalanx 21 and the interior of the first base 1, and the first end of the first tendon assembly 3 is connected to the interior of the second end of the distal phalanx 22, and the second end of the first tendon assembly 3 is connected to the first drive assembly 4; the first drive assembly 4 can control the reeling or releasing of the first tendon assembly 3; when the first tendon assembly 3 is reeled, it can drive the distal phalanx 22 to rotate clockwise around the axis where the second end of the proximal phalanx 21 is connected to the distal phalanx 22 (that is, the second axis of rotation of the distal phalanx 22 around the proximal phalanx 21), driving the proximal phalanx 21 The knuckle assembly 2 is bent by rotating clockwise around the axis where the first end of the proximal knuckle 21 connects to the first base 1 (i.e., the first axis along which the proximal knuckle 21 rotates around the first base 1). When the first tendon assembly 3 is released, the distal knuckle 22 rotates counterclockwise around the axis where the second end of the proximal knuckle 21 connects to the distal knuckle 22 (i.e., the second axis along which the distal knuckle 22 rotates around the proximal knuckle 21), driving the proximal knuckle 21 to rotate counterclockwise around the axis where the first end of the proximal knuckle 21 connects to the first base 1 (i.e., the first axis along which the proximal knuckle 21 rotates around the first base 1), extending the knuckle assembly 2. The first axis along which the proximal knuckle 21 rotates around the first base 1 is parallel to the second axis along which the distal knuckle 22 rotates around the proximal knuckle 21, allowing the proximal knuckle 21 and distal knuckle 22 to cooperate and mimic a human grasping operation.

[0076] In this example, the finger joint assembly 2 includes two finger joints, the proximal finger joint 21 and the distal finger joint 22, to solve the problem of a large number of finger joints and a complex overall structure in a single grasping structure; and, the first tendon assembly 3 and the first drive assembly 4 are used to control the rotation of the distal finger joint 22 and the proximal finger joint 21, and control the rotation of the proximal finger joint 21 relative to the first base 1, so that the finger joint assembly 2 bends or stretches, thereby improving the control effect of the grasping structure and meeting the usage requirements.

[0077] In one embodiment, referring to Figure 1 、 Figure 2 and Figure 3 The first driving assembly 4 includes a first motor 41 and a first winding wheel 42; the first motor 41 is installed on the first base 1, and the first winding wheel 42 is connected to the output shaft of the first motor 41; the second end of the first tendon assembly 3 passes through the first base 1 and is connected to the first winding wheel 42.

[0078] As an example, the first drive assembly 4 includes a first motor 41 and a first winding wheel 42; the first motor 41 is installed on the first base 1, and the first winding wheel 42 is connected to the output shaft of the first motor 41; the second end of the first tendon assembly 3 passes through the first base 1 and is connected to the first winding wheel 42. By controlling the forward or reverse rotation of the first motor 41, the first winding wheel 42 can be driven to rotate, so that the first tendon assembly 3 can be wound or released to achieve control of the bending or extension of the finger joint assembly 2.

[0079] In one embodiment, the first tendon cord assembly 3 includes a first elastic tendon cord (not shown in the figure); the first elastic tendon cord is passed through the finger joint assembly 2 and the first base 1; the first end of the first elastic tendon cord is connected to the second end of the finger joint assembly 2, and the second end of the first elastic tendon cord is connected to the first drive assembly 4.

[0080] As an example, the first tendon assembly 3 may include a first elastic tendon, which is passed through the interior of the finger joint assembly 2 and the interior of the first base 1, and when the first end of the first elastic tendon is connected to the interior of the second end of the finger joint assembly 2, when the first driving assembly 4 is controlled to reel in the first elastic tendon, the finger joint assembly 2 can be driven to rotate clockwise around the axis where the first end of the finger joint assembly 2 is connected to the first base 1 (that is, the first axis of rotation of the finger joint assembly 2 around the first base 1), so that the finger joint assembly 2 bends, and at the same time, the first elastic tendon is stretched and deformed to generate a rebound force. When the first driving assembly 4 is controlled to release the first elastic tendon, the rebound force of the first elastic tendon can be used to drive the finger joint assembly 2 to rotate counterclockwise around the axis where the first end of the finger joint assembly 2 is connected to the first base 1 (that is, the first axis of rotation of the finger joint assembly 2 around the first base 1), so that the finger joint assembly 2 extends.

[0081] In a specific embodiment, the first tendon cord assembly 3 may include a first elastic tendon cord, and the finger joint assembly 2 includes a proximal finger joint 21 and a distal finger joint 22; the first end of the proximal finger joint 21 can be rotatably set on the first base 1, and the first end of the distal finger joint 22 can be rotatably set on the second end of the proximal finger joint 21; the first elastic tendon cord is passed through the distal finger joint 22, the proximal finger joint 21 and the first base 1, and the first end of the first elastic tendon cord is connected to the second end of the distal finger joint 22, and the second end of the first elastic tendon cord is connected to the first drive assembly 4. The first elastic tendon rope is passed through the interior of the distal knuckle 22, the interior of the proximal knuckle 21 and the interior of the first base 1, and the first end of the first elastic tendon rope is connected to the interior of the second end of the distal knuckle 22, and the second end of the first elastic tendon rope is connected to the first drive component 4; when the first drive component 4 is controlled to reel in the first elastic tendon rope, the distal knuckle 22 can be driven to rotate clockwise around the axis where the second end of the proximal knuckle 21 is connected to the distal knuckle 22 (that is, the second axis around which the distal knuckle 22 rotates around the proximal knuckle 21), and the proximal knuckle 21 can be driven to rotate clockwise around the axis where the first end of the proximal knuckle 21 is connected to the first base 1 (that is, the proximal knuckle 21 is rotated around the proximal knuckle 21). The first base 1 rotates along the first axis of rotation) and rotates clockwise to bend the finger joint assembly 2. At the same time, the first elastic tendon is stretched and deformed to generate a rebound force. When the first drive assembly 4 is controlled to release the first elastic tendon, the rebound force of the first elastic tendon is utilized to drive the distal finger joint 22 to rotate counterclockwise around the axis where the second end of the proximal finger joint 21 is connected to the distal finger joint 22 (i.e., the second axis where the distal finger joint 22 rotates around the proximal finger joint 21), and drive the proximal finger joint 21 to rotate around the axis where the first end of the proximal finger joint 21 is connected to the first base 1 (i.e., the first axis where the proximal finger joint 21 rotates around the first base 1 counterclockwise), so that the finger joint assembly 2 extends.

[0082] In one embodiment, referring to Figure 1 、 Figure 2 and Figure 3 The first tendon rope assembly 3 includes a first contraction tendon rope and a first extension tendon rope; the first contraction tendon rope is passed through the belly of the finger joint assembly 2 and the belly of the first base 1, and the first end of the first contraction tendon rope is connected to the belly of the second end of the finger joint assembly 2, and the second end of the first contraction tendon rope is connected to the first drive assembly 4; the first extension tendon rope is passed through the back of the finger joint assembly 2 and the back of the first base 1, and the first end of the first extension tendon rope is connected to the back of the second end of the finger joint assembly 2, and the second end of the first extension tendon rope is connected to the first drive assembly 4; the winding direction of the first contraction tendon rope is opposite to that of the first extension tendon rope; the first drive assembly 4 is used to control either the first contraction tendon rope and the first extension tendon rope to be in a retracted state, and the other to be in a released state.

[0083] As an example, the first tendon rope assembly 3 includes a first contraction tendon rope and a first extension tendon rope; the first contraction tendon rope is passed through the belly of the finger joint assembly 2 and the belly of the first base 1, and the first end of the first contraction tendon rope is connected to the belly of the second end of the finger joint assembly 2, and the second end of the first contraction tendon rope is connected to the first drive assembly 4, and the first drive assembly 4 is controlled to reel in the first contraction tendon rope, thereby driving the finger joint assembly 2 to rotate around the axis where the first end of the finger joint assembly 2 is connected to the first base 1, so that the finger joint assembly 2 bends; the first extension tendon rope is passed through the back of the finger joint assembly 2 and the back of the first drive assembly 4, and the first end of the first extension tendon rope is connected to the back of the second end of the finger joint assembly 2, and the second end of the first extension tendon rope is connected to the first drive assembly 4, and the first drive assembly 4 is controlled to reel in the first extension tendon rope, thereby driving the finger joint assembly 2 to rotate around the axis where the first end of the finger joint assembly 2 is connected to the first base 1, so that the finger joint assembly 2 extends.

[0084] In this example, the first contraction ligament and the first extension ligament are wound in opposite directions. Driven by the first drive assembly 4, either the first contraction ligament or the first extension ligament is controlled to be in a retracted state, while the other is in a released state. Here, the retracted state refers to the state in which the ligament is wound, while the released state refers to the state in which the ligament is straightened. When the first contraction ligament is in the retracted state and the first extension ligament is in the released state, it drives the knuckle assembly 2 to rotate clockwise around the axis where the first end of the knuckle assembly 2 connects to the first base 1, causing the finger to bend and grasp, ensuring smooth completion of the bending action. When the first contraction ligament is in the released state and the first extension ligament is in the retracted state, it drives the knuckle assembly 2 to rotate counterclockwise around the axis where the first end of the knuckle assembly 2 connects to the first base 1, causing the finger to extend. The first contraction ligament and the first extension ligament work together, controlling either ligament to be wound and retracted while the other is tightened and straightened, to precisely control the bending or extension of the grasping structure, improving the control effect of the grasping structure, meeting user requirements, and enhancing the practicality of the device. Among them, the first winding wheel 42 of the first driving component 4 is a double-groove winding wheel, which includes a first wire groove and a second wire groove spaced apart along the axial direction of the first winding wheel 42; any one of the first contraction tendon and the first extension tendon is wound in the first wire groove, and the other is wound in the second wire groove; the winding direction of the first contraction tendon is opposite to the winding direction of the first extension tendon. The first contraction tendon is wound counterclockwise in the first wire groove, and the first extension tendon is wound clockwise in the second wire groove, or the first contraction tendon is wound counterclockwise in the second wire groove, and the first extension tendon is wound clockwise in the first wire groove; both tendons are passed through the corresponding through holes of the first base 1 in a tangential direction, then when the first winding wheel 42 rotates, one winding groove winds the tendon, and the other winding groove releases the tendon, that is, when the first winding wheel 42 rotates one circle, one winding groove winds the tendon, so that the finger joint component 2 is subjected to the tension of the tendon and bends to this side. The other winding groove releases a corresponding proportion of the tendon length to compensate for the change in the tendon length on that side caused by the bending of the finger joint assembly 2.

[0085] In one embodiment, referring to Figure 1 、 Figure 2 and Figure 3The grasping structure also includes a second base 5, a transfer knuckle 6, a second tendon assembly 7 and a second drive assembly 8; the first end of the transfer knuckle 6 is rotatably set on the second base 5, and the second end of the transfer knuckle 6 is connected to the end of the first base 1 away from the knuckle assembly 2. The second drive assembly 8 is provided on the second base 5, and the second base 5 is used to be installed on the palm structure 9; the second tendon assembly 7 is passed through the transfer knuckle 6 and the second base 5, and the first end of the second tendon assembly 7 is connected to the second end of the transfer knuckle 6, and the second end of the second tendon assembly 7 is connected to the second drive assembly 8; the second drive assembly 8 is used to control the second tendon assembly 7 to be in a retracted state or a released state.

[0086] As an example, the grasping structure also includes a second base 5, a transfer knuckle 6, a second tendon assembly 7, and a second drive assembly 8. During installation, the second base 5 is used as a support base. The second base 5 is used to be installed on the palm structure 9. The first end of the transfer knuckle 6 is rotatably set on the second base 5. The rotatable setting is specifically connected by a hinge, a rotating shaft or other means. The second end of the transfer knuckle 6 is connected to the end of the first base 1 away from the knuckle assembly 2. The second drive assembly 8 is installed on the second base 5 and serves as a power source to drive the second tendon assembly 7. The second tendon assembly 7 is inserted into the transfer knuckle 6 and the second base 5, and the first end of the second tendon assembly 7 is connected to the second end of the transfer knuckle 6. The second end of the second tendon assembly 7 is connected to the second drive assembly 8. The second drive assembly 8 is used to control the second tendon assembly 7 to be in a retracted state or a released state. The second drive assembly 8 controls the retraction and release of the second tendon assembly 7. When the second tendon assembly 7 is retracted, it drives the transfer knuckle 6 to rotate clockwise around the axis where the first end of the transfer knuckle 6 connects to the second base 5 (i.e., the third axis about which the transfer knuckle 6 rotates around the second base 5), thereby bending the transfer knuckle 6. When the second tendon assembly 7 is released, it drives the transfer knuckle 6 to rotate counterclockwise around the axis where the first end of the transfer knuckle 6 connects to the second base 5, thereby extending the transfer knuckle 6. The third axis about which the transfer knuckle 6 rotates around the second base 5 is perpendicular to the first axis about which the knuckle assembly 2 rotates around the first base 1.

[0087] The grasping structure in this example can be a thumb module E. The second base 5 of the thumb module E is connected to the palm structure 9. The first end of the intermediate knuckle 6 is rotatably mounted on the second base 5, and the second end of the intermediate knuckle 6 is fixedly connected to the end of the first base 1 away from the knuckle assembly 2. First, the first tendon assembly 3 and the first drive assembly 4 are used in conjunction to facilitate the control of the knuckle portion of the thumb module E to bend or extend. The second tendon assembly 7 and the second drive assembly 8 are used in conjunction to facilitate the control of the intermediate knuckle 6 to bend or extend, driving the entire thumb module E toward the palm structure 9, thereby completing the rotation of the thumb module E relative to the palm structure 9, improving the control effect of the intermediate knuckle 6, and meeting the user's needs.

[0088] As an example, the second drive assembly 8 has the same structure and function as the first drive assembly 4, but is used in different locations and controls different mechanisms. The second drive assembly 8 includes a second motor 81 and a second winding wheel 82; the second motor 81 is mounted on the second base 5, and the second winding wheel 82 is connected to the output shaft of the second motor 81; the second end of the second tendon assembly 7 passes through the second base 5 and is connected to the second winding wheel 82. By controlling the forward or reverse rotation of the second motor 81, the second winding wheel 82 can be driven to rotate, thereby reeling or releasing the second tendon assembly 7 to achieve the control of the bending or extension of the transfer knuckle 6.

[0089] In one embodiment, the second tendon cord assembly 7 includes a second elastic tendon cord; the second elastic tendon cord is passed through the transfer knuckle 6 and the second base 5; the first end of the second elastic tendon cord is connected to the second end of the transfer knuckle 6, and the second end of the second elastic tendon cord is connected to the second drive assembly 8.

[0090] As an example, the second tendon assembly 7 can be a second elastic tendon, which is passed through the interior of the transfer knuckle 6 and the interior of the second base 5, and when the first end of the second elastic tendon is connected to the interior of the second end of the transfer knuckle 6, when the second drive assembly 8 is controlled to reel in the second elastic tendon, the transfer knuckle 6 can be driven to rotate clockwise around the axis where the first end of the transfer knuckle 6 is connected to the second base 5, that is, the third axis where the transfer knuckle 6 rotates around the second base 5, so that the transfer knuckle 6 bends. At the same time, the second elastic tendon is stretched and deformed to generate a rebound force. When the second drive assembly 8 is controlled to release the second elastic tendon, the rebound force of the second elastic tendon can be used to drive the transfer knuckle 6 to rotate counterclockwise around the axis where the first end of the transfer knuckle 6 is connected to the second base 5, so that the transfer knuckle 6 extends. Among them, the third axis where the transfer knuckle 6 rotates around the second base 5 is perpendicular to the first axis where the knuckle assembly 2 rotates around the first base 1.

[0091] In one embodiment, referring to Figure 1 、 Figure 2 and Figure 3 The second tendon rope assembly 7 includes a second contraction tendon rope and a second extension tendon rope; the second contraction tendon rope is passed through the abdomen of the transfer knuckle 6 and the abdomen of the second base 5, and the first end of the second contraction tendon rope is connected to the abdomen of the second end of the transfer knuckle 6, and the second end of the second contraction tendon rope is connected to the second drive assembly 8; the second extension tendon rope is passed through the back of the transfer knuckle 6 and the back of the second base 5, and the first end of the second extension tendon rope is connected to the back of the second end of the transfer knuckle 6, and the second end of the second extension tendon rope is connected to the second drive assembly 8; the winding direction of the second contraction tendon rope is opposite to that of the second extension tendon rope; the second drive assembly 8 is used to control either one of the second contraction tendon rope and the second extension tendon rope to be in a retracted state and the other to be in a released state.

[0092] As an example, the second tendon rope assembly 7 includes a second contraction tendon rope and a second extension tendon rope; the second contraction tendon rope is passed through the belly of the transfer knuckle 6 and the belly of the second base 5, and the first end of the second contraction tendon rope is connected to the belly of the second end of the transfer knuckle 6, and the second end of the second contraction tendon rope is connected to the second drive assembly 8, and the second drive assembly 8 is controlled to reel in the second contraction tendon rope, thereby driving the transfer knuckle 6 to rotate around the axis where the first end of the transfer knuckle 6 is connected to the second base 5, so that the transfer knuckle 6 bends; the second extension tendon rope is passed through the back of the transfer knuckle 6 and the back of the second drive assembly 8, and the first end of the second extension tendon rope is connected to the back of the second end of the transfer knuckle 6, and the second end of the second extension tendon rope is connected to the second drive assembly 8, and the second drive assembly 8 is controlled to reel in the second extension tendon rope, thereby driving the transfer knuckle 6 to rotate around the axis where the first end of the transfer knuckle 6 is connected to the second base 5, so that the transfer knuckle 6 extends.

[0093] In this example, the second contraction tether and the second extension tether wind in opposite directions. Driven by the second drive assembly 8, either the second contraction tether or the second extension tether is controlled to be in a retracted state while the other is in a released state. Here, the retracted state refers to the state in which the tether is wound, while the released state refers to the state in which the tether is straightened. When the second contraction tether is in the retracted state and the second extension tether is in the released state, it drives the transfer knuckle 6 to rotate clockwise around the axis where the first end of the transfer knuckle 6 connects with the second drive assembly 8, causing the finger to bend and grasp, ensuring smooth completion of the bending movement. When the second extension tether is in the released state and the second extension tether is in the retracted state, it drives the transfer knuckle 6 to rotate counterclockwise around the axis where the first end of the transfer knuckle 6 connects with the second drive assembly 8, causing the finger to extend. The second contraction tether and the extension tether work together, controlling either tether to wind and retract while the other tether is tightened and straightened, allows for precise control of the bending or extension of the grasping structure, improving the control effect of the grasping structure, meeting user requirements, and enhancing the practicality of the device.

[0094] The present invention provides a gripping device, referring to Figure 1-7 , including a palm structure 9, a little finger module A, a ring finger module B, a middle finger module C, an index finger module D and a thumb module E; the little finger module A, the ring finger module B, the middle finger module C, the index finger module D and the thumb module E are arranged on the palm structure 9 in the style of a human hand; the little finger module A, the ring finger module B, the middle finger module C and the index finger module D are the grasping structures provided with the first base 1, the knuckle assembly 2, the first tendon assembly 3 and the first drive assembly 4 in the above embodiment, and the thumb module E is the grasping structure provided with the first base 1, the knuckle assembly 2, the first tendon assembly 3, the first drive assembly 4, the second base 5, the transfer knuckle 6, the second tendon assembly 7 and the second drive assembly 8 in the above embodiment.

[0095] As an example, the grasping device of the grasping system includes a palm structure 9, a pinky module A, a ring finger module B, a middle finger module C, an index finger module D, and a thumb module E. The pinky module A, the ring finger module B, the middle finger module C, the index finger module D, and the thumb module E are arranged on the palm structure 9 in the manner of a human hand, and the positions of the five fingers are arranged with reference to the human hand to make the grasping more human-like. Any one of the pinky module A, the ring finger module B, the middle finger module C, the index finger module D, and the thumb module E is the grasping structure in the above-mentioned embodiment. The grasping structure has a simple structure and uses the first tendon assembly 3 and the first drive assembly 4 to facilitate the control of the bending or extension of the grasping structure, thereby improving the control effect of the grasping structure and meeting the use requirements. The grasping device in this example reduces the number of parts of a single grasping structure while fully fulfilling the established functions. The material of the parts of each finger is aluminum alloy and is integrally formed by machining. The parts are high in strength, light in weight, and have high fitting precision. At the same time, through modular design, the problems of complex part installation and difficult subsequent maintenance in other designs are solved. The little finger module A, the ring finger module B, the middle finger module C, and the index finger module D are provided with a first base 1, a knuckle assembly 2, a first tendon assembly 3, and a first drive assembly 4, and have one degree of freedom. The thumb module E is provided with not only the first base 1, the knuckle assembly 2, the first tendon assembly 3, and the first drive assembly 4, but also a second base 5, a middle knuckle 6, a second tendon assembly 7, and a second drive assembly 8, and has two degrees of freedom, making its overall structure more human-like in design.

[0096] In one embodiment, referring to Figure 1 The palm structure 9 includes a palm metacarpal bone 91 and a palm front cover 92; five mounting holes 10 are arranged on the palm metacarpal bone 91 in imitation of a human hand, and the five mounting holes 10 are used to install the little finger module A, the ring finger module B, the middle finger module C, the index finger module D and the thumb module E respectively; the palm front cover 92 is installed on the palm metacarpal bone 91 to form an accommodating space.

[0097] As an example, the palm structure 9 includes a palm metacarpal bone 91 and a palm front cover 92. Five mounting holes 10 are arranged on the palm metacarpal bone 91, modeled after a human hand. The pinky module A, ring finger module B, middle finger module C, index finger module D, and thumb module E are then installed in the five mounting holes 10, respectively. Finally, screws and nuts are used to tighten the gripping structure. Specifically, the first winding reels 42 of the pinky module A, ring finger module B, middle finger module C, and index finger module D are placed in the corresponding mounting holes 10, and the second winding reel 82 of the thumb module E is placed in the corresponding mounting hole 10. The palm front cover 92 is mounted on the palm metacarpal bone 91, forming a housing for other components of the gripping device, including but not limited to the control circuit.

[0098] In one embodiment, referring to Figure 1、 Figure 6 and Figure 7 The palm metacarpal bone 91 includes a palm area and five finger mounting areas arranged on the palm area. Each finger mounting area is provided with a mounting hole 10 for mounting a gripping structure. The angle formed between the plane where the finger mounting area of ​​the little finger module A is located and the plane where the palm area is located is 5 to 7 degrees.

[0099] As an example, the metacarpal bone 91 includes a palm region and five finger mounting areas located therein. Each finger mounting area is provided with a mounting hole 10 for mounting any one of the gripping structures: pinky module A, ring finger module B, middle finger module C, index finger module D, and thumb module E. In this example, the angles between two adjacent gripping structures are arranged to mimic the angles between fingers on a human hand. This allows the angle between any two of the pinky module A, ring finger module B, middle finger module C, and index finger module D to be smaller, while the angle between thumb module E and index finger module D is larger. To address the issue of a gripping posture that lacks human-like emulation, the thumb module E is rotated outward by R1, i.e., 19° to 21° (e.g., 20°), based on the human finger layout. This allows the thumb module E to form a specific angle (not parallel) with the remaining four fingers after rotation, matching the angle of a rotated thumb on a human hand. The angles between the index finger module D and middle finger module C, and between the middle finger module C and ring finger module B, are also similar to those of a human finger layout. In this example, the plane where the finger installation area of ​​the pinky module A is located is not the same plane as the plane where the palm area is located (the human palm is not flat, and the pinky module A will be offset at a certain angle). The angle formed between the plane where the finger installation area of ​​the pinky module A is located and the plane of the palm area is 5° to 7°. Specifically, the angle R2 in the direction perpendicular to the palm structure 9 is 5° to 7°, and the most precise angle is 6°. At the same time, the offset angle will improve the load-bearing capacity of the entire hand, so as to solve the problem that the appearance and gripping posture of the entire hand are not human-like enough.

[0100] The present invention provides a gripping system. Figure 1 、 Figure 4 and Figure 5 , including a control module 11, a sensing module 12 and a grasping device; the control module 11 and the sensing module 12 are both arranged on the grasping device; the sensing module 12 is used to obtain sensing data; the control module 11 is used to control the grasping device to perform a grasping action according to the sensing data.

[0101] As an example, the grasping device of the grasping system includes a palm structure 9, a pinky module A, a ring finger module B, a middle finger module C, an index finger module D, and a thumb module E. The pinky module A, the ring finger module B, the middle finger module C, the index finger module D, and the thumb module E are arranged on the palm structure 9 in the manner of a human hand, and the positions of the five fingers are arranged with reference to the human hand to make the grasping more human-like. Any one of the pinky module A, the ring finger module B, the middle finger module C, the index finger module D, and the thumb module E is the grasping structure in the above-mentioned embodiment. The grasping structure has a simple structure and uses the first tendon assembly 3 and the first drive assembly 4 to facilitate the control of the bending or extension of the grasping structure, thereby improving the control effect of the grasping structure and meeting the use requirements. The grasping device in this example reduces the number of parts of a single grasping structure while fully fulfilling the established functions. The material of the parts of each finger is aluminum alloy and is integrally formed by machining. The parts are high in strength, light in weight, and have high fitting precision. At the same time, through modular design, the problems of complex part installation and difficult subsequent maintenance in other designs are solved.

[0102] As an example, the control module 11 and the sensing module 12 of the grasping system are both disposed on the grasping device, specifically within the internal space of the grasping device. During use, sensing data is acquired through the sensing module 12. Based on the sensing data, the control module 11 can control the grasping device to perform a grasping action. When the sensing data acquired by the sensing module 12 meets the grasping conditions, the control module 11 controls the first drive assembly 4 in the grasping device to reel in the first tendon assembly 3, which can cause the finger joint assembly 2 to bend and perform a grasping action. When the sensing data acquired by the sensing module 12 meets the release conditions, the control module 11 controls the first drive assembly 4 in the grasping device to release the first tendon assembly 3, which can cause the finger joint assembly 2 to extend and perform a release action.

[0103] In this example, in order to further enhance the integrated design, the control module 11 includes a control integrated circuit 111 and a power management circuit 112. The exterior designs of the control integrated circuit 111 and the power management circuit 112 fully utilize the remaining space of the palm structure 9 and will not interfere with the movement of the grasping structure. The control integrated circuit 111 includes a main control circuit, a drive circuit for driving the motor, a collection circuit for collecting motor feedback pulses and currents, and a communication circuit for reading and writing with the outside world. The integrated circuits are connected to each other in communication. The drive circuit mainly uses three highly integrated motor drive chips, which can independently control the rotation and stop of each motor. The encoder and current data of each motor are collected through a sensor data collection chip, and the data is transmitted to the main control chip. The communication circuit uses a serial port transmission chip, which enables the main control chip to read and write programs, transmit data, and other functions with the outside world. The power management circuit 112 includes a voltage step-down circuit and a power output interface. The voltage step-down circuit can convert the external input high voltage into the required voltage through the step-down chip. The converted voltage can be supplied to different chips for operation, preventing malfunction due to unstable and uncertain external power supply, and improving the durability and scalability of the design; the voltage output interface provides output interfaces for various voltages, which facilitates debugging in the later stage of the design.

[0104] In one embodiment, referring to Figure 1 The sensing module 12 includes a pressure sensor 121, which is arranged on the finger joint assembly 2 of the grasping system and is used to collect pressure information of the finger joint assembly 2; the control module 11 is connected to the pressure sensor 121 and is used to adjust the output torque of the finger joint assembly 2 according to the pressure information collected by the pressure sensor 121.

[0105] As an example, the sensing module 12 includes a pressure sensor 121. When in use, the pressure sensor 121 is set on the finger joint assembly 2 of the grasping system, specifically on the distal finger joint 22 of the finger joint assembly 2, to collect pressure information when the finger joint assembly 2 is bent; the control module 11 is connected to the pressure sensor 121 and is used to adjust the output torque of the finger joint assembly 2 based on the pressure information collected by the pressure sensor 121; when the finger joint assembly 2 of the grasping structure is bent, the pressure information at the distal finger joint 22 can be monitored to facilitate the determination of the output torque required to achieve the grasping action and provide grasping accuracy. Among them, the pressure sensor 121 adopts an adaptive size according to the size of the finger joint assembly 2 of the grasping structure to ensure that the pressure sensor 121 does not affect the normal operation of the finger after installation.

[0106] In one embodiment, referring to Figure 1The pressure sensor 121 includes a sheet resistor 1211 and a wire 1212; the sheet resistor 1211 is arranged on the belly of the finger joint assembly 2 in the grasping system, and is used to collect pressure information of the finger joint assembly 2; the wire 1212 is arranged on both sides of the finger joint assembly 2 of the grasping system; the control module 11 is connected to the sheet resistor 1211 through the wire 1212, and is used to obtain the pressure information collected by the sheet resistor 1211.

[0107] As an example, the pressure sensor 121 includes a sheet resistor 1211 and a wire 1212. The sheet resistor 1211 is disposed on the belly of the knuckle assembly 2 in the grasping system, specifically attached to the belly surface of the knuckle assembly 2 in the grasping system. For example, it can be mounted on the finger cover plate on the belly of the second end of the distal knuckle 22. The wire 1212 is disposed on both sides of the knuckle assembly 2 of the grasping system, i.e., on both sides of the rotation axis of the knuckle assembly 2, to prevent the grasping structure from squeezing the pressure sensor 121 during movement, thereby improving the measurement accuracy and service life of the pressure sensor 121. The control module 11 is connected to the sheet resistor 1211 via the wire 1212 and is used to obtain the pressure information collected by the sheet resistor 1211. Specifically, the pressure information collected by the sheet resistor 1211 is identified by the sampling chip in the control module 11. The wire 1212 is made of a flexible copper wire that is resistant to bending. As a signal transmission line, this greatly improves the accuracy of signal transmission and solves the problem of the signal transmission line being easily damaged when the finger is bent.

[0108] In one embodiment, referring to Figure 1 and Figure 4 The sensing module 12 also includes a visual module 122; the visual module 122 is arranged on the palm structure 9 of the grasping system for monitoring visual information; the control module 11 is connected to the visual module 122 for controlling the grasping device of the grasping system to perform a grasping action according to the visual information.

[0109] As an example, the sensing module 12 also includes a visual module 122; when in use, the visual module 122 is set on the palm structure 9 of the grasping system for collecting visual information; the control module 11 is connected to the visual module 122, and is used to control the grasping device of the grasping system to perform a grasping action according to the visual information. The specific implementation process includes: in response to the received grasping instruction, controlling the mobile vehicle to move the grasping device to the front of the grasping target, and judging whether the grasping device has reached the grasping target through the visual information monitored by the visual module 122; if not, controlling the mobile vehicle to adjust the position of the grasping device; if reached, the control module 11 controls the grasping device to grasp according to the visual information monitored by the visual module 122; judging whether the grasping device has successfully grasped through the visual information monitored by the visual module 122; if the grasping is not successful, adjusting the output torque of the driving component in the grasping device according to the pressure information collected by the pressure sensor 121 through the control module 11; if the grasping is successful, the task is completed.

[0110] To ensure precise grasping, this design incorporates a vision module 122. This module is a depth camera, secured to the palm structure 9 using copper studs and screws. The depth camera's operating angle aligns with the orientation of the index finger module D, middle finger module C, and ring finger module B (i.e., the depth camera lens points toward the fingertips). By integrating the vision module 122 into the palm structure 9, grasping tasks no longer rely on an external vision positioning system, improving the design's applicability and grasping precision.

[0111] The grasping system in this embodiment is a bionic multi-fingered hand with a rigid structure. It has a compact structure, a high degree of integration, and high hardware versatility. It can form a modular multi-fingered hand system that integrates structure, drive, sensing, and control. The rigid fingers make up for the shortcomings of the flexible and dexterous hand with insufficient gripping force, and the angles of the thumb and other fingers are more in line with the layout of human fingers. This design is a modular design. Each grasping structure has a simple structure and a small number of parts. The parts are machined in an integrated form, which makes secondary assembly simple and easy to repair and replace later. The pressure sensor 121 of this design uses soft copper wire as the signal transmission line, which greatly improves the accuracy of signal transmission and solves the problem that the signal transmission line is easily damaged during the bending of the finger. This design adds a visual module 122 to the back of the palm structure 9 to obtain the target position, thereby improving the accuracy of the grasping device when performing tasks.

[0112] An embodiment of the utility model provides an intelligent terminal, including a grasping system.

[0113] As an example, the grasping device of the grasping system includes a palm structure 9, a pinky module A, a ring finger module B, a middle finger module C, an index finger module D, and a thumb module E. The pinky module A, the ring finger module B, the middle finger module C, the index finger module D, and the thumb module E are arranged on the palm structure 9 in the manner of a human hand, and the positions of the five fingers are arranged with reference to the human hand to make the grasping more human-like. Any one of the pinky module A, the ring finger module B, the middle finger module C, the index finger module D, and the thumb module E is the grasping structure in the above-mentioned embodiment. The grasping structure has a simple structure and uses the first tendon assembly 3 and the first drive assembly 4 to facilitate the control of the bending or extension of the grasping structure, thereby improving the control effect of the grasping structure and meeting the use requirements. The grasping device in this example reduces the number of parts of a single grasping structure while fully fulfilling the established functions. The material of the parts of each finger is aluminum alloy and is integrally formed by machining. The parts are high in strength, light in weight, and have high fitting precision. At the same time, through modular design, the problems of complex part installation and difficult subsequent maintenance in other designs are solved.

[0114] As an example, the control module 11 and the sensing module 12 are both provided on the grasping device; during use, sensing data is acquired by the sensing module 12; and based on the sensing data, the control module 11 can control the grasping device to execute a grasping action. When the sensing data acquired by the sensing module 12 meets the grasping conditions, the control module 11 controls the first drive assembly 4 in the grasping device to reel in the first tendon assembly 3, which can cause the finger joint assembly 2 to bend and execute the grasping action; when the sensing data acquired by the sensing module 12 meets the release conditions, the control module 11 controls the first drive assembly 4 in the grasping device to release the first tendon assembly 3, which can cause the finger joint assembly 2 to extend and execute the release action.

[0115] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the scope of protection of the present invention.

Claims

1. A gripping structure, characterized in that: It includes a first base, a finger joint assembly, a first tendon cord assembly and a first drive assembly; The first end of the finger joint assembly is rotatably disposed on the first base, the first driving assembly is mounted on the first base, and the first base is used to be mounted on the palm structure; The first tendon cord assembly is inserted into the finger joint assembly and the first base, and the first end of the first tendon cord assembly is connected to the second end of the finger joint assembly, and the second end of the first tendon cord assembly is connected to the driving assembly; The first driving assembly is used to control the first tendon rope assembly to be in a reeled state or a released state.

2. The gripping structure according to claim 1, characterized in that: The knuckle assembly includes a proximal knuckle and a distal knuckle; The first end of the proximal finger joint is rotatably disposed on the first base, and the first end of the distal finger joint is rotatably disposed on the second end of the proximal finger joint; The first tendon cord assembly is passed through the distal finger joint, the proximal finger joint and the first base, and the first end of the first tendon cord assembly is connected to the second end of the distal finger joint, and the second end of the first tendon cord assembly is connected to the first drive assembly.

3. The gripping structure according to claim 1, characterized in that: The first drive assembly includes a first motor and a first winding reel; The first motor is mounted on the first base, and the first winding wheel is connected to the output shaft of the first motor; The second end of the first tendon assembly passes through the first base and is connected to the first winding wheel.

4. The gripping structure according to claim 1, characterized in that: The first tendon cord assembly includes a first elastic tendon cord; The first elastic tendon rope is inserted into the finger joint assembly and the first base; The first end of the first elastic tendon cord is connected to the second end of the finger joint assembly, and the second end of the first elastic tendon cord is connected to the first drive assembly.

5. The gripping structure according to claim 1, characterized in that: The first tendon assembly includes a first contraction tendon and a first extension tendon; The first contraction tendon cord is passed through the belly of the finger joint assembly and the belly of the first base, and the first end of the first contraction tendon cord is connected to the belly of the second end of the finger joint assembly, and the second end of the first contraction tendon cord is connected to the first driving assembly; The first extension tendon cord is passed through the back of the finger joint assembly and the back of the first base, and the first end of the first extension tendon cord is connected to the back of the second end of the finger joint assembly, and the second end of the first extension tendon cord is connected to the first driving assembly; the first contraction tendon cord is wound in the opposite direction to the first extension tendon cord; The first driving assembly is used to control either one of the first contraction tendon cord and the first extension tendon cord to be in a retracted state and the other to be in a released state.

6. The gripping structure according to claim 1, characterized in that: Also included is a second base, a transfer knuckle, a second tendon cord assembly, and a second drive assembly; The first end of the transfer knuckle is rotatably mounted on the second base, the second end of the transfer knuckle is connected to an end of the first base away from the knuckle assembly, a second drive assembly is mounted on the second base, and the second base is used to be mounted on the palm structure; The second tendon cord assembly is inserted into the transfer knuckle and the second base, and the first end of the second tendon cord assembly is connected to the second end of the transfer knuckle, and the second end of the second tendon cord assembly is connected to the second drive assembly; The second driving assembly is used to control the second tendon rope assembly to be in a reeled state or a released state.

7. The gripping structure according to claim 6, characterized in that: The second tendon cord assembly includes a second elastic tendon cord; The second elastic tendon rope is inserted into the transfer knuckle and the second base; The first end of the second elastic tendon cord is connected to the second end of the transfer knuckle, and the second end of the second elastic tendon cord is connected to the second drive assembly.

8. The gripping structure according to claim 6, characterized in that: The second tendon cord assembly includes a second contraction tendon cord and a second extension tendon cord; The second contraction tendon cord is passed through the belly of the transfer knuckle and the belly of the second base, and the first end of the second contraction tendon cord is connected to the belly of the second end of the transfer knuckle, and the second end of the second contraction tendon cord is connected to the second drive assembly; The second extension tendon cord is passed through the back of the transfer knuckle and the back of the second base, and the first end of the second extension tendon cord is connected to the back of the second end of the transfer knuckle, and the second end of the second extension tendon cord is connected to the second drive assembly; the second contraction tendon cord is wound in the opposite direction to the second extension tendon cord; The second driving assembly is used to control either the second contraction tendon cord or the second extension tendon cord to be in a retracted state and the other to be in a released state.

9. A gripping device, characterized in that: Including palm structure, little finger module, ring finger module, middle finger module, index finger module and thumb module; The little finger module, the ring finger module, the middle finger module, the index finger module and the thumb module are arranged on the palm structure in the manner of a human hand; The little finger module, the ring finger module, the middle finger module and the index finger module are the grasping structures described in any one of claims 1 to 5, and the thumb module is the grasping structure described in any one of claims 6 to 8.

10. The gripping device according to claim 9, characterized in that The palm structure includes the palm metacarpal bones and the palm front cover; The palm metacarpal bone is provided with five mounting holes modeled after a human hand, and the five mounting holes are used to mount the little finger module, the ring finger module, the middle finger module, the index finger module and the thumb module respectively; The palm front cover is mounted on the palm metacarpal bone to form an accommodating space.

11. The gripping device according to claim 10, characterized in that The palm metacarpal bone includes a palm area and five finger mounting areas arranged on the palm area, and each of the finger mounting areas is provided with a mounting hole for mounting a gripping structure; The angle formed between the plane where the finger installation area of ​​the little finger module is located and the plane where the palm area is located is 5 to 7 degrees.

12. A gripping system, characterized in that: comprising a control module, a sensing module and the gripping device according to any one of claims 9 to 11; The control module and the sensing module are both arranged on the grasping device; The sensing module is used to obtain sensing data; The control module is used to control the grasping device to perform a grasping action according to the sensing data.

13. The gripping system according to claim 12, characterized in that The sensing module includes a pressure sensor, which is arranged on the finger joint assembly of the grasping device and is used to collect pressure information of the finger joint assembly; The control module is connected to the pressure sensor and is used to adjust the output torque of the knuckle assembly according to the pressure information collected by the pressure sensor.

14. The gripping system according to claim 13, characterized in that The pressure sensor includes a sheet resistor and a wire; The sheet resistor is provided on the belly of the knuckle assembly of the gripping device and is used to collect pressure information of the knuckle assembly; The wires are arranged on both sides of the finger joint assembly of the grasping device; The control module is connected to the sheet resistor via the wire, and is used to obtain pressure information collected by the sheet resistor.

15. The gripping system according to claim 12, wherein: The sensing module also includes a visual module; The visual module is provided on the palm structure of the grasping device and is used to collect visual information; The control module is connected to the vision module and is used to control the grasping device to perform a grasping action according to the visual information.

16. An intelligent terminal, characterized in that: The method comprises the grasping system according to any one of claims 12 to 15.

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