Dexterous hand structure

Abstract

The utility model discloses a dexterous hand structure, which belongs to the technical field of manipulators and comprises a front-end finger pair, a middle finger pair, a tail-end finger pair, a connecting rod I, a connecting rod II, a mounting seat, a bidirectional vertical driving component and a connecting rod driving structure, the left end and the right end of the second connecting rod are connected with the middle, close to the finger pulp side, of the tail end finger pair and the connecting rod driving structure. The upper movable end and the lower movable end of the bidirectional vertical driving assembly are fixedly connected with the lower end of the second tendon rope and the lower end of the first tendon rope correspondingly, and the upper end of the second tendon rope and the upper end of the first tendon rope are fixedly connected with the finger pulp side and the finger back side of the front end finger pair correspondingly. By means of the mode, the strength of the connecting rod structure and the flexibility of the tendon rope structure are combined, the three-finger pair can grasp and loosen flexibly, meanwhile, the grabbing strength is high, and the contradiction between the flexibility and the strength of the dexterous hand is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a dexterous hand structure. Background Art

[0002] The prior art generally adopts a single connecting rod structure (such as the bionic dexterous hand disclosed in CN115805599A) or a single key rope structure (the humanoid flexible dexterous hand and its finger joints disclosed in CN115781731A).

[0003] However, a single link structure can only achieve grasping with two finger pairs, which is very strong but lacks dexterity. While a single key-and-rope structure can achieve grasping with three finger pairs, it cannot achieve high strength due to material limitations.

[0004] Based on this, the present invention designs a dexterous hand structure to solve the above problems. Utility Model Content

[0005] In view of the above-mentioned shortcomings of the prior art, the present invention provides a dexterous hand structure.

[0006] In order to achieve the above objectives, the present invention is implemented through the following technical solutions:

[0007] A dexterous hand structure includes a front finger pair, a middle finger pair, and a terminal finger pair, and further includes:

[0008] Connecting rod 1, connecting rod 2, mounting base, bidirectional vertical drive assembly and connecting rod driving structure;

[0009] The lower end of the front finger pair is rotatably connected to the upper end of the middle finger pair, the lower end of the middle finger pair is rotatably connected to the upper end of the terminal finger pair, and the lower end of the terminal finger pair is rotatably connected to the upper end of the mounting seat; the upper and lower ends of the connecting rod 1 are rotatably connected to the lower end of the middle finger pair on the finger web side and the lower end of the terminal finger pair on the finger dorsal side respectively;

[0010] The left and right ends of the second connecting rod are respectively connected to the middle part of the terminal finger pair on the ventral side and the connecting rod driving structure;

[0011] The upper and lower movable ends of the bidirectional vertical drive component are fixedly connected to the lower ends of tendon rope 2 and tendon rope 1 respectively, and the upper ends of tendon rope 2 and tendon rope 1 are fixedly connected to the finger web side and finger dorsal side of the front finger pair respectively.

[0012] Furthermore, the bidirectional vertical drive assembly includes slider one, slider two, double-ended screw rod one and motor one; the lower end of the double-ended screw rod one is fixedly connected to the output end of motor one, the thread directions of the upper and lower ends of the double-ended screw rod one are opposite, and the upper and lower ends of the double-ended screw rod one are respectively threadedly connected to slider one and slider two, and slider one and slider two are respectively fixedly connected to the lower ends of tendon rope two and tendon rope one.

[0013] Furthermore, the bidirectional vertical drive assembly is connected to the second connecting rod through a connecting rod driving structure.

[0014] Furthermore, the connecting rod driving structure includes a connecting seat, the top of the slider one is fixedly connected to the connecting seat, and the right end of the connecting rod two is rotatably connected to the upper end of the connecting seat; the double-headed screw rod one is rotatably mounted on the mounting seat through a bearing.

[0015] Furthermore, multiple groups of support columns for supporting and limiting tendon rope 1 and tendon rope 2 are fixedly connected to the inner walls of the front finger pair, middle finger pair and terminal finger pair.

[0016] Furthermore, the connecting rod driving structure is separately provided from the bidirectional vertical drive assembly.

[0017] Furthermore, the connecting rod driving structure includes a connecting seat, motor 2, slider 5 and double-ended screw 2; the lower end of the double-ended screw 2 is fixedly connected to the output end of motor 2, the slider 5 is threadedly connected to the double-ended screw 2, the double-ended screw 2 is rotatably mounted on the mounting seat through a bearing, the top of the slider 5 is fixedly connected to the connecting seat, and the right end of the connecting rod 2 is rotatably connected to the upper end of the connecting seat.

[0018] Furthermore, the housing of the second motor is fixedly mounted on the mounting base.

[0019] Furthermore, multiple groups of support columns for supporting and limiting tendon rope 1 and tendon rope 2 are fixedly connected to the inner walls of the front finger pair, middle finger pair and terminal finger pair.

[0020] Compared with the existing technology, the beneficial effects of the present invention are as follows: the present invention combines the strength of the connecting rod structure and the flexibility of the tendon structure to achieve dexterous grasping and releasing with three fingers, while having high grasping strength, thus solving the contradiction between the flexibility and strength of the dexterous hand. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be derived from these drawings without inventive effort.

[0022] Figure 1 A schematic diagram of a dexterous hand structure according to an embodiment of the present invention;

[0023] Figure 2 Schematic diagram of a dexterous hand structure according to another embodiment of the present invention.

[0024] The numbers in the figure represent: 1. Front finger pair; 2. Middle finger pair; 3. End finger pair; 4. Connecting rod one; 5. Connecting rod two; 6. Tendon rope one; 7. Tendon rope two; 8. Slider one; 9. Slider two; 10. Double-ended screw one; 11. Connecting seat; 12. Mounting seat; 13. Motor one; 14. Motor two; 15. Slider five; 16. Double-ended screw two; 17. Support column. DETAILED DESCRIPTION

[0025] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0026] In some embodiments, please refer to the accompanying drawings of the specification. Figure 1 A dexterous hand structure includes a front finger pair 1, a middle finger pair 2 and a terminal finger pair 3, and also includes a connecting rod 1 4, a connecting rod 2 5, a mounting seat 12, a bidirectional vertical drive assembly and a connecting rod driving structure;

[0027] The lower end of the front finger pair 1 is rotatably connected to the upper end of the middle finger pair 2, the lower end of the middle finger pair 2 is rotatably connected to the upper end of the terminal finger pair 3, and the lower end of the terminal finger pair 3 is rotatably connected to the upper end of the mounting base 12; the upper and lower ends of the connecting rod 1 4 are rotatably connected to the lower end of the middle finger pair 2 on the finger web side and the lower end of the terminal finger pair 3 on the finger dorsal side respectively;

[0028] The left and right ends of the connecting rod 2 5 are respectively connected to the middle part of the terminal finger pair 3 on the finger ventral side and the connecting rod driving structure;

[0029] The upper and lower movable ends of the bidirectional vertical drive assembly are fixedly connected to the lower ends of tendon rope 2 7 and tendon rope 1 6 respectively, and the upper ends of tendon rope 2 7 and tendon rope 1 6 are fixedly connected to the finger web side and finger dorsal side of the front finger pair 1 respectively.

[0030] The bidirectional vertical drive assembly includes a slider 1 8, a slider 2 9, a double-ended screw 10 and a motor 13; the lower end of the double-ended screw 10 is fixedly connected to the output end of the motor 13, the upper and lower ends of the double-ended screw 10 have opposite thread directions, and the upper and lower ends of the double-ended screw 10 are respectively threadedly connected to the slider 1 8 and the slider 2 9, and the slider 1 8 and the slider 2 9 are respectively fixedly connected to the lower ends of the tendon rope 2 7 and the tendon rope 1 6;

[0031] The bidirectional vertical drive assembly is connected to the connecting rod 2 5 through a connecting rod driving structure; the connecting rod driving structure includes a connecting seat 11, the top of the slider 1 8 is fixedly connected to the connecting seat 11, and the right end of the connecting rod 2 5 is rotatably connected to the upper end of the connecting seat 11; the double-headed screw 10 is rotatably installed on the mounting seat 12 through a bearing.

[0032] A plurality of groups of support columns 17 for supporting and limiting the tendon rope 1 6 and the tendon rope 2 7 are fixedly connected to the inner walls of the front finger pair 1 , the middle finger pair 2 and the terminal finger pair 3 .

[0033] During grasping, the motor 13 drives the double-ended screw 10 to rotate, which drives the slider 18 to move downward and the slider 2 9 to move upward. The slider 18 drives the front finger pair 1 to rotate through the tendon 2 7. The slider 18 moves downward and drives the connecting rod 2 5 to rotate through the connecting seat 11. The connecting rod 2 5 drives the end finger pair 3 to rotate. The end finger pair 3 drives the middle finger pair 2 to rotate through the connecting rod 1 4, thereby realizing the grasping process.

[0034] During release, the motor 13 drives the double-ended screw 10 to rotate in the opposite direction, the double-ended screw 10 drives the slider 18 to move upward and the slider 2 9 to move downward, the slider 2 9 drives the front finger pair 1 to rotate in the opposite direction through the tendon 1 6, the slider 1 8 moves upward and drives the connecting rod 2 5 to rotate in the opposite direction through the connecting seat 11, the connecting rod 2 5 drives the end finger pair 3 to rotate in the opposite direction, the end finger pair 3 drives the middle finger pair 2 to rotate in the opposite direction through the connecting rod 1 4, thereby completing the release process;

[0035] The utility model combines the strength of the connecting rod structure and the flexibility of the tendon structure, can realize the dexterous grasping and releasing of three fingers, and has high grasping strength, thus solving the contradiction between the flexibility and strength of the dexterous hand.

[0036] In some embodiments, as Figure 2 As shown, a dexterous hand structure includes a front finger pair 1, a middle finger pair 2 and a terminal finger pair 3, and also includes a connecting rod 1 4, a connecting rod 2 5, a mounting seat 12, a bidirectional vertical drive assembly and a connecting rod driving structure;

[0037] The lower end of the front finger pair 1 is rotatably connected to the upper end of the middle finger pair 2, the lower end of the middle finger pair 2 is rotatably connected to the upper end of the terminal finger pair 3, and the lower end of the terminal finger pair 3 is rotatably connected to the upper end of the mounting base 12; the upper and lower ends of the connecting rod 1 4 are rotatably connected to the lower end of the middle finger pair 2 on the finger web side and the lower end of the terminal finger pair 3 on the finger dorsal side respectively;

[0038] The left and right ends of the connecting rod 2 5 are respectively connected to the middle part of the terminal finger pair 3 on the finger ventral side and the connecting rod driving structure;

[0039] The upper and lower movable ends of the bidirectional vertical drive assembly are fixedly connected to the lower ends of tendon rope 2 7 and tendon rope 1 6 respectively, and the upper ends of tendon rope 2 7 and tendon rope 1 6 are fixedly connected to the finger web side and finger dorsal side of the front finger pair 1 respectively.

[0040] The bidirectional vertical drive assembly includes a slider 1 8, a slider 2 9, a double-ended screw 10 and a motor 13; the lower end of the double-ended screw 10 is fixedly connected to the output end of the motor 13, the upper and lower ends of the double-ended screw 10 have opposite thread directions, and the upper and lower ends of the double-ended screw 10 are respectively threadedly connected to the slider 1 8 and the slider 2 9, and the slider 1 8 and the slider 2 9 are respectively fixedly connected to the lower ends of the tendon rope 2 7 and the tendon rope 1 6;

[0041] The connecting rod driving structure is separately arranged from the bidirectional vertical drive assembly, and the connecting rod driving structure includes a connecting seat 11, a second motor 14, a fifth slider 15 and a second double-ended screw rod 16; the lower end of the second double-ended screw rod 16 is fixedly connected to the output end of the second motor 14, and the second double-ended screw rod 16 is threadedly connected to the fifth slider 15. The second double-ended screw rod 16 is rotatably mounted on the mounting seat 12 through a bearing, and the top of the fifth slider 15 is fixedly connected to the connecting seat 11, and the right end of the second connecting rod 5 is rotatably connected to the upper end of the connecting seat 11;

[0042] Preferably, the housing of the second motor 14 is fixedly mounted on the mounting base 12;

[0043] A plurality of groups of support columns 17 for supporting and limiting the tendon rope 1 6 and the tendon rope 2 7 are fixedly connected to the inner walls of the front finger pair 1 , the middle finger pair 2 and the terminal finger pair 3 .

[0044] During grasping, the motor 13 drives the double-ended screw 10 to rotate, the double-ended screw 10 drives the slider 1 8 to move downward and the slider 2 9 to move upward, the slider 1 8 drives the front finger pair 1 to rotate through the tendon 2 7, the motor 2 14 drives the double-ended screw 2 16 to rotate, the double-ended screw 2 16 drives the slider 5 15 to move downward, the slider 5 15 moves downward and drives the connecting rod 2 5 to rotate through the connecting seat 11, the connecting rod 2 5 drives the end finger pair 3 to rotate, the end finger pair 3 drives the middle finger pair 2 to rotate through the connecting rod 1 4, thereby realizing the grasping process;

[0045] During release, the motor 13 drives the double-ended screw 10 to rotate in the opposite direction, the double-ended screw 10 drives the slider 1 8 to move upward and the slider 2 9 to move downward, the slider 2 9 drives the front finger pair 1 to rotate in the opposite direction through the tendon 1 6, the motor 2 14 drives the double-ended screw 2 16 to rotate in the opposite direction, the double-ended screw 2 16 drives the slider 5 15 to move upward, the slider 5 15 moves upward and drives the connecting rod 2 5 to rotate in the opposite direction through the connecting seat 11, the connecting rod 2 5 drives the end finger pair 3 to rotate in the opposite direction, the end finger pair 3 drives the middle finger pair 2 to rotate in the opposite direction through the connecting rod 1 4, thereby realizing the release process;

[0046] The utility model combines the strength of the connecting rod structure and the flexibility of the tendon structure, can realize the dexterous grasping and releasing of three fingers, and has high grasping strength, thus solving the contradiction between the flexibility and strength of the dexterous hand.

[0047] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. 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. However, these modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A dexterous hand structure, comprising a front finger pair (1), a middle finger pair (2) and a terminal finger pair (3), characterized in that: Also includes: Connecting rod one (4), connecting rod two (5), mounting seat (12), bidirectional vertical drive assembly and connecting rod driving structure; The lower end of the front finger pair (1) is rotatably connected to the upper end of the middle finger pair (2), the lower end of the middle finger pair (2) is rotatably connected to the upper end of the terminal finger pair (3), and the lower end of the terminal finger pair (3) is rotatably connected to the upper end of the mounting seat (12); the upper and lower ends of the connecting rod (4) are rotatably connected to the lower end of the middle finger pair (2) on the finger belly side and the lower end of the terminal finger pair (3) on the finger back side respectively; The left and right ends of the second connecting rod (5) are respectively connected to the middle part of the terminal finger pair (3) on the finger ventral side and the connecting rod driving structure; The upper and lower movable ends of the bidirectional vertical drive assembly are respectively fixedly connected to the lower ends of tendon rope 2 (7) and tendon rope 1 (6), and the upper ends of tendon rope 2 (7) and tendon rope 1 (6) are respectively fixedly connected to the finger web side and finger dorsal side of the front finger pair (1).

2. The dexterous hand structure according to claim 1, characterized in that: The bidirectional vertical drive assembly comprises a slider 1 (8), a slider 2 (9), a double-headed screw rod 1 (10) and a motor 1 (13); the lower end of the double-headed screw rod 1 (10) is fixedly connected to the output end of the motor 1 (13); the thread directions of the upper and lower ends of the double-headed screw rod 1 (10) are opposite; the upper and lower ends of the double-headed screw rod 1 (10) are respectively threadedly connected to the slider 1 (8) and the slider 2 (9); the slider 1 (8) and the slider 2 (9) are respectively fixedly connected to the lower ends of the tendon rope 2 (7) and the tendon rope 1 (6).

3. The dexterous hand structure according to claim 2, characterized in that: The bidirectional vertical drive assembly is connected to the second connecting rod (5) through a connecting rod driving structure.

4. The dexterous hand structure according to claim 3, characterized in that: The connecting rod driving structure includes a connecting seat (11), the top of the slider (8) is fixedly connected to the connecting seat (11), and the right end of the connecting rod (5) is rotatably connected to the upper end of the connecting seat (11); the double-headed screw (10) is rotatably mounted on the mounting seat (12) through a bearing.

5. The dexterous hand structure according to claim 4, characterized in that: Multiple groups of support columns (17) for supporting and limiting the tendon rope 1 (6) and tendon rope 2 (7) are fixedly connected to the inner walls of the front finger pair (1), the middle finger pair (2) and the terminal finger pair (3).

6. The dexterous hand structure according to claim 2, characterized in that: The connecting rod driving structure is separately arranged from the bidirectional vertical drive assembly.

7. The dexterous hand structure according to claim 6, characterized in that: The connecting rod driving structure comprises a connecting seat (11), a second motor (14), a fifth slider (15) and a second double-headed screw rod (16); the lower end of the second double-headed screw rod (16) is fixedly connected to the output end of the second motor (14), the second double-headed screw rod (16) is threadedly connected with the fifth slider (15), the second double-headed screw rod (16) is rotatably mounted on the mounting seat (12) through a bearing, the top of the fifth slider (15) is fixedly connected to the connecting seat (11), and the right end of the second connecting rod (5) is rotatably connected to the upper end of the connecting seat (11).

8. The dexterous hand structure according to claim 7, characterized in that: The housing of the second motor (14) is fixedly mounted on the mounting seat (12).

9. The dexterous hand structure according to claim 8, characterized in that: Multiple groups of support columns (17) for supporting and limiting the tendon rope 1 (6) and tendon rope 2 (7) are fixedly connected to the inner walls of the front finger pair (1), the middle finger pair (2) and the terminal finger pair (3).

Images