Dexterous hand finger based on connecting rod transmission, bionic mechanical arm and humanoid robot

Abstract

The utility model discloses a dexterous hand finger based on connecting rod transmission, a bionic mechanical arm and a humanoid robot, belongs to the field of bionic mechanical arms, solves the problem that a transmission mechanism of an existing dexterous hand is low in response speed, and adopts the technical scheme that the dexterous hand finger mainly comprises a finger base and a finger body, a driver and a transmission mechanism in transmission connection with the driver are arranged on the finger base, the driver drives the finger body to bend and / or swing through the transmission mechanism, the transmission mechanism comprises a guide piece and a sliding block installed on the guide piece in a sliding mode, and the sliding block is in transmission connection with the finger body. A traction rope connected with the sliding block is wound on an output shaft of the driver, the driver controls the output shaft to rotate forwards and backwards so as to drag the sliding block to slide back and forth along the guiding piece through the traction rope, and then the finger body is controlled to bend and / or swing. The finger is mainly used for driving the sliding block to move through the pulling rope so as to control the finger body to bend and swing, and the response efficiency of the finger body can be improved.

Description

TECHNICAL FIELD

[0001] The utility model discloses a dexterous hand finger based on connecting rod transmission, bionic mechanical arm and humanoid robot, belongs to bionic mechanical arm technical field. BACKGROUND

[0002] With the rapid development of artificial intelligence technology, and its deep integration with traditional robot industry, dexterous hand as the key component of robot execution function and human interaction has received more and more attention and research, and the research of bionic dexterous hand not only has great scientific significance, but also shows great potential in practical application. The design inspiration of bionic dexterous hand comes from the morphology, structure and function characteristics of biological body, which realizes the perfect combination of biology, mechanics and engineering technology by applying these characteristics in the design of dexterous hand. The structure design makes the dexterous hand closer to the movement and operation mode of human hand, which provides the possibility for more natural and efficient human-computer interaction.

[0003] The traditional dexterous hand usually includes fingers, drivers and transmission mechanisms, the transmission mechanism includes a lead screw and a lead screw nut, the lead screw nut is in transmission connection with each knuckle of the fingers, and the output end of the driver is in transmission connection with the lead screw. The driver drives the lead screw to rotate after starting, and the lead screw nut slides along the axial direction of the lead screw with the rotation of the lead screw, and the bending and swinging of the fingers are realized through the sliding of the lead screw nut. However, the transmission mechanism of the lead screw and the lead screw nut has a slow sliding speed of the lead screw nut during operation, which leads to slow response of the fingers and affects the interaction efficiency of the dexterous hand. In addition, the lead screw is installed on the fingers, and in order to simplify the transmission between the lead screw and the driver, the driver is usually fixed on the fingers, which increases the overall size of the fingers and makes it difficult to use the fingers in a small space, affecting the application range of the dexterous hand. UTILITY MODEL CONTENTS

[0004] The utility model discloses a dexterous hand finger based on connecting rod transmission, through the traction rope drives the sliding block movement to control the bending and swinging of the finger body, which can improve the response efficiency of the finger body.

[0005] To solve the above technical problems, the utility model adopts the following technical scheme:

[0006] The finger of the dexterous hand based on a connecting rod transmission comprises a finger base and a finger body, the finger base is provided with a driver and a transmission mechanism in transmission connection with the driver, the driver drives the finger body to bend and / or swing through the transmission mechanism, the transmission mechanism comprises a first transmission member and two groups of second transmission members, the first transmission member and the second transmission members each comprise a guide member and a sliding block slidingly installed on the guide member, a traction rope connecting the sliding blocks is wound on an output shaft of the driver, the driver controls the output shaft to reversely rotate to drag the sliding blocks to reciprocatingly slide along the guide members through the traction rope, the finger body comprises a first knuckle and a second knuckle, the sliding block of the first transmission member is in transmission connection with the second knuckle, and the sliding block of the second transmission member is in transmission connection with the first knuckle, the driver drives the second knuckle to bend through the first transmission member, and the driver drives the first knuckle to bend and / or swing through the second transmission member.

[0007] The beneficial effects of the utility model are as follows:

[0008] The transmission mechanism comprises a guide member and a sliding block, a traction rope is wound on an output shaft of the driver, the driver controls the output shaft to rotate, the traction rope is wound or released on the output shaft, thereby pulling the sliding block to slide along the guide member, the sliding of the sliding block controls the finger body to bend and / or swing, so as to realize the movement of the finger of the dexterous hand, the driver transmits power to the sliding block through the traction rope, the sliding block can quickly respond to the power output of the driver, the interactive efficiency of the finger body can be improved while ensuring the accurate transmission between the driver and the sliding block, so that the finger body has higher sensitivity; in addition, the driver and the sliding block are in transmission connection through the traction rope, so that the power can be transmitted at a long distance by increasing the length of the traction rope, the driver does not need to be fixed on the finger of the dexterous hand, can be arranged away from the finger of the dexterous hand, so that the finger of the dexterous hand can keep a smaller size, so that the finger of the dexterous hand can be used in a narrow space, which helps to improve the flexibility of the finger of the dexterous hand; secondly, the driver is arranged away from the finger, so that the driver does not need to be limited by the space of the finger, therefore, a high-torque small-size driver does not need to be selected, so that the selection of the driver is more flexible and various, and the manufacturing cost of the dexterous hand can be reduced.

[0009] As preferred, the top end of the guide is rotatably connected with a first pulley, one end of the traction rope is wound around the output shaft of the driver, the other end is wound around the first pulley and wound back to the output shaft of the driver in the opposite direction, and the traction rope is connected with the sliding block to drag the sliding block to reciprocatingly slide along the guide. With the foregoing technical scheme, the winding directions of the two ends of the traction rope on the output shaft are opposite, when the driver rotates, one end of the traction rope is wound around the output shaft, the other end is synchronously released from the output shaft, and the direction of the traction rope is changed through the first pulley, so that the traction rope can be kept as tight as possible, and the power transmission between the driver and the sliding block is more accurate and reliable; in addition, the driver is directly connected with the sliding block through the traction rope, which can reduce the energy loss of the intermediate link and help to improve the transmission efficiency between the driver and the sliding block; secondly, the connection between the traction rope and the sliding block is relatively simple and is not affected by the structure of the sliding block, so that the design of the sliding block is not easily limited, and a sliding block with smaller volume and lighter weight can be used to facilitate the reduction of the volume and weight of the dexterous hand fingers.

[0010] As preferred, the sliding block is fixedly connected with a connecting seat, two holes for the traction rope to pass through are arranged on the connecting seat, and the traction rope is fixedly connected with the inner wall of one of the holes. With the foregoing technical scheme, the holes can limit the traction rope, reducing the possibility of the traction rope disengaging from the first pulley.

[0011] As preferred, the top end of the guide is rotatably connected with a first pulley, the traction rope includes a first traction rope and a second traction rope, the first traction rope is wound around the first pulley and connected to the upper end of the sliding block, the second traction rope is connected to the lower end of the sliding block, and the winding directions of the first traction rope and the second traction rope on the output shaft of the driver are opposite. With the foregoing technical scheme, the traction rope is divided into two sections, which can reduce the connection difficulty of the traction rope and the sliding block; in addition, when the traction rope needs to be replaced, only the first traction rope or the second traction rope can be replaced, which helps to reduce the maintenance difficulty and cost.

[0012] As preferred, the bottom end of the guide is rotatably connected with a second pulley, and the traction rope is wound around the output shaft of the driver after passing through the two sides of the second pulley. With the foregoing technical scheme, the second pulley can guide and support the traction rope, so that the traction rope is not easy to deviate or shake during transmission, reducing the possibility of the traction rope disengaging from the first pulley, and ensuring stable sliding of the sliding block on the guide.

[0013] As preferred, the traction rope sheath is provided with a collection tube, and the collection tube is between the second pulley and the output shaft of the driver. With the foregoing technical scheme, the collection tube can constrain the traction rope, limit the traction rope from shaking at will, effectively avoid the possibility of mutual entanglement between multiple traction ropes; meanwhile, the collection tube can also protect the traction rope, reduce the possibility of direct contact between the traction rope and other parts of the dexterous hand, reduce the possibility of wear of the traction rope, and help to improve the service life of the traction rope; secondly, the traction rope can be collected by the collection tube, so that the laying of the traction rope is more neat, which helps to improve the aesthetic degree of the fingers of the dexterous hand; in addition, the collection tube is between the second pulley and the output shaft of the driver, so that the collection tube can reduce the distance between the traction ropes on both sides of the second pulley, so that the traction ropes can stably contact the second pulley, reduce the possibility of the traction ropes from the second pulley, and improve the cooperation stability of the traction ropes and the second pulley.

[0014] As preferred, two rope grooves are arranged on the output shaft of the driver at intervals, and the traction ropes are wound in the two rope grooves in different winding directions. With the foregoing technical scheme, the winding directions of the traction ropes in the two rope grooves are opposite, and when the driver controls the output shaft to rotate, the traction ropes in the two rope grooves are respectively contracted and released, so that bidirectional transmission can be realized, that is, the traction ropes can drag the sliding block to move back and forth through the forward and reverse rotation of one driver, without the need to use two drivers, which can reduce the number of drivers used, make the space occupied by the driver smaller, and make the overall structure simpler, which helps to reduce the manufacturing cost of the dexterous hand.

[0015] As preferred, the guide member and the finger base have a gap therebetween, the first pulley is between the guide member and the finger base, the sliding block is fixedly connected with a connecting seat, the connecting seat is on the side of the guide member away from the finger base, the connecting seat is provided with an extension plate extending toward the finger base, and the traction rope is fixedly connected with the extension plate. With the foregoing technical scheme, the extension plate is between the guide member and the finger base, and the connecting seat is on the side of the guide member away from the finger base, that is, the traction rope and the connecting seat are respectively on both sides of the guide member, so that the possibility of mutual interference between the traction rope and the connecting seat can be avoided, and the transmission between the traction rope and the connecting seat is more stable and reliable.

[0016] As preferred, the two ends of the first phalanx are respectively hinged with the finger base and the second phalanx, the slider of the first transmission member is connected with the second phalanx through a cross shaft transmission, the first transmission member is used for driving the second phalanx to bend, the slider of the second transmission member is connected with the first phalanx through a cross shaft transmission, the sliders of the two groups of second transmission members slide synchronously and in the same direction to drive the first phalanx to bend, and the sliders of the two groups of second transmission members slide different distances or reversely to drive the finger body to swing. By the above technical scheme, the cross shaft can achieve the effect of universal, and the assembly of the slider and the finger body is more compact through the cross shaft, the assembly precision can be effectively improved, the transmission connection between the finger body and the transmission mechanism is more compact and stable, and the sensitivity of the finger body is improved.

[0017] As preferred, the finger base comprises a first mounting plate, a second mounting plate and two mounting side plates for connecting the first mounting plate and the second mounting plate, the first mounting plate, the second mounting plate and the mounting side plates surround to form a containing cavity, the first transmission member is fixed in the containing cavity, the two groups of second transmission members are fixed on the side of the second mounting plate away from the containing cavity, and at least one through hole is formed in the first mounting plate, the second mounting plate and the mounting side plates. By the above technical scheme, the first transmission member is fixed in the containing cavity, the assembly of the finger base and the first transmission member is more compact, the space utilization of the dexterous hand finger is improved, and the volume of the dexterous hand finger is reduced; and the through holes formed in the first mounting plate, the second mounting plate and the mounting side plates can effectively reduce the overall weight of the finger base.

[0018] As preferred, the first phalanx comprises a side swing connecting rod and two first phalanx connecting rods, the first phalanx connecting rod has a first hinged end, a second hinged end and a third hinged end, the middle part of the side swing connecting rod is rotationally connected with the finger base, the two ends of the side swing connecting rod are bent and extend to the first phalanx connecting rods, the two ends of the side swing connecting rod are respectively hinged with the first hinged ends of the two first phalanx connecting rods, a first rotating shaft is arranged between the two second hinged ends, the cross shaft connected with the sliders of the two groups of second transmission members is hinged with the first rotating shaft, the second phalanx comprises a second phalanx connecting rod, a second rotating shaft is arranged between the two third hinged ends, the second phalanx connecting rod is hinged with the second rotating shaft, the cross shaft connected with the slider of the first transmission member is rotationally connected with the second phalanx connecting rod, and the first rotating shaft is rotationally connected with a second connecting rod.

[0019] As preferred, the finger body further comprises a third phalanx, the third phalanx is rotationally connected with the second phalanx connecting rod, and the third phalanx is rotationally connected with a third connecting rod at the end of the first phalanx connecting rod.

[0020] The utility model also displays bionic mechanical arm, including arm and dexterous hand, dexterous hand is equipped with at least two fingers, the finger adopts the dexterous hand finger based on connecting rod transmission of any one described above, the driver is fixed on the arm.

[0021] The utility model also discloses a humanoid robot, including at least one bionic mechanical arm as described above.

[0022] Other features and advantages of the utility model will be disclosed in the following specific embodiment, drawing in detail. BRIEF DESCRIPTION OF DRAWINGS

[0023] The utility model will be further explained in connection with the drawings:

[0024] Figure 1 It is the structure schematic drawing of the finger of the utility model based on the linkage transmission's dexterous hand;

[0025] Figure 2 It is the side view of the finger of the utility model based on the linkage transmission's dexterous hand;

[0026] Figure 3 It is the structure schematic drawing of the finger base and transmission mechanism in the finger of the utility model based on the linkage transmission's dexterous hand;

[0027] Figure 4 It is the structure schematic drawing of the finger base in the finger of the utility model based on the linkage transmission's dexterous hand;

[0028] Figure 5 It is the structure schematic drawing of transmission mechanism in the finger of the utility model based on the linkage transmission's dexterous hand;

[0029] Figure 6 It is the structure schematic drawing of driver in the finger of the utility model based on the linkage transmission's dexterous hand;

[0030] Figure 7 It is the structure schematic drawing of the finger body in the finger of the utility model based on the linkage transmission's dexterous hand;

[0031] Figure 8 It is the structure schematic drawing of the first knuckle and the second knuckle in the finger of the utility model based on the linkage transmission's dexterous hand;

[0032] Figure 9 It is the structure schematic drawing of the thumb in the finger of the utility model based on the linkage transmission's dexterous hand;

[0033] Figure 10 It is the structure schematic drawing of the bionic mechanical arm in the utility model.

[0034] Fig. 1, finger base; 11, first mounting plate; 12, second mounting plate; 13, mounting side plate; 14, through hole; 15, accommodating cavity; 2, finger body; 21, first knuckle; 211, first knuckle connecting rod; 2111, first hinged end; 2112, second hinged end; 2113, third hinged end; 212, side swing connecting rod; 213, first rotation shaft; 214, second rotation shaft; 22, second knuckle; 221, second knuckle connecting rod; 222, first connecting rod; 223, second connecting rod; 224, third connecting rod; 23, third knuckle; 24, cross shaft; 31, motor base; 32, driver; 321, output shaft; 322, rope groove; 33, traction rope; 331, first traction rope; 332, second traction rope; 333, converging tube; 4, transmission mechanism; 41, first transmission member; 42, second transmission member; 421, guide member; 422, sliding block; 423, first pulley; 424, second pulley; 425, connecting seat; 426, extension plate; 5, arm. DETAILED DESCRIPTION

[0035] The technical solutions of the embodiments of the present application are explained and described below in combination with the drawings of the embodiments of the present application. However, the following embodiments are only preferred embodiments of the present application, and are not all. Based on the embodiments in the embodiments, other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the present application.

[0036] In the description of the present application, it should be understood that the orientations or positional relationships indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0037] In addition, the terms "first" and "second" are only for description purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise explicitly limited.

[0038] In the utility model, unless another definite provision and limitation, the terms "mount", "link", "connect", "fix" and so on terms should do broad sense understanding, for example, can be fixed connection, also can be detachable connection, or integrally connect, can be mechanical connection, also can be electrical connection, can be direct connection, also can indirectly connect through intermediate medium, can be two element internal communication. For ordinary skilled in the art, the above terms can be understood according to specific circumstances the specific meaning of the utility model.

[0039] Embodiment one:

[0040] As Figures 1 to 8 The embodiment shows a kind of dexterous hand finger based on connecting rod drive, including finger base 1, finger body 2 and driver 32, finger base 1 is equipped with the transmission mechanism 4 of transmission connection with driver 32, driver 32 is driven finger body 2 to bend and / or swing by transmission mechanism 4, the transmission mechanism 4 includes guide piece 421 and slider 422 slidingly installed in guide piece 421, slider 422 is transmission connection with finger body 2, the output shaft 321 of driver 32 is wound with the traction rope 33 of connecting slider 422, driver 32 controls output shaft 321 to reverse to drag slider 422 reciprocating sliding along guide piece 421 by traction rope 33, in turn control finger body 2 to bend and / or swing.

[0041] The transmission mechanism 4 in the embodiment includes guide piece 421 and slider 422, the output shaft 321 of driver 32 is wound with traction rope 33, driver 32 controls output shaft 321 to rotate, traction rope 33 is wound or released on output shaft 321, to pull slider 422 along guide piece 421 sliding, the sliding of slider 422 controls finger body 2 to bend and / or swing, to realize the movement of dexterous hand finger, driver 32 passes through traction rope 33 and is transmitted to slider 422, slider 422 can quickly respond the power output of driver 32, while ensuring the accurate transmission between driver 32 and slider 422 also can improve the interactive efficiency of finger body 2, so that finger body 2 has higher sensitivity;In addition, driver 32 and slider 422 are transmission connection by traction rope 33, so that the length of traction rope 33 can be increased to realize the long-distance transmission of power, so that driver 32 does not need to be fixed on dexterous hand finger, can be arranged away from dexterous hand finger, so that dexterous hand finger can keep smaller volume, so that dexterous hand finger can be used in narrow space, help to improve the flexibility of dexterous hand finger;Secondly, driver 32 is arranged away from finger, so that driver 32 does not need to be limited by the space of finger, so it is not necessary to select high-torque small-size driver 32, so that the selection of driver 32 is more flexible and diverse, can reduce the manufacturing cost of dexterous hand.

[0042] AsFigure 3 、 Figure 5 and Figure 6 As shown, the guide member 421 described in this embodiment is a long strip of sliding rod, and the length direction of the guide member 421 is distributed along the length direction of the finger base 1. The upper and lower ends of the sliding rod are fixed to the finger base 1 by bolts, and the slider 422 is provided with a sliding groove for the guide member 421 to be embedded, so that the slider 422 and the guide member 421 can slide together. The side of the slider 422 facing away from the guide member 421 is connected to a connecting seat 425, and a cross shaft 24 is installed on the upper end of the connecting seat 425. The connecting seat 425 is transmission-connected to the finger body 2 through the cross shaft 24.

[0043] Of course, it is understandable that in other embodiments, the slide groove can also be set on the guide member 421, and the slider 422 is at least partially embedded in the slide groove so that the slider 422 is slidably connected to the guide member 421; in addition, the connecting seat 425 and the slider 422 in this embodiment are fastened together by bolts, so that the slider 422 and the connecting seat 425 can be disassembled. When the connecting seat 425 or the slider 422 needs to be replaced, only the slider 422 or the connecting seat 425 can be replaced. At the same time, it can also reduce the difficulty of disassembling the connecting seat 425, which helps to improve maintenance efficiency; of course, it is understandable that in other embodiments, the slider 422 and the connecting seat 425 can also be an integrated structure.

[0044] like Figure 5 and Figure 6 When the cam 321 is in the unlocking position, the first and second cams 331 and 332 are in the unlocking position, and the cam 321 is in the unlocking position.

[0045] like Figure 3 and Figure 5As shown, the top end of the guide 421 is rotationally connected with a first pulley 423, the first pulley 423 is located in the gap between the guide 421 and the finger base 1, the bolt connecting the top end of the guide 421 passes through the first pulley 423, the first pulley 423 rotates around the bolt, the first traction rope 331 is connected to the upper end of the sliding block 422 after winding around the first pulley 423, the second traction rope 332 is directly connected to the lower end of the sliding block 422 after extending from the output shaft 321 to the finger base 1, when the drive 32 drives the output shaft 321 to rotate forward, the first traction rope 331 is gradually released, and the second traction rope 332 is gradually wound on the rope groove 322, at this time, the first traction rope 331 gradually loosens the pulling of the sliding block 422, and the second traction rope 332 pulls the sliding block 422 to slide downward along the guide 421, while the first traction rope 331 remains taut; when the sliding block 422 slides downward along the guide 421, the rotation direction of the drive 32 is set to forward rotation, when the drive 32 reverses, the first traction rope 331 is gradually wound on the rope groove 322, and the second traction rope 332 is gradually released, at this time, the second traction rope 332 loosens the pulling of the sliding block 422, and the first traction rope 331 pulls the sliding block 422 to slide upward along the guide 421; thereby realizing the forward and reverse rotation of the drive 32 to pull the sliding block 422 to reciprocate along the guide 421 through the traction rope 33, since the winding and releasing of the first traction rope 331 and the second traction rope 332 are kept synchronous, the first traction rope 331 and the second traction rope 332 can remain taut, and the power transmission between the output shaft 321 and the sliding block 422 remains accurate and reliable.

[0046] The drive 32 in the embodiment is directly transmissionally connected with the sliding block 422 through the first traction rope 331 and the second traction rope 332, which can reduce the energy loss of intermediate links and help to improve the transmission efficiency between the drive 32 and the sliding block 422; secondly, the connection of the traction rope 33 and the sliding block 422 is relatively simple and is not affected by the structure of the sliding block 422, so the design of the sliding block 422 is not easily limited, and a sliding block 422 with smaller volume and lighter weight can be used to facilitate reducing the volume and weight of the dexterous hand fingers.

[0047] It should be noted that the traction rope 33 is wound on the output shaft 321, and one of the traction ropes 33 is connected to the upper end of the sliding block 422 after changing direction by the first pulley 423, and the other traction rope 33 is directly connected to the lower end of the sliding block 422, so the release and winding speed of the traction rope 33 is related to the rotating speed of the output shaft 321, when the output shaft 321 rotates one circle, the length of the traction rope 33 released and wound is the outer circumference of the output shaft 321, and the distance of the traction rope 33 dragging the sliding block 422 is equal to the length of the traction rope 33, that is, the moving distance of the sliding block 422 is equal to the outer circumference of the output shaft 321 after the output shaft 321 rotates one circle, so the moving speed of the sliding block 422 is equal to the winding and releasing speed of the traction rope 33, and in the prior art, the transmission is realized by the cooperation of the lead screw and the lead screw nut, and after the lead screw rotates one circle, the lead screw nut only slides one pitch distance along the lead screw, so the sliding speed of the sliding block 422 relative to the lead screw nut is greatly improved in the embodiment, and the sliding block 422 is drivingly connected with the finger body 2 through the cross shaft 24, so the sliding block 422 can directly push and pull the finger body 2 to move through the cross shaft 24, therefore, the faster the moving speed of the sliding block 422 is, the faster the finger body 2 moves, and thus the finger body 2 can be quickly responded to improve the sensitivity of the finger body 2; in addition, only one driver 32 is needed in the embodiment to drive two traction ropes 33 to be respectively contracted and released, and thus the forward and reverse rotation of the driver 32 can drive the sliding block 422 to reciprocate along the guide 421 through the two traction ropes 33, without using two drivers 32, which can reduce the number of drivers 32, make the space occupied by the driver 32 smaller, and make the overall structure simpler, which helps to reduce the manufacturing cost of the dexterous hand.

[0048] In the embodiment, the connecting seat 425 is provided with an extension plate 426 extending towards the finger base 1, the first traction rope 331 is fixed to the upper end of the extension plate 426, the second traction rope 332 is fixed to the lower end of the extension plate 426, the first traction rope 331 and the second traction rope 332 drag the extension plate 426 to drive the sliding block 422 to reciprocate along the guide 421, the extension plate 426 is between the guide 421 and the finger base 1, and the connecting seat 425 is on the side of the guide 421 away from the finger base 1, that is, the traction rope 33 and the connecting seat 425 are respectively on the two sides of the guide 421, so that the possibility of mutual interference between the traction rope 33 and the connecting seat 425 can be avoided, and the transmission between the traction rope 33 and the connecting seat 425 is more stable and reliable; in addition, when the traction rope 33 needs to be replaced, only the first traction rope 331 or the second traction rope 332 can be replaced, which helps to reduce the maintenance difficulty and cost.

[0049] Of course, it is understood that in other embodiments, the first traction rope 331 and the second traction rope 332 can also be directly connected to the sliding block 422, and the first traction rope 331 and the second traction rope 332 drag the sliding block 422 to drive the connecting seat 425 to slide back and forth.

[0050] Of course, it is understood that in other embodiments, the first traction rope 331 and the second traction rope 332 can also be one whole, that is, the output shaft 321 winds a traction rope 33, one end of the traction rope 33 is wound in one of the rope grooves 322 of the output shaft 321, and the other end is wound in the other rope groove 322 in the opposite direction after passing through the first pulley 423, and the section of the traction rope 33 between the first pulley 423 and the output shaft 321 is fixed with the extension plate 426; in addition, in other embodiments, the extension plate 426 can also be provided with two perforations for the traction rope 33 to pass through, and the traction rope 33 is fixedly connected with the inner wall of one of the perforations, which can limit the traction rope 33, reducing the possibility of the traction rope 33 disengaging from the first pulley 423.

[0051] In order to improve the control force of the dexterous hand, the driver 32 is provided with a sensor for detecting the rotation speed and the number of rotations of the output shaft in the embodiment, the sensor can adopt a Hall sensor, the sensor detects the rotation speed and the number of rotations of the output shaft 321, and transmits the detection result to the control component of the dexterous hand, the control component can accurately record the motion state of the finger body 2 according to the rotation speed and the number of rotations of the output shaft 321, and then can adjust the motion position of the finger body 2 according to the use demand, in addition, the rotation speed of the driver 32 can also be adjusted, so as to change the motion speed of the finger body 2, so that the motion of the finger body 2 is more flexible and accurate.

[0052] As shown in Figure 5 The bottom end of the guide 421 is rotatably connected with a second pulley 424, the second pulley 424 is located in the gap between the guide 421 and the finger base 1, the bolt connecting the bottom end of the guide 421 passes through the second pulley 424, the second pulley 424 rotates around the bolt, the first traction rope 331 and the second traction rope 332 pass through the two sides of the second pulley 424 respectively and are wound on the output shaft 321 of the driver 32, the second pulley 424 can guide and support the traction rope 33, so that the traction rope 33 is not easy to deviate or shake during transmission, reducing the possibility of the traction rope 33 disengaging from the first pulley 423, and also ensuring the stable sliding of the sliding block 422 on the guide 421.

[0053] The second traction rope 331 and the second traction rope 332 are both in the same traction rope 333, and the traction rope 331 and the second traction rope 332 are both in the same traction rope 333. The traction rope 333 is located between the second pulley 424 and the output shaft 321 of the driver 32. The traction rope 333 can restrain the first traction rope 331 and the second traction rope 332, and can limit the random shaking of the first traction rope 331 and the second traction rope 332, and effectively avoid the possibility of the first traction rope 331 and the second traction rope 332 being entangled with other traction ropes 33; at the same time, the traction rope 333 can also protect the first traction rope 331 and the second traction rope 332, reduce the direct contact between the first traction rope 331 and the second traction rope 332 and other parts of the dexterous hand, and reduce the first traction rope 331 and the second traction rope 332. The possibility of wear of the first traction rope 331 and the second traction rope 332 is improved, and the service life of the first traction rope 331 and the second traction rope 332 is improved; secondly, the first traction rope 331 and the second traction rope 332 are bundled by the bundling tube 333, so that the laying of the first traction rope 331 and the second traction rope 332 can be more neat, which helps to improve the aesthetics of the fingers of the dexterous hands; in addition, the bundling tube 333 is located between the second pulley 424 and the output shaft 321 of the driver 32. The bundling tube 333 can reduce the distance between the first traction rope 331 and the second traction rope 332, so that the first traction rope 331 and the second traction rope 332 can maintain stable contact with the second pulley 424, reduce the possibility of the first traction rope 331 and the second traction rope 332 detaching from the second pulley 424, and improve the matching stability of the first traction rope 331 and the second traction rope 332 with the second pulley 424.

[0054] like Figure 3 and Figure 4 As shown, the transmission mechanism 4 in this embodiment includes a first transmission and two groups of second transmission members 42, and the finger base 1 includes a first mounting plate 11, a second mounting plate 12 and two mounting side plates 13 for connecting the first mounting plate 11 and the second mounting plate 12. The first mounting plate 11, the second mounting plate 12 and the two mounting side plates 13 form a cylindrical finger base 1, and the first mounting plate 11, the second mounting plate 12 and the two mounting side plates 13 are arranged to form an accommodating cavity 15. The first transmission member 41 is fixed in the accommodating cavity 15, and the two groups of second transmission members 42 are both fixed on the side of the second mounting plate 12 facing away from the accommodating cavity 15; fixing the first transmission member 41 in the accommodating cavity 15 makes the assembly of the finger base 1 and the first transmission member 41 more compact, improves the space utilization of the fingers of the dexterous hand, and helps to reduce the volume of the fingers of the dexterous hand.

[0055] In addition, in order to reduce the weight of the finger base 1, at least one through hole 14 is arranged on the first mounting plate 11, the second mounting plate 12 and the mounting side plate 13; it should be noted that the through hole 14 in the second mounting plate 12 divides the second mounting plate 12 into two parts, that is, the through hole 14 penetrates the second mounting plate 12 along the length direction of the second mounting plate 12, and the two parts of the second mounting plate 12 are respectively fixed at the ends of the two mounting side plates 13 away from the first mounting plate 11, and the two groups of transmission members are respectively arranged on the two sides of the through hole 14.

[0056] As shown in Figure 1 , Figure 2 , Figure 7 and Figure 8 , the finger body 2 includes a first phalanx 21, a second phalanx 22 and a third phalanx 23, wherein the first phalanx 21 is hingedly connected to the top end of the finger base 1, the second phalanx 22 is hingedly connected to the top end of the first phalanx 21, the first phalanx 21 includes a side swing connecting rod 212 and two first phalanx connecting rods 211, the first phalanx connecting rod 211 has a first hinged end 2111, a second hinged end 2112 and a third hinged end 2113, the middle part of the side swing connecting rod 212 is rotationally connected to the first mounting plate 11 of the finger base 1, the two ends of the side swing connecting rod 212 are bent and extend to the first phalanx connecting rod 211, the two ends of the side swing connecting rod 212 are respectively hingedly connected to the first hinged end 2111 of the two first phalanx connecting rods 211, a first rotating shaft 213 is arranged between the two second hinged ends 2112, the cross shaft 24 connected to the slider 422 of the second transmission member 42 is hingedly connected to the first rotating shaft 213, the second phalanx 22 includes a second phalanx connecting rod 221, a second rotating shaft 214 is arranged between the two third hinged ends 2113, the second phalanx connecting rod 221 is hingedly connected to the second rotating shaft 214, the cross shaft 24 connected to the slider 422 of the first transmission member 41 is rotationally connected to the second phalanx connecting rod 221, the first connecting rod 222 is rotationally connected between the first rotating shaft 213 and the cross shaft 24 connected to the slider 422 of the first transmission member 41, the top end of the first connecting rod 222 is hingedly connected to the second connecting rod 223, the third phalanx 23 is rotationally connected to the second phalanx connecting rod 221, and the third phalanx 23 is rotationally connected to the end of the first phalanx connecting rod 211 through the third connecting rod 224.

[0057] It should be noted that the first phalanx 21 simulates the phalanx at the position of the human finger root, the second phalanx 22 simulates the phalanx at the position of the human finger middle, and the third phalanx 23 simulates the phalanx at the position of the human finger tip; in addition, the two first phalanx connecting rods 211 can be an integral structure.

[0058] In addition, in order to enhance the control of the movement of the finger body, the end of the third finger joint 23 is provided with a fingertip, and a six-axis force sensor is arranged on the fingertip. The six-axis force sensor can detect the force acting on the fingertip contact part. The six-axis force sensor cooperates with the driver 32 to control and adjust the bending degree of the first finger joint 21 and the second finger joint 22, so as to realize the function of the dexterous hand gripping fragile objects such as eggs, potato chips, etc. The dexterous hand has more precise control and can complete more delicate actions, thereby improving the simulation degree of the dexterous hand.

[0059] It should be understood that, as shown in other embodiments, Figure 9 The dexterous hand finger can also be a thumb, that is, the finger body 2 can only include the first finger joint 21 and the second finger joint 22, and the fingertip of the thumb is fixed to the end of the second finger joint 22.

[0060] The bending and swinging of the finger body 2 are as follows:

[0061] When the first finger joint 21 needs to be controlled to bend, the two groups of second transmission members 42 correspond to the synchronous starting of the two drivers 32, and the two drivers 32 are synchronously forward rotated to drive the sliding blocks 422 of the second transmission members 42 to slide downward along the guide members 421 through the traction ropes 33. The two sliding blocks 422 keep synchronous and parallel sliding downward along the guide members 421. The sliding blocks 422 pull the first rotating shaft 213 downward through the cross shaft 24, the first rotating shaft 213 acts on the first finger joint connecting rod 211, and the first finger joint connecting rod 211 rotates downward around the first hinge end 2111, thereby realizing the bending of the first finger joint 21. When the first finger joint 21 needs to be reset, the two groups of second transmission members 42 correspond to the synchronous reverse rotation of the two drivers 32, so that the sliding blocks 422 of the two groups of second transmission members 42 synchronously slide upward along the guide members 421. The sliding blocks 422 push the first rotating shaft 213 upward through the cross shaft 24, the first rotating shaft 213 acts on the first finger joint connecting rod 211, and the first finger joint connecting rod 211 rotates upward around the first hinge end 2111, thereby realizing the reset of the first finger joint 21.

[0062] When the second knuckle 22 needs to be controlled to bend, the driver 32 corresponding to the first transmission member 41 in the embodiment is turned forward, the driver 32 drives the slider 422 of the first transmission member 41 to slide downward along the guide member 421 through the traction rope 33, the slider 422 drives the second connecting rod 223 to rotate downward around the first rotating shaft 213 through the cross shaft 24, the second connecting rod 223 pulls the first connecting rod 222 downward in the rotating process, the first connecting rod 222 drives the second knuckle connecting rod 221 to rotate downward around the second rotating shaft 214, so as to realize the bending of the second knuckle 22; when the second knuckle 22 needs to be controlled to reset, the driver 32 corresponding to the first transmission member 41 is turned backward, the slider 422 of the first transmission member 41 slides upward along the guide member 421, the slider 422 drives the second connecting rod 223 to rotate upward around the first rotating shaft 213 through the cross shaft 24, the second connecting rod 223 pushes the first connecting rod 222 upward in the rotating process, the first connecting rod 222 pushes the second knuckle connecting rod 221 to rotate upward around the second rotating shaft 214, so as to realize the reset of the second knuckle 22.

[0063] When the finger body 2 needs to be controlled to swing, the drivers 32 corresponding to the two groups of second transmission members 42 in the embodiment are started, the two drivers 32 control the two sliders 422 to slide at different speeds or the two drivers 32 rotate in opposite directions, so that the two sliders 422 slide in opposite directions, so that the two sliders 422 are at different heights of the guide member 421, the two sliders 422 drive the first rotating shaft 213 to swing through the cross shaft 24, the cross shaft 24 acts on the first knuckle connecting rod 211, the first knuckle 21 is connected to drive the side swing connecting rod 212 to rotate through the first hinged end 2111, so as to realize the swing of the finger body 2; when the two sliders 422 return to the same height, the finger body 2 and the finger base 1 can return to the original state.

[0064] Embodiment two:

[0065] As shown in Figure 10 , the embodiment shows a bionic mechanical arm, which includes an arm 5 and a dexterous hand, the dexterous hand is provided with at least two fingers, the fingers adopt the dexterous hand finger based on connecting rod transmission as described in one of the above embodiments, and the outer circumferential side of the arm 5 is provided with a motor seat 31, and the driver 32 is fixed on the motor seat 31.

[0066] It should be noted that the dexterous hand in the embodiment has five fingers, each finger is provided with three transmission mechanisms 4, the outer circumferential side of the arm 5 is provided with five mounting surfaces, each mounting surface is mounted with three drivers 32 corresponding to the same finger, the drivers 32 in the embodiment are arranged away from the fingers, so that the drivers 32 do not need to be limited by the space of the fingers, therefore, it is not necessary to select a high-torque small-size driver 32, and the high-torque small-size driver 32 is relatively high in price, the price range is 5000 to 6000 yuan, and one bionic mechanical arm needs to be installed with 15 drivers 32, the drivers 32 are arranged on the arm 5, the selection range of the drivers 32 can be expanded, so as to select a driver 32 with a lower price, the selection of the drivers 32 is more flexible and diversified, and the manufacturing cost of the dexterous hand can be reduced.

[0067] Embodiment three:

[0068] The embodiment shows a humanoid robot, which comprises a robot body, and at least one bionic mechanical arm is movably installed on the robot body, and at least one bionic mechanical arm of the humanoid robot adopts the bionic mechanical arm as described in the embodiment two.

[0069] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited to this, and those skilled in the art should understand that the present application includes but is not limited to the contents described in the above specific embodiments and the drawings. Any modification without deviating from the function and structural principle of the present application will be included in the scope of the claims.

Claims

1. A dexterous finger based on connecting rod transmission, comprising a finger base, a finger body, and a driver. The finger base is provided with a transmission mechanism connected to the driver, and the driver drives the finger body to bend and / or swing through the transmission mechanism. The characteristics are: The transmission mechanism includes a first transmission member and two groups of second transmission members. The first transmission member and the second transmission member both include a guide member and a slider slidably mounted on the guide member. A traction rope connected to the slider is wound around the output shaft of the driver. The driver controls the output shaft to rotate forward and reverse to drag the slider to slide back and forth along the guide member through the traction rope. The finger body includes a first knuckle and a second knuckle. The slider of the first transmission member is transmission-connected to the second knuckle, and the slider of the second transmission member is transmission-connected to the first knuckle. The driver drives the second knuckle to bend through the first transmission member, and the driver drives the first knuckle to bend and / or swing through the second transmission member.

2. The dexterous finger based on connecting rod transmission according to claim 1 is characterized in that: The top end of the guide is rotatably connected to a first pulley, one end of the traction rope is wound around the output shaft of the driver, and the other end passes around the first pulley and is wound back to the output shaft of the driver in the opposite direction. The traction rope is connected to the slider to drag the slider to slide back and forth along the guide.

3. The dexterous finger based on connecting rod transmission according to claim 2 is characterized in that: The slider is fixedly connected to a connecting seat. The connecting seat is provided with two through-holes for the traction rope to pass through. The traction rope is fixedly connected to the inner wall of one of the through-holes.

4. The dexterous hand finger based on connecting rod transmission according to claim 1 is characterized in that: The top end of the guide member is rotatably connected to a first pulley, and the traction rope includes a first traction rope and a second traction rope. The first traction rope passes around the first pulley and is connected to the upper end of the slider, and the second traction rope is connected to the lower end of the slider. The first traction rope and the second traction rope are wound in opposite directions on the output shaft of the driver.

5. The dexterous finger based on connecting rod transmission according to claim 2 or 4, characterized in that: The bottom end of the guide member is rotatably connected to a second pulley, and the traction rope passes through both sides of the second pulley and is wound around the output shaft of the driver.

6. The dexterous finger based on connecting rod transmission according to claim 5 is characterized in that: The traction rope is sheathed with a bunching tube, which is located between the second pulley and the output shaft of the driver.

7. The dexterous finger based on connecting rod transmission according to claim 2 or 4, characterized in that: Two rope grooves are arranged at intervals on the output shaft of the driver, and the traction rope is wound in the two rope grooves in different winding directions.

8. The dexterous finger based on connecting rod transmission according to claim 2 or 4, characterized in that: There is a gap between the guide member and the finger base, the first pulley is located between the guide member and the finger base, the slider is fixedly connected to the connecting seat, the connecting seat is located on the side of the guide member away from the finger base, the connecting seat is provided with an extension plate extending toward the finger base, and the traction rope is fixedly connected to the extension plate.

9. The dexterous finger based on connecting rod transmission according to claim 1, characterized in that: The two ends of the first knuckle are respectively hinged to the finger base and the second knuckle, the slider of the first transmission member is connected to the second knuckle through a cross-axis transmission, the first transmission member is used to drive the second knuckle to bend, the slider of the second transmission member is connected to the first knuckle through a cross-axis transmission, the two groups of sliders of the second transmission members slide synchronously in the same direction to drive the first knuckle to bend, and the two groups of sliders of the second transmission members slide different distances or slide in opposite directions to drive the finger body to swing.

10. The dexterous hand finger based on connecting rod transmission according to claim 9, characterized in that: The finger base includes a first mounting plate, a second mounting plate and two mounting side plates for connecting the first mounting plate and the second mounting plate. The first mounting plate, the second mounting plate and the mounting side plates are arranged to form an accommodating cavity. The first transmission member is fixed in the accommodating cavity. The two groups of second transmission members are both fixed on the side of the second mounting plate facing away from the accommodating cavity. The first mounting plate, the second mounting plate and the mounting side plates are each provided with at least one through hole.

11. The dexterous finger based on connecting rod transmission according to claim 9, characterized in that: The first finger joint includes a side swing link and two first finger joint links, the first finger joint link has a first hinge end, a second hinge end and a third hinge end, the middle part of the side swing link is rotatably connected to the finger base, the two ends of the side swing link are bent and extend to the first finger joint link, the two ends of the side swing link are respectively hinged to the first hinge ends of the two first finger joint links, a first rotating shaft is passed through the two second hinge ends, the cross shafts connected to the sliders of the two groups of second transmission members are hinged to the first rotating shaft, the second finger joint includes a second finger joint link, a second rotating shaft is passed through the two third hinge ends, the second finger joint link is hinged to the second rotating shaft, the cross shaft connected to the slider of the first transmission member is rotatably connected to the second finger joint link, and the second connecting rod is rotatably connected between the first rotating shaft and the first connecting rod.

12. The dexterous finger based on connecting rod transmission according to claim 11, characterized in that: The finger body also includes a third finger joint, which is rotatably connected to the second finger joint connecting rod, and the third finger joint is rotatably connected to the end of the first finger joint connecting rod via a third connecting rod.

13. A bionic robotic arm comprising an arm and a dexterous hand, wherein the dexterous hand has at least two fingers, characterized in that: The fingers are the fingers of the dexterous hand based on connecting rod transmission as described in any one of claims 1 to 12, and the driver is fixed on the arm.

14. A humanoid robot comprising at least one biomimetic robotic arm according to claim 13.

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