Line-driven dexterous hand and robot

Abstract

The utility model discloses a linear drive dexterous hand and robot, the linear drive dexterous hand includes palm and a plurality of fingers, each finger includes linear drive assembly, near end knuckle, middle knuckle, far end knuckle and flexible rope, near end knuckle and middle knuckle are connected through first rotating shaft, middle knuckle and far end knuckle are connected through second rotating shaft, and the flexible rope is connected with the near end knuckle through second rotating shaft. One end of the flexible rope is connected to the wire-driven driving assembly, the other end of the flexible rope is connected to the far-end knuckle, and the wire-driven driving assembly stretches or loosens the flexible rope so as to drive the far-end knuckle and the middle knuckle to be bent or straightened. By the adoption of the design mode, when the flexible rope is stretched, the middle knuckles and the far-end knuckles are bent along with the flexible rope to achieve the buckling action of the fingers, when the flexible rope is loosened, the middle knuckles and the far-end knuckles are straightened along with the flexible rope to achieve the stretching action of the fingers, and due to the flexibility characteristic of the flexible rope, the fingers can be stretched. The state of the fingers can be adjusted in a self-adaptive mode in the buckling and stretching process, and therefore the flexible self-adaptive grabbing function is achieved.

Description

Technical Field

[0001] This utility model relates to the field of robot technology, and in particular to a wire-driven dexterous hand and robot. Background Technology

[0002] In recent years, with the rapid development of the robotics industry, dexterous hands, as an important branch of robotics technology, are designed and developed to simulate the dexterity and fine motor skills of human hands. However, most dexterous hands on the market currently use a four-bar linkage for drive. This type of drive is too mechanical, resulting in a lack of flexibility in the movement trajectory of the fingers and a limited range of motion. Consequently, dexterous hands cannot effectively achieve adaptive grasping, leading to a poor user experience. Utility Model Content

[0003] In order to overcome at least one of the defects described in the prior art, the present invention provides a wire-driven dexterous hand and robot to solve the problem that the finger movements of the dexterous hand in the prior art lack flexibility and have a limited range of motion, and cannot adapt well to grasping.

[0004] The present invention provides a wire-driven dexterous hand to solve its problems. In a first aspect, the present invention discloses a wire-driven dexterous hand, comprising a palm and multiple fingers disposed on the palm. Each finger includes a wire-driven drive assembly, a proximal phalanx, an intermediate phalanx, a distal phalanx, and a flexible cord. The proximal phalanx and the intermediate phalanx are connected via a first pivot, and the intermediate phalanx and the distal phalanx are connected via a second pivot. One end of the flexible cord is connected to the wire-driven drive assembly, and the other end of the flexible cord is connected to the distal phalanx. The wire-driven drive assembly stretches or relaxes the flexible cord to cause the distal phalanx and the intermediate phalanx to bend or straighten.

[0005] As an optional implementation, in this embodiment of the present invention, the proximal phalanx is provided with a first connecting ear, the intermediate phalanx is provided with a second connecting ear and a third connecting ear, and the distal phalanx is provided with a fourth connecting ear. The first rotating shaft is connected to the first connecting ear and the second connecting ear, and the second rotating shaft is connected to the third connecting ear and the fourth connecting ear.

[0006] As an optional implementation, in this embodiment of the present invention, the proximal phalanx is provided with a first thread passage, the intermediate phalanx is provided with a second thread passage, and the distal phalanx is provided with a third thread passage. The other end of the flexible rope passes through the first thread passage, the second thread passage, and the third thread passage to connect to the distal phalanx.

[0007] As an optional implementation, in this embodiment of the invention, the plurality of fingers include the thumb, index finger, middle finger, ring finger, and little finger.

[0008] As an optional implementation, in this embodiment of the present invention, the wire-driven dexterous hand further includes a thumb internal and external rotation assembly, which is connected to the proximal phalanx of the thumb and is used to drive the proximal phalanx to move in the direction toward the inner and outer sides of the palm.

[0009] As an optional implementation, in this embodiment of the present invention, the wire-driven dexterous hand further includes a drive board, which is disposed on the palm and connected to the wire-driven drive assembly for driving the wire-driven drive assembly.

[0010] As an optional implementation, in this embodiment of the present invention, the palm includes a palm and a back of the hand, the palm is provided with a mounting groove, the wire-driven drive assembly is fixed in the mounting groove, the proximal phalanges extend into the mounting groove to be fixed in the mounting groove, and the back of the hand covers the mounting groove.

[0011] As an optional implementation, in this embodiment of the utility model, the wire drive assembly is a worm gear, a motor-driven wire reel, or a linear actuator.

[0012] As an optional implementation, in this embodiment of the invention, the flexible rope is a steel wire rope, a tungsten wire rope, or a polymer fiber rope.

[0013] Secondly, this utility model discloses a robot, including the wire-driven dexterous hand as described above.

[0014] Implementing the embodiments of this utility model will have the following beneficial effects:

[0015] This invention features a hand with multiple fingers. Each finger includes a wire-driven assembly, a proximal phalanx, a middle phalanx, a distal phalanx, and a flexible cord. The proximal and middle phalanxes are connected by a first pivot, and the middle and distal phalanxes are connected by a second pivot. One end of the flexible cord is connected to the wire-driven assembly, and the other end is connected to the distal phalanx. The wire-driven assembly stretches or relaxes the flexible cord, causing the distal and middle phalanxes to bend or straighten. With this design, the wire-driven assembly stretches or relaxes the flexible cord. When the cord is stretched, the middle and distal phalanxes bend, achieving finger flexion. When the cord is relaxed, the middle and distal phalanxes straighten, achieving finger extension. Due to the flexibility of the cord, the fingers can adaptively adjust their state during flexion and extension, thus achieving a flexible adaptive grasping function and flexibly handling objects of different shapes and sizes. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the wire-driven dexterous hand in an embodiment of the present invention;

[0018] Figure 2 This is an exploded view of the wire-driven dexterous hand in an embodiment of the present invention;

[0019] Figure 3 This is a schematic diagram of the structure of the thumb of the wire-driven dexterous hand in an embodiment of this utility model.

[0020] Figure 4 This is a schematic diagram of the structure of the fingers other than the thumb of the wire-driven dexterous hand in an embodiment of this utility model.

[0021] The meanings of the reference numerals in the attached figures are as follows:

[0022] 1-Palm; 11-Hand socket; 111-Mounting slot; 12-Back of hand; 2-Finger; 21-Proximal phalanx; 211-First connecting ear; 22-Middle phalanx; 221-Second connecting ear; 222-Third connecting ear; 23-Distal phalanx; 231-Fourth connecting ear; 3-Thumb; 4-Index finger; 5-Middle finger; 6-Ring finger; 7-Little finger; 8-Wire-driven drive assembly; 9-Flexible cord; 101-First rotating shaft; 102-Second rotating shaft; 103-Thumb internal and external rotation assembly; 104-Drive board. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0024] In this invention, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this invention and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0025] Furthermore, in addition to indicating direction or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this utility model according to the specific circumstances.

[0026] Furthermore, the terms "installation," "setup," "equipped with," "connection," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this utility model based on the specific circumstances.

[0027] Furthermore, the terms "first," "second," etc., are primarily used to distinguish different devices, elements, or components (which may be the same or different in specific type and construction), and are not intended to indicate or imply the relative importance or quantity of the indicated devices, elements, or components. Unless otherwise stated, "a plurality of" means two or more.

[0028] The technical solution of this utility model will be further described below with reference to the embodiments and accompanying drawings.

[0029] Example

[0030] Please refer to the following: Figures 1 to 4This utility model discloses a robot including a wire-driven dexterous hand. The wire-driven dexterous hand of this solution includes a palm 1 and multiple fingers 2 provided on the palm 1. Each finger 2 includes a wire-driven drive assembly 8, a proximal phalanx 21, an intermediate phalanx 22, a distal phalanx 23, and a flexible rope 9. The proximal phalanx 21 and the intermediate phalanx 22 are connected by a first rotating shaft 101, and the intermediate phalanx 22 and the distal phalanx 23 are connected by a second rotating shaft 102. One end of the flexible rope 9 is connected to the wire-driven drive assembly 8, and the other end of the flexible rope 9 is connected to the distal phalanx 23. The wire-driven drive assembly 8 stretches or relaxes the flexible rope 9 to cause the distal phalanx 23 and the intermediate phalanx 22 to bend or straighten. With this design, the flexible rope 9 is stretched or relaxed by the wire-driven component 8. When the flexible rope 9 is stretched, the middle phalanx 22 and the distal phalanx 23 bend accordingly, realizing the flexion action of the finger 2. When the flexible rope 9 is relaxed, the middle phalanx 22 and the distal phalanx 23 straighten accordingly, realizing the extension action of the finger 2. Due to the flexibility of the flexible rope 9, the finger 2 can adaptively adjust its state during flexion and extension, thereby realizing the flexible adaptive grasping function and flexibly responding to objects of different shapes and sizes.

[0031] In some embodiments, in order to connect the first pivot 101 with the proximal phalanx 21 and the intermediate phalanx 22, and to connect the second pivot 102 with the intermediate phalanx 22 and the distal phalanx 23, the proximal phalanx 21 is provided with a first connecting ear 211, the intermediate phalanx 22 is provided with a second connecting ear 221 and a third connecting ear 222, and the distal phalanx 23 is provided with a fourth connecting ear 231. The first pivot 101 is connected to the first connecting ear 211 and the second connecting ear 221, and the second pivot 102 is connected to the third connecting ear 222 and the fourth connecting ear 231.

[0032] Furthermore, the proximal phalanx 21 has a first thread-passing channel, the intermediate phalanx 22 has a second thread-passing channel, and the distal phalanx 23 has a third thread-passing channel. The other end of the flexible rope 9 passes through the first, second, and third thread-passing channels to connect to the distal phalanx 23. This design allows the flexible rope 9 to be partially concealed within the proximal phalanx 21, intermediate phalanx 22, and distal phalanx 23, enabling positioning and protection of the flexible rope 9.

[0033] In some embodiments, the multiple fingers 2 include the thumb 3, index finger 4, middle finger 5, ring finger 6, and little finger 7. This design allows the wire-driven dexterous hand to more closely resemble the shape of a human hand. It is understood that in other alternative embodiments, the number of fingers 2 can be three, four, five, or six, etc., to adapt to different application scenarios and operational needs, and is not limited here.

[0034] Furthermore, the wire-driven dexterous hand also includes a thumb internal / external rotation component 103, which is connected to the proximal phalanx 21 of the thumb 3 and is used to drive the proximal phalanx 21 to move in the direction towards the inner and outer sides of the palm 1. This design gives the thumb 3 two degrees of freedom. In addition, the index finger 4, middle finger 5, ring finger 6, and little finger 7 each have one degree of freedom, giving the wire-driven dexterous hand a total of six degrees of freedom, making it more flexible to use.

[0035] In some embodiments, in order to drive the wired drive assembly 8, the wired drive dexterous hand also includes a drive board 104, which is disposed on the palm 1 and connected to the wired drive assembly 8. The drive board 104 is used to drive the wired drive assembly 8.

[0036] In some embodiments, in order to install the wire drive assembly 8, the finger 2 and the drive board 104, the palm 1 includes the palm 11 and the back of the hand 12. The palm 11 is provided with a mounting groove 111. The wire drive assembly 8 and the drive board 104 are both fixed in the mounting groove 111. The proximal phalanx 21 extends into the mounting groove 111 to be fixed in the mounting groove 111. The back of the hand 12 covers the mounting groove 111.

[0037] In some embodiments, the wire drive assembly 8 is a worm gear, a motor-driven winding reel, or a linear actuator. In actual design, the appropriate option can be selected based on the specific circumstances, and this is not limited here. Preferably, the wire drive assembly 8 is a worm gear.

[0038] In some embodiments, the flexible rope 9 is a tungsten wire rope or a polymer fiber rope. In actual design, the choice can be made according to the specific circumstances, and this is not limited here. Preferably, the flexible rope 9 is a steel wire rope. This design is advantageous because steel wire ropes possess characteristics such as wear resistance, tensile strength, good flexibility, ability to withstand impact loads, warning signs of wire breakage before fracture, long service life, and safety.

[0039] The robot provided by this utility model is equipped with a wire-driven dexterous hand including a palm 1 and multiple fingers 2 on the palm 1. Each finger 2 includes a wire-driven drive assembly 8, a proximal phalanx 21, an intermediate phalanx 22, a distal phalanx 23, and a flexible rope 9. The proximal phalanx 21 and the intermediate phalanx 22 are connected by a first rotating shaft 101, and the intermediate phalanx 22 and the distal phalanx 23 are connected by a second rotating shaft 102. One end of the flexible rope 9 is connected to the wire-driven drive assembly 8, and the other end of the flexible rope 9 is connected to the distal phalanx 23. The wire-driven drive assembly 8 stretches or relaxes the flexible rope 9 to cause the distal phalanx 23 and the intermediate phalanx 22 to bend or straighten. With this design, the flexible rope 9 is stretched or relaxed by the wire-driven component 8. When the flexible rope 9 is stretched, the middle phalanx 22 and the distal phalanx 23 bend accordingly, realizing the flexion action of the finger 2. When the flexible rope 9 is relaxed, the middle phalanx 22 and the distal phalanx 23 straighten accordingly, realizing the extension action of the finger 2. Due to the flexibility of the flexible rope 9, the finger 2 can adaptively adjust its state during flexion and extension, thereby realizing the flexible adaptive grasping function and flexibly responding to objects of different shapes and sizes.

[0040] The foregoing has provided a detailed description of a wire-driven dexterous hand and robot disclosed in this utility model. This article uses specific examples to illustrate the principles and implementation methods of this utility model. The description of the above embodiments is only for the purpose of helping to understand the wire-driven dexterous hand and robot of this utility model and its core ideas. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this utility model. Therefore, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. A wire-driven dexterous hand, characterized in that, The device includes a palm (1) and multiple fingers (2) on the palm (1). Each finger (2) includes a wire-driven drive assembly (8), a proximal phalanx (21), an intermediate phalanx (22), a distal phalanx (23), and a flexible cord (9). The proximal phalanx (21) and the intermediate phalanx (22) are connected by a first pivot (101), and the intermediate phalanx (22) and the distal phalanx (23) are connected by a second pivot (102). One end of the flexible cord (9) is connected to the wire-driven drive assembly (8), and the other end of the flexible cord (9) is connected to the distal phalanx (23). The wire-driven drive assembly (8) stretches or relaxes the flexible cord (9) to cause the distal phalanx (23) and the intermediate phalanx (22) to bend or straighten.

2. The wire-driven dexterous hand according to claim 1, characterized in that: The proximal phalanx (21) is provided with a first connecting ear (211), the intermediate phalanx (22) is provided with a second connecting ear (221) and a third connecting ear (222), and the distal phalanx (23) is provided with a fourth connecting ear (231). The first rotating shaft (101) is connected to the first connecting ear (211) and the second connecting ear (221), and the second rotating shaft (102) is connected to the third connecting ear (222) and the fourth connecting ear (231).

3. The wire-driven dexterous hand according to claim 1, characterized in that: The proximal phalanx (21) is provided with a first thread passage, the intermediate phalanx (22) is provided with a second thread passage, and the distal phalanx (23) is provided with a third thread passage. The other end of the flexible rope (9) passes through the first thread passage, the second thread passage, and the third thread passage to connect to the distal phalanx (23).

4. The wire-driven dexterous hand according to claim 1, characterized in that: The plurality of fingers (2) include the thumb (3), index finger (4), middle finger (5), ring finger (6) and little finger (7).

5. The wire-driven dexterous hand according to claim 4, characterized in that: The wire-driven dexterous hand also includes a thumb internal and external rotation assembly (103), which is connected to the proximal phalanx (21) of the thumb (3) and is used to drive the proximal phalanx (21) to move in the direction toward the inner and outer sides of the palm (1).

6. The wire-driven dexterous hand according to claim 1, characterized in that: The wire-driven dexterous hand also includes a drive board (104), which is disposed on the palm (1) and connected to the wire-driven drive assembly (8) for driving the wire-driven drive assembly (8).

7. The wire-driven dexterous hand according to any one of claims 1 to 6, characterized in that: The palm (1) includes a palm (11) and a back of the hand (12). The palm (11) is provided with a mounting groove (111). The wire drive assembly (8) is fixed in the mounting groove (111). The proximal phalanx (21) extends into the mounting groove (111) to be fixed in the mounting groove (111). The back of the hand (12) covers the mounting groove (111).

8. The wire-driven dexterous hand according to any one of claims 1 to 6, characterized in that: The wire drive assembly (8) is a worm gear, a motor-driven wire reel, or a linear push rod.

9. The wire-driven dexterous hand according to any one of claims 1 to 6, characterized in that: The flexible rope (9) is a steel wire rope, tungsten wire rope or polymer fiber rope.

10. A robot, characterized in that: Including the wire-driven dexterous hand as described in any one of claims 1 to 9.

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