Three-finger dexterous hand fully driven by motor
By eliminating the little finger and ring finger and using direct motor drive and tactile sensors, the problems of complex structure and poor perception in fully motor-driven dexterous hand systems have been solved, achieving cost savings and improved operational stability.
Patent Information
- Application Number
- CN202423026414.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-09
- Publication Date
- 2025-11-21
- Estimated Expiration
- 2034-12-09
AI Technical Summary
Existing fully motor-driven dexterous hand systems suffer from problems such as a lack of dexterity and compliance, high manufacturing costs, and a lack of tactile sensing technology.
A fully motor-driven three-finger dexterous hand was designed, eliminating the little finger and ring finger and using a motor to directly drive finger movement. A tactile sensor was added to simplify the structure and improve flexibility and perception by using motor drive.
While ensuring gripping stability and operational flexibility, it saves costs, simplifies the structure, enhances tactile perception, and improves operational stability and safety.
Smart Images
Figure CN223573191U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model belongs to the technical field of robot device, concretely relates to a motor full drive three-fingered hand. BACKGROUND
[0002] The robot dexterous hand is crucial as the core component of the robot and the environment interaction. The dexterous hand is the "hand" of the robot, has complex degrees of freedom and sensing ability, can imitate the action of the human hand, and can perform various fine tasks such as grasping, manipulation, and carrying. The development of the dexterous hand not only has a decisive influence on the performance and function of the robot itself, but also relates to the wide application of the robot in many fields.
[0003] The traditional dexterous hand system usually adopts a mechanical transmission device such as a wire drive to drive the movement of the fingers. This traditional structure has problems such as low transmission efficiency, limited precision, and easy wear. With the development of motor technology, the motor full drive mechanical hand system has gradually attracted attention. The motor full drive dexterous hand system directly drives the movement of the fingers by using a motor, and no longer relies on traditional transmission devices. This structure has the advantages of high transmission efficiency, high precision, and fast response speed. At the same time, the full drive design can make the dexterous hand more flexible and intelligent to perform various grasping and operation tasks. However, the existing motor full drive mechanical hand system still has problems such as lack of dexterity and compliance, high manufacturing cost, and lack of tactile sensing technology. Therefore, there is an urgent need for a motor full drive dexterous hand to solve the above problems. SUMMARY
[0004] The utility model aims at providing a motor full drive three-fingered hand, which discards the little finger and the ring finger, can save cost under the condition of ensuring the stability of grasping and the flexibility of operation, and solves the technical problems of large size, complex structure, and poor sensing ability of the dexterous hand.
[0005] To achieve the above-mentioned purpose, the utility model provides a motor full drive three-fingered hand, which comprises a palm and three dexterous fingers movably connected with the palm, the three dexterous fingers comprising a thumb arranged on a first side of the palm and an index finger and a middle finger arranged on a second side of the palm; the first side and the second side are adjacent sides and perpendicular to each other; the thumb comprises three joints connected in sequence, and the index finger and the middle finger comprise four joints connected in sequence.
[0006] Each joint is composed of a motor and a motor connecting piece, and the bending of the finger joint is driven by the rotation of the motor; the adjacent two joints of each finger are connected through the structure of the motor and the gasket;
[0007] Each finger comprises movably connected joints and finger heads, and each finger head is internally provided with a pressure sensor.
[0008] Further, the index finger and the middle finger are of the same structure, the index finger comprises four index finger metacarpophalangeal joints, an index finger distal joint one, an index finger distal joint two and an index finger proximal joint which are connected in sequence and can move, the index finger metacarpophalangeal joint is connected with the palm, and the end of the index finger proximal joint is connected with an index finger finger head.
[0009] Further, the rotation axes of the index finger metacarpophalangeal joint, the index finger distal joint two and the index finger proximal joint are parallel to the plane where the palm is located and are perpendicular to the index finger, so as to drive the index finger to bend forward and backward in the direction perpendicular to the palm; the rotation axis of the index finger distal joint one is perpendicular to the plane where the palm is located, so as to drive the index finger to swing in the plane where the palm is located.
[0010] Further, the rotation axes of the index finger metacarpophalangeal joint, the index finger distal joint two and the index finger proximal joint are parallel to each other and are in the same plane; the rotation axis of the index finger distal joint one is perpendicular to the rotation axis of the index finger distal joint two and is in the same plane.
[0011] Further, the index finger comprises four index finger metacarpophalangeal joints, an index finger distal joint one, an index finger distal joint two and an index finger proximal joint which are connected in sequence and can move, the index finger metacarpophalangeal joint is connected with the palm, and the end of the index finger proximal joint is connected with an index finger finger head.
[0012] Further, the rotation axes of the index finger metacarpophalangeal joint, the index finger distal joint two and the index finger proximal joint are parallel to the plane where the palm is located and are perpendicular to the index finger, so as to drive the index finger to bend forward and backward in the direction perpendicular to the palm; the rotation axis of the index finger distal joint one is perpendicular to the plane where the palm is located, so as to drive the index finger to swing in the plane where the palm is located.
[0013] Further, the rotation axes of the index finger metacarpophalangeal joint, the index finger distal joint two and the index finger proximal joint are parallel to each other and are in the same plane; the rotation axis of the index finger distal joint one is perpendicular to the rotation axis of the index finger distal joint two and is in the same plane.
[0014] Further, the motor is connected with the motor steering disc connecting member and the motor base connecting member respectively, the motor, the motor steering disc connecting member and the motor base connecting member are fixed by screws, and the motor steering disc connecting member is connected with the motor base connecting member of the adjacent joint.
[0015] Further, the finger head comprises a finger head front cover, a flexible contact, a thin film pressure sensor and a finger head rear cover; the flexible contact is used to transmit the pressure of the contact of the finger head to the object to the thin film pressure sensor.
[0016] Further, the palm comprises a palm front cover and a palm rear cover; a T-shaped fixed support is arranged inside the palm, the index finger and the middle finger are connected with the horizontal part of the T-shaped fixed support, and the big thumb is connected with the vertical part of the T-shaped fixed support; a flange plate is arranged at the bottom of the T-shaped fixed support.
[0017] Overall, the above technical scheme conceived by the utility model compared with the prior art mainly has the following technical advantages:
[0018] 1. The motor full-drive three-finger dexterous hand structure of the utility model discards the ring finger and the little finger, reduces the structural complexity caused by multi-finger redundancy, greatly saves the cost on the basis of ensuring the stability of grabbing and the flexibility of operation, improves the dexterity of operation by utilizing motor driving, makes the dexterous hand better understand the operation environment by increasing the tactile sensor, and enhances the stability and safety of operation.
[0019] 2. Except that the motor of the thumb metacarpophalangeal joint is inside the palm, the motors of the rest joints are exposed, as the contact surface of the dexterous hand during operation, play an auxiliary role, and the fingertips of the three dexterous fingers are the main operators of the dexterous hand during task execution, this design simplifies the structure of the dexterous hand, reduces the size, and saves the cost. BRIEF DESCRIPTION OF DRAWINGS
[0020] Figure 1 is the overall structure schematic diagram of the three-finger dexterous hand structure based on motor driving of the utility model embodiment;
[0021] Figure 2 is the index finger structure schematic diagram of the utility model embodiment;
[0022] Figure 3 is the thumb structure schematic diagram of the utility model embodiment;
[0023] Figure 4 is the motor connection structure detail view of the utility model embodiment;
[0024] Figure 5 is the finger head structure perspective view of the utility model embodiment;
[0025] Figure 6 is the internal structure schematic diagram of the three-finger dexterous hand structure of the utility model embodiment.
[0026] In all the drawings, the same reference signs are used to represent the same elements or structures, wherein:
[0027] 1 - thumb, 2 - index finger, 3 - middle finger, 4 - fixed support, 5 - palm front cover, 6 - palm rear cover, 7 - control unit, 101 - thumb finger head, 102 - thumb proximal joint, 103 - thumb distal joint, 104 - thumb metacarpophalangeal joint, 10101 - finger head front cover, 10102 - TPU contact, 10103 - FSR thin film pressure sensor, 10104 - finger head rear cover;
[0028] 201-index finger, 202-index proximal joint, 203-index distal joint two, 204-index distal joint one, 205-index metacarpophalangeal joint, 20201-motor steering wheel connecting piece, 20202-motor, 20203-motor back connecting piece, 20204-proximal joint gasket, 20401-motor base connecting piece, 20402-distal joint gasket, 401-T-shaped support, 402-flange. DETAILED DESCRIPTION
[0029] In order to make the purpose, technical scheme and advantages of the utility model clearer and more understandable, the utility model will be further described in detail below in combination with embodiments. It should be understood that the specific embodiments described herein are only used to explain the utility model and not to limit the utility model. In addition, the technical features involved in each embodiment of the utility model described below can be combined with each other as long as they do not conflict with each other.
[0030] It should be noted that all directional indications about the joint shaft in the embodiments of the utility model (such as horizontal parallel to the plane, vertical to the plane, vertical parallel to the plane) are only used to explain the relative position relationship between the joints in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indication will also change accordingly.
[0031] Figure 1 An embodiment structure schematic diagram of the full-drive dexterous hand provided by the utility model, comprising a palm and three dexterous fingers movably connected with the palm, the three dexterous fingers comprising a thumb 1 arranged on a first side of the palm and an index finger 2 and a middle finger 3 arranged on a second side of the palm; the first side and the second side are adjacent sides and perpendicular to each other; the thumb 1 comprises three joints connected in sequence, and the index finger 2 and the middle finger 3 comprise four joints connected in sequence.
[0032] Each joint is composed of a motor and a motor connecting piece, and the bending of the finger joint is driven by the rotation of the motor; the adjacent two joints of each finger are connected through the structural piece and the gasket of the motor; each finger comprises movably connected joints and finger tips, and each finger tip is internally provided with a pressure sensor.
[0033] In this way, the ring finger and the little finger are abandoned, the index finger 2 and the middle finger 3 have four degrees of freedom, the thumb 1 has three degrees of freedom, and the thumb 1 can contact the index finger 2, which can greatly save the cost on the basis of ensuring the stability of grabbing and the flexibility of operation. The force signal can be fed back to the upper computer in real time through the pressure sensor in the finger tip, the upper computer processes the signal and transmits it to the control board, so as to realize accurate control of the grabbing force and the grabbing mode.
[0034] As Figure 2, the index finger 2 and the middle finger 3 are the same structure, including four sequentially movable connection of the index finger metacarpophalangeal joint 205, the index finger distal joint one 204, the index finger distal joint two 203 and the index finger proximal joint 202; the index finger metacarpophalangeal joint 205 is connected with the palm, and the end of the index finger proximal joint 202 is connected with the index finger finger head 201. Each joint is bent forward and backward or swings left and right by the rotation of the motor rudder.
[0035] The rotation shafts of the index finger metacarpophalangeal joint 205, the index finger distal joint two 203 and the index finger proximal joint 202 are parallel to the plane where the palm is located and perpendicular to the index finger 2, for driving the index finger 2 to bend forward and backward in the direction perpendicular to the palm; the rotation shaft of the index finger distal joint one 204 is perpendicular to the plane where the palm is located, for driving the index finger 2 to swing left and right in the plane where the palm is located. The rotation shafts of the index finger metacarpophalangeal joint 205, the index finger distal joint two 203 and the index finger proximal joint 202 are parallel to each other and in the same plane; the rotation shaft of the index finger distal joint one 204 is perpendicular to the rotation shaft of the index finger distal joint two 203 and in the same plane.
[0036] The horizontal parallel plane rotation shaft of the index finger distal joint one 204 makes the dexterous finger more human and flexible, and the setting in the index finger distal joint one 204 instead of the metacarpophalangeal joint can make the dexterous finger swing left and right with a larger amplitude and reduce the volume of the dexterous finger, and the structure design of the middle finger is completely the same as that of the index finger. Therefore, the part connecting piece of the index finger distal joint one 204 is different from other finger joints, including the motor base connecting piece 20401 and the distal joint gasket 20402.
[0037] The metacarpophalangeal joint 205 and the distal joint one 204 are connected by the motor rudder plate connecting piece 20201 of the metacarpophalangeal joint motor, the distal joint gasket 20402 and the motor base connecting piece 20401 of the distal joint one motor through M2 screws, the distal joint one 204 and the distal joint two 203 are directly connected by the rudder plate of the distal joint one motor and the back connecting piece of the distal joint two motor through M2 screws, the distal joint two 203 and the proximal joint 202 are connected by the rudder plate connecting piece of the distal joint motor through the proximal joint gasket 20204 and the bottom motor connecting piece of the proximal finger joint motor. The finger head is fixedly connected with the rudder plate connecting piece of the proximal motor.
[0038] The distal joint gasket 20402 is used for setting the motor of the index finger distal joint one 204 behind, and the design structure makes the motor of the distal joint one and other motors rotate 90°, so that the output rotation shaft is perpendicular to the plane, for driving the dexterous finger to swing left and right. Figure 6As shown, each motor is connected through a rudder plate and motor rudder plate connecting piece, and the motor rudder plate connecting piece is connected with the motor back or base connecting piece of the next motor, so that no additional transmission mechanism needs to be designed, and all joints are driven by rotary motors.
[0039] As Figure 3 The thumb 1 comprises three sequentially connected thumb metacarpophalangeal joints 104, a thumb distal joint 103 and a thumb proximal joint 102, the thumb metacarpophalangeal joint 104 is connected with the palm, and the end of the thumb proximal joint 102 is connected with a thumb finger 101, and the thumb 1 can realize forward and backward swing and up and down swing.
[0040] The rotation shafts of the thumb distal joint 103 and the thumb proximal joint 102 are perpendicular to the plane where the palm is located, and drive the dexterous hand to swing up and down. The rotation shaft of the thumb metacarpophalangeal joint 104 is parallel to the plane where the palm is located and perpendicular to the thumb 1, and drives the dexterous hand to swing forward and backward.
[0041] The rotation shaft of the thumb metacarpophalangeal joint 104 is parallel to the plane where the palm is located and perpendicular to the thumb 1, and drives the dexterous hand to swing forward and backward.
[0042] Figure 4 The motor full-drive dexterous hand motor connecting structure provided by the utility model provides an example of a detailed schematic diagram, comprising two motors 20202, a motor base connecting piece 20203 and a rudder plate connecting piece 20201. The rudder plate of the motor is directly connected with the rudder plate connecting piece, and the rudder plate connecting piece 20201 is fixedly connected with the next motor through the motor base connecting piece.
[0043] As Figure 2The motor connecting piece includes a motor rudder disc connecting piece 20201, a motor back connecting piece 20203, a motor base connecting piece 20401, a distal joint gasket 20402 and a proximal joint gasket 20204. The metacarpophalangeal joints of the middle finger 3 and the index finger 2 are fixed on the top of the fixed support 4 in parallel through the motor base connecting piece 20401, and the thumb 1 is fixed on the side of the fixed support 4 and is perpendicular to the middle finger 3 and the index finger 2 on the palm plane. The fixed support 4 has a plurality of perforations on the top and the side, wherein the circular small holes are used for fixing the fingers and the shell by penetrating screws, and the rectangular perforations are used for penetrating signal lines.
[0044] As Figure 1 The palm includes front and rear palm covers 5 and 6, and the palm is internally provided with a T-shaped fixed support 4, the index finger 2 and the middle finger 3 are connected with the horizontal part of the T-shaped fixed support 4, and the thumb 1 is connected with the vertical part of the T-shaped fixed support 4; the bottom of the T-shaped fixed support 4 is provided with a flange plate 402. The front and rear palm covers are connected with the fixed support 4 through screws, and it can be understood that, in order to ensure that the thumb 1 does not interfere with and collide with the front palm cover when the thumb 1 swings forward and backward, a position needs to be left for the space in which the thumb 1 moves.
[0045] In some embodiments of the utility model, the motor adopts a multi-mode digital servo steering wheel, the mass and the volume of which are relatively small, and the multi-mode digital servo steering wheel supports position control, current control and other operation modes, so that the dexterous hand is more flexible during control; in addition to the motor of the metacarpophalangeal joint of the thumb being in the inside of the palm, the motors of the rest joints are exposed outside, as a contact surface of the dexterous hand during operation, play an auxiliary role, and the fingertips of the three dexterous fingers are main operators of the dexterous hand during task execution. This design simplifies the structure of the dexterous hand, reduces the volume and saves the cost.
[0046] The control board in the control unit 7 of the motor full-drive dexterous hand is used for receiving control signals of an upper computer and generating corresponding driving signals based on the control signals to drive the motor to operate and control the fingers of the dexterous hand to perform corresponding operations. The motor control board is placed in the controller box and is externally arranged outside the shell.
[0047] Figure 5The embodiment perspective schematic view of the motor full-drive dexterous hand finger provided by the utility model, including finger head front cover 10101, TPU contact 10102, FSR film pressure sensor 10103, finger head rear cover 10104, after the finger head contacts the object, the force is transmitted to FSR film pressure sensor 10103 through TPU contact 10102, and the sensor real-time feedback force signal is given to the host computer, and the host computer is handled and transmits the signal to the control panel, realizes the accurate control to the grasping strength and grasping mode.Finger head front cover 10101 opens rectangular hole and lets TPU contact 10102 expose and contact with the outside, and finger head rear cover 104 opens hole and lets signal line transmit the signal of FSR film pressure sensor 10103.FSR film pressure sensor 10103 is not measured touch on a single point any more, but carries out distributed sensing on the surface of the dexterous finger.This spatial sensing capability makes the dexterous hand better understand and adapt to the complex operating environment, enhances the stability and safety of its operation.
[0048] Figure 6 The embodiment internal schematic view of the motor full-drive dexterous hand provided by the utility model, the fixed support is composed of T-shaped support and flange plate, the T-shaped support designs round small hole and is fixed dexterous finger and shell through bolt, and the flange plate is used for the end connection of different models of mechanical arm.The T-shaped support and flange plate integral design can simplify the installation of the dexterous hand.The fixed support 4 and the dexterous finger are connected through motor base connecting piece 20203 and screw.
[0049] In summary, the utility model discloses discard little thumb and unknown finger, can save cost under the condition of guaranteeing the stability of grasping and the flexibility of operation, and simultaneously solve the technical problem that the dexterous hand volume is too big, structure is complex and the sensing ability is poor.The motor full-drive dexterous hand of three fingers has wide application prospect in the field of robot technology.
[0050] Those skilled in the art can easily understand that the above description is only the preferred embodiment of the utility model, and is not used to limit the utility model, and any modification, equivalent replacement and improvement made within the spirit and principle of the utility model should be included in the protection scope of the utility model.
Claims
1. A three-fingered dexterous hand with full actuation of the motors, characterized in that, The hand includes a palm and three fingers movably connected with the palm, the three fingers including a thumb arranged on a first side of the palm and an index finger and a middle finger arranged on a second side of the palm, the first side and the second side being adjacent sides and perpendicular to each other, the thumb including three joints connected in sequence, and the index finger and the middle finger including four joints connected in sequence. Each joint is composed of a motor and a motor connecting piece, and the bending of the finger joint is driven by the rotation of the motor; two adjacent joints of each finger are connected through a structural piece of the motor and a gasket. Each finger includes movably connected joints and finger tips, and each finger tip is internally provided with a pressure sensor.
2. The motor fully actuated three-fingered dexterous hand according to claim 1, wherein, The index finger and the middle finger are of the same structure, the index finger including four joints connected in sequence, i.e., an index finger metacarpophalangeal joint, an index finger distal joint one, an index finger distal joint two and an index finger proximal joint, the index finger metacarpophalangeal joint being connected with the palm, and the end of the index finger proximal joint being connected with an index finger tip.
3. The fully actuated three-fingered dexterous hand of claim 2, wherein, The rotation axes of the index finger metacarpophalangeal joint, the index finger distal joint two and the index finger proximal joint are parallel to the plane in which the palm is located, and are perpendicular to the index finger, for driving the index finger to bend forward and backward along a direction perpendicular to the palm; the rotation axis of the index finger distal joint one is perpendicular to the plane in which the palm is located, for driving the index finger to swing in the plane in which the palm is located.
4. The fully actuated three-fingered dexterous hand of claim 3, wherein, The rotation axes of the index finger metacarpophalangeal joint, the index finger distal joint two and the index finger proximal joint are parallel to each other and in the same plane; the rotation axis of the index finger distal joint one is perpendicular to the rotation axis of the index finger distal joint two and in the same plane.
5. The fully actuated three-fingered dexterous hand of claim 2, wherein, The thumb includes three joints connected in sequence, i.e., a thumb metacarpophalangeal joint, a thumb distal joint and a thumb proximal joint, the thumb metacarpophalangeal joint being connected with the palm, and the end of the thumb proximal joint being connected with a thumb tip.
6. The motor fully actuated three-fingered dexterous hand according to claim 5, wherein, The rotation axes of the thumb distal joint and the thumb proximal joint are perpendicular to the plane in which the palm is located, and the rotation axis of the thumb metacarpophalangeal joint is parallel to the plane in which the palm is located and perpendicular to the thumb.
7. The fully actuated, three-fingered dexterous hand of claim 6, wherein, The rotation axis of the thumb metacarpophalangeal joint coincides with the central axis of the index finger.
8. The motor fully actuated three-fingered dexterous hand of claim 1, wherein, The motor is connected with a motor rudder disc connecting piece and a motor base connecting piece, and is fixed between the motor rudder disc connecting piece and the motor base connecting piece through a screw; when the motor rudder disc connecting piece is connected with the motor base connecting piece of an adjacent joint.
9. The motor fully actuated three-fingered dexterous hand of claim 1, wherein, The finger tip includes a finger tip front cover, a flexible contact, a thin film pressure sensor and a finger tip rear cover; the flexible contact is used to transmit the pressure of the contact of the finger tip to the object to the thin film pressure sensor.
10. The motor fully actuated three-fingered dexterous hand of claim 1, wherein, The palm includes a palm front cover and a palm rear cover; a T-shaped fixed support is arranged inside the palm, the index finger and the middle finger are connected with the horizontal part of the T-shaped fixed support, and the thumb is connected with the vertical part of the T-shaped fixed support; a flange is arranged at the bottom of the T-shaped fixed support.