Finger wiring structure of dexterous hand

Abstract

The finger wiring structure of the dexterous hand comprises a palm, a thumb and fingers, the thumb is rotationally connected with the palm, the fingers are fixedly connected to the palm respectively, and a dexterous hand control center and a linear driver are arranged in the palm and used for driving the thumb and the fingers to bend or laterally swing respectively. Each finger comprises a fixing base, a near knuckle, a far knuckle, a touch sensor, a first pin shaft, a second pin shaft, a third pin shaft and a fourth pin shaft, the fixing bases are fixedly connected with the palm, the near knuckles are hinged to one ends of the fixing bases through the first pin shafts, and one ends of the far knuckles are hinged to the other ends of the near knuckles through the fourth pin shafts. According to the finger wiring structure of the dexterous hand, by changing the wiring mode of the touch sensor wiring harness, the relative displacement and self-bending of the wiring harness and adjacent parts in the fingers are avoided, the completeness of the outer skin of the wiring harness is guaranteed, and the influence on the finger movement is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, specifically, it relates to a finger wiring structure of dexterous hand. BACKGROUND

[0002] At present, in order to strengthen the perception function to the grasping object, the dexterous hand of market will arrange tactile sensor at the finger tip of dexterous hand, and the sensor needs to be electrically connected to the control center of dexterous hand. But the sensor installation is not considered in the design of general dexterous hand, and the sensor needs to be added subsequently, so that the wire harness arrangement of sensor has great limitation, and the external wiring mode is mostly adopted.

[0003] The wire harness is generally arranged in the finger inside when considering the sensor installation problem at the beginning of dexterous hand design. The Chinese patent with patent number CN2016211966547 discloses a finger mechanism and dexterous hand, and the scheme of setting wire harness accommodating groove in the finger is proposed.

[0004] However, when the finger is bent and stretched, the wire harness will move relatively between the accommodating groove, thereby causing abrasion, and even the wire harness can be bent at the finger joint or inserted into the finger joint, thereby affecting the movement of the joint.

[0005] Therefore, how to arrange and install the wire harness of tactile sensor in the finger structure of dexterous hand, so that the wire harness does not affect the movement of the joint and does not move relatively to cause abrasion when the finger is bent and stretched, is the problem to be solved by the technical personnel in the field. SUMMARY

[0006] To solve the above problems, the purpose of the utility model embodiment is to provide a finger wiring structure of dexterous hand.

[0007] The utility model embodiment provides a finger wiring structure of dexterous hand, including palm, thumb and finger, the thumb is rotatably connected with the palm, and the finger is fixedly connected on the palm respectively, the inside of the palm is equipped with dexterous hand control center and linear driver respectively for driving the bending or lateral swing of the thumb and the finger,

[0008] The finger includes fixed seat, proximal phalanx, distal phalanx, tactile sensor, pin shaft one, pin shaft two, pin shaft three and pin shaft four, the fixed seat is fixedly connected with the palm, and the fixed seat is hinged with one end of the proximal phalanx through the pin shaft one, and the other end of the proximal phalanx is hinged with the distal phalanx through the pin shaft four.

[0009] The proximal phalanx includes drive link, proximal phalanx skeleton and connecting rod, the drive link is located in the proximal phalanx skeleton, the pin shaft one and the pin shaft four are respectively passed through the housings at both ends of the proximal phalanx skeleton and are fixedly connected with the phalanx skeleton, one end of the drive link is hinged with the pin shaft one, and the other end of the drive link is hinged with the linear driver in the palm,

[0010] The distal phalanx comprises a distal phalanx skeleton and a distal phalanx shell, the distal phalanx skeleton is further provided with a first wire passing hole, the distal phalanx shell is further provided with a second wire passing hole, a clamping groove and a sensor accommodating groove, and the distal phalanx shell is sleeved on the distal phalanx skeleton through the clamping groove,

[0011] The pin shaft two is fixedly connected with the fixed seat, the pin shaft three is fixedly connected with the end of the distal phalanx skeleton close to the proximal phalanx, one end of the connecting rod is hingedly connected with the fixed seat through the pin shaft two, the other end of the connecting rod is hingedly connected with the distal phalanx skeleton through the pin shaft three, and the two hinged ends of the connecting rod are respectively provided with a wire passing groove one and a wire passing groove two.

[0012] Further, the driving connecting rod is provided with a hole one, a hole two and a hole three, and a driving surface is formed on the driving connecting rod, the driving connecting rod is hingedly connected with the pin shaft one through the hole three, the driving connecting rod is hingedly connected with the linear driver in the palm through the hole one, and the driving connecting rod is further provided with a first accommodation groove, which facilitates the installation and rotation between the output end of the linear driver and the driving connecting rod.

[0013] Further, the end of the distal phalanx skeleton close to the proximal phalanx is provided with a hole four and a hole five, the distal phalanx skeleton is hingedly connected with the pin shaft four through the hole five, the pin shaft three is fixedly connected with the hole four, and the end of the distal phalanx skeleton close to the hole four is further provided with a second accommodation groove, which facilitates the hinging of the connecting rod and the distal phalanx skeleton.

[0014] Further, the part of the connecting rod close to the distal phalanx skeleton is fixedly provided with a hook, and a spring is arranged between the hole two and the hook.

[0015] Further, the touch sensor comprises a sensor body and a wire harness, the sensor body is located in the sensor accommodating groove and is fixedly connected with the distal phalanx skeleton at one end, and is located in the fingertip rubber and contacts the fingertip rubber at the other end, one end of the wire harness is electrically connected with the sensor body, the other end of the wire harness passes through the first wire passing hole on the distal phalanx shell into the second wire passing hole on the distal phalanx shell in sequence, passes through the wire passing groove two on the connecting rod one circle around the pin shaft three, passes through the wire passing groove one on the connecting rod one circle around the pin shaft two, and finally extends out of the fixed seat and into the palm and is electrically connected with the dexterous hand control center.

[0016] Further, it further comprises a fingertip rubber, the fingertip rubber is fixedly sleeved on the distal phalanx shell, and the sensor body is located in the fingertip rubber and the sensing part of the sensor body contacts the fingertip rubber at the finger pad.

[0017] Further, the pin shaft one, the pin shaft two, the pin shaft three and the pin shaft four are the same or different pin shafts.

[0018] Further, the thumb linear driver is one of an electric cylinder, a gas cylinder or a hydraulic cylinder.

[0019] The beneficial effects of this application are:

[0020] The new invention's finger wiring structure for a dexterous hand changes the wiring form of the tactile sensor harness, eliminating relative displacement and bending between the harness and adjacent internal parts of the finger, ensuring the integrity of the harness sheath and reducing the impact on finger movement. Attached Figure Description

[0021] 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.

[0022] Figure 1 This is a three-dimensional structural diagram of the humanoid dexterous hand of this utility model;

[0023] Figure 2 This is a three-dimensional structural diagram of the finger of this utility model;

[0024] Figure 3 This is a cross-sectional view of the finger of this utility model;

[0025] Figure 4 This is a schematic diagram of the drive linkage of this utility model;

[0026] Figure 5 This is a schematic diagram of the connecting rod of this utility model;

[0027] Figure 6 This is a three-dimensional structural diagram of the distal phalanx skeleton of this utility model;

[0028] Figure 7 This is a schematic diagram of the structure of the distal phalanx shell of this utility model;

[0029] Figure label:

[0030] 1. Palm, 2. Thumb, 3. Finger, 301. Fixing base, 302. Proximal knuckle, 3021. Drive linkage, 30211. Hole 1, 30212. Hole 2, 30213. Hole 3, 30214. Clearance groove 1, 30215. Drive surface, 3022. Proximal knuckle frame, 3023. Linkage, 30231. Wire groove 1, 30232. Wire groove 2, 30233. Hook, 3024. Spring, 303. Distal knuckle, 303 1. Distal phalanx skeleton; 30311. First wire hole; 30312. Hole 4; 30313. Hole 5; 30314. Relief groove 2; 3032. Distal phalanx shell; 30321. Second wire hole; 30322. Snap-fit ​​groove; 30323. Sensor receiving groove; 3033. Fingertip coating; 304. Tactile sensor; 3041. Sensor body; 3042. Wire harness; 4. Pin 1; 5. Pin 2; 6. Pin 3; 7. Pin 4. Detailed Implementation

[0031] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0032] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0033] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0034] Currently, humanoid dexterous hands on the market are equipped with tactile sensors at the fingertips to enhance their ability to perceive grasped objects. These sensors need to be electrically connected to the dexterous hand's control center. However, typical dexterous hand designs do not consider sensor installation, requiring the addition of sensors later. This significantly limits the layout of sensor wiring harnesses, and most designs rely on external wiring.

[0035] When the fingers bend and extend, the wire harness will move relative to the fingers, causing wear and tear, and may even bend at the finger joints or extend into the finger joints, thus affecting the movement of the joints.

[0036] Based on this, this application proposes a finger wiring structure for a dexterous hand, which changes the wiring form of the tactile sensor harness, eliminates the relative displacement and bending of the harness with adjacent internal parts of the finger, ensures the integrity of the harness sheath, and reduces the impact on finger movement.

[0037] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and embodiments. Example

[0038] See Figure 1 The schematic diagram of the three-dimensional structure of the anthropomorphic dexterous hand shown is available in [reference]. Figure 2 The diagram showing the three-dimensional structure of the finger is shown in the image. Figure 3 The diagram shows a cross-sectional view of a finger, an anthropomorphic dexterous hand, including a palm 1, a thumb 2, and fingers 3; the thumb 2 is rotatably connected to the palm 1, and the fingers 3 are fixedly connected to the palm 1; the palm 1 is equipped with a dexterous hand control center and a linear actuator for driving the bending or lateral movement of the thumb 2 and fingers 3 respectively.

[0039] The finger 3 includes a fixed base 301, a proximal phalanx 302, a distal phalanx 303, a tactile sensor 304, a first pin 4, a second pin 5, a third pin 6, and a fourth pin 7. The fixed base 301 is fixedly connected to the palm 1. The proximal phalanx 302 is hinged to one end of the fixed base 301 through the first pin 4, and one end of the distal phalanx 303 is hinged to the other end of the proximal phalanx 302 through the fourth pin 7.

[0040] See Figure 4 The schematic diagram of the drive linkage shown is available in the image. Figure 5The schematic diagram of the connecting rod shown indicates that the proximal phalanx 302 includes a drive connecting rod 3021, a proximal phalanx skeleton 3022, a connecting rod 3023, and a spring 3024. Pin 1 4 and pin 4 7 pass through the housings at both ends of the proximal phalanx skeleton 3022 and are fixedly connected to it. The drive connecting rod 3021 has holes 1 30211, 2 30212, and 3 30213, and a drive surface 30215 is formed on the drive connecting rod 3021. The connecting rod 3021 is located inside the proximal phalanx skeleton 3022. The driving connecting rod 3021 is hinged to the pin 4 through the hole 30213. The driving connecting rod 3021 is hinged to the linear actuator in the palm 1 through the hole 30211. The driving connecting rod 3021 is also provided with a relief groove 30214. The relief groove 30214 facilitates the installation between the output end of the linear actuator and the driving connecting rod 3021 and facilitates the rotation between the output end of the linear actuator and the driving connecting rod 3021.

[0041] See Figure 6 The schematic diagram of the three-dimensional structure of the distal phalanx skeleton shown is available in [reference]. Figure 7 The schematic diagram of the distal phalanx shell shown indicates that the distal phalanx 303 includes a distal phalanx skeleton 3031, a distal phalanx shell 3032, and a fingertip coating 3033. The distal phalanx skeleton 3031 is also provided with a first wire passage hole 30311, and the distal phalanx shell 3032 is provided with a second wire passage hole 30321, a snap-fit ​​groove 30322, and a sensor receiving groove 30323. The distal phalanx shell 3032 is sleeved on the distal phalanx skeleton 3031 through the snap-fit ​​groove 30322, and the fingertip coating 3033 is fixedly sleeved on the distal phalanx shell 3032.

[0042] The distal phalanx skeleton 3031 has holes four 30312 and five 30313 respectively at one end near the proximal phalanx 302. The distal phalanx skeleton 3031 is hinged to pin four 7 through hole five 30313.

[0043] Pin 2 5 is fixedly connected to fixed seat 301, pin 3 6 is fixedly connected to hole 4 30312, one end of connecting rod 3023 is hinged to fixed seat 301 through pin 2 5, and the other end of connecting rod 3023 is hinged to distal phalanx skeleton 3031 through pin 3 6. The end of distal phalanx skeleton 3031 near hole 4 30312 is also provided with relief groove 2 30314, which facilitates the hinge connection between connecting rod 3023 and distal phalanx skeleton 3031.

[0044] The two hinged ends of the connecting rod 3023 are respectively provided with a wire groove 30231 and a wire groove 30232. A hook 30233 is fixedly provided on the part of the connecting rod 3023 near the distal phalanx skeleton 3031. A spring 3024 is provided between the hole 30212 and the hook 30233. Under the action of the spring 3024 and the linear actuator, the driving surface 30215 is in contact with the inner wall of the proximal phalanx skeleton 3022.

[0045] The tactile sensor 304 includes a sensor body 3041 and a wiring harness 3042. The sensor body 3041 is located in the sensor receiving groove 30323 and one end is fixedly connected to the distal phalanx skeleton 3031. The sensor body 3041 is located in the fingertip coating 3033 and the sensing part of the sensor body 3041 is in contact with the fingertip coating 3033 located at the fingertip. One end of the wiring harness 3042 is electrically connected to the sensor body 3041, and the other end passes through the finger 3 and extends into the palm 1 to be electrically connected to the dexterous hand control center.

[0046] When installing the wiring harness 3042, the wiring harness 3042 is passed through the first wire hole 30311 on the distal phalanx skeleton 3031 and then through the second wire hole 30321 on the distal phalanx housing 3032. It then passes through the second wire groove 30232 on the connecting rod 3023 and wraps around the pin 6 once. After that, it passes through the first wire groove 30231 on the connecting rod 3023 and wraps around the pin 5 once. Finally, it extends along the fixing seat 301 and enters the palm 1 to be electrically connected to the dexterity hand control center.

[0047] In one embodiment, the linear actuator can be a linear drive device such as an electric cylinder, a pneumatic cylinder, or a hydraulic cylinder.

[0048] In one embodiment, pin 1 4, pin 2 5, pin 3 6, and pin 4 7 may be the same or different pins.

[0049] Working principle: When the output end of the linear actuator inside the palm 1 extends, it drives the drive link 3021 to rotate clockwise around pin 4. Simultaneously, the drive link 3021 pushes the proximal phalanx 3022 to rotate clockwise around pin 4 via the drive surface 30215. Furthermore, through the coupling effect of the link 3023, the distal phalanx 303 rotates clockwise around pin 7, thereby achieving finger flexion. When the output end of the linear actuator inside the palm 1 retracts, it drives the drive link 3021 to rotate counterclockwise around pin 4. Simultaneously, under the coupling effect of the link 3023 and the spring 3024, it pulls the proximal phalanx 3022 to rotate counterclockwise around pin 4, and the distal phalanx 303 also rotates counterclockwise around pin 7, thereby achieving finger extension.

[0050] During this process, since pin 36 is fixedly connected to distal phalanx 303, the relative position of sensor body 3041 and pin 36 does not change during finger movement. Therefore, there will be no relative movement between wire harness 3042 and first wire hole 30311, second wire hole 30321, and pin 36, thus ensuring the integrity of the outer sheath of wire harness 3042.

[0051] Since pins 2 (5) and 3 (6) are hinged to both ends of the connecting rod 3023, their relative positions do not change during finger movement. Therefore, the wire harness 3042 between pins 2 (5) and 3 (6) will not have relative displacement with the connecting rod 3023, thus ensuring the integrity of the outer sheath of the wire harness 3042.

[0052] Pin 2 5 is fixedly connected to the fixing seat 301, which is fixedly mounted on the palm 1. Therefore, the relative position of pin 2 5 and palm 1 does not change during finger movement. Thus, the wire harness 3042 between pin 2 5 and palm 1 will not undergo relative displacement with palm 1 or fixing seat 301, thereby ensuring the integrity of the outer sheath of wire harness 3042.

[0053] Since the portion of wire harness 3042 located inside finger 3 and palm 1 does not undergo relative displacement with adjacent components, the integrity of the overall outer sheath of wire harness 3042 is ensured.

[0054] Since the wire harness 3042 does not undergo displacement or bending, it does not affect the bending and extension movements of the entire finger 3.

[0055] In summary, the embodiments of this application propose a finger wiring structure for a dexterous hand, which changes the wiring form of the tactile sensor harness, eliminates the relative displacement and bending of the harness with adjacent internal parts of the finger, ensures the integrity of the harness sheath, and reduces the impact on finger movement.

[0056] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A finger wiring structure for a dexterous hand, characterized in that, It includes a palm (1), a thumb (2) and fingers (3). The thumb (2) is rotatably connected to the palm (1), and the fingers (3) are fixedly connected to the palm (1). The palm (1) is equipped with a dexterous hand control center and a linear actuator to drive the bending or lateral movement of the thumb (2) and fingers (3) respectively. The finger (3) includes a fixed base (301), a proximal phalanx (302), a distal phalanx (303), a tactile sensor (304), a first pin (4), a second pin (5), a third pin (6), and a fourth pin (7). The fixed base (301) is fixedly connected to the palm (1). One end of the proximal phalanx (302) is hinged to the fixed base (301) through the first pin (4), and one end of the distal phalanx (303) is hinged to the other end of the proximal phalanx (302) through the fourth pin (7). The proximal phalanx (302) includes a drive link (3021), a proximal phalanx skeleton (3022), and a link (3023). The drive link (3021) is located inside the proximal phalanx skeleton (3022). Pin 1 (4) and pin 4 (7) pass through the housings at both ends of the proximal phalanx skeleton (3022) and are fixedly connected to the phalanx skeleton (3022). One end of the drive link (3021) is hinged to pin 1 (4), and the other end of the drive link (3021) is hinged to the linear actuator inside the palm (1). The distal phalanx (303) includes a distal phalanx skeleton (3031) and a distal phalanx shell (3032). The distal phalanx skeleton (3031) is provided with a first wire-passing hole (30311), and the distal phalanx shell (3032) is provided with a second wire-passing hole (30321), a snap-fit ​​groove (30322) and a sensor receiving groove (30323). The distal phalanx shell (3032) is fitted onto the distal phalanx skeleton (3031) through the snap-fit ​​groove (30322). Pin 2 (5) is fixedly connected to the fixed seat (301), pin 3 (6) is fixedly connected to the end of the distal phalanx skeleton (3031) near the proximal phalanx (302), one end of the connecting rod (3023) is hinged to the fixed seat (301) through pin 2 (5), and the other end of the connecting rod (3023) is hinged to the distal phalanx skeleton (3031) through pin 3 (6). The two hinged ends of the connecting rod (3023) are respectively provided with wire groove 1 (30231) and wire groove 2 (30232).

2. The finger wiring structure of the dexterous hand according to claim 1, characterized in that, The drive link (3021) is provided with holes 1 (30211), 2 (30212) and 3 (30213) respectively, and a drive surface (30215) is formed on the drive link (3021). The drive link (3021) is hinged to the pin 1 (4) through hole 3 (30213). The drive link (3021) is hinged to the linear actuator in the palm (1) through hole 1 (30211). The drive link (3021) is also provided with a relief groove 1 (30214). The relief groove 1 (30214) facilitates the installation between the output end of the linear actuator and the drive link (3021) and facilitates the rotation between the output end of the linear actuator and the drive link (3021).

3. The finger wiring structure of the dexterous hand according to claim 1, characterized in that, The distal phalanx skeleton (3031) has holes four (30312) and five (30313) at one end near the proximal phalanx (302). The distal phalanx skeleton (3031) is hinged to pin four (7) through hole five (30313). Pin three (6) is fixedly connected to hole four (30312). The distal phalanx skeleton (3031) also has a relief groove two (30314) at the end near hole four (30312). The relief groove two (30314) facilitates the hinge connection between the connecting rod (3023) and the distal phalanx skeleton (3031).

4. The finger wiring structure of the dexterous hand according to claim 2, characterized in that, A hook (30233) is fixedly installed on the part of the connecting rod (3023) near the distal phalanx skeleton (3031), and a spring (3024) is installed between the second hole (30212) and the hook (30233).

5. The finger wiring structure of the dexterous hand according to claim 1, characterized in that, The tactile sensor (304) includes a sensor body (3041) and a wiring harness (3042). The sensor body (3041) is located in the sensor receiving slot (30323) and one end is fixedly connected to the distal phalanx skeleton (3031). One end of the wiring harness (3042) is electrically connected to the sensor body (3041), and the other end passes through the first wire hole (30311) on the distal phalanx skeleton (3031) and enters the second wire hole (30321) on the distal phalanx shell (3032). It then passes through the second wire groove (30232) on the connecting rod (3023) and wraps around the pin shaft three (6) once. After wrapping around, it passes through the first wire groove (30231) on the connecting rod (3023) and wraps around the pin shaft two (5) once. Finally, it extends along the fixed seat (301) and enters the palm (1) to be electrically connected to the dexterous hand control center.

6. The finger wiring structure of the dexterous hand according to claim 5, characterized in that, It also includes a fingertip coating (3033), which is fixedly sleeved on the distal phalanx shell (3032). The sensor body (3041) is located inside the fingertip coating (3033) and the sensing part of the sensor body (3041) is in contact with the fingertip coating (3033) located at the fingertip.

7. The finger wiring structure of the dexterous hand according to claim 1, characterized in that, Pin 1 (4), pin 2 (5), pin 3 (6) and pin 4 (7) are the same or different pins.

8. The finger wiring structure of the dexterous hand according to claim 1, characterized in that, The thumb linear actuator is one of an electric cylinder, a pneumatic cylinder, or a hydraulic cylinder.

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