Finger mechanism of dexterous hand

Abstract

The utility model discloses a dexterous hand finger mechanism which comprises a far knuckle, a first joint, a middle knuckle, a second joint, a near knuckle, a third joint and a metacarpophalangeal joint. The device further comprises a first driving rope, a second driving rope, a first reset elastic rope and a second reset elastic rope. One end of the first driving rope is externally connected with a driving mechanism, and the other end of the first driving rope penetrates through the metacarpophalangeal joint, the near knuckle and the middle knuckle and is sequentially wound and connected with the third joint, the second joint and the first joint; one end of the second driving rope is externally connected with a driving mechanism; the other end of the connecting rod penetrates through the metacarpophalangeal joint and is wound and connected with the third joint; the two ends of the first reset elastic rope are connected with the far knuckles and the near knuckles correspondingly. The two ends of the second reset elastic rope are connected with the metacarpophalangeal joints and the proximal knuckles respectively. Bending of different joints of the fingers is achieved through the first driving rope and the second driving rope, and reset and overload protection are achieved in combination with the design of the reset elastic rope.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, concretely relates to a dexterous hand finger mechanism. BACKGROUND

[0002] In recent years, with the wide application of robot technology in industrial operation, medical assistance, service field and special environment, multi-fingered dexterous hand with high flexibility and fine operation ability becomes a research hotspot. Among them, the rope driving technology becomes one of the mainstream schemes of the dexterous hand finger driving because of the advantages of flexible transmission path, lightweight structure, high power density and the like.

[0003] The dexterous hand is the end effector of the robot, and is an important component for realizing local fine operation and grasping task of the robot. The dexterous hand finger is an important part of the dexterous hand, and the reliability of the dexterous hand finger directly affects the grasping ability of the dexterous hand. The dexterous hand in the prior art has poor reset ability, which is easy to cause damage of the finger joint and affect the service life and use stability. SUMMARY

[0004] The utility model aims at overcoming at least one of the defects of the prior art, and provides a dexterous hand finger mechanism to realize the purpose of overload protection and reset.

[0005] Specifically, the utility model provides a dexterous hand finger mechanism, including remote phalange, first joint, middle phalange, second joint, proximal phalange, third joint and metacarpophalangeal joint which are connected in sequence, still include first drive rope, second drive rope, first reset elastic rope and second reset elastic rope, one end of first drive rope is connected with drive mechanism, the other end penetrates metacarpophalangeal joint, proximal phalange and middle phalange, and is connected with third joint, second joint and first joint in sequence, one end of second drive rope is connected with drive mechanism, the other end penetrates metacarpophalangeal joint and is connected with third joint, two ends of first reset elastic rope are connected with remote phalange and proximal phalange respectively, two ends of second reset elastic rope are connected with metacarpophalangeal joint and proximal phalange respectively.

[0006] The dexterous hand finger of the utility model is composed of metacarpophalangeal joint, proximal phalange, middle phalange and remote phalange, the metacarpophalangeal joint and the proximal phalange make rotary motion through the third joint, the proximal phalange and the middle phalange make rotary motion through the second joint, and the middle phalange and the remote phalange make rotary motion through the first joint. When the first drive rope is driven by the driver, the remote phalange and the middle phalange are simultaneously driven, and the first joint and the second joint of the finger are bent. When the second drive rope is driven by the driver, the proximal phalange is driven, and the third joint of the finger is bent. When the first drive rope is not driven, the remote phalange and the middle phalange are reset under the action of the first reset elastic rope. When the second drive rope is not driven, the proximal phalange is reset under the action of the second reset elastic rope.

[0007] Further, the proximal phalanx is provided with a bionic joint concave surface, and the metacarpophalangeal joint is provided with a bionic joint convex surface; the bionic joint concave surface and the bionic joint convex surface are attached to the third joint for rotary motion through the elastic force of the second reset elastic rope.

[0008] The rotary motion of the proximal phalanx and the metacarpophalangeal joint is achieved by the bionic joint concave surface in the proximal phalanx and the bionic joint convex surface of the metacarpophalangeal joint being attached to the third joint for rotary motion through the elastic force of the second reset elastic rope, and since the bionic joint concave surface and the bionic joint convex surface are in surface contact, the proximal phalanx and the metacarpophalangeal joint can be automatically separated from protection when the finger is impacted by external force, and are reset under the elastic force of the second reset elastic rope and the unique structural features of the bionic joint concave surface and the bionic joint convex surface, so that overload protection and reset are achieved.

[0009] Further, the distal phalanx is provided with a first fixed point, and the proximal phalanx is provided with a second fixed point; one end of the first reset elastic rope is connected to the first fixed point, and the other end is connected to the second fixed point.

[0010] The first fixed point is arranged on the upper side of the distal phalanx, close to the upper side of the first joint; the second fixed point is arranged on the upper side of the proximal phalanx; when the phalanx is bent downward, the first reset elastic rope is stretched, and when the bending is completed and the driving force is removed, the reset of the distal phalanx and the proximal phalanx is achieved under the rebounding action of the first reset elastic rope.

[0011] Further, the utility model also includes a finger PCB board, the finger PCB board is embedded in the proximal phalanx, and one end of the finger PCB board is provided with a second joint sensor, and the other end is provided with a third joint sensor.

[0012] Further, the utility model also includes a finger tip FPC, a finger tip sensor is arranged on the distal phalanx, one end of the finger tip FPC is connected with the finger tip sensor, and the other end is connected with the finger PCB board.

[0013] The finger PCB board is fixed on the proximal phalanx, the second permanent magnet is fixed on the third joint, and the first permanent magnet is fixed on the second joint, when the third joint sensor and the second joint sensor of the finger PCB monitor the rotary motion of the second joint and the third joint, the magnetic field intensity and direction of the position of the Hall element change when the measured object rotates, and the Hall voltage changes correspondingly.

[0014] Further, the first joint comprises a first pin, a first pulley and one or more groups of first bearings; the middle part of the first pin passes through the first pulley and the first bearings, and the two ends are connected to the distal phalanx and the middle phalanx to realize the rotary connection of the two; the second joint comprises a second pin, a second pulley and one or more groups of second bearings; the middle part of the second pin passes through the second pulley and the second bearings, and the two ends are connected to the middle phalanx and the proximal phalanx to realize the rotary connection of the two; the third joint comprises a third pin, a third pulley and a fourth pulley; the middle part of the third pin passes through the third pulley and the fourth pulley, and the two ends are connected to the proximal phalanx and the metacarpophalangeal joint to realize the rotary connection of the two; the other end of the first driving rope is wound on the third pulley, the second pulley and the first pulley in sequence; the other end of the second driving rope is wound on the fourth pulley.

[0015] Further, the utility model still includes passive connecting rod, the both ends of passive connecting rod are connected the side surface of first pulley and second pulley respectively. The distal phalanx is hinged with the proximal phalanx through the passive connecting rod, and the rotation angle of the first joint is coupled with the second joint, so that the angle change of the first joint is obtained.

[0016] The distal phalanx, the middle phalanx, the proximal phalanx and the metacarpophalangeal joint of the utility model are all detachable combined structures, internal wiring can be carried out, and the combined structure is fixed by a plurality of shells through screw and pin structures, convenient to disassemble and assemble, and convenient to maintain.

[0017] Compared with the prior art, the utility model has the beneficial effects that:

[0018] The utility model realizes the bending of different joints of the finger through the first driving rope and the second driving rope, and the design of the reset elastic rope, that is, when the first driving rope is not driven, the distal phalanx and the middle phalanx are reset under the action of the first reset elastic rope. When the second driving rope is not driven, the proximal phalanx is reset under the action of the second reset elastic rope, and the control method is simple. The utility model also designs a bionic joint concave surface and a bionic joint convex surface, and the two are in surface contact. When the finger is impacted by external force, the proximal phalanx and the metacarpophalangeal joint are automatically separated for protection, and are reset under the elastic force of the second reset elastic rope and the unique structural characteristics of the bionic joint concave surface and the bionic joint convex surface, so that overload protection and reset are realized. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a three-dimensional structure schematic diagram of the finger mechanism of the dexterous hand in a straightened state.

[0020] Figure 2 It is a three-dimensional structure schematic diagram of the finger mechanism of the dexterous hand in a bent state.

[0021] Figure 3It is an internal structure diagram of the dexterous hand finger mechanism in a flexion state.

[0022] Figure 4 It is an internal structure diagram of the dexterous hand finger mechanism in a flexion state.

[0023] Figure 5 It is another perspective view of the internal structure diagram of the dexterous hand finger mechanism in an extension state.

[0024] Figure 6 It is an internal structure diagram of the dexterous hand finger mechanism in an extension state.

[0025] Figure 7 It is another perspective view of the internal structure diagram of the dexterous hand finger mechanism in an extension state.

[0026] Figure 8 It is an internal structure diagram of the dexterous hand finger mechanism in an extension state. DETAILED DESCRIPTION

[0027] The accompanying drawings, which are included to provide a further understanding of the embodiments of the present application and are incorporated in and constitute a part of this application, illustrate embodiments of the present application and together with the description serve to explain the principles of the present application. In the drawings:

[0028] It should be noted that, if the present application embodiments involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly.

[0029] In addition, if the present application embodiments involve descriptions of "first", "second", etc., the descriptions of "first", "second", etc. are only for description purposes and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features with "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary technical personnel, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist and is not within the scope of protection claimed by the present application.

[0030] Embodiment

[0031] The embodiment provides a dexterous hand finger mechanism, which comprises, as shown in the figure, a distal phalanx 1, a first joint 2, a middle phalanx 3, a second joint 4, a proximal phalanx 5, a third joint 6 and a metacarpophalangeal joint 7 connected in sequence. Figures 1-2 As shown in the figure, the distal phalanx 1 comprises a first phalanx block 11, a second phalanx block 12 and a third phalanx block 13 which can be buckled with each other; the middle phalanx 3 comprises a fourth phalanx block 31 and a fifth phalanx block 32 which can be buckled with each other; the proximal phalanx 5 comprises a sixth phalanx block 51, a seventh phalanx block 52 and an eighth phalanx block 53 which can be buckled with each other; and the metacarpophalangeal joint 7 comprises a first metacarpophalangeal block 71, a second metacarpophalangeal block 72 and a third metacarpophalangeal block 73 which can be buckled with each other. Figure 3 The dexterous hand finger mechanism further comprises a first driving rope 8, a second driving rope 9, a first reset elastic rope 10 and a second reset elastic rope 20; one end of the first driving rope 8 is connected with a driving mechanism, and the other end penetrates through the metacarpophalangeal joint 7, the proximal phalanx 5 and the middle phalanx 3 and is connected with the third joint 6, the second joint 4 and the first joint 2 in sequence; one end of the second driving rope 9 is connected with a driving mechanism, and the other end penetrates through the metacarpophalangeal joint 7 and is connected with the third joint 6.

[0032] As shown in the figure, a first fixed point 30 is arranged on the distal phalanx 1, and a second fixed point 40 is arranged on the proximal phalanx 5; one end of the first reset elastic rope 10 is connected with the first fixed point 30, and the other end is connected with the second fixed point 40. The first fixed point 30 is arranged on the upper side of the distal phalanx 1 and is close to the upper side of the first joint 2; the second fixed point 40 is arranged on the upper side of the proximal phalanx 5; when the phalanx is bent downward, the first reset elastic rope 10 is stretched, and when the bending is completed and the driving force is removed, the distal phalanx 1 and the proximal phalanx 5 are reset under the rebounding action of the first reset elastic rope 10. The second reset elastic rope 20 is connected with the metacarpophalangeal joint 7 and the proximal phalanx 5 at two ends respectively. Figure 4 As shown in the figure,

[0033] As shown in the figure, Figure 5As shown, the proximal phalanx 5 has a bionic joint concave surface 50, and the metacarpophalangeal joint 7 has a bionic joint convex surface 60. The bionic joint concave surface 50 and the bionic joint convex surface 60 are attached to the third joint 6 by the elastic force of the second reset elastic cord 20, allowing for rotational movement. The rotational movement of the proximal phalanx 5 and the metacarpophalangeal joint 7 is achieved by the bionic joint concave surface 50 in the proximal phalanx 5 and the bionic joint convex surface 60 in the metacarpophalangeal joint 7 being attached to the third joint 6 by the elastic force of the second reset elastic cord 20. Since the bionic joint concave surface 50 and the bionic joint convex surface 60 are in surface contact, when the finger is subjected to external impact, the proximal phalanx 5 and the metacarpophalangeal joint 7 will automatically detach from the protection, and then reset under the elastic force of the second reset elastic cord 20 and the unique structural features of the bionic joint concave surface 50 and the bionic joint convex surface 60, thereby achieving overload protection and reset.

[0034] like Figure 6 As shown, a finger PCB board 70 is provided within the proximal phalanx 5, and a second joint sensor 701 is provided at one end of the finger PCB board 70, while a third joint sensor 702 is provided at the other end. A fingertip sensor 703 is provided on the distal phalanx 1. The dexterous finger mechanism also includes a fingertip FPC 704, one end of which is connected to the fingertip sensor 703, and the other end is connected to the finger PCB board 70. A Hall element is provided on the finger PCB board 70, a first permanent magnet 80 is provided on the second joint 4, and a second permanent magnet 90 is provided on the third joint 6.

[0035] As shown in Fig. 8, the first joint 2 comprises a first pin 21, a first pulley 22 and two groups of first bearings 23; the middle part of the first pin 21 passes through the first pulley 22 and the first bearings 23, and the two ends are connected to the distal phalanx 1 and the middle phalanx 3 to realize the rotary connection of the two; the second joint 4 comprises a second pin 41, a second pulley 42 and two groups of second bearings 43; the middle part of the second pin 41 passes through the second pulley 42 and the second bearings 43, and the two ends are connected to the middle phalanx 3 and the proximal phalanx 5 to realize the rotary connection of the two; the third joint 6 comprises a third pin 61, a third pulley 62 and a fourth pulley 63; the middle part of the third pin 61 passes through the third pulley 62 and the fourth pulley 63, and the two ends are connected to the proximal phalanx 5 and the metacarpophalangeal joint 7 to realize the rotary connection of the two; the other end of the first driving rope 8 is wound on the third pulley 62, the second pulley 42 and the first pulley 22 in sequence; the other end of the second driving rope 9 is wound on the fourth pulley 63. The finger PCB board 70 is fixed on the proximal phalanx 5, the first permanent magnet 80 is fixed on the second pin 41 of the second joint 4, and the second permanent magnet 90 is installed on the third pin 61 of the third joint 6; when the third joint sensor 702 and the second joint sensor 701 of the finger PCB monitor the rotary motion of the second joint 4 and the third joint 6, the magnetic field strength and direction of the position of the Hall element change when the measured object rotates, causing the Hall voltage to change accordingly. By detecting the change of the Hall voltage, the angle position of the permanent magnet can be determined, so as to realize the measurement of the angle.

[0036] As shown in Figs. Figure 4 , Figure 6 and Figure 8 , the utility model further comprises a passive connecting rod 100, the two ends of the passive connecting rod 100 are connected to the side faces of the first pulley 22 and the second pulley 42 respectively. The distal phalanx 1 is hinged with the proximal phalanx 5 through the passive connecting rod 100, and the rotation angle of the first joint 2 is coupled with the second joint 4, so as to obtain the angle change of the first joint 2.

[0037] The utility model discloses a nimble hand finger is by metacarpophalangeal joint 7, near phalange 5, middle phalange 3, far phalange 1 is formed, and all are detachable combination structure, and can be wired inside, and the combination structure is fixed by screw and peg etc. structure, and the dismounting is convenient, and the maintenance is convenient. Metacarpophalangeal joint 7 is rotated with near phalange 5 through third joint 6, and near phalange 5 is rotated with middle phalange 3 through second joint 4, and middle phalange 3 is rotated with far phalange 1 through first joint 2. When first drive rope 8 is driven by driver, far phalange 1 is driven with middle phalange 3 simultaneously, and the first joint 2 of finger and second joint 4 are bent. When second drive rope 9 is driven by driver, near phalange 5 is driven, and the third joint 6 of finger is bent. When first drive rope 8 is not driven, far phalange 1 is reset with middle phalange 3 under the action of first reset elastic rope 10. When second drive rope 9 is not driven, near phalange 5 is reset under the action of second reset elastic rope 20.

[0038] The above embodiments are only used to illustrate the technical scheme of the utility model and not limit, although the utility model is described in detail with reference to the above preferred embodiments, those skilled in the art should understand that the technical scheme of the utility model can be modified or equivalent replaced without departing from the spirit and scope of the utility model technical scheme. The technical personnel in the art can also make other changes etc. in the spirit of the utility model in the design of the utility model, as long as it does not deviate from the technical effect of the utility model. These changes made according to the spirit of the utility model should be included in the scope of the utility model claimed.

Claims

1. A dexterous hand finger mechanism, characterized in that, It includes the distal phalanx (1), the first joint (2), the middle phalanx (3), the second joint (4), the proximal phalanx (5), the third joint (6), and the metacarpophalangeal joint (7) connected in sequence; It also includes a first drive rope (8), a second drive rope (9), a first reset elastic rope (10), and a second reset elastic rope (20); one end of the first drive rope (8) is connected to the drive mechanism, and the other end passes through the metacarpophalangeal joint (7), the proximal phalanx (5), and the middle phalanx (3), and is sequentially wound around and connected to the third joint (6), the second joint (4), and the first joint (2); One end of the second drive rope (9) is externally connected to the drive mechanism; the other end passes through the metacarpophalangeal joint (7) and is wrapped around and connected to the third joint (6); The two ends of the first reset elastic cord (10) are respectively connected to the distal phalanx (1) and the proximal phalanx (5); The two ends of the second reset elastic cord (20) are respectively connected to the metacarpophalangeal joint (7) and the proximal phalanx (5).

2. The dexterous hand finger mechanism according to claim 1, characterized in that, The proximal phalanx (5) is provided with a bionic joint concave surface (50), and the metacarpophalangeal joint (7) is provided with a bionic joint convex surface (60). The bionic joint concave surface (50) and the bionic joint convex surface (60) are attached to the third joint (6) by the elastic force of the second reset elastic rope (20) to make rotational movement.

3. The dexterous hand finger mechanism according to claim 1, characterized in that, The distal phalanx (1) is provided with a first fixing point (30), and the proximal phalanx (5) is provided with a second fixing point (40); one end of the first reset elastic cord (10) is connected to the first fixing point (30), and the other end is connected to the second fixing point (40).

4. The dexterous hand finger mechanism according to claim 1, characterized in that, It also includes a finger PCB board (70), which is embedded in the proximal phalanx (5), and one end of the finger PCB board (70) is provided with a second joint sensor (701) and the other end is provided with a third joint sensor (702).

5. The dexterous hand finger mechanism according to claim 4, characterized in that, It also includes a fingertip FPC (704), on which a fingertip sensor (703) is provided. One end of the fingertip FPC (704) is connected to the fingertip sensor (703), and the other end is connected to the finger PCB board (70).

6. The dexterous hand finger mechanism according to claim 4, characterized in that, The finger PCB board (70) is provided with a Hall element, the second joint (4) is provided with a first permanent magnet (80), and the third joint (6) is provided with a second permanent magnet (90).

7. The dexterous hand finger mechanism according to claim 1, characterized in that, The first joint (2) includes a first pin (21), a first pulley (22), and one or more sets of first bearings (23); The middle part of the first pin (21) passes through the first pulley (22) and the first bearing (23), and the two ends are connected to the distal phalanx (1) and the middle phalanx (3) to realize the rotational connection between the two; The second joint (4) includes a second pin (41), a second pulley (42), and one or more sets of second bearings (43); the middle part of the second pin (41) passes through the second pulley (42) and the second bearing (43), and the two ends are connected to the middle finger joint (3) and the proximal finger joint (5) to realize the rotational connection between the two. The third joint (6) includes a third pin (61), a third pulley (62), and a fourth pulley (63); the middle part of the third pin (61) passes through the third pulley (62) and the fourth pulley (63), and the two ends are connected to the proximal phalanx (5) and the metacarpophalangeal joint (7) to realize the rotational connection between the two; the other end of the first drive rope (8) is wrapped around the third pulley (62), the second pulley (42), and the first pulley (22) in sequence; the other end of the second drive rope (9) is wrapped around the fourth pulley (63).

8. The dexterous hand finger mechanism according to claim 7, characterized in that, It also includes a passive link (100), the two ends of which are respectively connected to the sides of the first pulley (22) and the second pulley (42).

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