A bionic manipulator with self-adaptive under-actuated fingers

Abstract

This utility model discloses a bionic robotic hand with adaptive underactuated fingers, belonging to the field of robotic hands. It includes a base, motor, rotating assembly, bearing housing, transmission assembly, and adaptive underactuated fingers; the overall design is modular. Each finger has three main degrees of freedom: rotation, oscillation, and bending. The three fingers together have nine main degrees of freedom. This facilitates palm-shaped grasping of spherical and rod-shaped geometries, enabling adaptive underactuated grasping with geometric envelope. This improves grasping stability. Each finger is driven by a worm gear and a fixed-axis gear train, featuring reverse transmission self-locking, accurate and stable transmission ratio, and a compact and ingenious structure. This utility model solves the problem of low dexterity in existing underactuated robotic hands.

Description

Technical Field

[0001] This utility model relates to the field of underactuated three-finger robotic hand technology, specifically to a bionic robotic hand with adaptive underactuated fingers. Background Technology

[0002] Robotic arms are innovative devices that have gradually developed to meet the demands of mechanized and automated production. In today's manufacturing processes, robotic arms are widely used in automated production lines. With the advancement and popularization of robotics technology, this emerging technology in the high-tech field has further promoted the development of robotic arms, facilitating their deep integration with mechanized and automated production. Although robotic arms have not yet achieved the dexterity of human hands, they possess advantages such as continuous repetitive operation, tirelessness, resilience in hazardous environments, and grasping capabilities far exceeding those of human hands. Therefore, the importance of robotic arms is increasingly attracting attention from various industries, and their application scope continues to expand.

[0003] Based on the relationship between the number of actuators and degrees of freedom, robotic arms can be classified into two main categories: fully actuated and underactuated. Fully actuated robotic arms are characterized by precise control over the movement of each joint, resulting in extremely high accuracy when grasping objects. However, because each joint requires an independent actuator, and complex control and sensing systems are needed to coordinate these actuators, the overall structure of these robotic arms is complex and costly, which limits their widespread application and development to some extent. In contrast, underactuated robotic arms are based on a novel mechanism design that allows for more degrees of freedom using fewer actuator units, thus simplifying the robotic arm's structure, reducing costs, and making it easier to control. Furthermore, underactuated robotic arms possess adaptive capabilities, allowing them to adjust their shape to adapt to objects of different shapes and sizes, eliminating the need to redesign the robotic arm for each specific task.

[0004] Typical underactuated manipulators usually have only two degrees of freedom: bending and rotation, or bending and oscillation. To achieve all three degrees of freedom (bending, oscillation, and rotation), a wire drive or other fully actuated method is required. Utility Model Content

[0005] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a bionic robotic hand with an adaptive underactuated finger, which aims to solve the problem of low flexibility of underactuated robotic hands in the existing technology.

[0006] To achieve the above objectives, the embodiments of this utility model are implemented through the following technical solution: a bionic robotic hand with an adaptive underactuated finger, comprising a rotating assembly, a bearing seat, a transmission assembly, and an adaptive underactuated finger. One end of the rotating assembly is rotatably connected to the robotic hand base, and the other end of the rotating assembly is rotatably connected to the transmission assembly through the bearing seat. The transmission assembly is connected to the adaptive underactuated finger to enable the adaptive underactuated finger to flex and extend.

[0007] Compared with the prior art, the beneficial effects of this utility model are as follows: the adaptive underactuated finger is controlled by the rotating assembly and the transmission assembly. The rotating assembly connects the robot base and the transmission assembly to make the adaptive underactuated finger rotate, swing, or bend. The transmission assembly connects the adaptive underactuated finger and drives the worm gear to move back and forth through the telescopic motor, thereby driving the gear set to rotate clockwise or counterclockwise, so that the adaptive underactuated finger bends or unfolds. This realizes that the bionic robot can rotate, swing, and bend at the same time, and solves the problem of low flexibility of conventional underactuated robot hands in the prior art.

[0008] Furthermore, the robotic arm base includes a first base and a second base. The side of the second base facing the first base is connected to the first base via a column. A rotary motor is provided on the side of the second base facing the first base. The output end of the rotary motor passes through the first base and is connected to the rotary assembly.

[0009] Furthermore, the rotating assembly includes a first housing, inside which a swing motor is disposed. The output end of the swing motor passes through the first housing and is connected to the bearing seat. A rigid coupling is fixedly connected to the first housing, and the rigid coupling is rotatably connected to the rotating motor.

[0010] Furthermore, the transmission assembly includes a second housing. The bearing seat is rotatably connected to the second housing at one end facing away from the rotating assembly. A telescopic motor is disposed inside the second housing, and the telescopic motor is connected to a worm gear. A gear set is disposed inside the second housing, and the worm gear meshes with the gear set. The gear set includes a first gear, a second gear, and a third gear. The first gear is rotatably connected inside the second housing and meshes with the worm gear. The first gear meshes with the second gear, and the second gear meshes with the third gear. The third gear is fixedly connected to the adaptive underactuated finger.

[0011] Furthermore, the adaptive underactuated finger includes a root phalanx, one end of which facing the transmission assembly is fixedly connected to the third gear, the other end of which is hinged to a middle phalanx, and the other end of which is hinged to a distal phalanx.

[0012] Furthermore, the root phalanx is hinged to a first link at one end facing the transmission assembly, the first link at one end facing away from the transmission assembly is hinged to the middle phalanx, the root phalanx is hinged to a second link at one end facing the middle phalanx, and the second link at one end facing away from the root phalanx is hinged to the distal phalanx.

[0013] Furthermore, anti-slip blocks are provided on the root phalanx, the middle phalanx, and the distal phalanx.

[0014] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0015] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the overall front view of the robotic arm in an embodiment of this utility model.

[0016] Figure 2 This is a schematic diagram of the overall left-side structure of the robotic arm in an embodiment of this utility model.

[0017] Figure 3 This is a schematic diagram of the overall left and right isometric structure of the robotic arm in an embodiment of this utility model.

[0018] Figure 4 This is a front view structural diagram of the robotic arm transmission assembly and bearing seat in an embodiment of this utility model.

[0019] Figure 5 This is a left-side structural schematic diagram of the robotic arm transmission assembly and bearing seat in an embodiment of this utility model.

[0020] Figure 6 This is a side view of the manipulator transmission assembly and bearing seat in an embodiment of the present invention.

[0021] Figure 7 This is a front half-sectional view of the robotic arm transmission assembly and bearing seat in an embodiment of this utility model. Figure 8 This is a front view structural diagram of the rotating assembly of the robotic arm in an embodiment of this utility model. Figure 9This is a side view of the rotating assembly of the robotic arm in an embodiment of this utility model.

[0022] Figure 10 This is a frontal half-section view of the rotating assembly of the robotic arm in an embodiment of this utility model.

[0023] Explanation of key component symbols in the diagram: 1. Robotic arm base; 11. First base; 12. Rotary motor mounting plate; 13. Column; 14. Second base; 2. Motor; 21. Rotary motor; 22. Swing motor; 23. Telescopic motor; 3. Rotary assembly; 31. Swing motor mounting plate; 32. Rigid coupling; 33. First optical shaft; 34. First bearing; 35. First flange coupling; 36. First housing; 4. Bearing seat; 41. Third housing; 42. Second bearing; 5. Transmission assembly; 51. Second housing; 52. Telescopic motor mounting plate; 53. Worm gear; 54. First gear; 55. Second gear; 56. Third gear; 57. Second optical shaft; 58. Second flange coupling; 6. Adaptive underactuated finger; 61. First link; 62. Second link. Detailed Implementation

[0024] To make the objectives, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model are described in detail below with reference to the accompanying drawings. Several embodiments of this utility model are shown in the drawings. However, this utility model can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to make the disclosure of this utility model more thorough and complete.

[0025] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," "upper," "lower," and similar expressions used herein are for illustrative purposes only 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 limiting the present invention.

[0026] In this utility model, unless otherwise expressly 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. The term "and / or" as used herein includes any and all combinations of one or more of the related listed items.

[0027] Please see Figures 1 to 10 This utility model provides a bionic robotic hand with an adaptive underactuated finger, comprising a robotic hand base 1, a motor 2, a rotating assembly 3, a bearing seat 4, a transmission assembly 5, and an adaptive underactuated finger 6. One end of the rotating assembly 3 is rotatably connected to the robotic hand base 1. The rotating assembly 3 includes a first housing 36, inside which a swing motor 22 is connected. The output end of the swing motor 22 passes through the first housing 36 and is connected to the bearing seat 4. The swing motor 22 is used to control the swing of the adaptive underactuated finger 6. The bearing seat 4 is coaxially arranged with the transmission assembly 5, which connects to the adaptive underactuated finger 6. The transmission assembly 5 enables the adaptive underactuated finger 6 to flex and extend. The bearing seat 4 can reduce the friction caused by the swing of the adaptive underactuated finger 6 and also serves to connect the rotation and flexion / extension of the adaptive underactuated finger 6.

[0028] The robotic arm base 1 includes a first base 11 and a second base 14. The side of the second base 14 facing the first base 11 is connected to the first base 11 via a column 13. A rotary motor 21 is provided on the side of the second base 14 facing the first base 11. The output end of the rotary motor 21 passes through the first base 11 and is connected to the rotary assembly 3. That is, the rotary motor 21 drives the rotary assembly 3 to control the rotation of the adaptive underactuated finger 6.

[0029] Please see Figures 8 to 10The rotating assembly includes: a first optical shaft 33, a first bearing 34, and a first housing 36. One end of the first housing 36 has an opening, and the interior of the first housing 36 has a cavity communicating with the opening. A swing motor mounting plate 31 is bolted to the opening. A swing motor 22 is connected to the side of the swing motor mounting plate 31 facing the cavity. A first flange coupling 35 is connected to the first housing 36. The first bearing 34 is sleeved on the first flange coupling 35. One end of the first optical shaft 33 is fixedly connected to the first flange coupling 35, and the end of the first optical shaft 33 facing away from the first housing 36 is fixedly connected to a rigid coupling 35. The rigid coupling 35 is rotatably connected to the rotating motor 21 to achieve the adaptive underactuated finger 6 rotation. The swing motor 22 is rotatably connected to the transmission assembly 5 through the bearing seat 4. When the swing motor 22 operates, the transmission assembly 5 moves in tandem to achieve the adaptive underactuated finger 6 swing.

[0030] The bearing housing 4 includes a second bearing 42 and a third housing 41. The bearing housing 4 is sleeved on the second flange coupling 58. The bearing housing 4 is located between the transmission assembly 5 and the rotating assembly 3, thereby reducing the friction generated by the adaptive underactuated finger 6 when it swings, and connecting the bending and rotation functions of the adaptive underactuated finger 6.

[0031] Please see Figure 4 , Figure 6 , Figure 7 The transmission assembly 5 includes a second housing 51. The bearing seat 4 is rotatably connected to the second housing 51 at one end facing away from the rotating assembly. A telescopic motor 23 is disposed inside the second housing 51. The output end of the telescopic motor 23 is connected to a worm gear 53. A gear set is disposed inside the second housing. The worm gear 53 meshes with the gear set. The gear set includes a first gear 54, a second gear 55, and a third gear 56. The first gear 54 is rotatably connected inside the second housing 51 and meshes with the worm gear 53. The first gear 54 meshes with the second gear 55, and the second gear 55 meshes with the third gear 56. The third gear 56 is fixedly connected to the adaptive underactuated finger 6. When the telescopic motor 23 drives the worm gear 53 to reciprocate, the worm gear 53 drives the gear set to rotate, thereby causing the adaptive underactuated finger 6, fixed to the third gear 56, to flex and extend. (See also...) Figure 7The adaptive underactuated finger 6 includes a root phalanx. The end of the root phalanx facing the transmission assembly 5 is fixedly connected to the third gear 56. The end of the root phalanx facing away from the transmission assembly 5 is hinged to the middle phalanx. The end of the middle phalanx facing away from the root phalanx is hinged to the distal phalanx. The end of the root phalanx facing the transmission assembly is hinged to a first connecting rod 61. The end of the first connecting rod 61 facing away from the transmission assembly 5 is hinged to the middle phalanx. The end of the root phalanx facing the middle phalanx is hinged to a second connecting rod. The end of the second connecting rod facing away from the root phalanx is hinged to the distal phalanx. The adaptive underactuated finger 6 is driven by a linkage coupling. During the grasping process of the adaptive underactuated finger 6, the three phalanges of the adaptive underactuated finger 6 rotate in the following order: the root phalanx rotates first, then the middle phalanx rotates, and finally the distal phalanx rotates last. The root phalanx drives the middle phalanx to rotate through the first connecting rod 35, and the middle phalanx drives the distal phalanx to rotate through the second connecting rod 36, thereby achieving the overall bending of the adaptive underactuated finger 6.

[0032] The adaptive underactuated finger 6 is controlled by the rotating assembly 3 and the transmission assembly 5. The rotating assembly 3 is connected to the robot base 1 and the transmission assembly 5 to control the rotation, swinging, or bending of the adaptive underactuated finger 6. The transmission assembly 5 is connected to the adaptive underactuated finger 6 and drives the worm gear 53 to reciprocate through the telescopic motor 23, thereby driving the gear set to rotate clockwise or counterclockwise, so that the adaptive underactuated finger 6 can bend or unfold. This realizes that the bionic robot can rotate, swing, and bend at the same time, and solves the problem of low flexibility of conventional underactuated robot hands in the prior art.

[0033] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0034] The above-described embodiments are merely one implementation of this utility model, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A bionic robotic hand with adaptive underactuated fingers, characterized in that, The device includes a rotating assembly, a bearing housing, a transmission assembly, and an adaptive underactuated finger. One end of the rotating assembly is rotatably connected to the robot arm base, and the other end of the rotating assembly is rotatably connected to the transmission assembly via the bearing housing. The transmission assembly is connected to the adaptive underactuated finger to enable flexion and extension of the adaptive underactuated finger.

2. The bionic robotic hand with adaptive underactuated fingers according to claim 1, characterized in that, The robotic arm base includes a first base and a second base. The side of the second base facing the first base is connected to the first base via a column. A rotary motor is provided on the side of the second base facing the first base. The output end of the rotary motor passes through the first base and is connected to the rotary assembly.

3. The bionic robotic hand with adaptive underactuated fingers according to claim 2, characterized in that, The rotating assembly includes a first housing, inside which a swing motor is disposed. The output end of the swing motor passes through the first housing and is connected to the bearing seat. A rigid coupling is fixedly connected to the first housing, and the rigid coupling is rotatably connected to the rotating motor.

4. The bionic robotic hand with adaptive underactuated fingers according to claim 1, characterized in that, The transmission assembly includes a second housing. The bearing seat is rotatably connected to the second housing at one end facing away from the rotating assembly. A telescopic motor is installed inside the second housing, and the telescopic motor is connected to a worm gear. A gear set is installed inside the second housing, and the worm gear meshes with the gear set. The gear set includes a first gear, a second gear, and a third gear. The first gear is rotatably connected inside the second housing and meshes with the worm gear. The first gear meshes with the second gear, and the second gear meshes with the third gear. The third gear is fixedly connected to the adaptive underactuated finger.

5. The bionic robotic hand with adaptive underactuated fingers according to claim 4, characterized in that, The adaptive underactuated finger includes a root phalanx, one end of which facing the transmission assembly is fixedly connected to the third gear, the other end of which is hinged to the middle phalanx, and the other end of which is hinged to the distal phalanx.

6. The bionic robotic hand with adaptive underactuated fingers according to claim 5, characterized in that, The root phalanx is hinged to a first link at one end facing the transmission assembly, the first link at one end facing away from the transmission assembly is hinged to the middle phalanx, the root phalanx is hinged to a second link at one end facing the middle phalanx, and the second link at one end facing away from the root phalanx is hinged to the distal phalanx.

7. The bionic robotic hand with adaptive underactuated fingers according to claim 5, characterized in that, Anti-slip blocks are provided on the root phalanx, the middle phalanx, and the distal phalanx.

Images