Multi-degree of freedom finger and dexterous hand

Abstract

The utility model provides a kind of multi-degree-of-freedom finger and dexterous hand, the multi-degree-of-freedom finger includes the proximal phalanx and distal phalanx set gradually, and the first driving mechanism connected to the proximal phalanx far from the distal phalanx one end, the first driving mechanism is used to drive the proximal phalanx swing, the rotation axis of the proximal phalanx bending and the rotation axis of the proximal phalanx swing intersect at a point.The utility model provides multi-degree-of-freedom finger, the rotation axis of the first driving mechanism in driving finger swing is set to intersect at a point with the rotation axis of the proximal phalanx bending, first driving mechanism is directly connected to the proximal phalanx, by driving the proximal phalanx swing to drive finger swing, the length and thickness space of finger can be saved, beneficial to the lightweight and miniaturization of dexterous hand.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and more specifically, to a multi-degree-of-freedom finger and dexterous hand. Background Technology

[0002] A dexterous hand is a high-precision end effector that integrates multiple functions such as driving, transmission, and sensing. It can replace humans in performing complex tasks in extreme or harmful environments and is mainly composed of three modules: driving, transmission, and sensing.

[0003] Currently, dexterous hands on the market need to be able to bend and laterally swing their fingers to improve dexterity and maximize their mimicry of the human hand. To achieve this lateral swing, existing methods involve placing a drive mechanism at the base of the finger and adding an additional mechanical structure connected to it. The drive mechanism rotates this mechanical structure, causing the finger to swing. However, this arrangement results in the rotation axis for bending at the finger's base and the rotation axis for lateral swing being intersected, increasing the finger's length and thickness, which is detrimental to the lightweight and miniaturization of dexterous hands. Utility Model Content

[0004] The purpose of this utility model embodiment is to provide a multi-degree-of-freedom finger to solve the technical problem in the prior art where the lateral swing structure of the finger leads to an increase in the length and thickness of the finger.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows: a multi-degree-of-freedom finger is provided, comprising: a proximal phalanx and a distal phalanx arranged sequentially, and a first driving mechanism connected to the end of the proximal phalanx away from the distal phalanx. The first driving mechanism is used to drive the proximal phalanx to swing, and the rotation axis of the proximal phalanx bending intersects the rotation axis of the proximal phalanx swinging at a point.

[0006] Optionally, the first driving mechanism includes a driving unit and a transmission unit, wherein the input end of the transmission unit is connected to the output shaft of the driving unit, and the output end of the transmission unit is connected to the proximal phalanx.

[0007] Optionally, the proximal phalanx includes a first proximal phalanx segment and a second proximal phalanx segment connected to each other, and a second drive mechanism connected between the first proximal phalanx segment and the second proximal phalanx segment, the second drive mechanism being used to drive the second proximal phalanx segment to rotate relative to the first proximal phalanx segment;

[0008] The output end of the transmission unit is connected to the second proximal finger segment.

[0009] Optionally, the transmission unit includes a first synchronous pulley, a second synchronous pulley, and a synchronous belt. The first synchronous pulley is sleeved on the output shaft of the drive unit, the second synchronous pulley is connected to the second proximal finger segment, the synchronous belt is sleeved outside the first synchronous pulley and the second synchronous pulley, and the inner side of the synchronous belt meshes with the first synchronous pulley and the second synchronous pulley in sequence. The drive unit and the proximal finger segment are located on the same side of the synchronous belt.

[0010] Optionally, the second synchronous pulley includes a gear portion, a disc portion, and a shaft portion connected sequentially along the axial direction, the synchronous belt is sleeved outside the gear portion, and the shaft portion is connected to the second proximal finger segment.

[0011] Optionally, the transmission unit further includes an intermediate component, one end of which is connected to the second proximal finger segment and the other end of which is connected to the shaft portion.

[0012] Optionally, the transmission unit further includes a first bearing and a second bearing, which are sequentially sleeved on the shaft portion and located between the disc portion and the intermediate component.

[0013] Optionally, the second proximal finger segment includes a first side plate and a second side plate disposed opposite to each other, and an end plate connected between the first side plate and the second side plate. The output shaft of the second drive mechanism is connected to the first side plate, and the end plate is connected to the output end of the transmission unit.

[0014] Optionally, the multi-degree-of-freedom finger further includes a base for fixing the first drive mechanism within the palm.

[0015] This utility model also provides a dexterous hand, including a palm and at least two multi-degree-of-freedom fingers connected to the palm as described above, wherein a first drive mechanism of the multi-degree-of-freedom fingers is installed inside the palm.

[0016] The beneficial effects of the multi-degree-of-freedom finger provided by this utility model are as follows: Compared with the prior art, the multi-degree-of-freedom finger of this utility model sets the rotation axis that drives the finger to swing in the first drive mechanism to intersect with the rotation axis that drives the proximal phalanx to bend at a point. The first drive mechanism is directly connected to the proximal phalanx. By driving the proximal phalanx to swing, the finger can be driven to swing. This can save the length and thickness space of the finger, which is conducive to the lightweighting and miniaturization of dexterous hands. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model, 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.

[0018] Figure 1 A three-dimensional structural diagram of a multi-degree-of-freedom finger provided for an embodiment of this utility model;

[0019] Figure 2 A partial exploded structure diagram of a multi-degree-of-freedom finger provided in an embodiment of this utility model;

[0020] Figure 3 A three-dimensional structural diagram of the second synchronous belt pulley provided in an embodiment of this utility model;

[0021] Figure 4 A three-dimensional structural diagram of the intermediate component provided in an embodiment of this utility model;

[0022] Figure 5 A three-dimensional structural diagram of the second proximal phalanx provided for an embodiment of this utility model;

[0023] Figure 6 A three-dimensional structural diagram of a dexterous hand provided for an embodiment of this utility model.

[0024] The following are the labeling elements in the figure:

[0025] 10 - Proximal phalanx; 11 - First proximal phalanx segment; 12 - Second proximal phalanx segment; 121 - First side plate; 122 - Second side plate; 123 - End plate; 20 - Distal phalanx; 30 - First drive mechanism; 31 - Drive unit; 321 - First synchronous pulley; 322 - Second synchronous pulley; 301 - Gear part; 302 - Disc part; 303 - Shaft part; 323 - Synchronous belt; 324 - Intermediate component; 304 - First connecting part; 305 - Second connecting part; 325 - First bearing; 326 - Second bearing; 40 - Middle phalanx; 50 - Base; 60 - Fingertip; 1 - Thumb; 2 - Index finger; 3 - Middle finger; 4 - Ring finger; 5 - Little finger; 6 - Palm. Detailed Implementation

[0026] To make the technical problems, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0027] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0028] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0029] 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.

[0030] Please refer to the following: Figure 1 and Figure 2 The multi-degree-of-freedom finger provided in this embodiment will now be described. The multi-degree-of-freedom finger includes a proximal phalanx 10, a distal phalanx 20, and a first driving mechanism 30. The proximal phalanx 10 and distal phalanx 20 are arranged sequentially, with the proximal phalanx 10 closer to the palm and the distal phalanx 20 closer to the fingertip 60. The first driving mechanism 30 is connected to the end of the proximal phalanx 10 furthest from the distal phalanx 20, and is used to drive the proximal phalanx 10 to swing, thereby causing the entire finger to swing. In this embodiment, the rotation axis of the bending of the proximal phalanx 10 intersects the rotation axis of the swinging of the proximal phalanx 10 at a single point. In a specific embodiment, the multi-degree-of-freedom finger may further include a middle phalanx 40, which is connected between the proximal phalanx 10 and the distal phalanx 20.

[0031] Compared with the prior art, the multi-degree-of-freedom finger provided in this embodiment of the utility model, by setting the rotation axis of the first driving mechanism 30 that drives the finger to swing to intersect with the rotation axis that drives the proximal phalanx 10 to bend at a point, and the first driving mechanism 30 is directly connected to the proximal phalanx 10, can drive the finger to swing by driving the proximal phalanx 10 to swing, which can save the length and thickness space of the finger and is conducive to the lightweighting and miniaturization of the dexterous hand.

[0032] In one embodiment of this utility model, please refer to Figure 2The first driving mechanism 30 includes a driving unit 31 and a transmission unit. The input end of the transmission unit is connected to the output shaft of the driving unit 31, and the output end of the transmission unit is connected to the proximal phalanx 10. The transmission unit transmits the rotation of the output shaft of the driving unit 31 to the oscillation of the proximal phalanx 10. In this embodiment, the transmission unit is positioned between the driving unit 31 and the proximal phalanx 10, allowing them to be arranged side-by-side, thereby reducing the thickness of the palm.

[0033] In a specific implementation, the drive unit 31 may be a motor or a servo motor, etc.

[0034] In another embodiment of the present invention, the first driving mechanism 30 may also include only the driving unit 31, which directly drives the proximal phalanx 10 to swing, thereby driving the finger to swing.

[0035] Please refer to one embodiment of this utility model as well. Figure 1 and Figure 2 The proximal phalanx 10 includes a first proximal phalanx segment 11 and a second proximal phalanx segment 12 connected to each other, and a second drive mechanism connected between the first proximal phalanx segment 11 and the second proximal phalanx segment 12. The second drive mechanism is used to drive the second proximal phalanx segment 12 to rotate relative to the first proximal phalanx segment 11, thereby realizing the bending of the proximal phalanx 10. The output end of the transmission unit is connected to the second proximal phalanx segment 12, and the transmission unit drives the second proximal phalanx segment 12 to swing, thereby driving the finger to swing.

[0036] In this embodiment, the second drive mechanism may include a motor, a control circuit board, a commutation unit, and a reducer. The motor and control circuit board are disposed within the first proximal finger segment 11, while the commutation unit and reducer are disposed at one end of the first proximal finger segment 11. The output shaft of the reducer is connected to the second proximal finger segment 12. The direction of the motor's output shaft is parallel to the length direction (axial direction) of the first proximal finger segment 11, and the direction of the reducer's output shaft is perpendicular to the direction of the motor's output shaft. The commutation unit is disposed between the motor and the reducer, and this commutation unit is used to convert the rotation of the motor's output shaft into the rotation of the reducer's output shaft; that is, the commutation unit is used to convert the output direction of the motor into the output direction of the reducer, which is perpendicular to it. The motor and control circuit board are disposed at the end of the first proximal finger segment 11 away from the commutation unit and the reducer. The control circuit board is disposed at the end of the motor away from the commutation unit and is electrically connected to the motor. When the control circuit board drives the motor to rotate, the commutation unit reverses the output direction, causing the reducer at the end to rotate, thereby achieving the bending rotation of the proximal finger segment 10. The commutation unit may be a structure composed of two meshing bevel gears.

[0037] In this embodiment, the proximal phalanx 10, middle phalanx 40, and distal phalanx 20 have the same structure, meaning each phalanx is modular. During installation, simply rotating the second proximal phalanx 12 downwards by 90 degrees connects the output end of the transmission unit to the bottom of the second proximal phalanx 12. This does not affect the bending and rotation of the proximal phalanx 10, simplifying the finger structure and making the finger lighter and smaller.

[0038] In one embodiment of this utility model, please refer to Figure 2 The transmission unit includes a first synchronous pulley 321, a second synchronous pulley 322, and a synchronous belt 323. The first synchronous pulley 321 is mounted on the output shaft of the drive unit 31, such as on the output shaft of a motor or servo motor. The second synchronous pulley 322 is connected to the second proximal finger segment 12. The synchronous belt 323 is mounted outside the first and second synchronous pulleys 321 and 322, with its inner side meshing sequentially with both. When the drive unit 31 drives the first synchronous pulley 321 to rotate, the synchronous belt 323 drives the second synchronous pulley 322 to rotate, which in turn drives the second proximal finger segment 12 to rotate, thereby causing the finger to swing.

[0039] In this embodiment, the drive unit 31 and the proximal knuckle 10 are located on the same side of the synchronous belt 323, and the direction of the output shaft of the drive unit 31 is parallel to the output direction of the second synchronous pulley 322.

[0040] In other embodiments of this utility model, the transmission unit may also be a gear meshing structure or a sprocket transmission structure.

[0041] In one embodiment of this utility model, please refer to Figure 3 The second synchronous pulley 322 includes a gear portion 301, a disc portion 302, and a shaft portion 303 connected sequentially along the axial direction. The synchronous belt 323 is fitted over the gear portion 301 and meshes with it. One end of the shaft portion 303 is fixedly connected to the gear portion 301, and the other end is fixedly connected to the second proximal finger segment 12. The second synchronous pulley 322 has a through hole along the axial direction, which sequentially passes through the gear portion 301, the disc portion 302, and the shaft portion 303.

[0042] In this embodiment, the second synchronous pulley 322 is configured to include a gear portion 301, a disc portion 302, and a shaft portion 303, which facilitates connection with the second proximal finger segment 12 and can also limit the movement of the synchronous belt 323.

[0043] In one embodiment of this utility model, please refer to Figure 4The transmission unit also includes an intermediate component 324, one end of which is fixedly connected to the second proximal finger segment 12, and the other end is fixedly connected to the shaft portion 303. In this embodiment, by setting the intermediate component 324, the shaft portion 303 of the second synchronous pulley 322 can be easily connected to the second proximal finger segment 12. During installation, there is no need to change the second proximal finger segment 12 of the proximal finger joint 10. It is only necessary to lock the second proximal finger segment 12 and the intermediate component 324 with screws. At the same time, the modular design of the proximal finger joint 10 can be maintained.

[0044] In a specific embodiment, the intermediate component 324 includes a first connecting portion 304 and a second connecting portion 305 that are interconnected. The first connecting portion 304 is disc-shaped and connected to the second proximal finger segment 12, while the second connecting portion 305 is a long shaft-shaped component and connected to the shaft portion 303 of the second synchronous pulley 322. The first connecting portion 304 and the second proximal finger segment 12 are locked together by screws, and the second connecting portion 305 and the shaft portion 303 of the second synchronous pulley 322 are interference-fitted.

[0045] In one embodiment of this utility model, please refer to Figure 2 The transmission unit also includes a first bearing 325 and a second bearing 326. The first bearing 325 and the second bearing 326 are sequentially sleeved on the shaft portion 303 and located between the disc portion 302 and the intermediate member 324. In this embodiment, by providing the first bearing 325 and the second bearing 326, the output end structure of the transmission unit is easily fixed, enabling the transmission unit to transmit smoothly without shaking.

[0046] In one embodiment of this utility model, please refer to Figure 5 The second proximal finger segment 12 includes a first side plate 121 and a second side plate 122 disposed opposite to each other, and an end plate 123 connected between the first side plate 121 and the second side plate 122. The output shaft of the second drive mechanism is connected to the first side plate 121, and the end plate 123 is connected to the output end of the transmission unit. Specifically, the second proximal finger segment 12 is U-shaped, the output shaft of the reducer of the second drive mechanism is fixedly connected to the first side plate 121, thereby driving the first side plate 121 to rotate, and the end plate 123 is fixedly connected to the intermediate member 324.

[0047] In this embodiment, the second proximal segment 12, as part of the proximal segment 10, is also used as a connecting transmission unit, which can simplify the overall structure of the finger and facilitate the weight reduction and miniaturization of the finger.

[0048] Please refer to one embodiment of this utility model as well. Figure 1 and Figure 2The multi-degree-of-freedom finger also includes a base 50, which is used to fix the first drive mechanism 30 inside the palm. In a specific embodiment, the drive unit 31 and the transmission unit of the first drive mechanism 30 are both mounted on the base 50, which is mounted inside the palm. The proximal phalanx 10, the middle phalanx 40, and the distal phalanx 20 are located outside the palm. The space inside the palm is relatively large, which can save space in the length direction of the finger and make the multi-degree-of-freedom finger more miniaturized.

[0049] In one embodiment of this utility model, a fingertip 60 is provided at the end of the distal phalanx 20 that is far from the proximal phalanx 10, so as to simulate the human hand to the greatest extent.

[0050] Please see Figure 6 This utility model embodiment also provides a dexterous hand, which includes a palm 6 and at least two multi-degree-of-freedom fingers connected to the palm 6 as described in any of the above embodiments, wherein a first drive mechanism 30 of the multi-degree-of-freedom fingers is installed in the palm 6.

[0051] In a specific embodiment, the dexterous hand includes a palm 6 and a thumb 1, index finger 2, middle finger 3, ring finger 4, and little finger 5 connected sequentially to the palm 6. The knuckles of each finger are modularly designed for easy assembly and disassembly. This embodiment of the dexterous hand achieves 20 degrees of freedom, fully simulating the joint movements of the human hand.

[0052] The dexterous hand provided in this embodiment of the utility model adopts the above-mentioned multi-degree-of-freedom fingers. The rotation axis of the first driving mechanism 30 that drives the fingers to swing is set to intersect with the rotation axis that drives the proximal phalanx 10 to bend at a point. The first driving mechanism 30 is directly connected to the proximal phalanx 10. By driving the proximal phalanx 10 to swing, the fingers can be driven to swing. This can save the length and thickness space of the fingers and is conducive to the lightweighting and miniaturization of the dexterous hand.

[0053] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A multi-degree-of-freedom finger, characterized in that: It includes a proximal phalanx and a distal phalanx arranged in sequence, and a first drive mechanism connected to the end of the proximal phalanx away from the distal phalanx. The first drive mechanism is used to drive the proximal phalanx to swing, and the rotation axis of the bending of the proximal phalanx intersects the rotation axis of the swinging of the proximal phalanx at a point.

2. The multi-degree-of-freedom finger as described in claim 1, characterized in that: The first driving mechanism includes a driving unit and a transmission unit. The input end of the transmission unit is connected to the output shaft of the driving unit, and the output end of the transmission unit is connected to the proximal phalanx.

3. The multi-degree-of-freedom finger as described in claim 2, characterized in that: The proximal phalanx includes a first proximal phalanx segment and a second proximal phalanx segment connected to each other, and a second drive mechanism connected between the first proximal phalanx segment and the second proximal phalanx segment. The second drive mechanism is used to drive the second proximal phalanx segment to rotate relative to the first proximal phalanx segment. The output end of the transmission unit is connected to the second proximal finger segment.

4. The multi-degree-of-freedom finger as described in claim 3, characterized in that: The transmission unit includes a first synchronous pulley, a second synchronous pulley, and a synchronous belt. The first synchronous pulley is sleeved on the output shaft of the drive unit. The second synchronous pulley is connected to the second proximal finger segment. The synchronous belt is sleeved outside the first and second synchronous pulleys. The inner side of the synchronous belt meshes with the first and second synchronous pulleys in sequence. The drive unit and the proximal finger segment are located on the same side of the synchronous belt.

5. The multi-degree-of-freedom finger as described in claim 4, characterized in that: The second synchronous pulley includes a gear portion, a disc portion, and a shaft portion connected sequentially along the axial direction. The synchronous belt is sleeved outside the gear portion, and the shaft portion is connected to the second proximal finger segment.

6. The multi-degree-of-freedom finger as described in claim 5, characterized in that: The transmission unit also includes an intermediate component, one end of which is connected to the second proximal finger segment, and the other end of which is connected to the shaft portion.

7. The multi-degree-of-freedom finger as described in claim 6, characterized in that: The transmission unit further includes a first bearing and a second bearing, which are sequentially sleeved on the shaft and located between the disc and the intermediate component.

8. The multi-degree-of-freedom finger as described in claim 3, characterized in that: The second proximal finger segment includes a first side plate and a second side plate disposed opposite to each other, and an end plate connected between the first side plate and the second side plate. The output shaft of the second drive mechanism is connected to the first side plate, and the end plate is connected to the output end of the transmission unit.

9. The multi-degree-of-freedom finger as described in any one of claims 1 to 8, characterized in that: The multi-degree-of-freedom finger also includes a base for fixing the first drive mechanism within the palm.

10. A dexterous hand, characterized in that: Includes a palm, and at least two multi-degree-of-freedom fingers connected to the palm as described in any one of claims 1 to 9, wherein a first drive mechanism of the multi-degree-of-freedom fingers is mounted within the palm.

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