Multi-degree-of-freedom bionic dexterous hand

Abstract

To provide a multi-degree-of-freedom bionic dexterous hand including a palm structure, a bionic thumb, a multi-functional bionic finger, and a dexterous bionic finger, where the present invention belongs to the technical field of robots.SOLUTION: A bionic thumb includes a first dactylus structure and a turntable rotatably disposed on a palmar structure, the first dactylus structure is hinge connected to the turntable, a rotation axis of the turntable is not parallel to a rotation axis of the first dactylus structure, a multifunctional bionic finger includes a second dactylus structure flexibly hinge connected to the palmar structure and capable of bending, stretching and swinging, and a dexterous bionic finger includes a third dactylus structure hinge connected to the palmar structure and capable of bending and stretching. The present invention allows the bionic dexterous hand to have multiple degrees of freedom, and enriching functions of the bionic dexterous hand.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to the technical field of robotics, and in particular to a multi-degree-of-freedom bionic dexterous hand. [Background technology]

[0002] Robots are one of the current research focuses, but bionic fingers for robots have a precise and complex structure. The integration of mechanical and electrical components in a limited space has a certain impact on the grasping strength, dexterity, and functional diversity of the bionic fingers. Therefore, improving the grasping strength and dexterity of bionic fingers and enriching the functionality of bionic fingers is one of the difficulties in the current technological development.

[0003] Conventional bionic hands have five motors in the palm housing, each connected to five bionic fingers, to control the five bionic fingers to perform grasping movements. The finger structure is such that each phalanx is connected to the other phalanx by rope tendons, and each phalanx only has a driven degree of freedom and is not capable of independent movement, resulting in insufficient dexterity and insufficient grasping force. Each bionic finger can only bend toward the palm, but cannot move in other directions, and is therefore single-functioning. Summary of the Invention [Problem to be solved by the invention]

[0004] The present invention aims to provide a multi-degree-of-freedom bionic dexterous hand, and to enrich the functions of the bionic dexterous hand by giving the bionic dexterous hand multiple degrees of freedom. [Means for solving the problem]

[0005] To this end, the present invention provides Palm structure and a bionic thumb comprising a first phalangeal structure and a turntable pivotally mounted on the palmar structure, the first phalangeal structure being hingedly connected thereto and having a rotation axis that is not parallel to a rotation axis of the first phalangeal structure; A multifunctional bionic finger having a second phalanx structure that is freely hingedly connected to the palm structure and is capable of bending, stretching, and swinging movements; The present invention adopts a technical solution for a multi-degree-of-freedom bionic dexterous hand, which includes a dexterous bionic finger having a third phalanx structure hingedly connected to the palm structure and capable of bending and straightening.

[0006] In one preferred technical solution, the bionic thumb further comprises a first linear motor, both ends of which are hingedly connected to the turntable and the first phalanx structure, respectively, and used to drive the bending and straightening movements of the first phalanx structure.

[0007] In one preferred technical solution, the bionic thumb further comprises a root linear motor, both ends of which are hingedly connected to the turntable and the palm structure, respectively, and used to drive the rotation of the turntable with respect to the palm structure.

[0008] In one preferred technical solution, the multifunctional bionic finger further includes two second linear motors, both ends of which are freely hingedly connected to the second phalanx structure and the palm structure, respectively, and used to drive the bending / extending or swinging motion of the second phalanx structure.

[0009] In one preferred technical solution, the base of the second phalangeal structure is hinged to the palm structure by a sphere-pin pair, and one end of the second linear motor is hinged to the palm structure by a first spherical pair and the other end is hinged to the base of the second phalangeal structure by a second spherical pair.

[0010] As a preferred technical solution, the rotation centers of the two first spherical pairs are provided symmetrically on both the left and right sides of the rotation center of the spherical pinned pair; The rotation centers of the two second spherical pairs are provided symmetrically on both the left and right sides of the rotation center of the spherical pinned pair.

[0011] In one preferred technical solution, the dexterous bionic finger further comprises a third linear motor, both ends of which are hingedly connected to the third phalanx structure and the palmar structure, respectively, and used to drive the bending and straightening movement of the third phalanx structure.

[0012] In one preferred technical solution, the first phalanx structure, the second phalanx structure and the third phalanx structure each include a stepping linear motor and at least two phalanges, where two adjacent phalanges are rotationally connected, and the stepping linear motor is used to rotate the two adjacent phalanges relative to each other.

[0013] In one preferred technical solution, the second finger structure and the third finger structure have the same number of fingers; Alternatively, the first phalangeal structure, the second phalangeal structure, and the third phalangeal structure have the same number of phalanges.

[0014] In one preferred technical solution, the palm structure is L-shaped, and an escape space is provided for escaping the PCB attached to the palm structure. [Effects of the Invention]

[0015] The beneficial effects of the present invention are as follows: The multi-degree-of-freedom bionic dexterous hand according to the present invention comprises a palm structure, a bionic thumb, a multifunctional bionic finger, and a dexterous bionic finger; the bionic thumb comprises a first phalanx structure and a turntable rotatably mounted on the palm structure, the first phalanx structure being hingedly connected to the turntable, and the turntable being capable of rotating the first phalanx structure relative to the palm structure, thereby simulating a left-right swinging motion of the thumb; the first phalanx structure being rotatable relative to the turntable, thereby simulating a thumb performing a bending and grasping motion; the multi-degree-of-freedom bionic dexterous hand comprises a second phalanx structure freely hingedly connected to the palm structure and capable of bending and straightening movements and swinging movements; and the dexterous bionic finger comprises a third phalanx structure hingedly connected to the palm structure and capable of bending and straightening movements. The multi-degree-of-freedom bionic dexterous hand according to the present invention has multiple degrees of freedom and is rich in functions. [Brief explanation of the drawings]

[0016] The present invention will be described in detail below with reference to the drawings and examples.

[0017] [Figure 1] FIG. 1 is a structural schematic diagram of a multi-degree-of-freedom bionic dexterous hand described in an example. [Figure 2] FIG. 1 is a structural schematic diagram of a bionic thumb described in an example. [Figure 3] FIG. 1 is a structural schematic diagram of a multifunctional bionic finger described in an embodiment. [Figure 4] FIG. 1 is a structural schematic diagram of a dexterous bionic finger described in an example. [Figure 5] FIG. 1 is a structural schematic diagram of a palm structure described in an example. DETAILED DESCRIPTION OF THE INVENTION

[0018] In order to clarify the technical problems to be solved, the technical solutions adopted, and the technical effects achieved by the present invention, the technical solutions of the embodiments of the present invention will be described in more detail below with reference to the drawings, and it is clear that the described embodiments are only some of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without any creative work fall within the scope of protection of the present invention.

[0019] In the description of the present invention, unless otherwise clearly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense, and may refer to, for example, a fixed connection, a detachable connection, or integration, a mechanical connection, an electrical connection, a direct connection, an indirect connection via an intermediate medium, or internal communication between two elements. Those skilled in the art will be able to understand the specific meanings of the above terms in the present invention according to specific circumstances.

[0020] In the present invention, unless otherwise clearly specified or limited, a first feature being "above" or "below" a second feature may include direct contact between the first feature and the second feature, or may include contact between the first feature and the second feature without direct contact but via another feature between them. Furthermore, a first feature being "above," "above," and "on the upper surface" of a second feature may include the first feature being directly above and diagonally above the second feature, or may simply indicate that the horizontal height of the first feature is higher than that of the second feature. A first feature being "below," "below," and "on the lower surface" of a second feature may include the first feature being directly below and diagonally below the second feature, or may simply indicate that the horizontal height of the first feature is lower than that of the second feature.

[0021] In this description, the terms "upper," "lower," "left," "right," and other orientations or positional relationships are based on the orientations or positional relationships shown in the drawings and are merely used to facilitate and simplify the description. They do not indicate or imply that such devices or elements must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be understood as limiting the present invention. Furthermore, the terms "first" and "second" are merely used for distinction in the description and do not have any special meaning.

[0022] In the description herein, reference to the term "one embodiment," "example," or the like means that the specific feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In the description herein, schematic representations of the above terms do not necessarily refer to the same embodiment or example.

[0023] The technical solution of the present invention will be further described below through specific embodiments with reference to the drawings.

[0024] As shown in Figures 1 to 5, the multi-degree-of-freedom bionic dexterous hand of this embodiment includes a palm structure 1, a bionic thumb 2, a multifunctional bionic finger 3, and a dexterous bionic finger 4. The bionic thumb 2 includes a first phalanx structure 21 and a turntable 22 that is rotatably mounted on the palm structure 1. The first phalanx structure 21 is hingedly connected to the turntable 22, and the rotation axis of the turntable 22 is not parallel to the rotation axis of the first phalanx structure 21. The multifunctional bionic finger 3 includes a second phalanx structure 31 that is freely hingedly connected to the palm structure 1 and is capable of bending, straightening, and swinging movements. The dexterous bionic finger 4 includes a third phalanx structure 41 that is hingedly connected to the palm structure 1 and is capable of bending and straightening movements.

[0025] Specifically, the turntable 22 can move the rotation of the first finger structure 21 relative to the palm structure 1, thereby simulating a thumb to perform left and right swinging movements, the first finger structure 21 can rotate relative to the turntable 22, thereby simulating a thumb to perform bending and gripping movements, the second finger structure 31 is freely hingedly connected to the palm structure 1 and is capable of bending and stretching movements and swinging movements, and the third finger structure 41 is hingedly connected to the palm structure 1 and is capable of bending and stretching movements. The multi-degree-of-freedom bionic dexterous hand of this embodiment has multiple degrees of freedom and is rich in functions.

[0026] The linear motor has high driving precision and can precisely control the movement trajectory of each bionic finger, thereby precisely controlling the bending or swinging width of the bionic finger. The linear motor has a fast response speed and can control the bionic fingers to quickly switch between various actions. The linear motor still has a self-locking function after a power outage. In some application scenarios, such as in a workshop, after a multi-DOF bionic dexterous hand is grasping an object, if the workshop suddenly experiences a power outage and the linear motor is powered off, the linear motor will have a self-locking function and will maintain the shape of the bionic finger, so the multi-DOF bionic dexterous hand can still grasp the object, preventing the object from falling to the ground or colliding with other objects or other electrical equipment, thereby ensuring safety.

[0027] Preferably, the bionic thumb 2 further comprises a first linear motor 23, both ends of which are hingedly connected to the turntable 22 and the first phalanx structure 21, and which is used to drive the bending and straightening motion of the first phalanx structure 21. The first linear motor 23 drives the bending and straightening motion of the first phalanx structure 21, thereby giving the first phalanx structure 21 a degree of bending freedom and allowing the palm structure 1 to grasp an object.

[0028] Preferably, the bionic thumb 2 further comprises a root linear motor 24 whose both ends are hingedly connected to the turntable 22 and the palm structure 1, respectively, and which is used to move the turntable 22 in rotation with respect to the palm structure 1. Driving the turntable 22 with the root linear motor 24 gives the first phalanx structure 21 a degree of freedom of swinging.

[0029] In the bionic thumb 2 of this embodiment, the root linear motor 24 drives the turntable 22 to rotate with the palm structure 1, and the turntable 22 rotates the first phalanx structure 21 relative to the palm structure 1, thereby simulating a thumb to perform left and right rocking motion, and the first linear motor 23 drives the first phalanx structure 21 to rotate with the turntable 22, simulating a thumb to perform a bending and gripping motion.

[0030] In this embodiment, the first phalanx structure 21 includes two stepping linear motors 100 and three phalanxes 200, and two adjacent phalanxes 200 are pivotally connected to each other and are provided with one stepping linear motor 100.

[0031] The bionic thumb 2 of this embodiment has four degrees of freedom, specifically including one degree of freedom for driving the turntable 22 to rotate with the palm structure 1 by the root linear motor 24, one degree of freedom for driving the first phalanx structure 21 to rotate with the turntable 22 by the first linear motor 23, and two degrees of freedom for driving the adjacent phalanxes 200 to rotate relative to each other by the stepping linear motors 100.

[0032] Preferably, the multifunctional bionic finger 3 further comprises two second linear motors 32, both ends of which are freely hinged to the second phalanx structure 31 and the palm structure 1, respectively, and used to drive the bending / extending or swinging motion of the second phalanx structure 31.

[0033] The bending and extending motion includes bending and extending motions. When a bending motion of the second phalanx structure 31 is required, the two second linear motors 32 synchronously retract; when an extending motion of the second phalanx structure 31 is required, the two second linear motors 32 synchronously extend; when a swinging motion of the second phalanx structure 31 is required, the two second linear motors 32 asynchronously extend and retract, i.e., one second linear motor 32 retracts and the other second linear motor 32 extends, thereby realizing left-right swinging of the second phalanx structure 31. When the two second linear motors 32 synchronously retract, the gripping force of the second phalanx structure 31 can also be increased to ensure stable gripping of an object.

[0034] In this embodiment, the second phalanx structure 31 includes two stepping linear motors 100 and three phalanxes 200, and two adjacent phalanxes 200 are pivotally connected to each other and each have one stepping linear motor 100.

[0035] Specifically, the multifunctional bionic finger 3 of this embodiment has four degrees of freedom, including a degree of freedom for synchronously driving the second phalanx structure 31 by two second linear motors 32 to perform bending and straightening movements, a degree of freedom for asynchronously driving the second phalanx structure 31 by two second linear motors 32 to perform swinging movements, and two degrees of freedom for driving adjacent phalanxes 200 by stepping linear motors 100 to rotate relative to each other.

[0036] Preferably, the base of the second phalangeal structure 31 is hinged to the palm structure 1 by a spherical pinned joint 33, and the second linear motor 32 has one end hinged to the palm structure 1 by a first spherical joint 34 and the other end hinged to the base of the second phalangeal structure 31 by a second spherical joint 35.

[0037] In this embodiment, the body of the second linear motor 32 is hingedly connected to the palm structure 1 by the first spherical joint 34, and the output end is hingedly connected to the base of the second finger structure 31 by the second spherical joint 35. The spherical joint has a free rotation function, and when the second linear motor 32 expands or contracts, the spherical joint rotates. In this embodiment, the two second linear motors 32 synchronously or asynchronously drive the second finger structure 31 to perform bending and stretching or swinging movements.

[0038] When bending and stretching movements of the second finger structure 31 are required, the two second linear motors 32 are in a parallel state, their central axes are parallel and do not overlap, and the extension and contraction speeds are the same. When the contraction speeds are equal, the second finger structure 31 performs a bending movement and grasps the object in the palm structure 1; when the extension speeds are equal, the second finger structure 31 performs an extension movement and releases the object.

[0039] When the second phalanx structure 31 needs to perform a swinging motion, the two second linear motors 32 are in a parallel state, their central axes are parallel and do not overlap, and they extend and retract asynchronously at the same speed.

[0040] When the two second linear motors 32 asynchronously extend and retract at different speeds, the movement trajectory of the second phalanx structure 31 is not a movement of only bending or only swinging, but a movement of both bending and swinging synchronously, and the movement trajectory is determined by the magnitude of the difference between the asynchronous extension and retraction speeds.

[0041] Preferably, the rotation centers of the two first spherical pairs 34 are arranged symmetrically on both the left and right sides of the rotation center of the spherical pinned pair 33, and the rotation centers of the two second spherical pairs 35 are arranged symmetrically on both the left and right sides of the rotation center of the spherical pinned pair 33, so that the swinging trajectory of the second phalanx structure 31 can be more easily controlled. For example, by making the asynchronous extension and retraction speeds of the two second linear motors 32 equal, the second phalanx structure 31 can only swing, and by making the synchronous extension and retraction speeds of the two second linear motors 32 equal, the second phalanx structure 31 can only bend or only extend.

[0042] Preferably, the first spherical pair 34 comprises a first ball socket and a first ball head, the first ball head and the first ball socket are hingedly connected, the first ball socket is fixed to the palm structure 1, and the first ball head is fixed to the body of the second linear motor 32.

[0043] Preferably, the second spherical pair 35 comprises a second ball socket and a second ball head, the second ball head and the second ball socket are hingedly connected, the second ball socket is fixed to the second finger structure 31, and the second ball head is fixed to the output end of the second linear motor 32.

[0044] Preferably, the dexterous bionic finger 4 further comprises a third linear motor 42 whose ends are hingedly connected to the third phalangeal structure 41 and the palmar structure 1, respectively, and used to drive the bending and straightening movements of the third phalangeal structure 41.

[0045] Preferably, the first finger structure 21, the second finger structure 31 and the third finger structure 41 are each equipped with a stepping linear motor 100 and at least two fingers 200, and two adjacent fingers 200 are rotationally connected and provided with a stepping linear motor 100, which is used to move the two adjacent fingers 200 in relative rotation.

[0046] Preferably, the second phalangeal structure 31 and the third phalangeal structure 41 have the same number of phalanges 200. Because a human thumb has two phalanges and the other fingers have three phalanges, in some embodiments, the first phalangeal structure 21 has one stepping linear motor 100 and two phalanges 200, and the second phalangeal structure 31 and the third phalangeal structure 41 each have two stepping motors and three phalanges 200.

[0047] A stepping linear motor 100 is provided between two adjacent phalanges 200, and the stepping linear motor 100 drives the two phalanges 200 to rotate relative to each other, giving the phalanges 200 the freedom to rotate independently, making the phalanges 200 more dexterous in movement and meeting the need for the phalanges 200 to operate independently.

[0048] In this embodiment, the first phalangeal structure 21, the second phalangeal structure 31, and the third phalangeal structure 41 have the same number of phalanges 200.

[0049] By making the number of phalanges 200 in the first phalange structure 21, the number of phalanges 200 in the second phalange structure 31, and the number of phalanges 200 in the third phalange structure 41 the same, it becomes possible to share the structure of the phalanges 200, thereby reducing design costs.

[0050] Preferably, a retreat space is provided between two adjacent phalanges 200, so that the two adjacent phalanges 200 can rotate relative to each other within a preset angle.

[0051] Preferably, the palm structure 1 is L-shaped and has an escape space 11 for escaping a PCB attached to the palm structure 1.

[0052] Furthermore, the above is merely a preferred embodiment of the present invention and the technical principles used. Those skilled in the art should understand that the present invention is not limited to the specific embodiments described herein, and that those skilled in the art can make various obvious modifications, adjustments, and substitutions without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail with reference to the above embodiments, the present invention is not limited to the above embodiments and may include many other equivalent embodiments as long as they do not deviate from the concept of the present invention, and the scope of the present invention is determined by the appended claims. [Explanation of symbols]

[0053] 1. Palm structure, 11. Evacuation space, 2. Bionic thumb, 21. First phalangeal structure, 22. Rotating disk, 23. First linear motor, 24. Root linear motor, 3. Multifunctional bionic finger, 31. Second phalangeal structure, 32. Second linear motor, 33. Spherical pinned pair, 34. First spherical pair, 35. Second spherical pair, 4. Dexterous bionic finger, 41. Third phalangeal structure, 42. Third linear motor, 100··· stepping linear motor, 200··· phalanges.

Claims

1. Palm structure (1), a bionic thumb (2) comprising a first phalangeal structure (21) and a turntable (22) pivotally mounted on the palmar structure (1), the first phalangeal structure (21) being hingedly connected thereto and the axis of rotation of the first phalangeal structure (21) not being parallel to the axis of rotation of the first phalangeal structure (21); a multifunctional bionic finger (3) having a second phalanx structure (31) freely hingedly connected to the palm structure (1) and capable of bending, stretching, and swinging movements; a dexterous bionic finger (4) having a third phalanx structure (41) hingedly connected to the palm structure (1) and capable of bending and straightening; The multifunctional bionic finger (3) further comprises two second linear motors (32) whose ends are respectively freely hingedly connected to the second phalangeal structure (31) and the palm structure (1), and used to drive the bending / extending or swinging motion of the second phalangeal structure (31); The root of the second phalangeal structure (31) is hinged to the palm structure (1) by a spherical pinned joint (33), and the second linear motor (32) has one end hinged to the palm structure (1) by a first spherical joint (34) and the other end hinged to the root of the second phalangeal structure (31) by a second spherical joint (35). A multi-degree-of-freedom bionic dexterous hand characterized by:

2. The bionic thumb (2) further comprises a first linear motor (23) whose ends are hingedly connected to the turntable (22) and the first phalanx structure (21), respectively, and which is used to drive the bending and straightening movements of the first phalanx structure (21).

2. The multi-degree-of-freedom bionic dexterous hand according to claim 1.

3. The bionic thumb (2) further comprises a root linear motor (24) whose ends are hingedly connected to the turntable (22) and the palmar structure (1), respectively, and which is used to drive the rotation of the turntable (22) with the palmar structure (1).

2. The multi-degree-of-freedom bionic dexterous hand according to claim 1.

4. The rotation centers of the two first spherical joints (34) are provided symmetrically on both the left and right sides of the rotation center of the spherical pinned joint (33), The rotation centers of the two second spherical joints (35) are provided symmetrically on both the left and right sides of the rotation center of the spherical pinned joint (33).

2. The multi-degree-of-freedom bionic dexterous hand according to claim 1.

5. The dexterous bionic finger (4) further comprises a third linear motor (42) whose both ends are hingedly connected to the third phalangeal structure (41) and the palmar structure (1), respectively, and which is used to drive the bending and straightening movement of the third phalangeal structure (41).

2. The multi-degree-of-freedom bionic dexterous hand according to claim 1.

6. Each of the first phalanx structure (21), the second phalanx structure (31) and the third phalanx structure (41) comprises a stepping linear motor (100) and at least two phalanges (200), with a rotational connection between two adjacent phalanges (200), and the stepping linear motor (100) is used to move the two adjacent phalanges (200) in relative rotation. The multi-degree-of-freedom bionic dexterous hand according to any one of claims 1 to 5.

7. The second phalanx structure (31) and the third phalanx structure (41) have the same number of phalanges (200); Alternatively, the first phalanx structure (21), the second phalanx structure (31), and the third phalanx structure (41) have the same number of phalanges (200).

7. The multi-degree-of-freedom bionic dexterous hand of claim 6.

8. The palm structure (1) is L-shaped and has an evacuation space (11) for evacuating a PCB attached to the palm structure (1). The multi-degree-of-freedom bionic dexterous hand according to any one of claims 1 to 5.

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