Multi-DOF bionic dexterous hand

Abstract

The present invention belongs to the technical field of robotics, and provides a multi-degree-of-freedom bionic dexterous hand, which includes a palm structure, a bionic thumb, multifunctional bionic fingers and dexterous bionic fingers. [Solution] The bionic thumb comprises a first phalangeal structure and a rotating disk rotatably mounted on the palm structure, the first phalangeal structure is hinged to the rotating disk, and the rotation axis of the rotating disk is not parallel to the rotation axis of the first phalangeal structure, the multifunctional bionic finger comprises a second phalangeal structure freely hinged to the palm structure and capable of bending, straightening and swinging movements, and the dexterous bionic finger comprises a third phalangeal structure hinged to the palm structure and capable of bending and straightening movements. The present invention can provide multiple degrees of freedom for the bionic dexterous hand and enrich the functions of the bionic dexterous hand.

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, and a robot's bionic fingers have a precise and complex structure. The integration of mechanical and electrical components in a limited space will have a certain impact on the gripping strength, dexterity and functional diversity of the bionic fingers. Therefore, improving the gripping strength and dexterity of bionic fingers and enriching the functionality of bionic fingers is one of the difficulties in the current technological development.

[0003] In conventional bionic hands, five motors are installed in the palm housing and each motor is connected to five bionic fingers to control the five bionic fingers to perform grasping movements. The finger structure is such that each phalange is connected to the other phalanges by rope tendons, and each phalange only has a driven degree of freedom and does not have the conditions for 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 has a single function. 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 comprises: Palm structure and a bionic thumb comprising a first phalangeal structure and a rotating disk pivotally mounted on the palm structure, the first phalangeal structure being hinged thereto and the rotating disk having a rotation axis that is not parallel to a rotation axis of the first phalangeal structure; A multifunctional bionic finger having a second phalangeal structure freely hinged to the palm structure and capable of bending, straightening and swinging movements; A technical solution is adopted 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 movements.

[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 phalangeal structure, respectively, and used to drive the bending and straightening movement of the first phalangeal structure.

[0007] In one preferred technical solution, the bionic thumb further comprises a root linear motor, both ends of which are hinged to the rotating disk and the palm structure, respectively, and which is used to drive the rotation of the rotating disk with 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 hinged to the second phalangeal structure and the palm structure, respectively, and used to drive the bending / extending or rocking motion of the second phalangeal structure.

[0009] In one preferred technical solution, the root of the second phalangeal structure is hinged to the palm structure by a sphere-pin pair, and the second linear motor is hinged at one end to the palm structure by a first spherical pair and at the other end to the root 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 symmetrically provided on both the left and right sides of the rotation center of the spherical pin 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 phalangeal structure and the palmar structure, respectively, and used to drive the bending and straightening movement of the third phalangeal structure.

[0012] In one preferred technical solution, the first finger structure, the second finger structure and the third finger structure each include a stepping linear motor and at least two fingers, and two adjacent fingers are pivotally connected to each other, and the stepping linear motor is used to move the relative rotation of the two adjacent fingers.

[0013] As a 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, which is used for escaping a PCB attached to the palm structure. Effect of the Invention

[0015] The beneficial effects of the present invention are as follows: The multi-degree-of-freedom bionic dexterous hand of 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 phalangeal structure and a turntable that is rotatably provided on the palm structure, the first phalangeal structure is hinged to the turntable, the turntable can move the rotation of the first phalangeal structure relative to the palm structure, thereby simulating the thumb to perform left and right swinging motion, the first phalangeal structure can rotate relative to the turntable, thereby simulating the thumb to perform bending and gripping motion, the multi-degree-of-freedom bionic dexterous hand comprises a second phalangeal structure, the second phalangeal structure is freely hinged to the palm structure and can perform bending and stretching motion and swinging motion, the dexterous bionic finger comprises a third phalangeal structure, the third phalangeal structure is hinged to the palm structure and can perform bending and stretching motion. The multi-degree-of-freedom bionic dexterous hand of the present invention has multiple degrees of freedom and is rich in functions. [Brief description 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 embodiment. [Diagram 2] FIG. 1 is a schematic diagram of the structure of a bionic thumb described in an embodiment. [Diagram 3] FIG. 2 is a structural schematic diagram of a multifunctional bionic finger described in the embodiment. [Figure 4] FIG. 1 is a schematic diagram of the structure of a dexterous bionic finger described in an embodiment. [Diagram 5] FIG. 2 is a schematic diagram of the palm structure described in the Examples. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[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 obvious that the described embodiments are only some of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained based on the embodiments of the present invention without the creative labor of those skilled in the art are within the scope of protection of the present invention.

[0019] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected" and "fixed" should be understood in a broad sense, for example, may be fixedly connected, detachably connected, or integrated, may be mechanically connected, may be electrically connected, may be directly connected, may be indirectly connected via an intermediate medium, or may be internal communication between two elements. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific situation.

[0020] In the present invention, unless otherwise clearly specified and 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 through another feature between them without direct contact. Furthermore, a first feature being "above," "above," and "on the upper surface" of a second feature includes the first feature being directly above and diagonally above the second feature, or simply indicates 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 includes the first feature being directly below and diagonally below the second feature, or simply indicates that the horizontal height of the first feature is lower than that of the second feature.

[0021] In the description of this document, the orientations or positional relationships of the terms "upper", "lower", "left", "right" and the like are based on the orientations or positional relationships shown in the drawings, and are merely for ease of explanation and simplification of explanation, and 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 cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are merely for distinction in the description and do not have any special meaning.

[0022] In the present description, references to "one embodiment," "an example," and the like mean 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 present description, 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 phalangeal structure 21 and a turntable 22 that is rotatably mounted on the palm structure 1. The first phalangeal structure 21 is hinged to the turntable 22, and the rotation axis of the turntable 22 is not parallel to the rotation axis of the first phalangeal structure 21. The multifunctional bionic finger 3 includes a second phalangeal structure 31 that is freely hinged to the palm structure 1 and can bend, stretch, and swing. The dexterous bionic finger 4 includes a third phalangeal structure 41 that is hinged to the palm structure 1 and can bend and stretch.

[0025] Specifically, the turntable 22 can move the rotation of the first phalangeal structure 21 relative to the palm structure 1, thereby simulating a left-right rocking motion of the thumb, the first phalangeal structure 21 can rotate relative to the turntable 22, thereby simulating a bending and gripping motion of the thumb, the second phalangeal structure 31 is freely hinged to the palm structure 1 and can bend and stretch and rock, and the third phalangeal structure 41 is hinged to the palm structure 1 and can bend and stretch. 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 motion trajectory of each bionic finger, so that the bending or swinging width of the bionic finger can be precisely controlled; the linear motor has a fast response speed and can control the bionic fingers to quickly switch between various actions; and the linear motor still has a self-locking function after a power outage. In some application scenarios, such as in the workshop, after the multi-DOF bionic dexterous hand grasps an object, when the workshop suddenly experiences a power outage and the linear motor is powered off, the linear motor has a self-locking function to maintain the shape of the bionic finger, so that the multi-DOF bionic dexterous hand can still grasp the object, and avoid the workpiece falling to the ground or hitting other workpieces or other electrical equipment, and ensure 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 phalangeal structure 21, respectively, and used to drive the bending and straightening motion of the first phalangeal structure 21. The first linear motor 23 drives the bending and straightening motion of the first phalangeal structure 21, thereby giving the first phalangeal structure 21 a degree of bending freedom, allowing the palm structure 1 to grasp an object.

[0028] Preferably, the bionic thumb 2 further comprises a root linear motor 24 whose two 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 phalangeal 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 moves the rotation of the first phalangeal structure 21 relative to the palm structure 1, simulating a left-right rocking motion of the thumb, and the first linear motor 23 drives the first phalangeal structure 21 to rotate with the turntable 22, simulating a bending and gripping motion of the thumb.

[0030] In this embodiment, the first finger structure 21 includes two stepping linear motors 100 and three fingers 200, and two adjacent fingers 200 are pivotally connected to each other, and one stepping linear motor 100 is provided between them.

[0031] The bionic thumb 2 of this embodiment has four degrees of freedom, specifically including one degree of freedom to drive the turntable 22 to rotate with the palm structure 1 by the root linear motor 24, one degree of freedom to drive the first phalangeal structure 21 to rotate with the turntable 22 by the first linear motor 23, and two degrees of freedom to drive adjacent phalanges 200 to rotate relative to each other by the stepping linear motor 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 phalangeal structure 31 and the palm structure 1, respectively, and used to drive the bending / extending or rocking motion of the second phalangeal structure 31.

[0033] The bending and stretching motion includes bending and stretching motions, and when the bending motion of the second phalangeal structure 31 is required, the two second linear motors 32 are synchronously contracted, when the stretching motion of the second phalangeal structure 31 is required, the two second linear motors 32 are synchronously extended, and when the swinging motion of the second phalangeal structure 31 is required, the two second linear motors 32 are asynchronously extended and contracted, that is, one of the second linear motors 32 is contracted and the other second linear motor 32 is extended, so that the second phalangeal structure 31 swings left and right. When the two second linear motors 32 are synchronously contracted, the gripping force of the second phalangeal structure 31 can also be increased to ensure that the object is stably gripped.

[0034] In this embodiment, the second finger structure 31 includes two stepping linear motors 100 and three fingers 200, and two adjacent fingers 200 are pivotally connected to each other, and one stepping linear motor 100 is provided between them.

[0035] Specifically, the multifunctional bionic finger 3 of this embodiment has four degrees of freedom, including a degree of freedom to synchronously drive the second phalangeal structure 31 by two second linear motors 32 to perform bending and straightening motion, a degree of freedom to asynchronously drive the second phalangeal structure 31 by two second linear motors 32 to perform swinging motion, and two degrees of freedom to drive adjacent phalanges 200 by the stepping linear motor 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 hinged to the palm structure 1 by the first spherical pair 34, and the output end is hinged to the base of the second finger structure 31 by the second spherical pair 35. The spherical pair has a freely rotating function, and when the second linear motor 32 expands and contracts, the spherical pair rotates. In this embodiment, the two second linear motors 32 synchronously or asynchronously drive the second finger structure 31 to perform a bending and stretching motion or a swinging motion.

[0038] When a bending or extending movement of the second finger structure 31 is 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 article in the palm structure 1, and when the extension speeds are equal, the second finger structure 31 performs an extension movement and releases the article.

[0039] When it is necessary to perform the rocking motion of the second finger structure 31, 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 equal speeds.

[0040] When the two second linear motors 32 asynchronously extend and retract at different speeds, the motion trajectory of the second finger structure 31 is not one in which only a bending motion or only a swinging motion is performed, but one in which bending motion and swinging motion are performed synchronously, and the motion 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 pin 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 pin pair 33, so that the swinging trajectory of the second finger structure 31 can be more easily controlled; for example, by making the asynchronous extension and contraction speeds of the two second linear motors 32 equal, the second finger structure 31 can only perform swinging motion, and by making the synchronous extension and contraction speeds of the two second linear motors 32 equal, the second finger structure 31 can only perform bending motion or only stretching motion.

[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 fixedly mounted on the second finger structure 31, and the second ball head is fixedly mounted on the output end of the second linear motor 32.

[0044] Preferably, the dexterous bionic finger 4 further comprises a third linear motor 42 whose two 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 all equipped with a stepping linear motor 100 and at least two fingers 200, and two adjacent fingers 200 are rotationally connected to each other, and a stepping linear motor 100 is provided between the two adjacent fingers 200, and the stepping linear motor 100 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 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 phallanges 200, and the stepping linear motor 100 drives the two phallanges 200 to rotate relative to each other, thereby giving the phallanges 200 the freedom to rotate independently, making the movement of the phallanges 200 more dexterous and meeting the need for the phallanges 200 to operate independently.

[0048] In this embodiment, the first finger structure 21, the second finger structure 31, and the third finger structure 41 have the same number of fingers 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 is 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 relatively 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 by the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing 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. A palm structure (1); a bionic thumb (2) comprising a first phalangeal structure (21) and a turntable (22) pivotally mounted on the palm structure (1), the first phalangeal structure (21) being hinged thereto and the axis of rotation of the turntable (22) being not parallel to the axis of rotation of the first phalangeal structure (21); A multifunctional bionic finger (3) having a second phalangeal structure (31) freely hinged to the palm structure (1) and capable of bending, straightening and swinging movements; a dexterous bionic finger (4) having a third phalangeal structure (41) hingedly connected to the palm structure (1) and capable of bending and straightening movements; The multifunctional bionic finger (3) further comprises two second linear motors (32) whose both ends are freely hinged to the second phalangeal structure (31) and the palm structure (1), respectively, and used to cause the second phalangeal structure (31) to perform a bending / stretching motion or a swinging motion; 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); Each of the first finger structure (21), the second finger structure (31) and the third finger structure (41) comprises a stepping linear motor (100) and at least two fingers (200), with a rotational connection between two adjacent fingers (200), and the stepping linear motor (100) is provided for relative rotation of the two adjacent fingers (200); The first phalangeal structure (21), the second phalangeal structure (31), and the third phalangeal structure (41) have the same number of phalanges (200). A multi-degree-of-freedom bionic dexterous hand.

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

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

3. the bionic thumb (2) further comprises a root linear motor (24) whose two ends are hinged to the rotating disk (22) and the palmar structure (1), respectively, and which is used to rotate the rotating disk (22) with the palmar structure (1); 2. The multi-degree-of-freedom bionic dexterous hand of claim 1.

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

2. The multi-degree-of-freedom bionic dexterous hand of 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 palm structure (1), respectively, and used to perform bending and straightening movements of the third phalangeal structure (41).

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

6. The palm structure (1) is L-shaped and has an escape space (11) for escaping 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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