Multi-degree-of-freedom bionic dexterous hand

Abstract

A multi-degree-of-freedom bionic dexterous hand, comprising a palm structure (1), a bionic thumb (2), a multifunctional bionic finger (3) and a dexterous bionic finger (4). The bionic thumb (2) comprises a first phalanx structure (21) and a rotary table (22), wherein the rotary table (22) is rotatably arranged on the palm structure (1), and the first phalanx structure (21) is hinged to the rotary table (22), the rotation axis of the rotary table (22) not being parallel to that of the first phalanx structure (21). The multifunctional bionic finger (3) comprises a second phalanx structure (31), wherein the second phalanx structure (31) is universally hinged to the palm structure (1), and the second phalanx structure (31) can perform flexion-extension movement and swinging movement. The dexterous bionic finger (4) comprises a third phalanx structure (41), wherein the third phalanx structure (41) is hinged to the palm structure (1), and the third phalanx structure (41) can perform flexion-extension movement.

Description

Multi-degree-of-freedom bionic dexterous hand

[0001] This application claims priority to Chinese Patent Application No. 202410558656.9, filed with the Chinese Patent Office on May 8, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of robotics technology, such as to multi-degree-of-freedom bionic dexterous hands. Background Technology

[0003] Robotics is currently a hot research topic. The bionic fingers of robots are intricate and complex structures that integrate mechanical and electrical components within a limited space. This has a certain impact on the gripping power, dexterity, and functional diversity of bionic fingers. Therefore, improving the gripping power and dexterity of bionic fingers and enriching their functionality has become one of the current challenges in technological development.

[0004] The bionic hand in the related technology has five motors set in the palm shell, and the five motors are connected to five bionic fingers to control the five bionic fingers to perform grasping actions. The multiple joints of the finger structure are connected by rope tendons. Each joint in the finger structure only has a driven degree of freedom and does not have the conditions for independent movement. It lacks dexterity and grasping force. Each bionic finger can only bend towards the palm and cannot perform movements in other directions, resulting in a single function.

[0005] Summary of the Invention

[0006] This application provides a multi-degree-of-freedom bionic dexterous hand, which gives the bionic dexterous hand multiple degrees of freedom and enriches its functions.

[0007] This application provides a multi-degree-of-freedom bionic dexterous hand, including:

[0008] Palm structure;

[0009] A bionic thumb includes a first phalanx structure and a turntable. The turntable is rotatably mounted on the palm structure. The first phalanx structure is hinged to the turntable. The rotation axis of the turntable is not parallel to the rotation axis of the first phalanx structure.

[0010] A multifunctional bionic finger includes a second phalanx structure that is universally hinged to the palm structure. The second phalanx structure is capable of flexion and extension movements as well as swinging movements.

[0011] The dexterous bionic finger includes a third phalanx structure that is hinged to the palm structure and is capable of flexion and extension movements.

[0012] As an optional technical solution, the bionic thumb also includes a first linear motor, the two ends of which are respectively hinged to the turntable and the first phalanx structure. The first linear motor is configured to drive the first phalanx structure to perform flexion and extension movements.

[0013] As an optional technical solution, the bionic thumb also includes a root linear motor, with its two ends hinged to the turntable and the palm structure, respectively. The root linear motor is configured to drive the turntable to rotate on the palm structure.

[0014] As an optional technical solution, the multifunctional bionic finger also includes two second linear motors, each of which is universally hinged at both ends to the second phalanx structure and the palm structure, respectively. The two second linear motors are configured to drive the second phalanx structure to perform flexion-extension or swinging movements.

[0015] As an optional technical solution, the root of the second knuckle structure is hinged to the palm structure via a ball joint, and the first end of each second linear motor is hinged to the palm structure via a first spherical joint, and the second end is hinged to the root of the second knuckle structure via a second spherical joint.

[0016] As an optional technical solution, the rotation centers of the two first spherical pairs are symmetrically arranged on the left and right sides of the rotation center of the ball pin pair;

[0017] The rotation centers of the two second spherical pairs are symmetrically arranged on the left and right sides of the rotation center of the ball pin pair.

[0018] As an optional technical solution, the dexterous bionic finger also includes a third linear motor, the two ends of which are respectively hinged to the third phalanx structure and the palm structure, and the third linear motor is configured to drive the third phalanx structure to perform flexion and extension movements.

[0019] As an optional technical solution, the first finger joint structure, the second finger joint structure, and the third finger joint structure all include a stepper linear motor and at least two finger joints, with adjacent two finger joints rotatably connected, and the stepper linear motor is provided between adjacent two finger joints, the stepper linear motor being configured to drive the adjacent two finger joints to rotate relative to each other.

[0020] As an optional technical solution, the number of phalanges in the second phalanx structure is the same as the number of phalanges in the third phalanx structure; or,

[0021] The number of phalanges in the first phalanx structure, the second phalanx structure, and the third phalanx structure is the same.

[0022] As an optional technical solution, the palm structure is configured as an L-shaped structure, and the palm structure is provided with a clearance space, which is configured to avoid the printed circuit board (PCB) mounted on the palm structure. Attached Figure Description

[0023] Figure 1 is a schematic diagram of the structure of the multi-degree-of-freedom bionic dexterous hand described in the embodiment;

[0024] Figure 2 is a schematic diagram of the structure of the bionic thumb described in the embodiment;

[0025] Figure 3 is a structural schematic diagram of the multifunctional bionic finger described in the embodiment;

[0026] Figure 4 is a schematic diagram of the structure of the dexterous bionic finger described in the embodiment;

[0027] Figure 5 is a schematic diagram of the hand structure described in the embodiment.

[0028] In the picture:

[0029] 1. Hand structure; 11. Avoidance space;

[0030] 2. Bionic thumb; 21. First phalanx structure; 22. Turntable; 23. First linear motor; 24. Root linear motor;

[0031] 3. Multifunctional bionic finger; 31. Second phalanx structure; 32. Second linear motor; 33. Ball pin joint; 34. First spherical joint; 35. Second spherical joint;

[0032] 4. Dexterous bionic fingers; 41. Third phalanx structure; 42. Third linear motor;

[0033] 100, Stepper linear motor; 200, Finger joint. Detailed Implementation

[0034] The technical solutions of the embodiments of this application will be described below with reference to the accompanying drawings. The described embodiments are only some embodiments of this application, and not necessarily all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0035] In the description of this application, unless otherwise expressly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0036] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0037] In the description herein, it should be understood that the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings, and are used only for ease of description and simplification of operation. They 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, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used merely for descriptive distinction and have no special meaning.

[0038] In the description of this specification, references to terms such as "an embodiment," "example," 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 this application. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0039] The technical solution of this application will be described below with reference to the accompanying drawings and specific embodiments.

[0040] As shown in Figures 1 to 5, the multi-degree-of-freedom bionic dexterous hand provided in 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. The turntable 22 is rotatably mounted on the palm structure 1, and the first phalanx structure 21 is hinged to the turntable 22. 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, which is universally hinged to the palm structure 1. The second phalanx structure 31 is capable of flexion-extension and swinging movements. The dexterous bionic finger 4 includes a third phalanx structure 41, which is hinged to the palm structure 1. The third phalanx structure 41 is capable of flexion-extension movements.

[0041] The turntable 22 can drive the first phalanx structure 21 to rotate relative to the palm structure 1, simulating the thumb's left-right swinging motion. The first phalanx structure 21 can also rotate relative to the turntable 22, simulating the thumb's bending and gripping motion. The second phalanx structure 31 is universally hinged to the palm structure 1, and can perform flexion-extension and swinging movements. The third phalanx structure 41 is hinged to the palm structure 1, and can also perform flexion-extension movements. The multi-degree-of-freedom bionic dexterous hand provided in this embodiment has multiple degrees of freedom and rich functionality.

[0042] Linear motors offer high driving precision, enabling accurate control of the movement trajectories of multiple bionic fingers, allowing for precise control of their bending or swinging amplitudes. Their fast response speed allows for rapid switching between various actions. Furthermore, linear motors retain a self-locking function even after a power outage. In scenarios such as workshops, if a power outage causes the linear motor to lose power after the multi-degree-of-freedom bionic dexterous hand has gripped an object, the self-locking function of the linear motor will maintain the original position of the bionic fingers, allowing the multi-degree-of-freedom bionic dexterous hand to continue gripping the object. This prevents the workpiece from falling to the ground or damaging other workpieces or electrical equipment, ensuring safety.

[0043] Optionally, the bionic thumb 2 also includes a first linear motor 23, with its two ends hinged to the turntable 22 and the first knuckle structure 21, respectively. The first linear motor 23 is configured to drive the first knuckle structure 21 to perform flexion and extension movements. By using the first linear motor 23 to drive the first knuckle structure 21 to perform flexion and extension movements, the first knuckle structure 21 gains the freedom to bend, enabling it to grip objects tightly in the palm structure 1.

[0044] Optionally, the bionic thumb 2 also includes a root linear motor 24, with its two ends hinged to a turntable 22 and a palm structure 1, respectively. The root linear motor 24 is configured to drive the turntable 22 to rotate on the palm structure 1. By using the root linear motor 24 to drive the turntable 22, the first phalanx structure 21 gains a degree of freedom to swing.

[0045] In this embodiment, the bionic thumb 2 is driven by the root linear motor 24 to rotate the turntable 22 on the palm structure 1. The turntable 22 drives the first phalanx structure 21 to rotate relative to the palm structure 1, which can simulate the thumb swinging left and right. The first linear motor 23 drives the first phalanx structure 21 to rotate on the turntable 22, which simulates the thumb bending and gripping.

[0046] In this embodiment, the first finger structure 21 includes two stepper linear motors 100 and three finger joints 200, with adjacent finger joints 200 rotatably connected, and a stepper linear motor 100 is provided between adjacent finger joints 200.

[0047] The bionic thumb 2 of this embodiment has four degrees of freedom, including one degree of freedom in which the turntable 22 is driven by the root linear motor 24 to rotate on the palm structure 1, one degree of freedom in which the first phalanx structure 21 is driven by the first linear motor 23 to rotate on the turntable 22, and two degrees of freedom in which the adjacent phalanx 200 is driven by the stepper linear motor 100 to rotate relative to each other.

[0048] Optionally, the multifunctional bionic finger 3 also includes two second linear motors 32. The two ends of the two second linear motors 32 are respectively universally hinged to the second phalanx structure 31 and the palm structure 1. The two second linear motors 32 are configured to drive the second phalanx structure 31 to perform flexion and extension movements or swinging movements.

[0049] The varicose vein motion includes bending and straightening movements. When the second knuckle structure 31 needs to bend, the two second linear motors 32 contract synchronously. When the second knuckle structure 31 needs to straighten, the two second linear motors 32 straighten synchronously. When the second knuckle structure 31 needs to swing, the two second linear motors 32 extend and retract asynchronously, that is, one second linear motor 32 contracts while the other extends, thereby enabling the second knuckle structure 31 to swing left and right. When the two second linear motors 32 contract synchronously, they can also increase the gripping force of the second knuckle structure 31 to ensure a stable grip on objects.

[0050] In this embodiment, the second finger structure 31 includes two stepper linear motors 100 and three finger joints 200, with adjacent finger joints 200 rotatably connected, and a stepper linear motor 100 is provided between adjacent finger joints 200.

[0051] The multifunctional bionic finger 3 of this embodiment has four degrees of freedom, including the degree of freedom of flexion and extension of the second phalanx structure 31 driven synchronously by two second linear motors 32, the degree of freedom of swinging of the second phalanx structure 31 driven asynchronously by two second linear motors 32, and two degrees of freedom of relative rotation of adjacent phalanxes 200 driven by stepper linear motors 100.

[0052] Optionally, the root of the second knuckle structure 31 is hinged to the palm structure 1 via a ball joint 33, one end of the second linear motor 32 is hinged to the palm structure 1 via a first spherical joint 34, and the other end of the second linear motor 32 is hinged to the root of the second knuckle structure 31 via a second spherical joint 35.

[0053] In this embodiment, the body of the second linear motor 32 is hinged to the palm structure 1 via the first spherical joint 34, and the output end of the second linear motor 32 is hinged to the root of the second phalanx structure 31 via the second spherical joint 35. The spherical joint has a universal rotation function. When the second linear motor 32 extends or retracts, the spherical joint rotates. In this embodiment, the two second linear motors 32 are used to drive the second phalanx structure 31 synchronously or asynchronously, so that the second phalanx structure 31 can perform flexion-extension or swinging movements.

[0054] When the second knuckle structure 31 needs to perform flexion and extension movements, the two second linear motors 32 are in a parallel state, with their central axes parallel but not overlapping. The extension and retraction speeds of the two second linear motors 32 are the same. When the retraction speeds are equal, the second knuckle structure 31 performs a bending action to grasp the object in the palm structure 1. When the extension speeds are equal, the second knuckle structure 31 performs a straightening action to release the object.

[0055] When the second knuckle structure 31 needs to perform a swinging motion, the two second linear motors 32 are in a parallel state, the central axes of the two second linear motors 32 are parallel and do not coincide, and the asynchronous extension and retraction speeds of the two second linear motors 32 are equal.

[0056] When the two second linear motors 32 extend and retract at different speeds, the motion trajectory of the second finger structure 31 is not just a bending motion or a swinging motion, but a simultaneous bending and swinging motion, and its motion trajectory depends on the difference in the speeds of the asynchronous extension and retraction.

[0057] Optionally, the rotation centers of the two first spherical joints 34 are symmetrically arranged on the left and right sides of the rotation center of the ball pin joint 33; the rotation centers of the two second spherical joints 35 are symmetrically arranged on the left and right sides of the rotation center of the ball pin joint 33. This makes it easier to control the swing trajectory of the second finger joint structure 31. For example, when the asynchronous extension and retraction speeds of the two second linear motors 32 are equal, the second finger joint structure 31 can only swing. When the synchronous extension and retraction speeds of the two second linear motors 32 are equal, the second finger joint structure 31 can only bend or straighten.

[0058] Optionally, the first spherical joint 34 includes a first ball sleeve and a first ball head, the first ball head is hinged to the first ball sleeve, the first ball sleeve is fixedly mounted on the palm structure 1, and the first ball head is fixedly mounted on the body of the second linear motor 32.

[0059] Optionally, the second spherical pair 35 includes a second ball sleeve and a second ball head, the second ball head is hinged to the second ball sleeve, the second ball sleeve is fixedly disposed at the output end of the second linear motor 32, and the second ball head is fixedly disposed at the second knuckle structure 31.

[0060] Optionally, the dexterous bionic finger 4 also includes a third linear motor 42, the two ends of which are respectively hinged to the third phalanx structure 41 and the palm structure 1. The third linear motor 42 is configured to drive the third phalanx structure 41 to perform flexion and extension movements.

[0061] Optionally, the first finger joint structure 21, the second finger joint structure 31, and the third finger joint structure 41 each include a stepper linear motor 100 and at least two finger joints 200, with adjacent finger joints 200 rotatably connected. A stepper linear motor 100 is provided between adjacent finger joints 200, and the stepper linear motor 100 is configured to drive the adjacent finger joints 200 to rotate relative to each other.

[0062] Optionally, the number of phalanges 200 in the second phalanx structure 31 and the third phalanx structure 41 is the same. Since the human thumb has two phalanges and the other fingers have three phalanges, in some embodiments, the first phalanx structure 21 includes one stepper linear motor 100 and two phalanges 200, and both the second phalanx structure 31 and the third phalanx structure 41 include two stepper linear motors 100 and three phalanges 200.

[0063] A stepper linear motor 100 is set between two adjacent knuckles 200. The stepper linear motor 100 drives the two knuckles 200 to rotate relative to each other, which enables the knuckles 200 to have independent rotational freedom and makes the movement of the knuckles 200 more flexible, thereby meeting the needs of independent action of the knuckles 200.

[0064] In this embodiment, the number of phalanges 200 in the first phalange structure 21, the second phalange structure 31, and the third phalange structure 41 is the same.

[0065] Setting the number of phalanges 200 in the first phalanx structure 21, the second phalanx structure 31, and the third phalanx structure 41 to be the same makes the phalanx structure universal and reduces design costs.

[0066] Optionally, a clearance space is provided between two adjacent knuckles 200, so that the two adjacent knuckles 200 can rotate relative to each other within a preset angle.

[0067] Optionally, the palm structure 1 is configured as an L-shaped structure, and the palm structure 1 is provided with a clearance space 11, which is used to avoid the PCB mounted on the palm structure 1.

Claims

1. A multi-degree-of-freedom bionic dexterous hand, comprising: Palm structure (1); A bionic thumb (2) includes a first phalanx structure (21) and a turntable (22). The turntable (22) is rotatably mounted on the palm structure (1). The first phalanx structure (21) is hinged to the turntable (22). The rotation axis of the turntable (22) is not parallel to the rotation axis of the first phalanx structure (21). A multifunctional bionic finger (3) includes a second phalanx structure (31), which is universally hinged to the palm structure (1). The second phalanx structure (31) is capable of flexion and extension movements and swinging movements. The dexterous bionic finger (4) includes a third phalanx structure (41) which is hinged to the palm structure (1) and is capable of flexion and extension movements.

2. The multi-degree-of-freedom bionic dexterous hand according to claim 1, wherein, The bionic thumb (2) also includes a first linear motor (23), the two ends of which are respectively hinged to the turntable (22) and the first knuckle structure (21). The first linear motor (23) is configured to drive the first knuckle structure (21) to perform flexion and extension movements.

3. The multi-degree-of-freedom bionic dexterous hand according to claim 1, wherein, The bionic thumb (2) also includes a root linear motor (24), the two ends of which are respectively hinged to the turntable (22) and the palm structure (1). The root linear motor (24) is configured to drive the turntable (22) to rotate on the palm structure (1).

4. The multi-degree-of-freedom bionic dexterous hand according to claim 1, wherein, The multifunctional bionic finger (3) also includes two second linear motors (32), each of which is universally hinged at both ends to the second phalanx structure (31) and the palm structure (1). The two second linear motors (32) are configured to drive the second phalanx structure (31) to perform flexion-extension or swinging movements.

5. The multi-degree-of-freedom bionic dexterous hand according to claim 4, wherein, The root of the second knuckle structure (31) is hinged to the palm structure (1) via a ball joint (33). The first end of each second linear motor (32) is hinged to the palm structure (1) via a first spherical joint (34), and the second end is hinged to the root of the second knuckle structure (31) via a second spherical joint (35).

6. The multi-degree-of-freedom bionic dexterous hand according to claim 5, wherein, The rotation centers of the two first spherical pairs (34) are symmetrically arranged on the left and right sides of the rotation center of the ball pin pair (33); The rotation centers of the two second spherical pairs (35) are symmetrically arranged on the left and right sides of the rotation center of the ball pin pair (33).

7. The multi-degree-of-freedom bionic dexterous hand according to claim 1, wherein, The dexterous bionic finger (4) also includes a third linear motor (42), the two ends of which are respectively hinged to the third phalanx structure (41) and the palm structure (1). The third linear motor (42) is configured to drive the third phalanx structure (41) to perform flexion and extension movements.

8. The multi-degree-of-freedom bionic dexterous hand according to any one of claims 1-7, wherein, The first finger joint structure (21), the second finger joint structure (31) and the third finger joint structure (41) each include a stepper linear motor (100) and at least two finger joints (200). The two adjacent finger joints (200) are rotatably connected, and the stepper linear motor (100) is provided between the two adjacent finger joints (200). The stepper linear motor (100) is configured to drive the two adjacent finger joints (200) to rotate relative to each other.

9. The multi-degree-of-freedom bionic dexterous hand according to claim 8, wherein, The second phalanx structure (31) has the same number of phalanges (200) as the third phalanx structure (41); or, The number of phalanges (200) in the first phalanx structure (21), the second phalanx structure (31), and the third phalanx structure (41) is the same.

10. The multi-degree-of-freedom bionic dexterous hand according to any one of claims 1-7, wherein, The palm structure (1) is configured as an L-shaped structure, and the palm structure (1) is provided with a clearance space (11), which is configured to avoid the printed circuit board (PCB) installed on the palm structure (1).

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