CN109434865B - A five-fingered dexterous hand driven by intelligent special-shaped steel cables - Google Patents

Abstract

A five-finger dexterous hand driven by intelligent special-shaped steel cables comprises a palm, five single-finger bending joints and a single-chip microcomputer. Each single-finger bending joint comprises a distal finger end, a middle finger end, a proximal finger end, a metacarpal bone, a carpal bone, four special-shaped steel cables, four motors and reduction devices and four SAW sensors. The four special-shaped steel cables are respectively used to drive the bending of the distal finger end, the middle finger end, the proximal finger end and the metacarpal bone. The power output ends of the four motors and reduction devices are respectively connected to the four special-shaped steel cables. The four special-shaped steel cables drive the bending of the corresponding joints through a bevel gear set. The four SAW sensors are respectively installed on the distal finger end, the middle finger end, the proximal finger end and the metacarpal bone, and are simultaneously used to feed back the angular displacement of the corresponding joints. Each motor and reduction device and each SAW sensor are connected to the single-chip microcomputer. The present invention provides a five-finger dexterous hand driven by intelligent special-shaped steel cables, which can realize a large transmission torque and precise posture feedback control in a small working space.

Description

A five-fingered dexterous hand based on intelligent special-shaped steel cable drive

Technical Field

The invention relates to the technical field of robots, and in particular to a five-fingered dexterous hand driven by intelligent special-shaped steel cables.

Background technique

At present, patents on dexterous hands mainly realize the bending of dexterous hand joints through wire drive. For example, patents CN201510868252.0 and CN201720995289.4 use tendon ropes to pull finger pins to achieve the bending of dexterous hands. Such devices have simple structures, convenient control, and high integration, but they have problems such as low precision and small load. Considering the low precision and large transmission space caused by tendon transmission, some patents use built-in electromechanical systems to achieve the bending of dexterous hand joints. For example, patent CN201720290589.2 realizes the precise drive of dexterous hands through built-in complex integrated circuits and sensor networks, which has high sensitivity and working flexibility. However, such patents also have disadvantages such as high cost and maintenance due to the complexity of the system. Patent CN201721756689.6 uses pneumatic drive to improve the bending and flexibility of finger joints. This patent has good flexibility and safety, but the load is limited and cannot achieve precise control of dexterous hands. In addition, some dexterous hands use hydraulic drive, such as patent number CN201711001387. The hydraulic drive device can achieve stepless speed regulation and output a large torque with good fatigue resistance, but this drive mode is difficult to implement in the limited installation space of the dexterous hand.

Summary of the invention

In order to overcome the defects of existing dexterous hands such as the inability to accurately control, high cost and limited installation space, the present invention provides a five-finger dexterous hand driven by an intelligent special-shaped steel cable, which can achieve a larger transmission torque and precise posture feedback control in a smaller working space.

The technical solution adopted by the present invention to solve the technical problem is:

A five-finger dexterous hand based on intelligent special-shaped steel cable drive, comprising a palm, five single-finger bending joints and a single-chip computer, wherein the palm is fixedly connected to the wrist bones of the five single-finger bending joints;

Each single-finger bending joint includes a distal finger end, a middle finger end, a proximal finger end, a metacarpal bone, a carpal bone, four special-shaped steel cables, four motors and reduction devices, and four SAW sensors. The distal finger end and the middle finger end, the middle finger end and the proximal finger end, the proximal finger end and the metacarpal bone, and the metacarpal bone and the carpal bone are all hinged. The four special-shaped steel cables are respectively used to drive the bending of the distal finger end, the middle finger end, the proximal finger end, and the metacarpal bone. The four motors and reduction devices are installed in the carpal bone. The power output ends of the four motors and the reduction devices are respectively connected to the four special-shaped steel cables and drive the special-shaped steel cables to rotate. The four special-shaped steel cables drive the corresponding joints to bend through the bevel gear set; the four SAW sensors are respectively installed on the distal finger end, the middle finger end, the proximal finger end, and the metacarpal bone, and are used to feedback the angular displacement of the corresponding joints. The carpal bone is equipped with a power supply electrically connected to the SAW sensor; each motor and reduction device and each SAW sensor are connected to a single-chip microcomputer;

When the special-shaped steel cable rotates at an angle of θ, it will drive the corresponding bevel gear set to rotate, thereby driving the corresponding joint to bend at an angle of α, causing the special-shaped steel cable to bend at an angle of α;

The LC oscillation circuit on each SAW sensor generates a pulse excitation, and the interdigital transducer converts the surface acoustic wave signal into a surface acoustic wave signal that oscillates back and forth in the reflection grating. Since the bending of the surface acoustic wave sensor will cause the change in the acoustic wave velocity on the piezoelectric substrate and the spacing between the reflection gratings, the frequency of the surface acoustic wave signal will shift, and the greater the bending angle, the greater the degree of signal shift; the interdigital transducer will convert the shifted surface acoustic wave signal into an electrical signal, and the antenna end will transmit the shifted electrical signal and the electrical signal of the excitation source. The RF query end in the wrist bone receives the shifted electrical signal and the excitation source signal, thereby obtaining the angular displacement of each joint, and the RF query end is connected to the microcontroller.

Furthermore, the LC oscillation circuit on the SAW sensor is also a control circuit of the time-division multiplexing circuit. The LC oscillation circuit is superimposed with a negative bias voltage to synthesize a sinusoidal bias signal, and the bias signal is respectively connected to the bases of the PNP transistor and the NPN transistor; when the sinusoidal bias signal is greater than the threshold voltage of the NPN transistor, the LC oscillation circuit is connected to the antenna as an excitation source signal, and the RF query end will receive the signal frequency of the excitation source; when the sinusoidal bias signal is less than the threshold voltage of the PNP transistor, the offset signal is connected to the antenna as a response source signal, and the RF query end will receive the response signal frequency; wherein, the emitter of the transistor is connected to a grounding resistor, and the antenna is connected between the grounding resistor and the emitter.

Furthermore, the four special-shaped steel cables are respectively a swing joint driving special-shaped steel cable, a proximal finger joint driving special-shaped steel cable, a middle finger joint driving special-shaped steel cable and a distal finger joint driving special-shaped steel cable, and the four SAW sensors are respectively a metacarpal sensor for detecting the angular displacement of the metacarpal bone, a proximal finger sensor for detecting the angular displacement of the proximal finger end, a middle finger sensor for detecting the angular displacement of the middle finger end and a distal finger sensor for detecting the angular displacement of the distal finger end;

The driven part of the carpal bone is hinged with the metacarpal bone by a pin, and the active part of the carpal bone is transmitted through the mutually meshing swing joint active bevel gear and the swing joint driven bevel gear. A swing joint rolling bearing is installed on the carpal bone, and a swing joint active bevel gear is arranged in the inner hole of the swing joint rolling bearing. The swing joint active bevel gear is installed on the other end of the swing joint driving special-shaped steel cable, and there will be relative axial movement between the two when the special-shaped steel cable is bent. A keyway is opened on the nominal shaft of the swing joint driven bevel gear to realize key connection with the metacarpal bone; the swing joint driving special-shaped steel cable is driven to rotate by driving the swing joint to drive the swing joint active bevel gear to rotate, and the swing joint active bevel gear drives the swing joint driven bevel gear to rotate, so as to realize the swing of the metacarpal bone, thereby driving the swing of the proximal finger end, the middle finger end and the distal finger end; a strip manganese steel sheet is fixed on the side of the carpal bone, and a slide groove is fixed in the metacarpal bone, and the slide groove and the manganese steel sheet on the carpal bone form a cantilever beam structure, and the metacarpal bone sensor is attached to the manganese steel sheet to measure the bending degree of the metacarpal bone joint;

The metacarpal bone and the proximal finger end are hinged through the proximal finger end joint driven shaft, a proximal finger end joint rolling bearing is installed on the metacarpal bone, a proximal finger end joint driving bevel gear is arranged in the inner hole of the proximal finger end joint rolling bearing, the other end of the proximal finger end joint driving special-shaped steel cable passes through the metacarpal bone and the inner hole of the proximal finger end joint driving bevel gear in sequence and extends into the proximal finger end, the proximal finger end joint driving bevel gear and the proximal finger end joint driving special-shaped steel cable will have relative axial movement when the special-shaped steel cable is bent, the proximal finger end joint driving bevel gear is meshed with the proximal finger end joint driven bevel gear, and the nominal axis of the proximal finger end joint driven bevel gear is A keyway is provided on the upper part to realize key connection with the proximal finger end; the proximal finger end joint driving special-shaped steel cable is clearance-matched with the metacarpal bone and the proximal finger end, and the proximal finger end joint driving special-shaped steel cable is driven to drive the proximal finger end joint driving bevel gear to rotate, and the proximal finger end joint driving bevel gear drives the proximal finger end joint driven bevel gear to rotate, so as to realize the control of the bending angle of the proximal finger end; a strip-shaped manganese steel sheet is fixed on the upper surface of the metacarpal bone, and a slide groove is fixed in the proximal finger end, and the slide groove and the manganese steel sheet on the metacarpal bone form a cantilever beam structure, and the proximal finger end sensor is attached to the manganese steel sheet to measure the bending degree of the proximal finger end joint;

The proximal finger end and the middle finger end are hinged through the middle finger end joint driven shaft, the proximal finger end is installed with a middle finger end joint rolling bearing, and a middle finger end joint driving bevel gear is arranged in the inner hole of the middle finger end joint rolling bearing, and the other end of the middle finger end joint driving special-shaped steel cable passes through the metacarpal bone, the proximal finger end, and the inner hole of the middle finger end joint driving bevel gear in sequence and extends into the middle finger end, and the middle finger end joint driving bevel gear and the middle finger end joint driving special-shaped steel cable will have relative axial movement when the special-shaped steel cable is bent, and the middle finger end joint driving bevel gear is meshed with the middle finger end joint driven bevel gear, and the nominal axis of the middle finger end joint driven bevel gear is A keyway is provided on the upper part to realize key connection with the middle finger end; the middle finger end joint driving special-shaped steel cable is clearance-matched with the metacarpal bone, proximal finger end and middle finger end, and the middle finger end joint driving special-shaped steel cable is driven to drive the middle finger end joint active bevel gear to rotate, and the middle finger end joint active bevel gear drives the middle finger end joint driven bevel gear to rotate, so as to realize the control of the bending angle of the middle finger end; a strip-shaped manganese steel sheet is fixed on the upper surface of the proximal finger end, and a slide groove is fixed inside the middle finger end, and the slide groove and the manganese steel sheet on the proximal finger end form a cantilever beam structure, and the middle finger end sensor is attached to the manganese steel sheet to measure the bending degree of the middle finger end joint;

The middle finger end and the distal finger end are hinged through the distal finger end joint driven shaft, the middle finger end is installed with a distal finger end joint rolling bearing, and a distal finger end joint driving bevel gear is arranged in the inner hole of the distal finger end joint rolling bearing, and the other end of the distal finger end joint driving special-shaped steel cable passes through the metacarpal bone, the proximal finger end, the middle finger end, and the inner hole of the distal finger end joint driving bevel gear in sequence and extends into the distal finger end, and the distal finger end joint driving bevel gear and the distal finger end joint driving special-shaped steel cable will have relative axial movement when the special-shaped steel cable is bent, the distal finger end joint driving bevel gear is meshed with the distal finger end joint driven bevel gear, and the nominal axis of the distal finger end joint driven bevel gear A keyway is provided on the top to realize key connection with the distal finger end; the distal finger end joint driving special-shaped steel cable is clearance-matched with the metacarpal bone, proximal finger end, middle finger end and distal finger end, and the distal finger end joint driving special-shaped steel cable is driven to drive the distal finger end joint driving bevel gear to rotate, and the distal finger end joint driving bevel gear drives the distal finger end joint driven bevel gear to rotate, so as to control the bending angle of the distal finger end; a strip manganese steel sheet is fixed on the upper surface of the middle finger end, and a slide groove is fixed in the distal finger end, and the slide groove and the manganese steel sheet on the middle finger end form a cantilever beam structure, and the distal finger end sensor is attached to the manganese steel sheet to measure the bending degree of the distal finger end joint.

Furthermore, the cross-section of the special-shaped steel cable passing through the joint bending area is circular, and the cross-section of the special-shaped steel cable needs to be processed into a rectangular shape except near the joint bending area; the distal finger end, middle finger end, proximal finger end, metacarpal bone and carpal bone are respectively provided with through holes for the special-shaped steel cable to pass through and avoid bending, and the through holes are provided with chamfers.

Furthermore, a redundant length is reserved at the end of each special-shaped steel cable to compensate for the axial displacement of the corresponding joint when it is bent; the distal finger end is provided with a through hole on the side away from the middle finger end, a finger tip bearing is installed in the through hole, and the special-shaped steel cable driven by the distal finger joint can be freely extended and retracted from the inner hole of the finger tip bearing.

The beneficial effects of the present invention are mainly manifested in: it can achieve a larger transmission torque and precise posture feedback control in a smaller working space, and the movement of the five-fingered dexterous fingers can be realized through the drive of the special-shaped steel cable. At the same time, the special-shaped steel cable has a simple structure, which reduces the volume of the moving parts and saves the space occupied by the device.

BRIEF DESCRIPTION OF THE DRAWINGS

Fig. 1 is an oblique side view of a single-finger bending joint of the present invention.

FIG. 2 is a half-section view of a single-finger bending joint of the present invention.

FIG. 3 is an enlarged view of A in FIG. 1 .

FIG. 4 is an overall view of the five-finger dexterous hand of the present invention.

FIG. 5 is a partial enlarged view of the SAW sensor of the present invention.

FIG. 6 is a schematic diagram of the extended state of the special-shaped steel cable of the present invention.

FIG. 7 is a cross-sectional view taken along line A-A in FIG. 6 .

FIG8 is a cross-sectional view taken along line B-B in FIG6.

FIG. 9 is a transmission schematic diagram of the special-shaped steel cable of the present invention.

FIG. 10 is a schematic diagram of the signal processing principle of the SAW sensor of the present invention.

FIG. 11 is a time-division multiplexing circuit diagram of the SAW sensor antenna of the present invention.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings.

1 to 11 , a five-finger dexterous hand driven by an intelligent special-shaped steel cable includes a palm 17 , five single-finger bending joints and a single-chip microcomputer, wherein the palm 17 is fixedly connected to the carpal bones of the five single-finger bending joints;

Each single finger bending joint includes a distal finger end 5, a middle finger end 4, a proximal finger end 2, a metacarpal bone 8, a carpal bone 7, four special-shaped steel cables with a partially rectangular cross-section, four motors and reduction devices 1 and four SAW sensors 19. The distal finger end 5 and the middle finger end 4, the middle finger end 4 and the proximal finger end 2, the proximal finger end 2 and the metacarpal bone 8, and the metacarpal bone 8 and the carpal bone 7 are all hinged. The four special-shaped steel cables are used to drive the bending of the distal finger end 5, the middle finger end 4, the proximal finger end 2, and the metacarpal bone 8, respectively. The four motors and reduction devices 1 is installed in the carpal bone 7, the power output ends of the four motors and the reduction device 1 are respectively connected to the four special-shaped steel cables and drive the special-shaped steel cables to rotate, and the four special-shaped steel cables drive the corresponding joints to bend through the bevel gear set; the four SAW sensors are respectively installed on the distal finger end 5, the middle finger end 4, the proximal finger end 2, and the metacarpal bone 8, and are used to feedback the angular displacement of the corresponding joints. The carpal bone 7 has a built-in power supply electrically connected to the SAW sensor; each motor and the reduction device 1 and each SAW sensor are connected to the single-chip microcomputer;

The four special-shaped steel cables are respectively a swing joint driving special-shaped steel cable 9a, a proximal finger joint driving special-shaped steel cable 9b, a middle finger joint driving special-shaped steel cable 9c and a distal finger joint driving special-shaped steel cable 9d, and the four SAW sensors are respectively a metacarpal sensor 18A for detecting metacarpal angular displacement, a proximal finger sensor 18B for detecting proximal finger angular displacement, a middle finger sensor 18C for detecting middle finger angular displacement and a distal finger sensor 18D for detecting distal finger angular displacement;

The four special-shaped steel cables in the single-finger bending joint are used to control different joints of the component through bevel gear transmission, and the SAW sensor on the single-finger bending joint is used to feedback the angular displacement of different joints. When the special-shaped steel cable rotates at an angle of θ, it will drive the bevel gear to rotate, so that the bevel gear transmission will drive the joint to bend at an angle of α, causing the special-shaped steel cable to bend at an angle of α.

The built-in power supply of the wrist bone in each single-finger bending joint is electrically connected to the SAW sensor. The LC oscillation circuit on the SAW sensor generates pulse excitation, and the interdigital transducer IDT converts the surface acoustic wave signal into a surface acoustic wave signal that oscillates back and forth in the reflection grating. Since the bending of the surface acoustic wave sensor will cause the change of the acoustic wave velocity on the piezoelectric substrate and the spacing between the reflection gratings, the frequency of the surface acoustic wave signal will shift, and the greater the bending angle, the greater the degree of signal shift. The interdigital transducer IDT will convert the shifted surface acoustic wave signal into an electrical signal, and the antenna end will transmit the shifted electrical signal and the electrical signal of the excitation source. The RF query end in the wrist bone receives the shifted electrical signal and the excitation source signal, thereby obtaining the angular displacement of each joint.

Furthermore, in addition to providing excitation for the surface acoustic wave signal, the LC oscillator circuit is also the control circuit of the time-division multiplexing circuit. Specifically, the LC oscillator circuit is superimposed with a negative bias voltage to synthesize a sinusoidal bias signal. The bias signal is connected to the base of the PNP transistor and the NPN transistor respectively. When the sinusoidal bias signal is greater than the threshold voltage of the NPN transistor, the LC oscillator circuit is connected to the antenna as an excitation source signal, and the RF query end will receive the signal frequency of the excitation source; when the sinusoidal bias signal is less than the threshold voltage of the PNP transistor, the offset signal is connected to the antenna as a response source signal, and the RF query end will receive the response signal frequency. Among them, the emitter of the transistor is connected to a grounding resistor, and the antenna is connected between the grounding resistor and the emitter.

Specifically, four motors and reducers 1 are fixedly connected to the carpal bone 7, and the rotation speed and transmission torque of the motors and reducers are controlled by a single chip microcomputer. The motors and reducers 1 are used to drive the swing joint drive special-shaped steel cable 9a, the proximal finger joint drive special-shaped steel cable 9b, the middle finger joint drive special-shaped steel cable 9c and the distal finger joint drive special-shaped steel cable 9d respectively. The carpal bone 7 is hinged to the metacarpal bone 8 by a pin 14, and the carpal bone 7 is also driven by two mutually meshing bevel gears, namely the swing joint active bevel gear 10a1 and the swing joint driven bevel gear 10a2. The inner hole of the swing joint active bevel gear 10a1 is rectangular, so that the swing joint drive special-shaped steel cable 9a is driven. It should be pointed out that, considering that the swing joint drive special-shaped steel cable 9a has axial displacement during transmission, the outer surface of the swing joint drive special-shaped steel cable 9a and the inner surface of the swing joint active bevel gear 10a1 are of the moving pair. The swing joint driven bevel gear 10a2 and its nominal shaft are provided with key slots, which are key-connected with the metacarpal bone 8. The swing joint driving special-shaped steel cable 9a can realize the swing of the metacarpal bone 8 through the meshing transmission of the swing joint active bevel gear 10a1 and the swing joint driven bevel gear 10a2, thereby driving the distal finger end 5, the middle finger end 4 and the proximal finger end 2. A strip of manganese steel sheet is fixed on the side of the carpal bone, and a slide groove is fixed inside the metacarpal bone to form a cantilever beam structure with the manganese steel sheet. A SAW sensor is attached to the manganese steel sheet to measure the bending degree of the metacarpal joint.

The carpal bone 7 is fixedly connected with a support frame 15, and the support frame 15 is in surface contact with the bottom surface of the metacarpal bone 8 to improve reliability. Three through holes with large chamfers are respectively opened on the adjacent side of the carpal bone 7 and the metacarpal bone 8, and the cross-section of the proximal finger joint drive special-shaped steel cable 9b, the middle finger joint drive special-shaped steel cable 9c and the distal finger joint drive special-shaped steel cable 9d is circular when passing through this area, and a clearance fit is achieved with the carpal bone 7 and the metacarpal bone 8 to reduce transmission friction and bending stress.

The metacarpal bone 8 and the proximal finger 2 are hinged through the proximal finger joint driven shaft 3a, and three through holes with large chamfers are respectively opened on the side adjacent to the proximal finger 2. A proximal finger joint rolling bearing 13 is installed in one of the through holes of the metacarpal bone 8, and a proximal finger joint active bevel gear 10b1 is mounted in the inner hole of the proximal finger joint rolling bearing 13. The proximal finger joint driving special-shaped steel cable is driven by the proximal finger joint active bevel gear 10b1 and the proximal finger joint driven bevel gear 10b2 to control the bending angle of the proximal finger 2, wherein the proximal finger joint driven bevel gear 10b2 and its nominal shaft are provided with a keyway to realize key connection with the proximal finger 2. The inner hole of the proximal finger joint active bevel gear 10b1 is rectangular, so that the proximal finger joint driving special-shaped steel cable 9b can be driven. It should be pointed out that, considering the axial displacement of the proximal finger joint drive special-shaped steel cable 9b during transmission, the outer surface of the proximal finger joint drive special-shaped steel cable 9b and the inner surface of the proximal finger joint active bevel gear 10b1 are matched in the form of a moving pair. The remaining five through holes on the side adjacent to the metacarpal bone 8 and the proximal finger end 2 are used to pass the curved proximal finger joint drive special-shaped steel cable 9b, the middle finger joint drive special-shaped steel cable 9c and the distal finger joint drive special-shaped steel cable 9d with a circular cross-section, and the three special-shaped steel cables are clearance-matched with the metacarpal bone 8 and the proximal finger end 2 to reduce transmission friction and bending stress. A strip manganese steel sheet is fixed on the upper surface of the metacarpal bone, and a slide groove is fixed in the proximal finger end to form a cantilever beam structure with the manganese steel sheet. A SAW sensor is attached to the manganese steel sheet to measure the bending degree of the middle finger joint.

The proximal finger end 2 and the middle finger end 4 are hinged through the middle finger end joint driven shaft 3b, and two through holes with large chamfers are respectively opened on the adjacent side of the proximal finger end 2 and the middle finger end 4. A middle finger end joint rolling bearing 12 is installed in one of the through holes of the proximal finger end 2, and a middle finger end joint active bevel gear 10c1 is mounted in the inner hole of the middle finger end joint rolling bearing 12. The middle finger end joint driving special-shaped steel cable 9c is driven by the middle finger end joint active bevel gear 10c1 and the middle finger end joint driven bevel gear 10c2 to control the bending angle of the middle finger end 4, wherein the proximal finger end joint driven bevel gear 10b2 and its nominal shaft are provided with a keyway to realize key connection with the middle finger end 4. The inner hole of the middle finger end joint active bevel gear 10c1 is rectangular, so that the middle finger end joint driving special-shaped steel cable 9c can be driven. It should be pointed out that, considering the axial displacement of the middle finger joint drive special-shaped steel cable 9c during transmission, the outer surface of the middle finger joint drive special-shaped steel cable 9c and the inner surface of the middle finger joint active bevel gear 10c1 are of the sliding pair type. The remaining three through holes on the side adjacent to the proximal finger end 2 and the middle finger end 4 are used to pass the middle finger joint drive special-shaped steel cable 9c with a circular cross-section and the distal finger joint drive special-shaped steel cable 9d, and the two special-shaped steel cables are clearance-matched with the proximal finger end 2 and the middle finger end 4 to reduce transmission friction and bending stress. A strip of manganese steel sheet is fixed on the upper surface of the proximal finger end, and a slide groove is fixed inside the middle finger end to form a cantilever beam structure with the manganese steel sheet. A SAW sensor is attached to the manganese steel sheet to measure the bending degree of the middle finger joint.

The middle finger end 4 and the distal finger end 5 are hinged through the distal finger joint driven shaft 3c. A through hole is opened on the side of the middle finger end 4 adjacent to the distal finger end 5, and a distal finger joint rolling bearing 11 is installed in the through hole. The inner hole of the distal finger joint rolling bearing 11 is provided with a distal finger joint driving bevel gear 10d1. The distal finger joint driving special-shaped steel cable 9d is driven by the distal finger joint driving bevel gear 10d1 and the distal finger joint driven bevel gear 10d2 to control the bending angle of the distal finger end 5, wherein the distal finger joint driven bevel gear 10d2 and its nominal shaft are provided with a keyway to realize key connection with the distal finger end 5. The inner hole of the distal finger joint driving bevel gear 10d1 is rectangular, so that the distal finger joint driving special-shaped steel cable 9d can be driven. It should be pointed out that, considering the axial displacement of the distal finger joint drive special-shaped steel cable 9d during transmission, the outer surface of the distal finger joint drive special-shaped steel cable 9d and the inner surface of the distal finger joint active bevel gear 10d1 are of the sliding pair type. A through hole is opened on the side of the distal finger end 5 adjacent to the middle finger end 4, which is used to pass the distal finger joint drive special-shaped steel cable 9d with a circular cross-section, and to achieve clearance fit with the distal finger end 5 to reduce transmission friction and bending stress. In order to compensate for the axial displacement of the distal finger joint drive special-shaped steel cable 9d, a through hole is opened at the tip of the distal finger end 5, and a finger tip bearing 6 is mounted on the inner hole. The redundant compensation part of the distal finger joint drive special-shaped steel cable 9d can be freely extended and retracted from the finger tip bearing 6, and does not affect the rotary motion of the distal finger joint drive special-shaped steel cable 9d. A strip of manganese steel sheet is fixed on the upper surface of the middle finger end, a slide groove is fixed inside the distal finger end to form a cantilever beam structure with the manganese steel sheet, and a SAW sensor is attached to the manganese steel sheet to measure the bending degree of the distal finger end joint.

It should be pointed out that in order to ensure that the four special-shaped steel cables, namely the special-shaped steel cable 9a driving the swing joint, the special-shaped steel cable 9b driving the proximal finger joint, the special-shaped steel cable 9c driving the middle finger joint and the special-shaped steel cable 9d driving the distal finger joint have high rigidity in transmission to ensure the accuracy of transmission, the special-shaped steel cables need to be processed into a rectangular shape except near the joint bending area. Considering that the special-shaped steel cables will generate greater stress when passing through the joint bending area, the cross-section of the special-shaped steel cables near this area remains circular to reduce bending stress, and the distal finger end, middle finger end, proximal finger end, metacarpal bone and carpal bone are respectively provided with through holes with larger chamfers to avoid bending. Considering that the special-shaped steel cables will generate axial displacement due to the joint bending moment during transmission, a part of the special-shaped steel cables with a circular cross-section should be left in the joint bending area to compensate for the axial displacement, and a part of the special-shaped steel cables with a rectangular cross-section should also be left near the active bevel gear to compensate for the axial displacement.

The specific embodiments described herein are merely examples of the spirit of the present invention. A person skilled in the art of the present invention may make various modifications or additions to the specific embodiments described or replace them in a similar manner, but this will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims (3)

1. Five-finger dexterous hand based on intelligent special-shaped steel cable drive, characterized in that: the wrist strap comprises a palm, five single-finger bending joints and a singlechip, wherein the palm is fixedly connected with wrist bones of the five single-finger bending joints;

each single-finger bending joint comprises a distal finger end, a middle finger end, a proximal finger end, a metacarpal bone, a carpal bone, four special-shaped steel cables with sections which are partially processed into rectangular shapes, four motors, a speed reducer and four SAW sensors, wherein the distal finger end is hinged with the middle finger end, the middle finger end is hinged with the proximal finger end, the proximal finger end is hinged with the metacarpal bone, and the metacarpal bone is hinged with the carpal bone; the four SAW sensors are respectively arranged on the far finger end, the middle finger end, the near finger end and the metacarpal bone, and are simultaneously used for feeding back the angular displacement of the corresponding joint, and a power supply electrically connected with the SAW sensors is arranged in the carpal bone; each motor, each speed reducer and each SAW sensor are connected with the singlechip;

when the special-shaped steel cable rotates by an angle theta, the corresponding bevel gear set is driven to rotate, so that the corresponding joint is driven to bend by an angle alpha, and the special-shaped steel cable bends by the angle alpha;

the LC oscillating circuit on each SAW sensor generates pulse excitation, the interdigital transducer converts the surface acoustic wave signal into a surface acoustic wave signal to oscillate back and forth in the reflecting grating, the frequency of the surface acoustic wave signal is shifted due to the change of the acoustic wave speed on the piezoelectric substrate and the change of the interval between the reflecting grating caused by the bending of the SAW sensor, and the larger the bending angle is, the larger the degree of signal shift is; the interdigital transducer converts the offset surface acoustic wave signals into electric signals, the antenna end transmits the offset electric signals and the electric signals of the excitation source, the RF inquiry end in the wrist bone receives the offset electric signals and the electric signals of the excitation source, so that the angular displacement of each joint is obtained, and the RF inquiry end is connected with the singlechip;

the section of the special-shaped steel cable passing through the joint bending area is round, and through holes for the special-shaped steel cable to pass through and avoid bending are respectively formed in the distal finger end, the middle finger end, the proximal finger end, the metacarpal bone and the carpal bone, and are provided with chamfers;

the tail end of each special-shaped steel cable is provided with redundant length for compensating axial displacement when the corresponding joint is bent; the far finger end is provided with a through hole on one side far away from the middle finger end, a fingertip end bearing is arranged in the through hole, and the far finger end joint driving special-shaped steel cable can freely stretch out and draw back from an inner hole of the fingertip end bearing.

2. The intelligent profiled steel cable-driven five-finger dexterous hand as claimed in claim 1, which comprises

Is characterized in that: the LC oscillating circuit on the SAW sensor is a control circuit of a time-sharing multiplexing circuit, and a sine wave bias signal is synthesized after the LC oscillating circuit is overlapped with a negative bias voltage, and the sine wave bias signal is respectively connected to bases of the PNP triode and the NPN triode; when the sine wave bias signal is larger than the threshold voltage of the NPN triode, the electric signal of the LC oscillating circuit serving as an excitation source is conducted with the antenna, and the RF inquiry end receives the signal frequency of the excitation source; when the sine wave bias signal is smaller than the threshold voltage of the PNP triode, the biased signal is used as a response source signal to be conducted with the antenna, and the RF inquiry terminal receives the signal frequency of the response source; the emitter of the NPN triode is connected with a grounding resistor, the collector of the PNP triode is connected with a grounding resistor, and an antenna is connected between the grounding resistor and the emitter and the collector of the NPN triode.

3. A five-finger dexterous hand based on intelligent profiled steel cable drive as claimed in claim 1 or 2,

the method is characterized in that: the four special-shaped steel cables are respectively an oscillating joint driving special-shaped steel cable, a near-finger joint driving special-shaped steel cable, a middle finger joint driving special-shaped steel cable and a far-finger joint driving special-shaped steel cable, and the four SAW sensors are respectively a metacarpal sensor for detecting metacarpal angular displacement, a near-finger sensor for detecting near-finger angular displacement, a middle finger sensor for detecting middle finger angular displacement and a far-finger sensor for detecting far-finger angular displacement;

the wrist bone driven part is hinged with the metacarpal bone through a pin, the wrist bone driving part is driven through a swing joint driving bevel gear and a swing joint driven bevel gear which are meshed with each other, an inner hole of the swing joint driving bevel gear is rectangular, a swing joint rolling bearing is arranged on the wrist bone, the swing joint driving bevel gear is arranged on an inner hole of the swing joint rolling bearing in a supporting mode, the swing joint driving bevel gear is arranged on the other end of a swing joint driving special-shaped steel cable, opposite axial movement exists between the swing joint driving bevel gear and the swing joint driving bevel gear when the special-shaped steel cable is bent, and a key slot is formed in a nominal shaft of the swing joint driven bevel gear and is connected with the metacarpal bone in a key mode; the swing joint is driven by driving the swing joint to rotate to drive the swing joint driving bevel gear to rotate, and the swing joint driving bevel gear drives the swing joint driven bevel gear to rotate, so that the metacarpal swing is realized, and the proximal finger end, the middle finger end and the distal finger end are driven to swing; the lateral surface of the carpal bone is fixedly provided with a strip-shaped manganese steel sheet, a chute is fixed in the metacarpal bone, the chute and the manganese steel sheet on the carpal bone form a cantilever structure, and the metacarpal bone sensor is attached to the manganese steel sheet on the carpal bone and is used for measuring the bending degree of metacarpal joints;

the metacarpal bone is hinged with the proximal finger end through a proximal finger joint driven shaft, a proximal finger joint rolling bearing is arranged on the metacarpal bone, a proximal finger joint driving bevel gear is arranged in an inner hole of the proximal finger joint rolling bearing in a rectangular shape, the other end of a proximal finger joint driving special-shaped steel cable sequentially penetrates through the metacarpal bone and the inner hole of the proximal finger joint driving bevel gear to extend into the proximal finger end, the proximal finger joint driving bevel gear and the proximal finger joint driving special-shaped steel cable move relatively in the axial direction when the special-shaped steel cable bends, the proximal finger joint driving bevel gear is meshed with the proximal finger joint driven bevel gear, and a key slot is formed in a nominal shaft of the proximal finger joint driven bevel gear and is connected with the proximal finger end in a key manner; the proximal knuckle driving special-shaped steel cable is in clearance fit with the metacarpal bones and the proximal knuckle, and drives the proximal knuckle driving bevel gear to rotate by driving the proximal knuckle driving special-shaped steel cable, and drives the proximal knuckle driven bevel gear to rotate, so that the bending angle of the proximal knuckle is controlled; the upper surface of the metacarpal bone is fixedly provided with a strip-shaped manganese steel sheet, the inner part of the near finger end is fixedly provided with a chute, the chute and the manganese steel sheet on the metacarpal bone form a cantilever structure, and the near finger end sensor is attached to the manganese steel sheet on the metacarpal bone and is used for measuring the bending degree of the near finger end joint;

the middle finger joint driving bevel gear is meshed with the middle finger joint driven bevel gear, a key slot is formed in the nominal shaft of the middle finger joint driven bevel gear, and the middle finger joint driving bevel gear is connected with the middle finger through a key; the middle finger joint driving special-shaped steel cable is in clearance fit with the metacarpal bones, the proximal finger end and the middle finger, the middle finger joint driving bevel gear is driven to rotate by driving the middle finger joint driving bevel gear to drive the middle finger joint driven bevel gear to rotate, and the bending angle of the middle finger is controlled; the upper surface of the near finger end is fixedly provided with a strip-shaped manganese steel sheet, the inside of the middle finger end is fixedly provided with a chute, the chute and the manganese steel sheet on the near finger end form a cantilever structure, and the middle finger end sensor is attached to the manganese steel sheet on the near finger end and is used for measuring the bending degree of the middle finger end joint;

the middle finger end is hinged with the far finger end through a far finger joint driven shaft, a far finger joint rolling bearing is arranged on the middle finger end, a far finger joint driving bevel gear is arranged in an inner hole of the far finger joint rolling bearing in a rectangular mode, the other end of a far finger joint driving special-shaped steel cable sequentially penetrates through metacarpals, a near finger end, a middle finger end and an inner hole of the far finger joint driving bevel gear to extend into the far finger end, the far finger joint driving bevel gear and the far finger joint driving special-shaped steel cable move relatively axially when the special-shaped steel cable bends, the far finger joint driving bevel gear is meshed with the far finger joint driven bevel gear, and a key groove is formed in a nominal shaft of the far finger joint driven bevel gear to realize key connection with the far finger end; the special-shaped steel cable for driving the far-finger joint is in clearance fit with the metacarpal bone, the near-finger end, the middle finger end and the far-finger end, and the special-shaped steel cable for driving the far-finger joint drives the far-finger joint driving bevel gear to rotate, and the far-finger joint driving bevel gear drives the far-finger joint driven bevel gear to rotate, so that the bending angle of the far-finger end is controlled; the upper surface of middle finger end is fixed with bar manganese steel sheet, the distal end internal fixation has the spout, and this spout forms the cantilever structure with the manganese steel sheet on the middle finger end, the sensor pastes on the manganese steel sheet on the middle finger end for measure distal end joint bending degree.