CN120023847B - Robot five-finger smart hand - Google Patents
Robot five-finger smart hand Download PDFInfo
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- CN120023847B CN120023847B CN202510510348.3A CN202510510348A CN120023847B CN 120023847 B CN120023847 B CN 120023847B CN 202510510348 A CN202510510348 A CN 202510510348A CN 120023847 B CN120023847 B CN 120023847B
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- finger
- connecting frame
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- index
- index finger
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0233—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by chains, cables or ribbons
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
本发明公开了一种机器人五指灵巧手，涉及机器人技术领域，包括手腕组件、指连接组件及手指组件，手腕组件具有光轴；指连接组件包括摆动驱动器和依次穿设在光轴上的大拇指连接架、食指连接架、中指连接架、无名指连接架及小指连接架，摆动驱动器通过拉线绳组控制各连接架呈扇形打开或收拢；手指组件包括多节结构的大拇指本体、食指本体、中指本体、无名指本体及小指本体；其各指本体分别经第一扭簧转动设置在对应位置的连接座上。通过各部分呈扇形展开或收拢，使其具有独特的抓取优势和更大的手内操作可能性，各指本体均具有自适应性，能根据外力自动调节手指朝向，驱动少，手掌和指本体均全部欠驱动，控制简单。
The invention discloses a robot five-finger dexterous hand, which relates to the field of robot technology, including a wrist component, a finger connection component and a finger component, wherein the wrist component has an optical axis; the finger connection component includes a swing driver and a thumb connection frame, an index finger connection frame, a middle finger connection frame, a ring finger connection frame and a little finger connection frame which are sequentially arranged on the optical axis, and the swing driver controls each connection frame to open or close in a fan shape through a pull rope group; the finger component includes a thumb body, an index finger body, a middle finger body, a ring finger body and a little finger body with a multi-section structure; each finger body is respectively rotated and arranged on a connection seat at a corresponding position through a first torsion spring. By unfolding or closing each part in a fan shape, it has a unique grasping advantage and a greater possibility of in-hand operation, each finger body is adaptive, can automatically adjust the finger direction according to an external force, has less drive, and the palm and the finger body are all under-driven, and the control is simple.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot five-finger dexterous hand.
Background
The dexterous hand is used as an end tool for robot operation and execution action, is a key component for robot interaction with the environment, and the performance of the dexterous hand directly influences the overall working efficiency and applicability of the robot. In order to improve flexibility and usability of robots, smart hand designs have become a research hotspot in robot technology in recent years. In particular, as the demand for multitasking increases, how to design a smart hand with more flexibility and flexibility becomes an important direction of research.
At present, the traditional robot hand mostly adopts fixed palm structure, realizes the snatching function of flexible hand through modes such as placing steering wheel or linear drive. However, a limitation of this type of palm design is that it acts only as a load bearing member for support and drive, and the palm itself lacks independent functionality, resulting in poor adaptability and versatility for the dexterous hand.
Disclosure of Invention
The invention aims to provide a robot five-finger dexterous hand, which solves the problems of the prior art, improves flexibility and enhances the application capability of a robot in diversified tasks.
In order to achieve the above object, the present invention provides the following solutions:
The invention provides a robot five-finger dexterous hand which comprises a wrist component, a finger connecting component and a finger component, wherein a base is fixedly arranged at the upper end of the wrist component, an optical axis is fixedly arranged on the base, the finger connecting component comprises a swing driver fixedly arranged on the base, thumb connecting frames, index finger connecting frames, middle finger connecting frames, ring finger connecting frames and little finger connecting frames which are sequentially penetrated on the optical axis, the middle finger connecting frames and the optical axis are kept in a fixed relative position, the rest connecting frames can rotate around the axis of the optical axis, elastic elements are arranged between every two adjacent connecting frames and used for enabling the two connecting frames to be in a mutually distant posture around the axis of the optical axis, the swing driver is connected with each connecting frame through a pulling rope set, the swing driver can tighten the pulling rope set, so that other connecting frames except the middle finger connecting frames are in a furled state, the connecting frames can be overlapped in the axial direction of the optical axis, the middle finger connecting frames comprise structural main bodies, the middle finger connecting frames can rotate around the axes of the corresponding thumb bodies, the corresponding torsion spring bodies can rotate around the axes of the first finger connecting bodies, the second finger connecting bodies and the corresponding to the second finger connecting bodies, and the second finger connecting bodies can be respectively and correspondingly rotated around the axes of the first finger connecting bodies, and the first finger connecting bodies can be respectively and the corresponding to the first finger connecting bodies and the second finger connecting bodies can be respectively rotated around the axes, and the corresponding to the first finger connecting bodies and the corresponding bodies can be respectively rotated around the axes and the corresponding positions The ring finger body and the little finger body can be bent to grasp the object to be grasped.
The first wire coil is fixedly arranged on an output rotating shaft of the swinging driver, one ends of the first wire coil and the second wire coil are wound on the first wire coil in the same winding direction, the other end of the first wire coil sequentially penetrates through one threading hole of the middle finger connecting frame, the threading hole of the ring finger connecting frame and the threading hole of the little finger connecting frame and is knotted, and the other end of the second wire coil sequentially penetrates through the other threading hole of the middle finger connecting frame, the threading hole of the index finger connecting frame and the threading hole of the thumb connecting frame and is knotted.
Preferably, the elastic element is a second torsion spring, the second torsion spring arranged between the middle finger connecting frame and the ring finger connecting frame is arranged on the optical axis of the position in a penetrating way, one end torsion arm of the second torsion spring is fixed on the middle finger connecting frame, the other end torsion arm of the second torsion spring is fixed on the ring finger connecting frame, the second torsion spring arranged between the ring finger connecting frame and the little finger connecting frame is arranged on the optical axis of the position in a penetrating way, one end torsion arm of the second torsion spring is fixed on the ring finger connecting frame, the other end torsion arm of the second torsion spring is fixed on the little finger connecting frame, the second torsion spring arranged between the middle finger connecting frame and the index finger connecting frame is arranged on the optical axis of the position in a penetrating way, one end torsion arm of the second torsion spring is fixed on the middle finger connecting frame, the other end torsion arm of the second torsion spring is fixed on the index finger connecting frame, the second torsion spring is arranged between the index finger connecting frame and the index finger connecting frame, the second torsion spring is in a state of being connected with the second torsion spring, and the second torsion spring is in a state of being connected with the second finger connecting frame.
Preferably, in the thumb connecting frame, the index finger connecting frame, the middle finger connecting frame, the ring finger connecting frame and the little finger connecting frame, a limiter is arranged between every two adjacent connecting frames, and the limiter is used for limiting the rotation range of one connecting frame of the two adjacent connecting frames relative to the other connecting frame around the axis of the optical axis.
The thumb body is of a three-section structure, the index finger body, the middle finger body, the ring finger body and the little finger body are of two-section structures, two adjacent sections are connected through rotating shafts in a rotating mode, bases are arranged at the lower ends of the thumb body, the index finger body, the middle finger body, the ring finger body and the little finger body, the bases are respectively arranged on the corresponding connecting seats in a rotating mode around corresponding axes, in a natural state, the whole finger bodies are in a straightening state, a steering engine is fixedly arranged on the thumb connecting frame, the index finger connecting frame, the middle finger connecting frame, the ring finger connecting frame and the little finger connecting frame, a second wire coil is fixedly arranged on an output rotating shaft of the steering engine, the second wire coil is connected with the corresponding finger body through a pulling wire, and the second wire coil can enable the corresponding finger body to be bent towards the palm center through tightening the pulling wire.
The thumb connecting frame comprises a thumb swing plate and a thumb connecting installation seat, the thumb connecting installation seat is fixedly arranged on the thumb swing plate, the index finger connecting frame comprises an index finger swing plate and an index finger connecting installation seat, the index finger connecting installation seat is fixedly arranged on the index finger swing plate, the middle finger connecting frame comprises a middle finger swing plate and a middle finger connecting installation seat, the middle finger connecting installation seat is fixedly arranged on the middle finger swing plate, the ring finger connecting installation seat comprises a ring finger swing plate and a ring finger connecting installation seat, the ring finger connecting installation seat is fixedly arranged on the ring finger swing plate, the little finger connecting installation seat is fixedly arranged on the little finger swing plate, the thumb swing plate, the index finger swing plate, the middle finger swing plate and the little finger swing plate are sequentially arranged on the optical axis in a penetrating mode, the middle finger swing plate is fixedly connected with the base, and the little finger connecting installation seat is correspondingly arranged on the ring finger connecting installation seat and the small finger connecting installation seat.
Preferably, the index finger body comprises an index finger distal knuckle, an index finger proximal knuckle and the base; the first rotating groove is formed in one end of the index finger near the knuckle, the index finger far-knuckle is arranged in the first rotating groove in a rotating mode through a first rotating shaft, the second rotating groove is formed in the other end of the index finger near the knuckle, the base is arranged in the second rotating groove in a rotating mode through a second rotating shaft, the base is connected with the connecting seat in a rotating mode around a rotating axis, the first torsion spring is coaxial with the rotating axis, one end of the first torsion spring is fixedly connected with the base, the other end of the first torsion spring is fixedly connected with the connecting seat, the first rotating shaft is parallel to the axis of the second rotating shaft, the rotating axis is perpendicular to the axis of the second rotating shaft, a first pull rod is arranged in the index finger far-knuckle, two parallel and spaced second pull rods are arranged at one end of the index finger near the first rotating shaft, two parallel and spaced third pull rods are arranged at one end of the index finger near the second rotating shaft, the corresponding first pull rods are fixedly connected with the connecting seat, the first pull rods are arranged on one side of the first pull rod, the first pull rod is parallel to the second pull rod, the first pull rod is parallel to the first pull rod, the first pull rod is in a state of being far away from the first rotating shaft, the first pull rod is parallel to the first pull rod, the first pull rod is in a state of the first pull rod is connected with the second pull rod, the first pull rod is in a state of being far away from the first rotating shaft, and is perpendicular to the first pull rod is arranged on the first rotating shaft, and is far from the first rotating rod, and is far away from the first rotating rod, and is far from the first rotating rod, the other end sequentially bypasses one side, close to the palm, of the first rotating shaft, passes through a gap between the two second pull rods, passes through a gap between the two third pull rods, and winds on the second wire coil of the corresponding steering engine after bypassing one side, close to the palm, of the second rotating shaft.
Preferably, the second wire coil is located at one side of the index finger connecting frame, which is close to the palm, and a wire support is further fixedly arranged at one side of the index finger connecting frame, which is close to the palm, the wire support is provided with a wire hole, and the pulling wire from the second rotating shaft passes through the wire hole and is wound on the second wire coil.
Preferably, the wrist assembly comprises a wrist seat and a base, wherein the base is fixedly arranged on the wrist seat, and an avoidance groove is formed in the wrist seat at a position corresponding to the thumb connecting frame.
Preferably, the limiter comprises a first limiting plate, a second limiting plate and a third limiting plate, wherein the second limiting plate is used for being fixed on a connecting frame, the first limiting plate and the third limiting plate are arranged at two ends of an arc-shaped path for rotating around the axis of the optical axis of the connecting frame, and the first limiting plate and the third limiting plate are fixedly arranged on the other connecting frame.
Compared with the prior art, the invention has the following technical effects:
According to the robot five-finger dexterous hand, through the arrangement of the thumb connecting frame, the index finger connecting frame, the middle finger connecting frame, the ring finger connecting frame and the little finger connecting frame which are arranged on the optical axis in a penetrating way, all parts of the palm are abutted around the same axis, and are restored to an unfolding state by being matched with all elastic elements, a side swinging function is indirectly provided for a finger assembly during unfolding, meanwhile, the working space of the dexterous hand is increased, the degree of freedom and the flexibility are increased for the finger roots of the thumb and other fingers, more complex grabbing control can be realized, and complex and changeable application scenes are dealt with; the swing driver is connected with each connecting frame through a pull rope set, the driving of a plurality of finger connecting frames can be realized by only one swing driver, the structure of a driving system is simplified, the structure of the driving system is simplified, the palm has underdriving characteristics because only one driving device is provided, each finger body is rotatably arranged on the connecting seat around the corresponding axis through a first torsion spring, one side of the finger abdomen can automatically rotate around the corresponding axis to be attached to a gripped object, the angle and the gesture can be automatically adjusted according to the surface shape and the stress condition of the object when the finger grips the object, the self-adaptive capacity of each finger body is high, better attaching and gripping effects can be realized, the success rate and the stability of gripping are improved, after the gripped object is released, the first torsion spring can enable the finger to quickly recover to the initial state, the preparation for the next gripping action is ensured, the high efficiency and the continuity of the finger action are improved, the working efficiency of a robot is improved, the thumb body, the index finger body, the middle finger body and the little finger body adopt a multi-section structure, each finger can bend and adjust the bending and attach surfaces of the object according to the shape of the gripped object, the contact area with the object is increased, so that the grabbing stability and the grabbing reliability are improved, and objects with irregular shapes can be grabbed.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of the overall structure of a robot five-finger dexterous hand (which is a schematic of a right-hand structure) provided by the invention;
fig. 2 is a schematic structural diagram of a wrist component and a finger connecting component in the robot five-finger dexterous hand provided by the invention;
fig. 3 is a schematic structural diagram of a base and finger connecting assembly in a robot five-finger dexterous hand provided by the invention;
Fig. 4 is an exploded view of the structure of the finger-connecting assembly in the robot five-finger dexterous hand provided by the invention at a first view angle;
fig. 5 is an exploded view of the structure of the finger-connecting assembly in the robot five-finger dexterous hand provided by the invention at a second view angle;
fig. 6 is a schematic diagram of the overall structure of a thumb body in a robot five-finger dexterous hand provided by the invention;
Fig. 7 is a schematic diagram of the internal cutaway structure of the thumb body of the robot five-finger dexterous hand provided by the invention;
Fig. 8 is a schematic diagram of the overall structure of the index finger body and the related connecting parts in the robot five-finger dexterous hand;
FIG. 9 is a schematic diagram of the internal cross-sectional structure of the index finger body in the robot five-finger dexterous hand provided by the invention;
fig. 10 is a schematic diagram of a connection structure between a connection base and a base in a robot five-finger dexterous hand.
In the figure:
10-wrist assembly, 11-base, 12-optical axis, 13-wrist seat;
20-thumb connecting frame, 21-index finger connecting frame, 22-middle finger connecting frame, 23-ring finger connecting frame, 24-little finger connecting frame, 25-second torsion spring, 26-swing driver, 261-first pull wire, 262-second pull wire, 27-connecting seat and 28-wire support;
30-thumb body, 31-index finger body, 311-first pull rod, 312-first rotating shaft, 313-second pull rod, 314-third pull rod, 315-second rotating shaft, 316-fourth pull rod, 317-first tension spring, 318-second tension spring, 32-middle finger body, 33-ring finger body, 34-little finger body, 35-first torsion spring, 36-base and 37-pull wire;
40-limiter, 41-first limiting plate, 42-second limiting plate and 43-third limiting plate.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a robot five-finger dexterous hand, which aims to solve the problems existing in the prior art, improve the flexibility and enhance the application capability of a robot in diversified tasks.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Example 1
The embodiment provides a robot five-finger dexterous hand, as shown in fig. 1-10, comprising a wrist component 10, a finger connecting component and a finger component, wherein a base 11 is fixedly arranged at the upper end of the wrist component 10, an optical axis 12 is fixedly arranged on the base 11, the finger connecting component comprises a swinging driver 26, a thumb connecting frame 20, an index finger connecting frame 21, a middle finger connecting frame 22, a ring finger connecting frame 23 and a little finger connecting frame 24 which are sequentially penetrated on the optical axis 12, the lower end of the middle finger connecting frame 22 is fixedly connected with the base 11, the thumb connecting frame 20, the index finger connecting frame 21, the ring finger connecting frame 23 and the little finger connecting frame 24 can rotate around the axis of the optical axis 12, and the thumb connecting frame 20, An elastic element is arranged between each two adjacent ones of the index finger connecting frame 21, the middle finger connecting frame 22, the ring finger connecting frame 23 and the little finger connecting frame 24, the elastic element is used for enabling the two connecting frames connected with the elastic element (namely, the two adjacent ones are respectively provided with the thumb connecting frame 20 and the index finger connecting frame 21, the index finger connecting frame 21 and the middle finger connecting frame 22, and the like, and the corresponding positions are the same and are not explained any more), and the swing driver 26 is fixedly arranged on the base 11, the output end of the swing driver 26 is wound with a stay wire rope group, and the thumb connecting frame 20, the index finger connecting frame 21, the left and right positions are the same and are not explained any more), The middle finger connecting frame 22, the ring finger connecting frame 23 and the little finger connecting frame 24 are provided with corresponding threading holes, the stay wire rope group is arranged in each threading hole in a penetrating way, the output end of the swinging driver 26 rotates and tightens the stay wire rope group to enable the thumb connecting frame 20, the index finger connecting frame 21, the ring finger connecting frame 23 and the little finger connecting frame 24 to rotate around the axis of the optical axis 12 to a position close to the middle finger connecting frame 22 (namely, in a furled state, at the moment, each connecting frame can be overlapped in the axis direction of the optical axis 12, namely, on the projection of the axis direction of the optical axis 12, the thumb connecting frame 20, the index finger connecting frame 21, the middle finger connecting frame 22, the ring finger connecting frame 23 and the little finger connecting frame 24 are provided with a follow-up region to enable all finger bodies to be close to each other in a fan shape), the finger assembly comprises a thumb body 30 with a multisection structure, The thumb body 30, the index finger body 31, the middle finger body 32, the ring finger body 33 and the little finger body 34 are correspondingly arranged on the thumb connecting frame 20, the index finger connecting frame 21, the middle finger connecting frame 22, the ring finger connecting frame 23 and the little finger connecting frame 24 respectively through one connecting seat 27, and the thumb body 30, the index finger body 31, the middle finger body 32, the ring finger body 33 and the little finger body 34 are respectively arranged on the corresponding connecting seats 27 through the first torsion spring 35 in a rotating way around the corresponding axes, and one side of each abdomen (namely the thumb body 30, The index finger body 31, the middle finger body 32, the ring finger body 33 and the little finger body 34) can rotate around the corresponding axes to attach to the object to be grasped, and each first torsion spring 35 can restore the initial state around the corresponding axes after releasing, and the thumb body 30, the index finger body 31, the middle finger body 32, the ring finger body 33 and the little finger body 34 can bend to grasp the object to be grasped.
Through the arrangement of the thumb connecting frame 20, the index finger connecting frame 21, the middle finger connecting frame 22, the ring finger connecting frame 23 and the little finger connecting frame 24 which are arranged on the optical axis 12 in a penetrating way, all parts of the palm are abutted around the same axis, and are restored to an unfolding state by being matched with all elastic elements, a side swinging function is indirectly provided for the finger assembly during unfolding, meanwhile, the working space of the dexterous hand is increased, the degree of freedom and the flexibility are increased for the finger roots of the thumb and other fingers, more complex grabbing control can be realized, and complex and changeable application scenes are dealt with; the swing driver 26 is connected with each connecting frame through a pull rope set, the driving of a plurality of finger connecting frames can be realized by only one swing driver 26, the structure of a driving system is simplified, as only one driving is realized, the palm has underdriving characteristics, each finger body is rotatably arranged on the connecting seat 27 around the corresponding axis through the first torsion spring 35, one side of the finger abdomen can automatically rotate around the corresponding axis to be attached to a gripped object, the angle and the gesture can be automatically adjusted according to the surface shape and the stress condition of the object when the finger is gripped, the self-adaptive capacity of each finger body is high, the better attaching and gripping effect can be realized, the gripping success rate and the stability are improved, after the gripped object is released, the first torsion spring 35 can enable the finger to quickly recover to the initial state, the preparation for the next gripping action is ensured, the high efficiency and the continuity of the finger action are improved, the working efficiency of a robot is improved, the thumb body 30, the index finger body 31, the ring finger body 33 and the little finger body 34 adopt a multi-section structure, the finger body can be attached to the curved surface of the gripped object according to the shape of each finger, the contact area with the object is increased, so that the grabbing stability and the grabbing reliability are improved, and objects with irregular shapes can be grabbed.
Wherein the relevant settings for the wrist assembly 10 are described:
In the alternative of this embodiment, as shown in fig. 1 and 2, preferably, the wrist assembly 10 includes a wrist seat 13 and a base 11, the base 11 is fixedly disposed on the wrist seat 13, and an avoidance groove is disposed on the wrist seat 13 corresponding to the thumb connecting frame 20.
Specifically, the base 11 is fixed to the wrist rest 13 by bolts.
Wherein, related setting instructions for the finger connection assembly:
specifically, the thumb connecting frame 20, the index finger connecting frame 21, the middle finger connecting frame 22, the ring finger connecting frame 23 and the little finger connecting frame 24 are connected by elastic elements (namely, second torsion springs 25), each part of the two parts forms a fan-shaped palm through the optical axis 12, and two ends of the optical axis 12 are respectively fixed through optical axis 12 seats.
In the alternative of the present embodiment, preferably, as shown in fig. 1 to 5, the elastic element is a second torsion spring 25 (only the middle finger connecting frame 22 and the ring finger connecting frame 23 are shown with the second torsion spring 25 in the figure, and the other positions are arranged in the same manner, so that redundant description is omitted); the second torsion spring 25 between the middle finger connecting frame 22 and the ring finger connecting frame 23 is penetrated on the optical axis 12 at the position (namely, the corresponding position, namely, the optical axis 12 between the middle finger connecting frame 22 and the ring finger connecting frame 23; the explanation of the relevant position is the same as that of the position, and the relevant position is not repeated), one end torsion arm of the second torsion spring 25 is fixed on the middle finger connecting frame 22, the other end torsion arm of the second torsion spring 25 is fixed on the ring finger connecting frame 23, the second torsion spring 25 between the ring finger connecting frame 23 and the ring finger connecting frame 24 is penetrated on the optical axis 12 at the position, one end torsion arm of the second torsion spring 25 is fixed on the ring finger connecting frame 23, the other end torsion arm of the second torsion spring 25 is fixed on the optical axis 12 at the position, the second torsion spring 25 is penetrated on the optical axis 12 between the middle finger connecting frame 22 and the ring finger connecting frame 21, the other end torsion arm of the second torsion spring 25 is fixed on the ring finger connecting frame 21, the second torsion spring 25 is naturally connected on the second torsion spring connecting frame 20, the second torsion spring 25 is penetrated on the second torsion spring connecting frame 20, the second torsion spring 25 is naturally connected on the second torsion spring connecting frame 20, the second torsion spring 25 is penetrated on the second torsion frame 20, the second torsion frame is naturally connected on the second torsion frame, and is finally, and is connected on the second torsion frame, and is on the second torsion frame and is on the person The ring finger connecting frame 23 and the little finger connecting frame 24 are in an unfolded state as a whole.
In the alternative of this embodiment, as shown in fig. 2 to 5, preferably, in the thumb connecting frame 20, the index finger connecting frame 21, the middle finger connecting frame 22, the ring finger connecting frame 23 and the little finger connecting frame 24, a limiter 40 is disposed between each two adjacent connecting frames, and the limiter 40 is used for limiting the rotation range of one connecting frame of the two adjacent connecting frames relative to the other connecting frame around the axis of the optical axis 12.
In the alternative of this embodiment, as shown in fig. 3 to 5, preferably, the limiter 40 includes a first limiting plate 41, a second limiting plate 42 and a third limiting plate 43, where the second limiting plate 42 is fixed on a connecting frame, two ends of an arc path of rotation of the connecting frame around the axis of the optical axis 12 are provided with the first limiting plate 41 and the third limiting plate 43 (i.e. the first limiting plate 41 and the second limiting plate 42 are respectively used for limiting two limit positions of rotation of the second limiting plate 42 around the axis of the optical axis 12), and the first limiting plate 41 and the third limiting plate 43 are both fixedly arranged on another connecting frame (where two connecting frames refer to any two adjacent connecting frames, such as the middle finger connecting frame 22 and the ring finger connecting frame 23, and other related positions are all the same meaning and are not repeated herein).
In the alternative of this embodiment, as shown in fig. 2-5, it is preferable that the stay cord set includes a first stay 261 and a second stay 262, one threading hole is formed on each of the thumb connecting frame 20, the index finger connecting frame 21, the ring finger connecting frame 23 and the little finger connecting frame 24, two threading holes are formed on each of the middle finger connecting frame 22, a first wire coil is fixedly arranged on an output rotating shaft of the swinging driver 26 (a steering engine), one ends of the first stay 261 and the second stay 262 are wound on the first wire coil in the same winding direction, the other end of the first stay 261 sequentially passes through one threading hole of the middle finger connecting frame 22, the threading hole of the ring finger connecting frame 23 and the threading hole of the little finger connecting frame 24 and knots, and the other end of the second stay 262 sequentially passes through the other threading hole of the middle finger connecting frame 22, the threading hole of the index finger connecting frame 21 and the threading hole of the little finger connecting frame 20 and knots (the swinging driver 26 is driven to change the stay length), so that when the first stay 261 and the second stay 261 are released, the second stay 261, the second stay wire 262, the second finger connecting frame 22, the second finger connecting frame 25 and the little finger connecting frame 25 are stretched between the two palm connecting frames.
In the alternative of this embodiment, as shown in fig. 1 to 7, preferably, the thumb connecting frame 20 includes a thumb swing plate and a thumb connecting mount (the thumb swing plate and the thumb connecting mount are integrally formed, the lower index finger connecting frame 21, the middle finger connecting frame 22, the ring finger connecting frame 23 and the little finger connecting frame 24 are integrally formed, wherein the connecting mounts corresponding to the index finger connecting frame 21, the middle finger connecting frame 22, the ring finger connecting frame 23 and the little finger connecting frame 24 are sequentially arranged), the thumb connecting mount is fixedly arranged on the thumb swing plate, the index finger connecting frame 21 includes an index finger swing plate and an index finger connecting mount, the index finger connecting mount is fixedly arranged on the index finger swing plate, the middle finger connecting frame 22 includes a middle finger swing plate and an index finger connecting mount, the middle finger connecting mount is fixedly arranged on the middle finger swing plate, the ring finger connecting frame 23 includes a ring finger swing plate and a ring finger connecting mount, the little finger connecting mount is fixedly arranged on the ring finger swing plate, the little finger connecting mount 24 includes a little finger swing plate and a little finger connecting mount, the little finger connecting mount is fixedly arranged on the small finger swing plate, the small finger connecting mount is fixedly arranged on the small finger connecting mount, and the small finger connecting mount is fixedly connected to the small finger connecting mount, and the small finger connecting mount is fixedly arranged on the small finger connecting mount, and the small finger connecting mount is sequentially connected to the small finger connecting mount, and the small finger connecting mount 11.
Wherein, related setting instructions for the finger assembly:
In the alternative of this embodiment, as shown in fig. 1 and 6-9, it is preferable that the thumb body 30 has a three-section structure, the index finger body 31, the middle finger body 32, the ring finger body 33 and the little finger body 34 have two-section structures, the adjacent two sections are rotatably connected through a rotation shaft, the lower ends of the thumb body 30, the index finger body 31, the middle finger body 32, the ring finger body 33 and the little finger body 34 have bases 36, each base 36 is rotatably disposed on a corresponding connection seat 27 around a corresponding axis, in a natural state, the whole finger bodies are in a straightened state, a steering engine is fixedly disposed on the thumb connection frame 20, the index finger connection frame 21, the middle finger connection frame 22, the ring finger connection frame 23 and the little finger connection frame 24, a second wire coil is fixedly disposed on an output rotation shaft of the steering engine, the second wire coil is connected with the corresponding finger body through a pulling wire 37, and the second wire coil can make the corresponding finger body in a state of bending toward the palm through a tightening wire 37.
Specifically, the thumb body 30 has a three-section structure, i.e. more sections than the index finger body 31, and the principle of controlling bending and restoring is the same, while the index finger body 31, the middle finger body 32, the ring finger body 33 and the little finger body 34 have the same principle of controlling bending and restoring, and the lengths of the distal knuckles of the bodies are not consistent. The finger root of the thumb body 30 and the finger root corresponding positions of the remaining four bodies are adaptive.
In the alternative of the present embodiment, as shown in fig. 8 to 10, preferably, the index finger body 31 includes an index finger distal knuckle, an index finger proximal knuckle, and a base 36; a first rotating groove is formed in one end of the index finger near knuckle, and the index finger far knuckle is rotatably arranged in the first rotating groove through a first rotating shaft 312; the other end of the index finger near the knuckle is provided with a second rotating groove, the base 36 is rotatably arranged in the second rotating groove through a second rotating shaft 315, and the base 36 is rotatably connected with the connecting seat 27 around a rotating axis (the connecting seat 27 is fixed on a corresponding steering engine, the connecting seat 27 is provided with a placing groove, and a first torsion spring 35 is placed in the placing groove; the base 36 is provided with an accommodating groove corresponding to the accommodating groove, the connecting seat 27 and the base 36 are respectively provided with a through hole for inserting and fixing the end part of the first torsion spring 35), the first torsion spring 35 is coaxial with the rotation axis, one end of the first torsion spring 35 is fixedly connected with the base 36, the other end of the first torsion spring 35 is fixedly connected with the connecting seat 27, the first rotating shaft 312 is parallel with the axis of the second rotating shaft 315, the rotation axis is perpendicular to the axis of the second rotating shaft 315, a first pull rod 311 is arranged in the index finger far knuckle, two parallel and spaced second pull rods 313 are arranged at one end, close to the first rotating shaft 312, of the index finger near knuckle, two parallel and spaced third pull rods 314 are arranged at one end, close to the second rotating shaft 315, of the index finger near knuckle, a fourth pull rod 316 is arranged on the corresponding connecting seat 27, the axes of the first pull rod 311, each second pull rod 313 and each third pull rod 314 are parallel with the axis of the first rotating shaft 312, and the axis of the fourth pull rod 316 can be parallel with the axis of the second rotating shaft 315 in a natural state, the first pull rod 311 and the first pull rod 313 are connected with the first pull rod 313, the first tension spring 317 is positioned at one side of the first rotating shaft 312 far from the palm, one second tension spring 318 is connected to one third pull rod 314 and one fourth pull rod 316, the second tension spring 318 is positioned at one side of the second rotating shaft 315 far from the palm, one end of the pulling wire 37 is fixed on the first pull rod 311, the other end of the pulling wire sequentially bypasses one side of the first rotating shaft 312 near the palm and passes through a gap between the two second pull rods 313, then passes through a gap between the two third pull rods 314 and then passes through one side of the second rotating shaft 315 near the palm and then winds on a second wire coil of a corresponding steering engine.
In the alternative of the present embodiment, as shown in fig. 1 and 2, preferably, the second wire coil is located on the side of the index finger connecting frame 21 close to the palm, and the side of the index finger connecting frame 21 close to the palm is also fixedly provided with a wire support 28, the wire support 28 has a wire hole, and the pulling wire 37 from the second rotating shaft 315 is wound on the second wire coil through the wire hole.
Wherein, regarding other relevant settings, the following description:
specifically, the pull wire drive is adopted, the cost is low, fingers and palms are underdriven, the control is simple, the problems of complicated structure and overlarge weight which are common in the traditional design are avoided, the simplicity and the comfortableness of the whole design are kept, the comfortableness and the operation efficiency in use are improved by reducing the space occupation of a driver, and the relative rotation is formed between the connecting seat 27 and the base 36 through the first torsion spring 35, so that each finger has self-adaptability, the orientation of the finger can be automatically adjusted according to external force, and the grabbing capacity and the working space are improved.
Specifically, the embodiment is an illustration provided by taking a right hand as an example, and the structure of the left hand and the structure of the right hand are symmetrically arranged.
The principles and embodiments of the present invention have been described in detail with reference to specific examples, which are provided herein to facilitate understanding of the principles and embodiments of the present invention and to provide further advantages and practical applications for those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (10)
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| CN110842962A (en) * | 2019-12-02 | 2020-02-28 | 深圳忆海原识科技有限公司 | 32 degrees of freedom bionic compliant endoskeleton dexterous hand |
| CN114603589A (en) * | 2022-04-21 | 2022-06-10 | 上海交通大学医学院附属瑞金医院 | A bionic manipulator for rehabilitation therapy |
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| US7361197B2 (en) * | 2005-04-01 | 2008-04-22 | Rex Clayton Winfrey | Prosthetic hand having a conformal, compliant grip and opposable, functional thumb |
| CN116021536B (en) * | 2023-02-27 | 2024-07-16 | 华中科技大学 | High personification mechanical dexterous finger cooperation side swinging device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110842962A (en) * | 2019-12-02 | 2020-02-28 | 深圳忆海原识科技有限公司 | 32 degrees of freedom bionic compliant endoskeleton dexterous hand |
| CN114603589A (en) * | 2022-04-21 | 2022-06-10 | 上海交通大学医学院附属瑞金医院 | A bionic manipulator for rehabilitation therapy |
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