CN101244563A - A kind of human-like robot hand for home service - Google Patents

Abstract

The invention discloses a human-like home service robot hand, which mainly includes a wrist, a palm and a finger mechanism mechanically connected thereto. On one side of the palm, the little finger, the middle finger and the index finger are arranged side by side and are mechanically connected with pins and coincide with the installation axis. One finger is driven by a linear motor and installed on the support frame inside the palm; the other side of the palm is equipped with interconnected thumb, thumb transmission mechanism and thumb position adjustment mechanism, and the thumb motor is installed on the thumb to form the thumb drive mechanism. Drive the thumb, the thumb position adjustment mechanism drives the thumb to rotate through the thumb position adjustment motor, and continuously adjusts the angle of the thumb, so that the angle formed by the thumb surface and the other three finger surfaces can change between 0 and 90 degrees, adding an imitation The grasping mode of the robotic hand for human-handed home service expands the grasping adaptability. The invention is small in size and light in weight, and can replace astronauts to perform some complicated operations in the harsh and dangerous space environment.

Description

A kind of human-like robot hand for home service

Technical field: The present invention relates to the field of anthropomorphic robots, in particular to a human-like robot hand for home service.

Background technology: On the one hand, the rapid development of information and the accelerated pace of life and work require people to be freed from the complicated family work; The demand for services is also more urgent, and after years of family planning policy in China, a population inverted pyramid structure has been formed. The aging family structure will inevitably increase the pressure on more young families, and the accelerated pace of life and work pressure, It also makes young people have no more time to accompany their children, and a large market for home service robots will be brewed accordingly.

Contemporary robot experts have reached a consensus: as an inevitable extension of computer technology and modern IT comprehensive technology, home service robot technology may follow "Moore's Law" ("Moore's Law" is based on Gordon Moore, the founder of Intel Corporation) Named after. In an article in 1965, Moore believed that the power of future processors would double every 18 months. In the past few decades, the speed of development of computer microprocessors and many new technologies has been Follow the laws of "Moore's Law") and achieve breakthroughs at unprecedented speed. By that time, the home service robot market guaranteed by technology will become the third product after home appliances and personal computers to enter the home at a super-scale speed.

Scientists and research institutions in countries such as Germany and Japan predict that in the next few decades, the biggest change in family life will be the popularity of robots. Home service robots will play an increasingly important role in daily family life and take on more and more tasks: they can become "nanny" at home, take care of children, learn and play, assist the elderly in dressing and bathing, and remind patients to take medicine on time; Undertake many housework such as serving tea and pouring water, fetching newspapers, tidying up tableware, taking out garbage, vacuuming, cleaning windows, etc.; it can be used to control home appliances, anti-theft monitoring, security checks, answering calls, etc.; it can also be used to collect data from the Internet. News and other information, etc. work and so on.

In order to enable most of the home service robots to perform the above tasks, a universal gripper similar to a human hand must be given to the end of the robot, that is, a dexterous "hand" like a human hand.

In addition, with the increasing application of robots and the continuous improvement of automation levels, especially in underwater and dangerous operating environments (such as nuclear waste removal in nuclear power plants), it is also urgent to give the end of the robot a universal grip similar to that of a human hand. In order to adapt to objects of any shape in dangerous, complex and unstructured environments to complete various complex and subtle manipulation tasks, the robotic multi-fingered dexterous hand was proposed to meet this need. Its research is an international frontier topic. With the deepening of research and the continuous advancement of technology, the use of robotic grippers is becoming more and more extensive. In addition to being used on home service robots, it can also replace astronauts to perform some complex operations in harsh and dangerous space environments; it It can provide a good test platform for scientific research workers in artificial intelligence, remote operation and grasping planning; it can also be the hand of some ground robots, engaged in detection, sampling, assembly and repair operations in nuclear, biological and chemical environments. .

Humanoid robots are in a period of rapid development, and countries all over the world have developed various humanoid robots that can be used in practice. Just like the effect of human hands on humans, the gripper of humanoid robots is one of the key components of humanoid robots. Various humanoid robot grippers or multi-fingered dexterous hands currently developed can perform dexterous grasping and operation, but have many driving components and poor load capacity; or special grippers with strong load capacity and good grasping stability , but poor ability to adapt to different objects.

In 2006, the Hefei Institute of Physical Science, Chinese Academy of Sciences disclosed a multi-purpose shape-adaptive robot gripper and working method, mainly including a frame and a mechanical Connected finger mechanism, drive split transmission mechanism and finger position adjustment mechanism, use three torque motors to drive three fingers respectively, use a stepping motor to adjust the angle of fingers, use under-actuated finger mechanism, and use the method of independently selecting the appropriate mode Work. This invention expands the application space of robots to a certain extent, but there are still some shortcomings:

1. The drive and transmission mechanism of the finger is driven by a gear mechanism, which is large in size and occupies about 1/2 of the space of the entire gripper mechanism;

2. The three fingers are evenly distributed along the edge of the circular palm. The size of the object that the claw can grasp is limited by the size of the circular palm. To grasp a large-sized object, the overall size of the claw must be large ;

3. The claws do not imitate human hands in terms of structure and shape, so they do not look beautiful enough, and are not suitable for use on home service robots, especially humanoid robots;

4. The mass of the entire gripper system is relatively large, about 1.8kg.

Summary of the invention: the purpose of the present invention is to address the deficiencies of the prior art, in order to meet the urgent needs of home service robots and some special environments for humanoid robot grippers, such as home service robots need it to have Human-like robot grippers, in addition, robots engaged in detection, sampling, assembly, repair and other operations in nuclear, biological and chemical environments also need to have human-like robot grippers. Using the research method of bionics, imitating the physiological structure of the human hand suitable for grasping, a kind of humanoid home service robot hand that can be actually used on the humanoid robot is proposed. It is characterized by the humanoid structure, the device has many fingers, Many joint degrees of freedom, high transmission mechanism integration, few driving components, easy control, large output, stable grasping, good adaptability to the shape of the grasped object, small size, light weight, and the overall structure imitates human hands, making Humanoid robots can really work in practice.

The technical solution of the present invention is: a robotic hand for home service that imitates human hands, including a palm and a wrist connected to it in dynamic fit, a finger mechanism, a thumb position adjustment mechanism and a finger drive transmission mechanism;

The finger mechanism includes the little finger and the middle finger with the same mechanical structure. The joints of the middle finger are longer than the joints of the little finger and the index finger. There is a set of underactuated envelope grabbing mechanisms for envelope grabbing on the little finger and middle finger, wherein:

On the palm of the little finger, the first joint of the little finger, the second joint of the little finger, and the third joint of the little finger are arranged in sequence, and the first joint of the little finger, the second joint of the little finger, and the third joint of the little finger are arranged in sequence on the top of the little finger envelope push rod and the little finger envelope. The horizontal bar and the little finger envelope bending rod are respectively connected with the pin through the bush hole at the end, and the bush hole under the little finger envelope push rod is connected with the little finger drive push rod and the little finger motor sequentially through the pin;

The middle finger is equipped with the first joint of the middle finger, the second joint of the middle finger, and the third joint of the middle finger in turn on the palm, the first joint of the middle finger, the second joint of the middle finger, and the third joint of the middle finger. The cross bar and the middle finger enveloping bending rod are respectively dynamically connected with the pin through the bushing hole at the end, and the bushing hole under the middle finger enveloping push rod is connected with the middle finger driving push rod and the middle finger motor in turn through the pin;

The finger mechanism also includes the index finger and thumb with the same mechanical structure and the same size of each part. The index finger and thumb are integrated with an under-actuated envelope grabbing mechanism and a parallelogram precise pinching mechanism. The function of web crawling should also have the function of realizing precise pinching, among which:

The first joint of the index finger, the second joint of the index finger, and the third joint of the index finger are placed on the palm of the index finger in turn, and the first joint of the index finger, the second joint of the index finger, and the third joint of the index finger are placed on the top of the index finger enveloping push rod and index finger pinching mechanism in turn. Resisting rod, index finger enveloping cross bar, index finger pinching mechanism cross bar, index finger enveloping bending bar, index finger pinching mechanism vertical bar, the first joint of the index finger, the second joint of the index finger, and the third joint of the index finger pass through the bushing at the end respectively The hole is connected dynamically with the pin and the small plate of the index finger pinching mechanism and statically connected with the index finger spring installation pendant, and the sleeve hole under the index finger envelope push rod is connected with the index finger drive push rod and the index finger motor in sequence through the pin;

The first joint of the thumb, the second joint of the thumb, and the third joint of the thumb are arranged in sequence on the thumb, and the envelope push rod of the thumb and the resisting rod of the thumb pinching mechanism are arranged on the first joint of the thumb, the second joint of the thumb and the third joint of the thumb in sequence. , the thumb enveloping cross bar, the thumb pinching mechanism cross bar, the thumb enveloping bending bar, the thumb pinching mechanism vertical bar, the first joint of the thumb, the second joint of the thumb and the third joint of the thumb pass through the bushing and the pin at the end respectively 1. The small plate of the thumb pinching mechanism is connected dynamically with the thumb and statically connected with the spring installation pendant, and the sleeve hole under the thumb envelope push rod is connected with the thumb drive push rod and the thumb motor in sequence through pins;

Pins include little finger short pins, little finger long pins, middle finger short pins and middle finger long pins, index finger short pins, index finger long pins, thumb short pins, thumb long pins;

The finger mechanism is semi-active and the soft finger surface is a contact force sensor. The position sensor is fixedly connected to the palm, and the finger drives the transmission mechanism, which is the execution part used to complete the grasping of the robot hand. There are multiple driving transmission mechanisms in the center. When the finger mechanism moves, the position sensor is triggered and a pulse signal is sent to the computer through the acquisition card. The computer gives a control signal to stop or rotate the motor, especially:

a. The wrist is equipped with a flange structure, which is used to connect the robot hand and the robotic arm of the robot into a whole. There is a hole for wiring in the center of the end of the wrist, and the mechanical connection between the wrist and the upper palm is fixed with screws;

b. The palm imitates the design of the human palm. The shape is a hollow cuboid box without a cover. The finger mechanism is installed on the palm, and the little finger, middle finger, and index finger are installed side by side on the palm and mechanically connected by pins. The little finger, middle finger, and The installation axes of the index fingers coincide, each finger is driven by a motor and installed on the support frame inside the palm, and the other side of the palm is installed with interconnected thumb, thumb transmission mechanism and thumb position adjustment mechanism;

c. The finger mechanism includes the little finger, middle finger, index finger and thumb mechanically connected by special nuts, and the thumb position adjustment mechanism. There is a thumb motor on the thumb, and the support frame and the thumb frame are mechanically connected to the palm through the pins through the thumb motor installation;

The thumb includes the thumb pinching mechanism resisting rod and the index finger pinching mechanism resisting rod. Its effect is to make the finger surface of the third joint of the thumb and the third joint of the index finger evenly The plane perpendicular to the two installation axes passing through the thumb and forefinger, thus ensuring the realization of precise pinching with a robotic hand for home service that mimics human hands;

The little finger, middle finger, index finger, and thumb are respectively equipped with four stepper motors inside the palm, three of which are identical, respectively driving the little finger, middle finger, and index finger, and the other is a thumb motor; three identical motors constitute three drive The transmission mechanism is used to drive the little finger, middle finger and index finger respectively. The thumb motor constitutes the thumb drive mechanism to drive the thumb. After the three linear motors and one thumb motor work, the respective drive transmission mechanisms make the respective transmission push rods and The envelope push rods rotate and reciprocate along their respective guide rails, at this time, the finger mechanism is in different states of grasping, pinching or releasing;

The thumb position adjustment mechanism is used to adjust the angle formed between the thumb and the palm surface, including the thumb position adjustment motor, the support shaft, two rotating supports, two keys, two bearings, the overall mechanism of the thumb, and the two rotating supports include The first rotary support and the second rotary support, the two keys include a first key and a second key, and the two bearings include a first bearing and a second bearing;

The thumb position adjustment motor is mechanically connected to the second rotary support through the second key, the two ends of the support shaft are mechanically fixed to the motor installation support frame in the palm through miniature bearings, and the support shaft and the first rotary support are fixed through the first key Mechanical connection, the first rotary support, the second rotary support and the thumb frame are mechanically connected by screws, and the thumb position adjustment motor is mechanically connected to the palm by screws;

After the thumb position adjustment motor is electrified, the thumb frame is driven by the thumb transmission mechanism and the rotating support. The thumb position adjustment motor drives the forward and reverse rotation of the thumb overall mechanism. The rotation angle of the thumb position adjustment motor is controlled by the number of pulses to control the thumb and The palms are angled to create different grasping patterns for the finger mechanism.

As a further improvement to the prior art, the thumb position adjustment mechanism can be adjusted and rotated along its installation axis, and the angle range between the thumb and the palm can be adjusted from 0 to 90 degrees;

Twelve finger surfaces of the little finger, middle finger, index finger and thumb are equipped with contact force sensors, or proximity sensors, or temperature sensors, or pressure sensors, or slip sensors;

The joints of the middle finger are 2-4mm longer than the joints of the little finger and index finger;

The little finger motor, middle finger motor, index finger motor and thumb motor use Haydn E21H4N-05-017 linear motors, and the thumb position adjustment motor uses 20 series stepping motors;

The mechanical connection between the wrist and the palm may be bolted or welded;

Special nuts include small finger special nuts, middle finger special nuts, index finger special nuts and thumb special nuts;

Guide rails include small guide rail, middle guide rail, index guide rail and thumb guide rail.

Beneficial effects of the present invention: the disadvantages of "a multi-purpose shape-adaptive robot gripper and working method" in the prior art are: the drive transmission mechanism of the finger is driven by a gear mechanism, and the size is relatively large, occupying the entire The space of the claw mechanism is about 1/2; the three fingers are evenly distributed along the edge of the circular palm, and the size of the object that the claw can grasp is limited by the size of the circular palm. The overall size of the gripper is very large; the gripper does not imitate the human hand in terms of structure and shape, so it does not look beautiful and is not suitable for use on home service robots, especially humanoid robots; the quality of the entire gripper system is relatively low. Big, about 1.8kg.

Compared with the prior art, the technical solution of the present invention discloses a human-like home service robot hand. By studying the physiological structure of the human hand, the human-like structure is adopted to absorb some advantages of the human hand and beautify the general robot gripper. Appearance, a humanoid home service robot hand mainly includes wrist, palm and finger mechanism mechanically connected with it, four drive transmission mechanisms and thumb position adjustment mechanism, etc., especially:

a. The wrist is equipped with a flange structure, which is used to connect the robot hand and the robotic arm of the robot into a whole. There is a hole for wiring in the center of the end of the wrist, and the mechanical connection between the wrist and the upper palm is fixed with screws;

b. The palm imitates the design of the human palm. The shape is a hollow cuboid box without a cover. The finger mechanism is installed on the palm, and the little finger, middle finger, and index finger are installed side by side on the palm and mechanically connected by pins. The little finger, middle finger, and The installation axes of the index fingers coincide, each finger is driven by a motor and installed on the support frame inside the palm, and the other side of the palm is installed with interconnected thumb, thumb transmission mechanism and thumb position adjustment mechanism;

c. The finger mechanism includes the little finger, middle finger, index finger and thumb mechanically connected by special nuts, and the thumb position adjustment mechanism. There is a thumb motor on the thumb, and the support frame and the thumb frame are mechanically connected to the palm through the pins through the thumb motor installation;

The function of the thumb pinching mechanism resisting rod and the index finger pinching mechanism resisting rod is to make the finger surface of the third joint of the thumb and the finger surface of the third joint of the index finger perpendicular to the thumb when the pinching mechanism is working. and the plane of the two installation axes of the index finger, so as to ensure the realization of precise pinching with the robotic hand for home service that mimics the human hand;

The little finger, middle finger, index finger and thumb are respectively equipped with four stepper motors inside the palm, three of which are the same, and are linear motors driving the little finger, middle finger and index finger, and the other is a thumb motor. Three identical linear motors form a three-step motor. There are three driving transmission mechanisms, which are respectively used to drive the little finger, middle finger and index finger. The thumb motor constitutes the thumb driving mechanism to drive the thumb. After the three linear motors and one thumb motor work, the respective driving transmission mechanisms make the respective transmission push The rod and the envelope push rod rotate and reciprocate along their respective guide rails, at this time the finger mechanism is in different states of grasping, pinching or releasing;

The thumb position adjustment mechanism is used to adjust the angle formed between the thumb and the palm surface, including the thumb position adjustment motor, the support shaft, two rotating supports, two keys, two bearings, the overall mechanism of the thumb, and the two rotating supports include The first rotary support and the second rotary support, the two keys include a first key and a second key, and the two bearings include a first bearing and a second bearing;

The thumb position adjustment motor is mechanically connected to the second rotary support through the second key, the two ends of the support shaft are mechanically fixed to the motor installation support frame in the palm through miniature bearings, and the support shaft and the first rotary support are fixed through the first key Mechanical connection, the first rotary support, the second rotary support and the thumb frame are mechanically connected by screws, and the thumb position adjustment motor is mechanically connected to the palm by screws;

After the thumb position adjustment motor is electrified, the thumb frame is driven by the thumb transmission mechanism and the rotating support. The thumb position adjustment motor drives the forward and reverse rotation of the thumb overall mechanism. The rotation angle of the thumb position adjustment motor is controlled by the number of pulses to control the thumb and The palms are angled to create different grasping patterns for the finger mechanism.

This invention uses a linear motor to drive the transmission mechanism. The rotating shaft of this motor is a screw rod. By cooperating with a special nut on the screw rod, the finger mechanism can be directly driven, instead of using the stepping motor to drive the gear mechanism in the prior art. In the way of re-driving the screw, compared with the three fingers in the gripper of a multi-purpose shape-adaptive robot in the prior art, one screw can be saved for the little finger, middle finger, and index finger, and a total of three screw rods can be saved. Moreover, the linear motor adopted is smaller in quality and size than the motor used in the prior art, which simplifies the transmission mechanism of the hand gripper developed in the prior art, making a kind of human-like home service robot hand light in weight and compact in structure, and the whole robot hand The mass is about 1kg. In addition, a thumb position adjustment motor is used to drive the thumb to rotate, and the angle of the thumb is continuously adjusted, so that the angle formed by the thumb surface and the other three finger surfaces can be changed from 0 to 90 degrees, and a machine for home service that imitates human hands is added. The grasping mode of the hand expands the grasping adaptability.

These advantages make a kind of human-like home service robotic hand not only meet the requirements of home service robots, but also can be used in other fields, and can also replace astronauts to perform some complex operations in harsh and dangerous space environments. A human-like robot hand for home service can provide a good test platform for scientific research workers in artificial intelligence, teleoperation, and grasping planning; it can also be the hand of some ground robots, engaged in Detection, sampling, assembly, repair operations, etc.

Description of drawings:

Fig. 1 is the front structural view of the overall model of the present invention.

Fig. 2 is the (after removing the rear cover) structural diagram of the overall model back side of the present invention.

Fig. 3 is a structural diagram of the wrist of the present invention.

Fig. 4 is a structure diagram of the little finger of the present invention.

Fig. 5 is a structure diagram of the middle finger of the present invention.

Fig. 6 is a structure diagram of the index finger of the present invention.

Fig. 7 is a structural diagram of the thumb of the present invention.

Fig. 8 is a diagram of the finger drive transmission mechanism of the present invention.

Fig. 9 is a diagram of the thumb position adjustment mechanism of the present invention.

Fig. 10 is a schematic diagram of five grasping modes of the present invention.

The specific embodiment: the implementation of the present invention will be further described below in conjunction with the accompanying drawings:

Fig. 1 and Fig. 2 are respectively the front structure diagram and the back (after removing the back cover) structure diagram of the overall model of the present invention.

The wrist is 1, the palm is 2, the finger mechanism is 3, the little finger is 3A, the middle finger is 3B, the index finger is 3C, and the thumb is 3D, where:

The first joint of the little finger is 3A1, the second joint of the little finger is 3A2, the third joint of the little finger is 3A3, the push rod of the little finger envelope is 3A4, the cross bar of the little finger envelope is 3A5, the envelope bending rod of the little finger is 3A6, and the short pin of the little finger is 3A7 , the long pin of the little finger is 3A8, the first joint of the middle finger is 3B1, the second joint of the middle finger is 3B2, the third joint of the middle finger is 3B3, the push rod of the middle finger is 3B4, the cross bar of the middle finger is 3B5, and the bending rod of the middle finger is 3B6, the short pin of the middle finger is 3B7, and the long pin of the middle finger is 3B8;

The first joint of the index finger is 3C1, the second joint of the index finger is 3C2, the third joint of the index finger is 3C3, the index finger enveloping push rod is 3C4, the index finger pinching mechanism is 3C5, the index finger enveloping bar is 03C6, the index finger pinching mechanism The horizontal bar is 3C7, the index finger envelope bending rod is 3C8, the index finger pinching mechanism vertical bar is 3C9, the index finger short pin is 3C10, the index finger long pin is 3C11, the index finger pinching mechanism plate is 3C12, and the index finger spring mounting pendant is 3C13;

The first joint of the thumb is 3D1, the second joint of the thumb is 3D2, the third joint of the thumb is 3D 3, the thumb envelope push rod is 3D4, the thumb pinch mechanism resistance bar is 3D5, the thumb envelope bar is 3D6, the thumb pinch Mechanism cross bar is 3D7, thumb envelope bending rod is 3D8, thumb pinch mechanism vertical bar is 3D9, thumb short pin is 3D10, thumb long pin is 3D11, thumb pinch mechanism plate is 3D12, thumb spring mounting pendant is 3D13 ;

The thumb position adjustment mechanism is 5, the support shaft is 5a, the first rotation support is 5b, the second rotation support is 5c, the first key is 5d, the second key is 5e, the first bearing is 5f, and the second bearing is 5g, the stepper motor is 5h, the thumb frame is 6, the motor mounting support frame of the thumb is 7, the motor mounting support frame of the little finger, middle finger and index finger is 8, the position sensor is 9, the contact force sensor is 10, and the overall mechanism of the thumb is 11 (including thumb 3D and thumb transmission mechanism).

Finger drive transmission mechanism is 4, little finger drive transmission mechanism is 4A, middle finger drive transmission mechanism is 4B, index finger drive transmission mechanism is 4C, thumb drive transmission mechanism is 4D, little finger motor is 4A1, little finger special nut is 4A2, little finger drive push rod It is 4A3, the small guide rail is 4A4, the middle finger motor is 4B1, the middle finger special nut is 4B2, the middle finger drive push rod is 4B3, the middle guide rail is 4B4, the index finger motor is 4C1, the index finger special nut is 4C2, the index finger drive push rod is 4C3, the index guide rail It is 4C4, the thumb motor is 4D1, the thumb special nut is 4D2, the thumb drive push rod is 4D3, and the thumb guide rail is 4D4;

Wrist 1 is mechanically connected to palm 2, and there are four stepping motors installed inside palm 2, three of which are the same, namely the little finger motor 4A1, middle finger motor 4B1 and index finger motor 4C1 that drive the little finger 3A, middle finger 3B and index finger 3C. Haydn E21H4N-05-017 linear motor, the other is the thumb motor 4D1 used to drive the thumb, three same little finger motor 4A1, middle finger motor 4B1 and index finger motor 4C1 constitute the little finger drive transmission mechanism 4A, middle finger drive transmission mechanism 4B and The index finger drive transmission mechanism 4C is used to drive the little finger 3A, the middle finger 3B and the index finger 3C respectively. The thumb motor 4D1 constitutes the thumb drive mechanism 4D and is used to drive the thumb 3D. The little finger motor 4A1, the middle finger motor 4B1, the index finger motor 4C1 and the thumb motor 4D1 work Finally, through the respective driving and transmission mechanisms, the respective transmission push rods and envelope push rods are rotated and reciprocated along their respective guide rails. At this time, the finger mechanisms 3 are in different grasping, pinching or loosening states;

Fig. 3 is the wrist structural diagram of the present invention, and wrist 1 ends are processed with the flange structure 1a that is mechanically connected for robot hand or mechanical arm, and the hole that is used for wiring (motor control data line, power line etc.) is processed in wrist 1 1b, the inside of the wrist 1 is processed with holes for wiring, so that all the wires in the robot hand can be exported to the control system through the holes in the wrist 1, so as to ensure that the whole robot looks neat and beautiful.

Fig. 4 is a structural diagram of the little finger of the present invention; Fig. 5 is a structural diagram of the middle finger of the present invention. In Fig. 4 and Fig. 5, the mechanical structures of the little finger 3A and the middle finger 3B are exactly the same, but the length of each joint of the little finger 3A is shorter than that of the middle finger 3B in size, and the joint length of the middle finger 3B is 2-2% longer than that of the little finger 3A and the index finger 3C. 4mm. They each have three joints connected by pins. Both the middle finger 3B and the little finger 3A have a set of link mechanisms for enveloping grasping. Compared with the thumb 3D and index finger 3C, there is one less set of link mechanisms for precise pinching, because the middle finger 3B and little finger 3A Only participate in the process of envelope grabbing, while the thumb 3D and index finger 3C must not only have the function of envelope grabbing, but also have the function of realizing precise pinching.

Fig. 6 is a structural diagram of the index finger of the present invention; Fig. 7 is a structural diagram of the thumb of the present invention. In Fig. 6 and Fig. 7, the mechanical structure of index finger 3C and thumb 3D is exactly the same, each has three joints, and the joints are connected by pins. Thumb 3D and index finger 3C integrate two sets of linkage mechanisms, one is a parallelogram mechanism for precise pinching, and the other is a linkage mechanism for envelope grasping. The realization of the functions of these two sets of mechanisms is completed under the cooperative action of the spring and the contact rods 3D5 and 3C5 of the pinching mechanism of the thumb and index finger. It is to make the finger surface of the third joint 3D3 of the thumb 3D and the finger surface of the third joint 3C3 of the index finger 3C perpendicular to the plane passing through the installation axis of the thumb 3D and the installation axis of the index finger 3C when the pinching mechanism is working, thereby Guarantees the realization of precise pinching.

Fig. 8 is a diagram of the finger drive transmission mechanism of the present invention. In Fig. 8: the finger mechanism is 3, the position sensor is 9, and the contact force sensor is 10;

The envelope faders for the four fingers are 3A4 for the little finger, 3B4 for the middle finger, 3C4 for the index finger and 3D4 for the thumb; the small guide rail (4A4), the middle guide rail (4B4), index guide rail (4C4) and thumb guide rail (4D4);

The linear motors of the four finger drive transmission mechanisms are respectively the little finger motor 4A1, the middle finger motor 4B1, the index finger motor 4C1 and the thumb motor 4D1;

The special nuts for the drive transmission mechanism of the four fingers are respectively the special nuts for the little finger 4A2, the special nuts for the middle finger 4B2, the special nuts for the index finger 4C2 and the special nuts for the thumb 4D2;

The guide rails of the four fingers are respectively the small guide rail 4A4, the middle guide rail 4B4, the index guide rail 4C4 and the thumb guide rail 4D4;

After the little finger motor 4A1, the middle finger motor 4B1, the index finger motor 4C1 and the thumb motor 4D1 are electrified, they drive their respective motor screw rods to rotate, and the rotation of the screw rods makes the little finger special nut 4A2, the middle finger special nut 4B2, the index finger special nut 4C2 and the thumb special nut 4D2 moves along the screw rod, so that the plurality of finger mechanisms 3 connected with the special nut 4A2 for the little finger, the special nut for the middle finger 4B2, the special nut for the index finger 4C2 and the special nut for the thumb 4D2 are in different grasping, pinching or loosening states.

In the process of opening the multi-finger mechanism 3, when the special nut 4A2 for the little finger, the special nut 4B2 for the middle finger, the special nut 4C2 for the index finger and the special nut 4D2 for the thumb move to the limit position at the bottom, the multi-finger mechanism 3 is fully opened. Moving downwards can damage the threads of multiple finger mechanisms 3 and transmission mechanisms. Therefore, when a plurality of finger mechanisms 3 moved to this limit position, the position sensor 9 here was triggered, and the position sensor 9 sent a pulse signal. After the control program collected the signal, the little finger motor 4A1, the middle finger motor 4B1, the index finger motor 4C1 and the thumb motor 4D1 is powered off, forcing the multi-finger mechanism 3 to stop moving.

The position sensor 9 adopts the form of a proximity switch, and the position sensor 9 is fixed on the palm 2, and a reed is fixed on a special nut, and the reed is close to the proximity switch at ordinary times, and when the special nut leaves the proximity switch and moves upward, the reed leaves the proximity switch. When the special nut moves downward and reaches the limit position again, the reed is close to the proximity switch again, and the proximity switch is triggered in this process. The trigger signal is input into the computer through the acquisition card, and the computer gives a control signal to make the little finger motor 4A1 and the middle finger motor 4B1, index finger motor 4C1 and thumb motor 4D1 stall.

Fig. 9: is the diagram of the thumb position adjustment mechanism of the present invention, the palm is 2, the thumb frame is 6, the overall mechanism of the thumb is 11 (including the thumb mechanism and the thumb drive transmission mechanism), the support shaft is 5a, and the two rotating supports are 5b and 5c, the two keys are 5d and 5e;

The thumb position adjustment motor 5h is connected with the rotating support 5c through the key 5e, and the rotating supports 5b and 5c are mechanically fixedly connected with the thumb frame 6 through screws. Both ends of the support shaft 5a are mechanically fixedly connected with the palm 2 and the motor installation support frame 8 in the palm 2 through miniature bearings, and the rotating support 5b and the support shaft 5a are fixedly connected mechanically with the thumb frame 6 by set screws. In this way, after the thumb position adjustment motor 5h is electrified, it drives the thumb frame 6 through the rotating support 5c, and at the same time, due to the effects of the rotating support 5b and the supporting shaft 5a, the rotation of the thumb overall mechanism 11 is more stable. The forward and reverse rotation of the thumb position adjustment motor 5h drives the forward and reverse rotation of the thumb overall mechanism 11, and the rotation angle of the thumb position adjustment motor 5h is controlled by the number of pulses to control the angle formed by the thumb 3D and the palm 2 surfaces.

Fig. 10 is a schematic diagram of the grasping mode of the present invention. The grasping modes of a robotic hand for home service imitating human hands mainly include: a two-finger parallel pinch mode, b two-finger conical pinch mode, c two-finger parallel envelope mode, d three-finger parallel envelope mode, e Four-finger parallel envelope mode. in:

The two-finger parallel pinch mode a is used to pinch objects with regular shapes and small sizes;

Two-finger taper pinching mode b is used to pinch objects with irregular shape and small size;

The two-finger parallel envelope mode c is used to grab objects with relatively regular shapes and large sizes;

The three-finger parallel envelope mode d and the four-finger parallel envelope mode e are used to grab objects with relatively irregular shapes and large sizes.

Apparently, those skilled in the art can make various changes and modifications to the robotic hand for domestic service that mimics the human hand of the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention also intends to include these modifications and variations.

Claims (8)

1. A robotic hand imitating a human hand for home service, comprising a palm (2) and a wrist (1) dynamically connected to it, a finger mechanism (3), a thumb position adjustment mechanism (4) and a finger drive transmission mechanism (5); Described finger mechanism (3) comprises little finger (3A) and middle finger (3B) with identical mechanical structure, and the joint of described middle finger (3B) is longer than the joint of little finger (3A), index finger (3C), and described little finger Both (3A) and the middle finger (3B) are equipped with a set of underactuated envelope grabbing mechanisms for envelope grabbing, wherein: The said little finger (3A) is provided with the first joint of the little finger (3A1), the second joint of the little finger (3A2), and the third joint of the little finger (3A3) successively on the palm (2), and the first joint of the little finger (3A1) , the second little finger joint (3A2), and the little finger third joint (3A 3) are respectively placed on the little finger envelope push rod (3A4), the little finger envelope cross bar (3A5), and the little finger envelope bend bar (3A6) through The bushing hole at the end is connected with the pin in moving fit, and the bushing hole under the little finger envelope push rod (3A4) is connected with the little finger driving push rod (4A3) and the little finger motor (4A1) sequentially through the pin; The middle finger (3B) is provided with the first joint of the middle finger (3B1), the second joint of the middle finger (3B2), and the third joint of the middle finger (3B3) in sequence on the palm (2), and the first joint of the middle finger (3B1) , the second joint of the middle finger (3B2), and the third joint of the middle finger (3B3), the middle finger envelope push rod (3B4), the middle finger envelope cross bar (3B5), and the middle finger envelope bend bar (3B6) are arranged respectively through the ends. The shaft sleeve hole at the top is connected with the pin in moving fit, and the shaft sleeve hole below the middle finger envelope push rod (3B4) is connected with the middle finger transmission push rod (4B3) and the middle finger motor (4B1) through the pin in sequence; The finger mechanism (3) also includes an index finger (3C) and a thumb (3D) with the same mechanical structure and the same size of each part, and under-actuated devices are integrated on the index finger (3C) and thumb (3D). The envelope grasping mechanism and the parallelogram precise pinching mechanism, the thumb (3D) and index finger (3C) have the functions of realizing envelope grasping and precise pinching, wherein: The index finger (3C) is sequentially provided with a first index finger joint (3C1), a second index finger joint (3C2), and a third index finger joint (3C3) on the palm (2), and the first index finger joint (3C1) , the second joint of the index finger (3C2), and the third joint of the index finger (3C3) are sequentially provided with the index finger envelope push rod (3C4), the index finger pinching mechanism resisting rod (3C5), the index finger envelope bar (3C6), and the index finger pinch Taking mechanism cross bar (3C7), index finger envelope bending bar (3C8), index finger pinching mechanism vertical bar (3C9), described index finger first joint (3C1), index finger second joint (3C2), index finger third joint (3C3) are connected with the pin and the small plate (3C12) of the index finger pinching mechanism through the bushing hole at the end respectively, and are connected with the static fit with the index finger spring installation pendant (3C13), and the described index finger envelope push rod (3C4) The bushing hole below is connected with the index finger drive push rod (4C3) and the index finger motor (4C1) in turn through pins; The first thumb joint (3D1), the second thumb joint (3D2), and the third thumb joint (3D3) are sequentially placed on the thumb (3D), and the first thumb joint (3D1), second thumb joint (3D2) and the third joint of the thumb (3D3) are successively provided with a thumb envelope push rod (3D4), a thumb pinch mechanism against bar (3D5), a thumb envelope cross bar (3D6), a thumb pinch mechanism cross bar ( 3D7), thumb envelope bending rod (3D8), thumb pinching mechanism vertical rod (3D9), described thumb first joint (3D1), thumb second joint (3D2) and thumb third joint (3D3) respectively The shaft sleeve at the end is connected with the pin, the small plate of the thumb pinching mechanism (3D12) and the thumb in dynamic fit, and is connected with the spring installation pendant (3D13) in static fit. The shaft sleeve hole under the thumb envelope push rod (3D4) The pins are sequentially connected with the thumb transmission push rod (4D3) and the thumb motor (4D1) in motion; The pins include the short pin of little finger (3A7), the long pin of little finger (3A8), the short pin of middle finger (3B7) and the long pin of middle finger (3B8), the short pin of index finger (3C10), the long pin of index finger (3C11), the short pin of thumb (3D10), long thumb pin (3D11); The finger mechanism (3) is a contact force sensor (10) for a semi-active compliant finger surface, the position sensor (9) is fixedly connected to the palm (2), and the finger drive transmission mechanism is used to complete the robot hand. The execution part of grasping obtains the signal through the contact force sensor (10) in the finger mechanism (3), and the described finger mechanism (3) is provided with a plurality of drive transmission mechanisms, when the described finger mechanism (3) moves , the position sensor (9) is triggered and the pulse signal is input into the computer through the acquisition card, and the computer provides a control signal to make the motor stop or rotate, which is characterized in that: a. The wrist (1) is equipped with a flange structure (1a), which is used to connect the robot hand and the mechanical arm of the robot into a whole, and the center of the end of the wrist (1) is equipped with a wire for wiring hole (1b), the wrist (1) is mechanically connected with the upper palm (2) with screws; b. The palm (2) imitates the design of the palm of a person, and its shape is a hollow cuboid box without a cover. A finger mechanism (3) is installed above the palm (2), wherein the palm (2) The little finger (3A), middle finger (3B) and index finger (3C) are installed side by side on one side of the upper body and are mechanically connected by a plurality of pins. The installation axes of the little finger (3A), middle finger (3B) and index finger (3C) coincide, A finger is driven by a motor and installed on the support frame (8) inside the palm (2), and the other side of the palm (2) is installed with interconnected thumb (3D), thumb drive mechanism (4D )) and thumb position adjustment mechanism (4); c. The finger mechanism (3) includes little finger (3A), middle finger (3B), forefinger (3C) and thumb (3D) mechanically connected by special nuts, and thumb position adjustment mechanism (4); The thumb (3D) is provided with a thumb motor (4D1), and the support frame (7) and the thumb frame (6) are mechanically connected to the palm (2) via pins through the thumb motor installation support frame (6); The thumb (3D) includes the pinching mechanism of the thumb pinching mechanism resisting rod (3D5) and the forefinger pinching mechanism resisting rod (3C5) connected in motion fit. When the pinching mechanism is working, the thumb (3D) The finger surface of the third joint (3D3) and the finger surface of the third joint (3C3) of the index finger (3C) are both perpendicular to the plane passing through the two mounting axes of the thumb (3D) and index finger (3C), so as to ensure the imitation The realization of precise pinching with robotic hands for manual household services; Described little finger (3A), middle finger (3B), forefinger (3C) and thumb (3D) are respectively equipped with four motors inside palm (2), wherein three are identical, drive little finger (3A), middle finger ( 3B) and the index finger (3C) little finger motor (4A1), middle finger motor (4B1) and index finger motor (4C1), the other is used to adjust the thumb (3D) to bend or stretch the thumb motor (4D1), little finger motor ( 4A1), the middle finger motor (4B1) and the index finger motor (4C1) constitute the little finger drive transmission mechanism (4A), the middle finger drive transmission mechanism (4B) and the index finger drive transmission mechanism (4C), which are respectively used to drive the little finger (3A), middle finger (3B) and forefinger (3C), thumb motor (4D1) constitutes thumb drive mechanism (4D) and is used to drive thumb (3D), described little finger motor (4A1), middle finger motor (4B1), index finger motor (4C1) and After the thumb motor (4D1) works, through the respective drive transmission mechanisms, the respective transmission push rods and envelope push rods are rotated and reciprocated along the respective guide rails. At this time, the finger mechanisms (3) are in different grips, pinch or release state; The thumb position adjustment mechanism (4) is used to adjust the angle between the thumb (3D) and the palm (2), including a thumb position adjustment stepping motor (5h), a support shaft (5a), two rotating supports part, two keys, two bearings, the overall mechanism of the thumb (11); The two rotation supports include a first rotation support (5b) and a second rotation support (5c), the two keys include a first key (5d) and a second key (5e), the The two bearings comprise a first bearing (5f) and a second bearing (5g); The thumb position adjustment motor (5h) is mechanically connected to the second rotating support (5c) through the second key (5e), and the thumb position adjustment motor (5h) is mechanically connected to the palm (2) through screws , the two ends of the support shaft (5a) are mechanically fixedly connected to the motor installation support frame (8) in the palm (2) through miniature bearings, and the first rotating support (5b) and the support shaft (5a) pass through The first key (5d) is fixedly connected mechanically, and the first rotary support (5b), the second rotary support (5c) and the thumb frame (6) are fixedly mechanically connected by screws; After the thumb position adjustment motor (5h) is electrified to work, the thumb frame (6) is driven by the thumb transmission mechanism (4c) and the rotating support (5c), and the thumb position adjustment motor (5h) forward and reverse drives the thumb overall mechanism ( 11) Forward and reverse rotation, the thumb position is controlled by the number of pulses to adjust the rotation angle of the motor (5h) so as to control the angle formed by the thumb (3D) and the palm (2) to form different grasping modes of the finger mechanism (3). 2. A robot hand for home service that imitates human hands according to claim 1, characterized in that: the thumb position adjustment mechanism (4) can be adjusted and rotated along its installation axis to adjust the thumb (3D) and palm (2) The formed angle ranges from 0 to 90 degrees. 3. A robotic hand for humanoid household service according to claim 1, characterized in that: said little finger (3A), middle finger (3B), index finger (3C) and thumb (3D) are provided with twelve The surface contact force sensor (10) is either a proximity sensor, a temperature sensor, a pressure sensor, or a slip sensor. 4. A robotic hand for home service using a humanoid hand according to claim 1, characterized in that: the joint of the middle finger (3B) is 2-4mm longer than the joints of the little finger (3A) and the index finger (3C). 5. A robotic hand for home service imitating human hands according to claim 1, characterized in that: the motor for the little finger (4A1), the motor for the middle finger (4B1), the motor for the index finger (4C1) and the motor for the thumb (4D1) are selected Haydn E21H4N-05-017 linear motor, the thumb position adjustment motor (5h) is a 20 series stepper motor. 6. A robotic hand for home service that imitates human hands according to claim 1, characterized in that: the mechanical connection between the wrist (1) and the palm (2) can be bolted or welded. 7. A robotic hand for imitating human hands for home service according to claim 1, characterized in that: said special nuts include special nuts for the little finger (4A2), special nuts for the middle finger (4B2), special nuts for the index finger (4C2) and Thumb special nut (4D2). 8. A humanoid home service robot hand according to claim 1, characterized in that: said guide rails include a small guide rail (4A4), a middle guide rail (4B4), a food guide rail (4C4) and a thumb guide rail (4D4 ).

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