CN112809721B

CN112809721B - Flexible cable traction under-actuated humanoid hand based on non-uniform elastomer configuration

Info

Publication number: CN112809721B
Application number: CN202110255322.0A
Authority: CN
Inventors: 王正雨; 海铭心; 訾斌; 王道明; 钱森; 钱钧; 吴戈; 魏迅; 刘光明; 包诗扬
Original assignee: Hefei University of Technology
Current assignee: Hefei University of Technology
Priority date: 2020-08-31
Filing date: 2021-03-09
Publication date: 2022-05-17
Anticipated expiration: 2041-03-09
Also published as: CN112809721A

Abstract

The invention relates to a flexible cable traction under-actuated humanoid hand based on a non-uniform elastomer configuration, which comprises a finger component, a palm component, a wrist component and an arm component, wherein the finger component comprises a thumb, an index finger, a middle finger, a ring finger and a little finger, the thumb comprises a thumb primary end knuckle, a thumb tail end knuckle and a thumb base which are sequentially arranged, the thumb primary end knuckle, the thumb tail end knuckle and the thumb base are connected into a whole through a first elastic sheet, the index finger, the middle finger, the ring finger and the little finger respectively comprise a primary end knuckle, a middle knuckle, a tail end knuckle and a base which are sequentially arranged, and the primary end knuckle, the middle knuckle, the tail end knuckle and the base are connected into a whole through a second elastic sheet; thumb, forefinger, middle finger, third finger and little finger link to each other with actuating mechanism, and actuating mechanism drives the crooked gripping action that produces of finger subassembly, and the restoration of finger subassembly is realized through the resilience of self to first shell fragment and second shell fragment. The invention has the advantages of simple and compact structure, light weight, miniaturization and the like.

Description

Flexible cable traction under-actuated humanoid hand based on non-uniform elastomer configuration

Technical Field

The invention relates to the field of robots, in particular to a flexible cable traction under-actuated humanoid hand based on a non-uniform elastomer configuration.

Background

With the development of science and technology, more and more robots are applied to various fields such as industrial production, rehabilitation exercise and the like, and the mechanical arm is divided into a mechanical arm for rehabilitation and an industrial clamp holder. The manipulator is used as a terminal for interaction between the robot system and the external environment, and directly reflects the operation performance of the robot system. The traditional industrial manipulator is developed relatively mature, and although the cost is low and the structure is simple, the manipulator can only be opened and closed simply, and the application has great limitation. The staff is very many relatively nimble, can accomplish various complicated actions, and the imitative people's hand of articulated is because of the joint number is more, and the degree of freedom is higher, can accomplish the action of snatching of relative complicacy, and stability is higher, but the imitative people's hand of most current articulated is for realizing the independent control of each joint, and a joint corresponds a driver to and carry out solitary control, and be furnished with a large amount of sensors, make the structure of manipulator heavy like this, control complicacy, cost greatly increased. The underactuation can realize the control of more degrees of freedom by using less actuation numbers, and the mechanical arm is controlled by adopting the underactuation principle, thereby well solving the contradiction between the realization of the degrees of freedom, the light weight and the low cost. Patent publication No. CN109648589A discloses a robot smart manipulator device based on cylinder driving, which has the features of small size and multiple joints, but one finger has multiple driving devices, and it is more complicated to control multiple fingers. Patent publication No. CN105583829A discloses a simulated mechanical finger based on steel wire pulling, and although the invention patent has the advantages of strong adaptability for grabbing objects and simple structure, each mechanical finger needs to be driven by single power and is complex to control. Patent publication No. CN106272492A discloses a mechanical finger driven by pull wires, which has the advantages of low cost and simple control, but has fewer finger joints and complex resetting mechanism.

Therefore, the invention introduces the finger structure with an elastic body structure and adopts the underactuated principle to control the manipulator, has good innovation in structural design and control, and can be applied to the fields of industrial operation and remote control.

Disclosure of Invention

The invention aims to provide a flexible cable traction underactuated anthropomorphic hand based on a non-uniform elastomer structure, which is driven by a motor and has fourteen degrees of freedom, and is a mechanical arm with simple and compact structure and stable grasping.

In order to achieve the purpose, the invention adopts the following technical scheme: the finger assembly comprises a thumb, an index finger, a middle finger, a ring finger and a little finger, the thumb comprises a thumb initial knuckle, a thumb tail knuckle and a thumb base which are sequentially arranged, the backs of the thumb initial knuckle, the thumb tail knuckle and the thumb base are connected into a whole through a first elastic sheet, the index finger, the middle finger, the ring finger and the little finger respectively comprise a first end knuckle, a middle knuckle, a tail knuckle and a base which are sequentially arranged, and the backs of the initial knuckle, the middle knuckle, the tail knuckle and the base are connected into a whole through a second elastic sheet;

the pulley assembly comprises a first movable pulley, a second movable pulley, a third movable pulley and a fourth movable pulley which are arranged independently, the first movable pulley, the second movable pulley, the third movable pulley and the fourth movable pulley are arranged in parallel and are fixed on a first pulley support, a second pulley support, a third pulley support and a fourth pulley support respectively, the pulley assembly further comprises a first flexible cable which is connected with the driving mechanism and the first pulley support, a second flexible cable which is wound through the first movable pulley and is connected with the second pulley support and the third pulley support at two ends, a third flexible cable which is wound through the second movable pulley and is connected with the thumb and the index finger at two ends, a fourth flexible cable which is wound through the third movable pulley and is connected with the middle finger and the fourth pulley support at two ends, a first flexible cable which is wound through the second movable pulley and is connected with the middle finger and the fourth pulley support at two ends, The driving mechanism provides traction pulling force through the flexible cables to drive the finger assembly to bend to generate a gripping action, and the first elastic sheet and the second elastic sheet realize the resetting of the finger assembly through the self springback;

first shell fragment including arrange in proper order and first plain film, first arc piece, second plain film, second arc piece and the third plain film of structure as an organic whole, wherein: the first flat sheet, the second flat sheet and the third flat sheet are respectively matched and connected with a first finger knuckle of a thumb, a tail finger knuckle of the thumb and a thumb base, the first arc-shaped sheet is used for connecting the first flat sheet and the second flat sheet, the second arc-shaped sheet is used for connecting the second flat sheet and the third flat sheet, and the first arc-shaped sheet and the second arc-shaped sheet are convex arc-shaped sheets;

the second shell fragment including arrange in proper order and fourth plain film, third arc piece, fifth plain film, fourth arc piece, sixth plain film, fifth arc piece and the seventh plain film of structure as an organic whole, wherein: fourth plain film, fifth plain film, sixth plain film, seventh plain film cooperate with primary finger joint, middle finger joint, terminal finger joint, base respectively and are connected, the third arc piece be used for connecting fourth plain film and fifth plain film, the fourth arc piece is used for connecting fifth plain film and sixth plain film, the fifth arc piece is used for connecting sixth plain film and seventh plain film, and third arc piece, fourth arc piece and fifth arc piece are the arc piece of evagination.

The driving mechanism is arranged in the arm assembly and comprises a motor, a speed reducer connected with the output end of the motor and a reel coaxially connected with the output shaft of the speed reducer, the output shaft of the speed reducer is horizontally arranged along the length direction of the arm assembly, the speed reducer is connected with a motor bracket fixed on the arm assembly, an axial elastic check ring for limiting the axial movement of the reel is further arranged on the output shaft of the speed reducer, one end of a first flexible cable is connected with the reel, and the other end of the first flexible cable is connected with a first hook on a first pulley bracket after sequentially passing through a first guide wheel and a second guide wheel fixed on the arm assembly; the wheel shafts of the first guide wheel and the second guide wheel are perpendicular to the wheel shaft of the reel.

The base of the thumb is provided with a first guide wheel matched with the third flexible cable, a first through hole for the third flexible cable to pass through is formed in each knuckle of the thumb, the base of the index finger is provided with a second guide wheel matched with the third flexible cable, a second through hole for the third flexible cable to pass through is formed in each knuckle of the index finger, and one end of the third flexible cable is fixed with the knuckle of the primary end of the thumb through the first through hole after being wound by the first guide wheel; the other end of the third flexible cable is wound around the second guide wheel and then is fixed with the initial knuckle of the index finger through the second through hole;

a third guide wheel matched with a fourth flexible cable is arranged on the base of the middle finger, a third through hole for the fourth flexible cable to pass through is formed in each knuckle of the middle finger, and one end of the fourth flexible cable is fixed with the knuckle of the initial end of the middle finger through the third through hole after being wound by the third guide wheel; the other end of the fourth flexible cable is connected with a fourth hook on the fourth pulley bracket;

a fourth guide wheel matched with a fifth flexible cable is arranged on the base of the ring finger, a fourth through hole for the fifth flexible cable to pass through is formed in each knuckle of the ring finger, a fifth guide wheel matched with the fifth flexible cable is arranged on the base of the little finger, a fifth through hole for the fifth flexible cable to pass through is formed in each knuckle of the little finger, and one end of the fifth flexible cable is fixed with the initial end knuckle of the ring finger through the fourth through hole after being wound by the fourth guide wheel; the other end of the fifth flexible cable is wound around the fifth guide wheel and then is fixed with the initial end knuckle of the little finger through the fifth through hole.

The first movable pulley is arranged at the middle section inside the arm component and is a primary pulley; the first pulley bracket is connected with a first miniature linear guide rail arranged on the arm component through a first guide rail sliding block fixed with the first pulley bracket, and a first hook is arranged on the first pulley bracket;

the second movable pulley and the third movable pulley are arranged in parallel at the front section position in the arm component and are secondary pulleys; the second pulley bracket is connected with a second miniature linear guide rail arranged on the arm component through a second guide rail sliding block fixed with the second pulley bracket, and a second hook is arranged on the second pulley bracket; the third pulley bracket is connected with a third miniature linear guide rail arranged on the arm component through a third guide rail sliding block fixed with the third pulley bracket, and a third hook is arranged on the third pulley bracket;

the fourth movable pulley is arranged inside the palm component and is a three-stage pulley; the fourth pulley support is connected with a fourth miniature linear guide rail arranged on the palm component through a fourth guide rail sliding block fixed with the fourth pulley support, and a fourth hook is arranged on the fourth pulley support.

The back of the thumb primary end knuckle is provided with a first groove matched with the first flat sheet, the back of the thumb tail end knuckle is provided with a second groove matched with the second flat sheet, and the back of the thumb base is provided with a third groove matched with the third flat sheet.

The back of the first end knuckle is provided with a fourth groove matched with the fourth plain film, the back of the middle knuckle is provided with a fifth groove matched with the fifth plain film, the back of the tail end knuckle is provided with a sixth groove matched with the sixth plain film, and the base is provided with a slot matched with the seventh plain film.

Palm subassembly and arm assembly be hollow structure, the palm subassembly including closing palm inner panel and the palm backplate that sets up and connect, the base of thumb base and forefinger, middle finger, ring finger, little finger all be connected with the palm backplate, the arm subassembly including closing arm inner panel and the arm backplate that sets up and connect, the wrist subassembly be the ring body, the wrist subassembly cover establish palm subassembly and arm assembly's junction and link firmly with palm subassembly and arm assembly respectively.

A first sleeve fixing plate and a second sleeve fixing plate which are arranged in parallel in the front-back direction are arranged between the first miniature linear guide rail and the second miniature linear guide rail, two ends of the second flexible cable sequentially penetrate through the second sleeve fixing plate and the first sleeve fixing plate and then are connected with the second pulley bracket and the third pulley bracket, and a first sleeve is sleeved on the second flexible cable positioned between the first sleeve fixing plate and the second sleeve fixing plate;

a third sleeve fixing plate and a fourth sleeve fixing plate which are arranged in parallel in the front-back direction are arranged between the second miniature linear guide rail and the fourth miniature linear guide rail, two ends of a third flexible cable penetrate through the fourth sleeve fixing plate and then are connected with a thumb and a forefinger, and a third flexible cable between the fourth sleeve fixing plate and the first guide wheel and a third flexible cable between the fourth sleeve fixing plate and the second guide wheel are respectively sleeved with a second sleeve;

one end of the fourth flexible cable penetrates through the fourth sleeve fixing plate and then is connected with the ring finger, the other end of the fourth flexible cable penetrates through the fourth sleeve fixing plate and the third sleeve fixing plate in sequence and then is connected with the fourth pulley support, and a third sleeve is sleeved on the fourth flexible cable between the fourth sleeve fixing plate and the third guide wheel and the fourth flexible cable between the third sleeve fixing plate and the fourth sleeve fixing plate respectively.

According to the technical scheme, the power is transmitted to the flexible cable through the motor, and is transmitted to each finger through the matching of the flexible cable and the movable pulley, so that the grabbing action is completed; when the motor stops power input, the first elastic sheet and the second elastic sheet can pull each flexible cable to return to the initial state by means of self resilience, and the resetting of the manipulator is achieved. The invention can drive the imitative hand to carry out grabbing action by only using one motor, and has simple and compact structure; the finger structure based on the elastomer structure is stable in gripping, and meanwhile, light weight and miniaturization are achieved.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic diagram of the internal structure of the present invention.

Fig. 3 is a schematic diagram of the internal structure of the present invention.

Fig. 4 is a third schematic diagram of the internal structure of the present invention.

Fig. 5 is a schematic diagram of the palm assembly of the present invention.

FIG. 6 is a schematic diagram of the structure of a wrist assembly of the present invention.

Fig. 7 is a schematic structural diagram of the arm assembly of the present invention.

Fig. 8 is a schematic view of the connection of the finger component to the palm component of the present invention.

Fig. 9 is a schematic view of the overall structure of the thumb of the present invention.

Fig. 10 is an exploded view of the thumb of the present invention.

Fig. 11 is a schematic view showing the overall structure of the index finger of the present invention.

FIG. 12 is an exploded view of the index finger of the present invention.

Fig. 13 is an overall structural schematic diagram of the driving structure of the present invention.

Fig. 14 is an exploded view of the drive structure of the present invention.

Fig. 15 is a schematic view of the overall structure of the first movable sheave of the present invention.

Fig. 16 is an exploded view of the first movable sheave of the present invention.

FIG. 17 is a schematic view of a curved grip of an index finger of the present invention.

The reference symbols in the above figures are: finger assembly 1, thumb 11, thumb primary knuckle 111, first groove 1111, thumb distal knuckle 112, second groove 1121, thumb base 113, first guide wheel 1131, third groove 1132, first elastic piece 114, first flat piece 1141, first arc piece 1142, second flat piece 1143, second arc piece 1144, third flat piece 1145, first through hole 115, index finger 12, second through hole 121, middle finger 13, ring finger 14, little finger 15, primary knuckle 16, fourth groove 161, middle knuckle 17, fifth groove 171, distal knuckle 18, sixth groove 181, base 19, second guide wheel 191, slot 192, second elastic piece 20, fourth flat piece 201, third arc piece 202, fifth flat piece 203, fourth arc piece 204, sixth flat piece 205, fifth arc piece 206, seventh flat piece 207, palm assembly 2, palm inner plate 21, palm back plate 22, wrist assembly 3, wrist assembly 4, inner plate 41, arm assembly 4, and wrist assembly, Arm back plate 42, pulley assembly 6, first movable pulley 61, first pulley bracket 611, first hook 612, first rail slider 613, first micro linear guide 614, second movable pulley 62, second pulley bracket 621, second hook 622, second rail slider 623, second micro linear guide 624, third movable pulley 63, third pulley bracket 631, third hook 632, third rail slider 633, third micro linear guide 634, fourth movable pulley 64, fourth pulley bracket 641, fourth hook 642, fourth rail slider 643, fourth micro linear guide 644, first flexible cable 65, second flexible cable 66, third flexible cable 67, fourth flexible cable 68, fifth flexible cable 69, driving mechanism 7, motor 71, speed reducer 72, speed reducer output shaft 73, reel 74, motor bracket 75, shaft circlip 76, first guide pulley 77, second guide pulley 78, first sleeve fixing plate 81, first guide pulley fixing plate 81, second guide pulley 81, and second guide pulley fixing plate, A second sleeve fixing plate 82, a first sleeve 83, a third sleeve fixing plate 84, a fourth sleeve fixing plate 85, a second sleeve 86 and a third sleeve 87.

Detailed Description

The invention is further described with reference to the accompanying drawings:

the flexible cable traction under-actuated anthropomorphic hand based on the non-uniform elastomer configuration as shown in figures 1, 2, 3 and 4 comprises a finger component 1, a palm component 2, a wrist component 3 and an arm component 4 which are connected in sequence, wherein the finger component 1 comprises a thumb 11, an index finger 12, a middle finger 13, a ring finger 14 and a little finger 15, and the thumb 11, the index finger 12, the middle finger 13, the ring finger 14 and the little finger 15 are connected with a driving mechanism 7 through a pulley component 6.

Further, as shown in fig. 9 and 10, the thumb 11 includes a first thumb knuckle 111, a second thumb knuckle 112 and a thumb base 113, which are sequentially disposed, and the backs of the first thumb knuckle 111, the second thumb knuckle 112 and the thumb base 113 are integrally connected through a first elastic sheet 114.

Specifically, the first elastic sheet 114 includes a first flat sheet 1141, a first arc-shaped sheet 1142, a second flat sheet 1143, a second arc-shaped sheet 1144 and a third flat sheet 1145 which are sequentially arranged and integrated into a whole, wherein: the first plate 1141, the second plate 1143 and the third plate 1145 are respectively matched and connected with the thumb primary knuckle 111, the thumb tail knuckle 112 and the thumb base 113, the first arc-shaped plate 1142 is used for connecting the first plate 1141 with the second plate 1143, the second arc-shaped plate 1144 is used for connecting the second plate 1143 with the third plate 1145, and the first arc-shaped plate 1142 and the second arc-shaped plate 1144 are convex arc-shaped plates; the back of the thumb primary knuckle 111 is formed with a first groove 1111 matching with the first plate 1141, the back of the thumb end knuckle 112 is formed with a second groove 1121 matching with the second plate 1143, and the back of the thumb base 113 is formed with a third groove 1132 matching with the third plate 1145. Namely, the initial knuckle 111 of the thumb, the terminal knuckle 112 of the thumb and the base 113 of the thumb are all connected with the first elastic sheet 114 through hexagon socket head cap screws to form the main part of the thumb 11, the back surfaces of the initial knuckle 111 of the thumb, the terminal knuckle 112 of the thumb and the base 113 of the thumb are provided with grooves for mounting the first elastic sheet 114, and the back surface is the back surface of the hand.

The index finger 12, the middle finger 13, the ring finger 14 and the little finger 15 respectively comprise a first finger joint 16, a middle finger joint 17, a tail finger joint 18 and a base 19 which are arranged in sequence, and the back surfaces of the first finger joint 16, the middle finger joint 17, the tail finger joint 18 and the base 19 are connected into a whole through a second elastic sheet 20. That is, the index finger 12, the middle finger 13, the ring finger 14, and the little finger 15 have the same structure, and have one more middle knuckle 17 than the thumb 11. The following description will be made by taking the index finger 12 as an example:

as shown in fig. 11 and 12, the index finger 12 includes a first finger joint 16, a middle finger joint 17, a terminal finger joint 18 and a base 19, the first finger joint 16, the middle finger joint 17, the terminal finger joint 18 and the base 19, and the back surfaces of the first finger joint 16, the middle finger joint 17, the terminal finger joint 18 and the base 19 are integrally connected through a second elastic sheet 20.

Specifically, the second elastic sheet 20 includes a fourth flat sheet 201, a third arc-shaped sheet 202, a fifth flat sheet 203, a fourth arc-shaped sheet 204, a sixth flat sheet 205, a fifth arc-shaped sheet 206 and a seventh flat sheet 207 which are sequentially arranged and integrated, wherein: the fourth flat plate 201, the fifth flat plate 203, the sixth flat plate 205 and the seventh flat plate 207 are respectively matched and connected with the initial knuckle 16, the middle knuckle 17, the terminal knuckle 18 and the base 19, the third arc-shaped plate 202 is used for connecting the fourth flat plate 201 with the fifth flat plate 203, the fourth arc-shaped plate 204 is used for connecting the fifth flat plate 203 with the sixth flat plate 205, the fifth arc-shaped plate 206 is used for connecting the sixth flat plate 205 with the seventh flat plate 207, and the third arc-shaped plate 202, the fourth arc-shaped plate 204 and the fifth arc-shaped plate 206 are convex arc-shaped plates; the back of the first finger joint 16 is provided with a fourth groove 161 matched with the fourth flat sheet 201, the back of the middle finger joint 17 is provided with a fifth groove 171 matched with the fifth flat sheet 203, the back of the tail finger joint 18 is provided with a sixth groove 181 matched with the sixth flat sheet 205, and the base 19 is provided with a slot 192 matched with the seventh flat sheet 207. Namely, the initial knuckle 16, the middle knuckle 17, the end knuckle 18 and the base 19 of the forefinger 12 are all connected with the second elastic piece 20 through socket head cap screws to form the main part of the forefinger 12, the back of the initial knuckle 16, the middle knuckle 17, the end knuckle 18 and the base 19 of the forefinger 12 are provided with grooves for mounting the second elastic piece 20, and the back refers to the back of the hand.

Further, as shown in fig. 15 and 16, the pulley assembly includes a first movable pulley 61, a second movable pulley 62 and a third movable pulley 63 which are separately provided, and a fourth movable pulley 64 which is separately provided, the first movable pulley 61, the second movable pulley 62, the third movable pulley 63 and the fourth movable pulley 64 are respectively fixed on the first pulley support 611, the second pulley support 621, the third pulley support 631 and the fourth pulley support 641, the pulley assembly 6 further includes a first flexible cable 65 which connects the driving mechanism 7 and the first pulley support 611, a second flexible cable 66 which passes through the first movable pulley 61 and both ends of which are respectively connected with the second pulley support 621 and the third pulley support 631, a third flexible cable 67 which passes through the second movable pulley 62 and both ends of which are respectively connected with the thumb 11 and the index finger 12, a fourth flexible cable 68 which passes through the third movable pulley 63 and both ends of which are respectively connected with the middle finger 13 and the fourth pulley support 641, a fourth flexible cable 68, The fifth flexible cable 69 is wound around the fourth movable pulley 64, and two ends of the fifth flexible cable are respectively connected with the ring finger 14 and the little finger 15, the driving mechanism 7 provides traction force through the flexible cables to drive the finger assembly 1 to bend to generate a gripping action, and the first elastic sheet 114 and the second elastic sheet 20 realize the resetting of the finger assembly 1 through the self-rebounding.

Specifically, the first movable pulley 61 is arranged at the middle section inside the arm assembly 4 and is a primary pulley; the first pulley bracket 611 is connected with a first miniature linear guide rail 614 arranged on the arm assembly 4 through a first guide rail slider 613 fixed with the first pulley bracket 611, and a first hook 612 is arranged on the first pulley bracket 611;

the second movable pulley 62 and the third movable pulley 63 are arranged in parallel at the front section inside the arm component 4 and are secondary pulleys; the second pulley support 621 is connected to a second miniature linear guide 624 arranged on the arm assembly 4 through a second guide slider 623 fixed thereto, and a second hook 622 is arranged on the second pulley support 621; the third pulley support 631 is connected to a third micro linear guide 634 provided on the arm assembly 4 via a third guide slider 633 fixed thereto, and a third hook 632 is provided on the third pulley support 631;

the fourth movable pulley 64 is arranged inside the palm component 2 and is a three-stage pulley; the fourth pulley holder 641 is connected to a fourth micro linear guide 644 provided on the palm section 2 through a fourth guide block 643 fixed thereto, and a fourth hook 642 is provided on the fourth pulley holder 641.

The thumb 11 has a structure different from other four fingers, the thumb 11 has two degrees of freedom of knuckle opening and closing, and the other four fingers each have three degrees of freedom of knuckle opening and closing, that is, the finger assembly 1 has fourteen degrees of freedom in total; through the mode of arranging the three-stage pulley, fourteen degrees of freedom can be driven by one motor, and under-actuation among the thumb 11, the index finger 12, the middle finger 13, the ring finger 14 and the little finger 15 and under-actuation among joints of the fingers are realized. The thumb 11, index finger 12, and ring finger 13 require a large amount of power during the gripping operation, and therefore, the power is transmitted by the secondary pulley, while the power required by the ring finger 14 and little finger 15 is not large, and the power is transmitted by the tertiary pulley.

Further, a first guide wheel 1131 matched with the third flexible cable 67 is arranged on the thumb base 113, a first through hole 115 for the third flexible cable 67 to pass through is arranged inside each knuckle of the thumb 11, a second guide wheel 191 matched with the third flexible cable 67 is arranged on the base 19 of the index finger 12, a second through hole 121 for the third flexible cable 67 to pass through is arranged inside each knuckle of the index finger 12, and one end of the third flexible cable 67 is fixed with the primary end knuckle 111 of the thumb through the first through hole 115 after passing around the first guide wheel 1131; the other end of the third flexible cable 67 is wound around the second guide wheel 191 and then fixed with the first end knuckle 16 of the forefinger 12 through the second through hole 121;

a third guide wheel matched with the fourth flexible cable 68 is arranged on the base of the middle finger 13, a third through hole for the fourth flexible cable 68 to pass through is formed in each knuckle of the middle finger 13, and one end of the fourth flexible cable 68 is fixed with the initial knuckle of the middle finger 13 through the third through hole after being wound by the third guide wheel; the other end of the fourth wire 68 is connected to a fourth hook 642 on the fourth pulley bracket 641;

a fourth guide wheel matched with the fifth flexible cable 69 is arranged on the base of the ring finger 14, a fourth through hole for the fifth flexible cable 69 to pass through is formed in each knuckle of the ring finger 14, a fifth guide wheel matched with the fifth flexible cable 69 is arranged on the base of the little finger 15, a fifth through hole for the fifth flexible cable 69 to pass through is formed in each knuckle of the little finger 15, and one end of the fifth flexible cable 69 is fixed with the initial end knuckle of the ring finger 14 through the fourth through hole after passing around the fourth guide wheel; the other end of the fifth flexible cable 69 is fixed to the first end knuckle of the little finger 15 through the fifth through hole after passing around the fifth guide wheel.

Further, as shown in fig. 13 and 14, the driving mechanism 7 is disposed inside the arm assembly 4, specifically located at the lower section of the arm assembly 4, and includes a motor 71, a speed reducer 72 connected to an output end of the motor 71, and a reel 74 coaxially connected to the speed reducer output shaft 73, the speed reducer output shaft 73 is horizontally disposed along the length direction of the arm assembly 4, the speed reducer 72 is connected to a motor bracket 75 fixed to the arm assembly 4, the speed reducer output shaft 73 is further provided with a shaft circlip 76 for limiting the axial movement of the reel 74, one end of the first flexible cable 65 is connected to the reel 74, and the other end of the first flexible cable 65 is connected to a first hook 612 on the first pulley bracket 611 after sequentially passing through a first guide pulley 77 and a second guide pulley 78 fixed to the arm assembly 4; the axles of the first guide wheel 77 and the second guide wheel 78 are perpendicular to the axle of the reel 74.

Further, as shown in fig. 5, 6, 7 and 8, the palm component 2 and the arm component 4 are both hollow structures, the palm component 2 includes a palm inner plate 21 and a palm back plate 22 which are oppositely disposed and connected, the palm inner plate 21 and the palm back plate 22 respectively correspond to the palm and the back of the hand, and the thumb base 113 and the bases 19 of the index finger 12, the middle finger 13, the ring finger 14 and the little finger 15 are connected to the palm back plate 22. The arm component 4 comprises an arm inner plate 41 and an arm back plate 42 which are oppositely arranged and connected, the wrist component 3 is an annular body, and the wrist component 3 is sleeved at the joint of the palm component 2 and the arm component 4 and is fixedly connected with the palm component 2 and the arm component 4 respectively. In order to facilitate the installation and fixing of the pulley assembly 6 and the driving mechanism 7, appropriate spaces are respectively provided between the palm inner plate 21 and the palm back plate 22, and between the arm inner plate 41 and the arm back plate 42, and a boss mechanism is provided.

Further, a first sleeve fixing plate 81 and a second sleeve fixing plate 82 which are arranged in parallel in the front-back direction are arranged between the first micro linear guide 614 and the second micro linear guide 624, two ends of the second flexible cable 66 sequentially penetrate through the second sleeve fixing plate 82 and the first sleeve fixing plate 81 and then are connected with the second pulley bracket 621 and the third pulley bracket 631, and the second flexible cable 66 between the first sleeve fixing plate 81 and the second sleeve fixing plate 82 is sleeved with the first sleeve 83;

a third sleeve fixing plate 84 and a fourth sleeve fixing plate 85 which are arranged in parallel in the front-back direction are arranged between the second miniature linear guide 624 and the fourth miniature linear guide 644, two ends of the third flexible cable 67 penetrate through the fourth sleeve fixing plate 85 and then are connected with the thumb 11 and the forefinger 12, and a third flexible cable 67 between the fourth sleeve fixing plate 85 and the first guide wheel 1131 and a third flexible cable 67 between the fourth sleeve fixing plate 85 and the second guide wheel 191 are respectively sleeved with a second sleeve 86;

one end of the fourth flexible cable 68 penetrates through the fourth sleeve fixing plate 85 and then is connected to the ring finger 14, the other end of the fourth flexible cable 68 penetrates through the fourth sleeve fixing plate 85 and the third sleeve fixing plate 84 in sequence and then is connected to the fourth pulley bracket 641, and the fourth flexible cable 68 between the fourth sleeve fixing plate 85 and the third guide wheel and the fourth flexible cable 68 between the third sleeve fixing plate 84 and the fourth sleeve fixing plate 85 are respectively sleeved with the third sleeve 87. The sleeves can limit the routing of the flexible cables, and the flexible cables can transmit power through the sleeves.

The working principle and the working process of the invention are as follows:

1. the connection mode of each flexible cable:

a first flexible cable: one end of the first flexible cable is connected with the reel, and the other end of the first flexible cable is sequentially wound through the first guide wheel and the second guide wheel and then connected with the first hook on the first pulley bracket;

a second flexible cable: one end of a second flexible cable sequentially penetrates through the second sleeve fixing plate and the first sleeve fixing plate and then is connected with a second hook on the second pulley bracket, and the other end of the second flexible cable is wound around the first movable pulley, then sequentially penetrates through the second sleeve fixing plate and the first sleeve fixing plate and then is connected with a third hook on the third pulley bracket;

a third flexible cable: one end of the third flexible cable passes through the fourth sleeve fixing plate, then winds through the first guide wheel on the thumb base and is fixed with the knuckle at the primary end of the thumb through the first through hole; the other end of the third flexible cable is wound by the second movable pulley, passes through the fourth sleeve fixing plate, is wound by the second guide wheel on the forefinger and is fixed with the initial end knuckle of the forefinger through the second through hole;

a fourth flexible cable: one end of a fourth flexible cable passes through the fourth sleeve fixing plate, then winds through a third guide wheel on the middle finger and is fixed with the initial end knuckle of the middle finger through a third through hole; the other end of the fourth flexible cable is wound by a third movable pulley, sequentially passes through a fourth sleeve fixing plate and a third sleeve fixing plate and then is connected with a fourth hook on a fourth pulley bracket;

a fifth flexible cable: one end of a fifth flexible cable is wound around a fourth guide wheel on the ring finger and is fixed with the initial end knuckle of the ring finger through a fourth through hole; the other end of the fifth flexible cable sequentially passes through the fourth movable pulley and the fifth guide wheel and then is fixed with the initial end knuckle of the little finger through the fifth through hole.

2. The power transmission principle is as follows:

the motor works, the speed reducer drives the reel to rotate, a first flexible cable connected with the reel pulls the first pulley bracket to move backwards along the direction limited by the first miniature linear guide rail after passing through the tensioning guide of the first guide wheel and the second guide wheel, and power is transmitted to the first movable pulley; the first movable pulley is pulled by a second flexible cable to pull the second pulley bracket and the third pulley bracket backwards at the same time, power is transmitted to the second movable pulley and the third movable pulley, the second movable pulley transmits the power to the thumb and the forefinger through a third flexible cable, meanwhile, the third movable pulley transmits the power to the middle finger and the fourth pulley bracket through a fourth flexible cable, and the fourth movable pulley transmits the power to the ring finger and the little finger through a fifth flexible cable; when the first movable pulley, the second movable pulley, the third movable pulley and the fourth movable pulley transmit the pulling force, the first movable pulley, the second movable pulley, the third movable pulley and the fourth movable pulley all keep moving on the miniature linear guide rails in the same direction.

3. The action of the finger assembly:

taking the thumb as an example, the backward movement of the second movable pulley causes the third flexible cable to generate a pulling force on the finger joint at the end of the thumb, thereby causing the first elastic sheet to bend, and further causing the whole finger to bend to generate a gripping action. When the motor stops power input, the thumb pulls the third flexible cable to return to the initial state due to the rebounding of the first elastic sheet, and the reset of the thumb is achieved.

As shown in fig. 17, the action principle of the remaining four fingers is the same as that of the thumb, i.e., the fingers are bent to generate a gripping action by pulling the flexible cables, and then the fingers are restored to the initial state by the resilience of the second elastic sheet, so as to achieve the resetting, which is not described in detail herein.

The invention has the beneficial effects that:

(1) the invention can drive the hand-imitating hand to carry out grabbing action by only using one motor, has enveloping grabbing and certain shape self-adaptive capacity and has simple and compact structure; (2) the human-simulated hand has fourteen degrees of freedom, is based on a non-uniform elastomer configuration, is stable in gripping, and realizes light weight and miniaturization; (3) according to the invention, after the manipulator finishes gripping, namely the motor stops, the flexible cables are pulled to return to the initial state through the self resilience of the first elastic sheet and the second elastic sheet, so that the hand-simulated reset is realized.

The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.

Claims

1. The utility model provides a flexible cable traction under-actuated anthropomorphic hand based on inhomogeneous elastomer configuration which characterized in that: including finger subassembly (1), palm subassembly (2), wrist subassembly (3) and arm subassembly (4) that connect gradually, finger subassembly (1) include thumb (11), forefinger (12), well finger (13), ring finger (14) and little finger (15), thumb (11) including the thumb that sets gradually first end knuckle (111), the terminal knuckle of thumb (112) and thumb base (113), the back of thumb first end knuckle (111), the terminal knuckle of thumb (112) and thumb base (113) link into a whole through first shell fragment (114), forefinger (12), well finger (13), ring finger (14) and little finger (15) equally divide and respectively including the first end knuckle (16), middle knuckle (17), terminal knuckle (18) and base (19) that set gradually, forefinger (16), middle knuckle (17), The back of the tail end knuckle (18) and the back of the base (19) are connected into a whole through a second elastic sheet (20);

thumb (11), forefinger (12), middle finger (13), ring finger (14) and little finger (15) link to each other with actuating mechanism (7) through pulley assembly (6), pulley assembly including first movable pulley (61) that set up alone, second movable pulley (62) and third movable pulley (63) that set up side by side and fourth movable pulley (64) that set up alone, first movable pulley (61), second movable pulley (62), third movable pulley (63), fourth movable pulley (64) fix respectively on first pulley support (611), second pulley support (621), third pulley support (631), fourth pulley support (641), pulley assembly (6) still including connect actuating mechanism (7) and first flexible rope (65) of pulley support (611), pass around first movable pulley (61) and both ends respectively with second pulley support (621) and third pulley support (631) link to each other second flexible rope (66), A third flexible cable (67) wound around the second movable pulley (62) and having two ends respectively connected with the thumb (11) and the index finger (12), a fourth flexible cable (68) wound around the third movable pulley (63) and having two ends respectively connected with the middle finger (13) and the fourth pulley bracket (641), and a fifth flexible cable (69) wound around the fourth movable pulley (64) and having two ends respectively connected with the ring finger (14) and the little finger (15), wherein the driving mechanism (7) provides traction tension through the flexible cables to drive the finger assembly (1) to bend to generate a gripping action, and the first elastic sheet (114) and the second elastic sheet (20) realize the resetting of the finger assembly (1) through the self resilience;

the first elastic sheet (114) comprises a first flat sheet (1141), a first arc-shaped sheet (1142), a second flat sheet (1143), a second arc-shaped sheet (1144) and a third flat sheet (1145) which are sequentially arranged and integrated, wherein: the first flat sheet (1141), the second flat sheet (1143) and the third flat sheet (1145) are respectively matched and connected with the thumb primary end knuckle (111), the thumb tail end knuckle (112) and the thumb base (113), the first arc-shaped sheet (1142) is used for connecting the first flat sheet (1141) with the second flat sheet (1143), the second arc-shaped sheet (1144) is used for connecting the second flat sheet (1143) with the third flat sheet (1145), and the first arc-shaped sheet (1142) and the second arc-shaped sheet (1144) are convex arc-shaped sheets;

second shell fragment (20) including arrange in proper order and fourth plain film (201), third arc piece (202), fifth plain film (203), fourth arc piece (204), sixth plain film (205), fifth arc piece (206) and seventh plain film (207) as an organic whole structure, wherein: the fourth plain film (201), the fifth plain film (203), the sixth plain film (205) and the seventh plain film (207) are respectively matched and connected with the initial knuckle (16), the middle knuckle (17), the tail end knuckle (18) and the base (19), the third arc-shaped film (202) is used for connecting the fourth plain film (201) and the fifth plain film (203), the fourth arc-shaped film (204) is used for connecting the fifth plain film (203) and the sixth plain film (205), the fifth arc-shaped film (206) is used for connecting the sixth plain film (205) and the seventh plain film (207), and the third arc-shaped film (202), the fourth arc-shaped film (204) and the fifth arc-shaped film (206) are convex arc-shaped films.

2. The flexible cable traction under-actuated anthropomorphic hand based on non-uniform elastomer configuration as claimed in claim 1, wherein: the driving mechanism (7) is arranged inside the arm component (4) and comprises a motor (71), a speed reducer (72) connected with the output end of the motor (71) and a reel (74) coaxially connected with the output shaft (73) of the speed reducer, the output shaft (73) of the speed reducer is horizontally arranged along the length direction of the arm component (4), the speed reducer (72) is connected with a motor bracket (75) fixed on the arm component (4), the output shaft (73) of the speed reducer is also provided with a shaft circlip (76) for limiting the axial movement of the reel (74), one end of the first flexible cable (65) is connected with the reel (74), and the other end of the first flexible cable (65) sequentially winds through a first guide wheel (77) and a second guide wheel (78) which are fixed on the arm assembly (4) and then is connected with a first hook (612) on the first pulley bracket (611); the axle of the first guide wheel (77) and the axle of the second guide wheel (78) are both perpendicular to the axle of the reel (74).

3. The flexible cable traction under-actuated anthropomorphic hand based on non-uniform elastomer configuration as claimed in claim 1, wherein: a first guide wheel (1131) matched with the third flexible cable (67) is arranged on the thumb base (113), a first through hole (115) for the third flexible cable (67) to pass through is formed in each knuckle of the thumb (11), a second guide wheel (191) matched with the third flexible cable (67) is arranged on the base (19) of the index finger (12), a second through hole (121) for the third flexible cable (67) to pass through is formed in each knuckle of the index finger (12), and one end of the third flexible cable (67) is fixed with a knuckle (111) at the primary end of the thumb through the first through hole (115) after passing through the first guide wheel (1131); the other end of the third flexible rope (67) is wound around the second guide wheel (191) and then is fixed with the initial knuckle (16) of the forefinger (12) through the second through hole (121);

a third guide wheel matched with a fourth flexible cable (68) is arranged on the base of the middle finger (13), a third through hole for the fourth flexible cable (68) to pass through is formed in each knuckle of the middle finger (13), and one end of the fourth flexible cable (68) is fixed with the initial knuckle of the middle finger (13) through the third through hole after being wound by the third guide wheel; the other end of the fourth flexible cable (68) is connected with a fourth hook (642) on the fourth pulley bracket (641);

a fourth guide wheel matched with a fifth flexible cable (69) is arranged on a base of the ring finger (14), a fourth through hole for the fifth flexible cable (69) to pass through is formed in each knuckle of the ring finger (14), a fifth guide wheel matched with the fifth flexible cable (69) is arranged on the base of the little finger (15), a fifth through hole for the fifth flexible cable (69) to pass through is formed in each knuckle of the little finger (15), and one end of the fifth flexible cable (69) is fixed with the initial end knuckle of the ring finger (14) through the fourth through hole after winding through the fourth guide wheel; the other end of the fifth flexible cable (69) is wound around the fifth guide wheel and then fixed with the initial knuckle of the little finger (15) through the fifth through hole.

4. The flexible cable traction under-actuated anthropomorphic hand based on non-uniform elastomer configuration as claimed in claim 1, wherein: the first movable pulley (61) is arranged at the middle section inside the arm component (4) and is a primary pulley; the first pulley bracket (611) is connected with a first miniature linear guide rail (614) arranged on the arm component (4) through a first guide rail sliding block (613) fixed with the first pulley bracket, and a first hook (612) is arranged on the first pulley bracket (611);

the second movable pulley (62) and the third movable pulley (63) are arranged in parallel at the front section position in the arm component (4) and are secondary pulleys; the second pulley support (621) is connected with a second miniature linear guide rail (624) arranged on the arm component (4) through a second guide rail sliding block (623) fixed with the second pulley support, and a second hook (622) is arranged on the second pulley support (621); the third pulley support (631) is connected with a third miniature linear guide rail (634) arranged on the arm component (4) through a third guide rail sliding block (633) fixed with the third pulley support, and a third hook (632) is arranged on the third pulley support (631);

the fourth movable pulley (64) is arranged inside the palm component (2) and is a three-stage pulley; the fourth pulley bracket (641) is connected with a fourth micro linear guide rail (644) arranged on the palm component (2) through a fourth guide rail sliding block (643) fixed with the fourth pulley bracket, and a fourth hook (642) is arranged on the fourth pulley bracket (641).

5. The flexible cable traction under-actuated anthropomorphic hand based on non-uniform elastomer configuration as claimed in claim 1, wherein: the back of the thumb primary knuckle (111) is provided with a first groove (1111) matched with the first flat sheet (1141), the back of the thumb tail knuckle (112) is provided with a second groove (1121) matched with the second flat sheet (1143), and the back of the thumb base (113) is provided with a third groove (1132) matched with the third flat sheet (1145).

6. The flexible cable traction under-actuated anthropomorphic hand based on non-uniform elastomer configuration as claimed in claim 1, wherein: the back of the first end knuckle (16) is provided with a fourth groove (161) matched with a fourth flat sheet (201), the back of the middle knuckle (17) is provided with a fifth groove (171) matched with a fifth flat sheet (203), the back of the tail end knuckle (18) is provided with a sixth groove (181) matched with a sixth flat sheet (205), and the base (19) is provided with a slot (192) matched with a seventh flat sheet (207).

7. The flexible cable traction under-actuated anthropomorphic hand based on non-uniform elastomer configuration as claimed in claim 1, wherein: palm subassembly (2) and arm subassembly (4) be hollow structure, palm subassembly (2) including closing palm inner panel (21) and palm backplate (22) that set up and connect, thumb base (113) and forefinger (12), middle finger (13), ring finger (14), base (19) of little finger (15) all be connected with palm backplate (22), arm subassembly (4) including closing arm inner panel (41) and arm backplate (42) that set up and connect, wrist subassembly (3) be the ring body, wrist subassembly (3) cover establish the junction of palm subassembly (2) and arm subassembly (4) and link firmly with palm subassembly (2) and arm subassembly (4) respectively.

8. The flexible cable traction under-actuated anthropomorphic hand based on non-uniform elastomer configuration as claimed in claim 4, wherein: a first sleeve fixing plate (81) and a second sleeve fixing plate (82) which are arranged in parallel in the front-back direction are arranged between the first miniature linear guide rail (614) and the second miniature linear guide rail (624), two ends of the second flexible cable (66) sequentially penetrate through the second sleeve fixing plate (82) and the first sleeve fixing plate (81) and then are connected with the second pulley bracket (621) and the third pulley bracket (631), and a first sleeve (83) is sleeved on the second flexible cable (66) positioned between the first sleeve fixing plate (81) and the second sleeve fixing plate (82);

a third sleeve fixing plate (84) and a fourth sleeve fixing plate (85) which are arranged in parallel in the front-back direction are arranged between the second miniature linear guide rail (624) and the fourth miniature linear guide rail (644), two ends of the third flexible cable (67) penetrate through the fourth sleeve fixing plate (85) and then are connected with the thumb (11) and the forefinger (12), and a second sleeve (86) is respectively sleeved on the third flexible cable (67) between the fourth sleeve fixing plate (85) and the first guide wheel (1131) and the third flexible cable (67) between the fourth sleeve fixing plate (85) and the second guide wheel (191);

one end of the fourth flexible cable (68) is connected with the ring finger (14) after penetrating through the fourth sleeve fixing plate (85), the other end of the fourth flexible cable (68) is connected with the fourth pulley bracket (641) after sequentially penetrating through the fourth sleeve fixing plate (85) and the third sleeve fixing plate (84), and the fourth flexible cable (68) between the fourth sleeve fixing plate (85) and the third guide wheel and the fourth flexible cable (68) between the third sleeve fixing plate (84) and the fourth sleeve fixing plate (85) are respectively sleeved with the third sleeve (87).