CN113386160A

CN113386160A - Rigid-flexible coupling under-actuated dexterous hand device

Info

Publication number: CN113386160A
Application number: CN202110725355.7A
Authority: CN
Inventors: 杜宇; 李泳耀
Original assignee: Dalian Dahuazhongtian Technology Co ltd
Current assignee: Dalian Dahuazhongtian Technology Co ltd
Priority date: 2021-06-29
Filing date: 2021-06-29
Publication date: 2021-09-14

Abstract

The utility model provides a smart hand device of rigid-flexible coupling under-actuated, belongs to the robot field, connects base and fixed platform including finger, palm, finger, and the finger includes five finger structures that the structure is the same, and every finger is equipped with three knuckle and three joint, makes the finger have three "opens the closed" degree of freedom. Wherein the thumb also adds an additional "oscillating" degree of freedom via a bevel gear mechanism on the palm. The knuckles of the fingers are made of soft materials, the joints are made of rigid materials, and the knuckles and the joints are sequentially and alternately bonded to form a rigid-flexible coupling structure. The roots of all the fingers are fixed on the palm of the hand, and the palm is connected with the fixed platform through the palm connecting base. Five fingers are driven by tendon ropes, and all driving systems are integrated in the dexterous hand device. The whole finger can be prevented from being damaged after colliding with the environment under the non-structural environment, and the grabbing stability is enhanced; is beneficial to realizing object pinching by fingertips; by adopting the modular design concept, the five fingers are completely independent from the palm, and the processing and the assembly are simpler.

Description

Rigid-flexible coupling under-actuated dexterous hand device

Technical Field

The invention belongs to the field of robots, relates to a robot device, and particularly relates to a rigid-flexible coupling under-actuated dexterous hand device.

Background

The original manipulator is used as an end manipulator on an industrial production line, has simple structure, less joints and degrees of freedom, generally single and specific gripping objects and narrow adaptability. With the development of a driving motor, the optimization of a transmission structure and the improvement of a sensor system, the design of a manipulator is started according to a human hand, so that the characteristics of high freedom degree, compact structure, complex function and the like of the human hand are restored as much as possible, and the universality and the stability are improved. In addition, the application field of the robot is expanded due to the proposal of national policies such as 'intelligent manufacturing 2025' and the like, and the requirement on the flexibility of the end effector is correspondingly improved, such as the fine operation of small objects, the adaptive grabbing of irregular objects and the like. With the assistance of robotics and related disciplines, a number of excellent dexterous hand devices have been developed, such as fully-actuated dexterous hands of Utah/MIT, BUAA, Allegro, etc., Robonaut, DLR/HIT, PISA/IIT, Shadow, i-LIMB, etc. Compared with a fully-driven dexterous hand, the under-driven dexterous hand has the advantages of relatively simple structure, convenience in control and integration and better flexibility, so that the under-driven dexterous hand becomes the key point of current research.

In addition, the dexterous hand can be divided into a rigid hand and a soft hand according to different materials. The classic rigid hand can realize accurate and reliable grabbing control through a position sensor and a force sensor, so that fine operation is realized. The soft hand has the advantages of stronger environmental adaptability and interaction safety and is very suitable for grabbing objects with fragile and easily damaged surfaces. If the rigid material and the soft material are combined in the design, the advantages of the rigid material and the soft material are combined, the respective short plates are eliminated, and the grabbing capacity of the dexterous hand can be further expanded and improved. The design idea of a flexible coupling dexterous hand is that the flexible coupling dexterous hand is designed according to the design idea, wherein the specific coupling form comprises structural coupling, material phase change and the like.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides a rigid-flexible coupling under-actuated dexterous hand device, which is characterized in that the under-actuated dexterous hand device is connected in series by rigid and flexible materials, so that the under-actuated dexterous hand obtains better self-adaptability and flexibility on the basis of flexible operation, and the application fields of the manipulator in the aspects of food, medical treatment and the like are expanded.

In order to achieve the purpose, the technical scheme of the invention is as follows:

a rigid-flexible coupling under-actuated dexterous hand device comprises fingers, a palm 6, a palm connecting base 7 and a fixed platform 8; the fingers comprise a thumb 1, an index finger 2, a middle finger 3, a ring finger 4 and a little finger 5, the structures of the five fingers are the same, each finger is provided with three knuckles and three joints, so that the fingers have three degrees of freedom of opening and closing, wherein the thumb 1 further increases one degree of freedom of swinging through a bevel gear mechanism on a palm 6. The knuckles of the five fingers are made of soft materials, the joints of all the fingers are made of rigid materials, and the knuckles and the joints are sequentially and alternately bonded to form a rigid-flexible coupling structure. The roots of all the fingers are fixed on the palm 6, the palm 6 and the palm connecting base 7 are fixed in a threaded connection mode, and the palm connecting base 7 and the fixed platform 8 are fixed in a threaded connection mode. Five fingers are respectively driven by tendon ropes 204, and all driving systems are integrated in the rigid-soft coupling under-actuated dexterous hand device.

Since the five fingers have the same structure, the structure of the finger will be described by taking the index finger 2 as an example:

the index finger 2 comprises a first index finger knuckle 201, a second index finger knuckle 202, a third index finger knuckle 203, a tendon rope 204, a proximal joint component, a middle joint component and a distal joint component, wherein the first index finger knuckle 201 and the second index finger knuckle 202 are both formed by soft materials, and the three joint components are identical in structural composition. The proximal joint component comprises a first upper shell 205, a first lower shell 206, a first rotating shaft 207, a first torsion spring 208, a second torsion spring 209, a first clamp spring 210, a second clamp spring 211, a first pulley 212, a first end cover 213 and a second end cover 214; the middle joint component comprises an upper shell II 215, a lower shell II 216, a rotating shaft II 217, a torsion spring III 218, a torsion spring IV 219, a clamping spring III 220, a clamping spring IV 221, a pulley II 222, an end cover III 223 and an end cover IV 224; the distal joint component comprises an upper shell III 225, a lower shell III 226, a rotating shaft III 227, a torsion spring V228, a torsion spring V229, a torsion spring V230, a torsion spring V231, a pulley III 232, an end cover V233 and an end cover V234.

The end face of the first lower shell 206 is provided with two threaded holes for being in threaded connection with the palm 6; two end faces of the first index finger knuckle 201 are respectively bonded with the end faces of the first upper shell 205 and the second lower shell 216, two end faces of the second index finger knuckle 202 are respectively bonded with the end faces of the second upper shell 215 and the third lower shell 226, and an end face of the third index finger knuckle 203 is bonded with the end face of the third upper shell 225. In the proximal joint component, a first rotating shaft 207 penetrates through shaft holes of a first upper shell 205 and a first lower shell 206 to connect the first rotating shaft and the first lower shell, a first torsion spring 208 and a second torsion spring 209 on the first rotating shaft 207 penetrate through mounting feet of the first upper shell 205 and the first lower shell 206 to be fixed, a first pulley 212 is fixed by a first clamping spring 210 and a second clamping spring 211 on the first rotating shaft 207, and a first end cover 213 and a second end cover 214 are fixed by a first rotating shaft 207. In the middle joint component, a second rotating shaft 217 penetrates through shaft holes of a second upper shell 215 and a second lower shell 216 to connect the second upper shell 215 and the second lower shell 216, mounting feet of a third torsion spring 218 and a fourth torsion spring 219 on the second rotating shaft 217 penetrate through the second upper shell 215 and the second lower shell 216 to be fixed, the position of a second pulley 222 is fixed by a third snap spring 220 and a fourth snap spring 221 on the second rotating shaft 217 together, and the position of the second rotating shaft 217 is fixed by a third end cover 223 and a fourth end cover 224 together. In the distal joint assembly, a rotating shaft III 227 passes through shaft holes of an upper shell III 225 and a lower shell III 226 to connect the rotating shaft III and the lower shell III, mounting feet of a torsion spring V228 and a torsion spring VI 229 on the rotating shaft III 227 pass through the upper shell III 225 and the lower shell III 226 to be fixed, a pulley III 232 is fixed by a clamping spring V230 and a clamping spring VI 231 on the rotating shaft III 227, and a rotating shaft III 227 is fixed by an end cover V233 and an end cover VI 234. The range of rotation of each joint is defined by the shape of the joint shell.

The first pulley 212, the second pulley 222 and the third pulley 232 in the index finger 2, the first torsion spring 208, the second torsion spring 209, the third torsion spring 218, the fourth torsion spring 219, the fifth torsion spring 228, the sixth torsion spring 229 and the tendon rope 204 jointly form an under-actuated system of the index finger 2. The tendon rope 204 passes through each knuckle, joint and around each pulley to function as a drive, and the rotation of each joint is realized by the contraction or the relaxation of the tendon rope 204. One end of the tendon rope 204 is connected with the palm 6, and the other end of the tendon rope 204 is fixed on the end face of the upper shell three 225 in the far joint component. During the process of driving the index finger 2 by the tendon rope 204, the first knuckle 201 and the second knuckle 202 are only slightly deformed, and the first knuckle and the second knuckle 202 are gradually deformed greatly by the force of the tendon rope 204 until the first knuckle and the second knuckle meet an object.

The palm 6 comprises a palm shell 601, an index finger connecting base 602, a middle finger connecting base 603, a ring finger connecting base 604, a little finger connecting base 605, a thumb transmission connecting assembly and a motor fixing assembly. The motor fixing component comprises a first motor 606, a second motor 607, a third motor 608, a fourth motor 609, a fifth motor 610, a sixth motor 611, an end fixing block I612, an end fixing block II 613, an end fixing block III 614, a winding sheave I615, an upper fixing block I616 and a lower fixing block I617. The number of the upper fixing block I616 and the number of the lower fixing block I617 are respectively 7, the upper fixing block I616 and the lower fixing block I617 are used for fixing motors, four threaded holes are formed in the lower fixing block I617 and are used for being in threaded connection with the palm shell 601, four threaded holes of the upper fixing block I616 are used for being connected with the lower fixing block I617, the motors are respectively fixed between the upper fixing block I616 and the lower fixing block I617, and the sixth motor 611 used for bevel gear transmission is fixed by the two pairs of the upper fixing block I616 and the lower fixing block I617; the number of the winding grooved wheels is one 615, and the winding grooved wheels are fixedly connected with output shafts of a first motor 606, a second motor 607, a third motor 608, a fourth motor 609 and a fifth motor 610 through jackscrews respectively; the first end fixing block 612 is provided with three threaded holes and three through holes, the second end fixing block 613 and the third end fixing block 614 are respectively provided with two threaded holes and one through hole, the threaded holes are used for being in threaded connection with the palm shell 601, and the through holes are used for placing the first winding grooved wheels 615; the forefinger connecting base 602 is L-shaped, two threaded holes are formed in the horizontal end face of the forefinger connecting base and are used for being fixed with a first lower shell 206 in the forefinger 2 proximal joint assembly, three threaded holes are formed in the vertical section of the forefinger connecting base and are used for being fixed with a palm shell 601, a screw is arranged on the vertical end face of the forefinger connecting base, the tendon rope 204 penetrates out of the first lower shell 206, then bypasses the screw, and then penetrates through a small hole in a first winding sheave 615 to be fixedly bonded with the first winding sheave 615; the middle finger connecting base 603, ring finger connecting base 604, little finger connecting base 605 and index finger connecting base 602 have the same structure. The tendon string 204 on the middle finger 3 is connected to a second motor 607 in the same manner, the tendon string 204 on the ring finger 4 is connected to a third motor 608 in the same manner, the tendon string 204 on the little finger 5 is connected to a fourth motor 609 in the same manner, and the tendon string 204 on the thumb is connected to a fifth motor 610 in the same manner.

The thumb transmission connecting assembly in the palm 6 comprises a first bevel gear 618, a second bevel gear 619, a wire guide block 620, a positioning block 621, the tendon rope 204, a tendon rope guide 622 and a thumb connecting base 623. And the wire block 620 is positioned below the end fixing block III 614 and is in threaded connection with the palm shell 601, and the wire block 620 is provided with a through hole for guiding the tendon rope 204. One end of the tendon rope 204 is fixed to the first winding sheave 615 of the fifth motor 610, then passes around the first winding sheave 615, passes through the through hole of the wire block 620 and protrudes out, then enters the tendon rope guide 622, and passes through the thumb connection base 623 into the proximal joint component of the thumb 1. One end of the tendon rope guide 622 is fixedly bonded to the tendon rope extending end of the wire block 620, and the other end of the tendon rope guide 622 is fixedly bonded to the tendon rope inlet of the thumb connecting base 623, so that the connecting length of the tendon rope 204 between the wire block 620 and the thumb connecting base 623 is always the same as the length of the tendon rope guide 622. The tendon rope 204 is contracted and relaxed by the forward and reverse rotation of the fifth motor 610, so that the flexion and extension of the thumb 1 are realized. The swing of the thumb 1 is realized by means of a bevel gear transmission structure: the first bevel gear 618 is fixedly connected with the sixth motor 611 through a jackscrew, the second bevel gear 619 is meshed with a rotating shaft of the first bevel gear 618 in an angle of 135 degrees, the rotating shaft of the second bevel gear 619 is installed on the positioning block 621, and the thumb connecting base 623 is fixed between the second bevel gear 619 and the positioning block 621 through the jackscrew and rotates synchronously with the second bevel gear 619.

Compared with the prior art, the invention has the beneficial effects that:

(1) because the knuckle is made of the soft material, the whole finger has good flexibility in a non-structural environment, damage caused by collision with the environment is avoided, meanwhile, in the process of grabbing the object, the object can be grabbed along with shape enveloping due to stress deformation of the soft material, and grabbing stability is enhanced.

(2) In the motion process of the finger, before the finger touches the object, the knuckle only has small deformation, and the rotation of each joint plays a main role at the moment, so that the finger is favorable for realizing the object pinching by the finger tip.

(3) The invention adopts a stricter modular design idea, the five fingers have the same structure and are completely independent from the palm, and the processing and the assembly are simpler.

Drawings

FIG. 1 is an overall block diagram of a rigid soft-coupled under-actuated dexterous hand device used in an example of the present invention.

FIG. 2 is a front view of the index finger of a rigid soft coupling under-actuated dexterous hand device used in an example of the present invention.

Figure 3 is a diagram of the back side of the index finger of a rigid soft coupling under actuated dexterous hand device used in an example of the present invention.

Figure 4 is a diagram of the palm structure of a rigid soft-coupled under-actuated dexterous hand device used in an example of the present invention.

Figure 5 is a thumb drive connection assembly in the palm of a rigid soft-coupled under-actuated dexterous hand device used in an example of the present invention.

In the figure: 1 thumb, 2 forefinger, 3 middle finger, 4 ring finger, 5 little finger, 6 palm, 7 palm connecting base, 8 fixed platform, 201 forefinger first knuckle, 202 forefinger second knuckle, 203 forefinger third knuckle, 204 tendon rope, 205 upper housing one, 206 lower housing one, 207 rotating shaft one, 208 torsion spring one, 209 torsion spring two, 210 torsion spring one, 211 torsion spring two, 212 pulley one, 213 end cover one, 214 end cover two, 215 upper housing two, 216 lower housing two, 217 rotating shaft two, 218 torsion spring three, 219 torsion spring four, 220 torsion spring three, 221 torsion spring four, 222 pulley two, 223 end cover three, 224 end cover four, 225 upper housing three, 226 lower housing three, 227 rotating shaft three, 228 torsion spring five, 229 torsion spring six, 230 torsion spring five, 231 torsion spring six, 232 pulley three, 233 end cover five, 234 end cover six, 601 palm housing, 602 connecting base, 603 middle finger connecting base, 604 ring finger connecting base, 605 little finger connecting base, the device comprises a first motor 606, a second motor 607, a third motor 608, a fourth motor 609, a fifth motor 610, a sixth motor 611, a first fixed block 612, a second fixed block 613, a third fixed block 614, a first winding sheave 615, a first fixed block 616, a first fixed block 617, a first bevel gear 618, a second bevel gear 619, a wire guide block 620, a positioning block 621, a tendon guide tube 622 and a thumb 623 which are connected with a base.

Detailed Description

The invention is further illustrated with reference to the following figures and examples.

As shown in fig. 1, a rigid-flexible coupling under-actuated dexterous hand device comprises fingers, a palm 6, a palm connecting base 7 and a fixed platform 8; the fingers comprise a thumb 1, an index finger 2, a middle finger 3, a ring finger 4 and a little finger 5, the structures of the five fingers are the same, and each finger is provided with three knuckles and three joints, so that the fingers have three degrees of freedom of opening and closing. The thumb 1 also adds an additional "swing" degree of freedom via a bevel gear mechanism on the palm 6. The knuckles of five fingers are made of soft materials, the joints of all the fingers are made of rigid materials, and the knuckles and the joints are sequentially and alternately bonded to form a rigid-flexible coupling structure. The roots of all the fingers are fixed on the palm 6, the palm 6 and the palm connecting base 7 are fixed in a threaded connection mode, and the palm connecting base 7 and the fixed platform 8 are fixed in a threaded connection mode. Five fingers are respectively driven by tendon ropes, and all driving systems are integrated in the rigid-soft coupling under-actuated dexterous hand device.

As shown in fig. 2 and 3, a rigid-soft coupling under-actuated dexterous hand device has the same structure of five fingers, and therefore, the index finger 2 is taken as an example for explanation. The index finger 2 comprises a first index finger knuckle 201, a second index finger knuckle 202, a third index finger knuckle 203, a tendon rope 204, a proximal joint component, a middle joint component and a distal joint component, wherein the first index finger knuckle 201 and the second index finger knuckle 202 are both formed by soft materials, and the three joint components are identical in structural composition. The proximal joint component comprises a first upper shell 205, a first lower shell 206, a first rotating shaft 207, a first torsion spring 208, a second torsion spring 209, a first clamp spring 210, a second clamp spring 211, a first pulley 212, a first end cover 213 and a second end cover 214; the middle joint component comprises an upper shell II 215, a lower shell II 216, a rotating shaft II 217, a torsion spring III 218, a torsion spring IV 219, a clamping spring III 220, a clamping spring IV 221, a pulley II 222, an end cover III 223 and an end cover IV 224; the distal joint component comprises an upper shell III 225, a lower shell III 226, a rotating shaft III 227, a torsion spring V228, a torsion spring V229, a torsion spring V230, a torsion spring V231, a pulley III 232, an end cover V233 and an end cover V234. The end face of the first lower shell 206 is provided with two threaded holes for threaded connection with the palm 6; two end faces of the first index finger knuckle 201 are respectively bonded with the end faces of the first upper shell 205 and the second lower shell 216, two end faces of the second index finger knuckle 202 are respectively bonded with the end faces of the second upper shell 215 and the third lower shell 226, and an end face of the third index finger knuckle 203 is bonded with the end face of the third upper shell 225. In the proximal joint component, a first rotating shaft 207 penetrates through shaft holes of a first upper shell 205 and a first lower shell 206 to connect the first rotating shaft and the first lower shell, a first torsion spring 208 and a second torsion spring 209 on the first rotating shaft 207 penetrate through mounting feet of the first upper shell 205 and the first lower shell 206 to be fixed, a first pulley 212 is fixed by a first snap spring 210 and a second snap spring 211 on the first rotating shaft 207, and a first end cover 213 and a second end cover 214 are fixed together on the first rotating shaft 207; the middle joint component and the far joint component are connected in the same way as the near joint component. The range of rotation of each joint is defined by the shape of the joint shell.

As shown in fig. 2, in the rigid-flexible coupling under-actuated dexterous hand device, a pulley I212, a pulley II 222 and a pulley III 232 in the index finger 2, a torsion spring I208, a torsion spring II 209, a torsion spring III 218, a torsion spring IV 219, a torsion spring V228, a torsion spring VI 229 and a tendon rope 204 jointly form an under-actuated system of the index finger 2. The tendon rope 204 passes through each knuckle, joint and around each pulley to function as a drive, and the rotation of each joint is realized by the contraction or the relaxation of the tendon rope 204. One end of tendon rope 204 is attached to palm 6 and the other end of tendon rope 204 is attached to the end face of upper shell three 225 in the distal joint assembly. During the process of driving the index finger 2 by the tendon rope 204, the first knuckle 201 and the second knuckle 202 are only slightly deformed, and the first knuckle and the second knuckle 202 are gradually deformed greatly by the force of the tendon rope 204 until the first knuckle and the second knuckle meet an object. The underactuated system of the index finger 2 is realized by the following steps: the first motor 606 rotates forward to contract the tendon rope 204, and at this time, the tension on the tendon rope 204 acts on each pulley to overcome the moment of each torsion spring, so that each joint rotates, and each knuckle is deformed and bent to different degrees. Different torsional spring rigidity, torsional spring pre-tightening angles and pulley radii are selected through calculation, so that the rotation speed of different joints can be controlled; when the first motor 606 rotates in the reverse direction to loosen the tendon rope 204, the joints gradually return to the initial state under the torque of the torsion spring, and the knuckles return to the original state due to the loss of the tension of the tendon rope, so that the finger is completely stretched.

As shown in fig. 4, a rigid-soft coupling under-actuated dexterous hand device, the palm 6 of which comprises: palm shell 601, forefinger connection base 602, middle finger connection base 603, third finger connection base 604, little finger connection base 605, thumb transmission connection subassembly and motor fixed subassembly. The motor fixing component comprises a first motor 606, a second motor 607, a third motor 608, a fourth motor 609, a fifth motor 610, a sixth motor 611, an end fixing block I612, an end fixing block II 613, an end fixing block III 614, a winding sheave I615, an upper fixing block I616 and a lower fixing block I617. The number of the upper fixing block I616 and the number of the lower fixing block I617 are respectively 7, the upper fixing block I616 and the lower fixing block I617 are used for fixing motors, four threaded holes are formed in the lower fixing block I617 and are used for being in threaded connection with the palm shell 601, four threaded holes of the upper fixing block I616 are used for being connected with the lower fixing block I617, the motors are respectively fixed between the upper fixing block I616 and the lower fixing block I617, and the sixth motor 611 used for bevel gear transmission is fixed by the two pairs of the upper fixing block I616 and the lower fixing block I617; the number of the winding grooved wheels is one 615, and the winding grooved wheels are fixedly connected with output shafts of a first motor 606, a second motor 607, a third motor 608, a fourth motor 609 and a fifth motor 610 through jackscrews respectively; the first end fixing block 612 is provided with three threaded holes and three through holes, the second end fixing block 613 and the third end fixing block 614 are respectively provided with two threaded holes and one through hole, the threaded holes are used for being in threaded connection with the palm shell 601, and the through holes are used for placing the first winding grooved wheels 615; the forefinger connecting base 602 is L-shaped, two threaded holes are formed in the horizontal end face of the forefinger connecting base and are used for being fixed with a first lower shell 206 in the forefinger 2 proximal joint assembly, three threaded holes are formed in the vertical section of the forefinger connecting base and are used for being fixed with a palm shell 601, a screw is arranged on the vertical end face of the forefinger connecting base, the tendon rope 204 penetrates out of the first lower shell 206, then bypasses the screw, and then penetrates through a small hole in a first winding sheave 615 to be fixedly bonded with the first winding sheave 615; the middle finger connecting base 603, ring finger connecting base 604, little finger connecting base 605 and index finger connecting base 602 have the same structure. The tendon string 204 on the middle finger 3 is connected to a second motor 607 in the same manner, the tendon string 204 on the ring finger 4 is connected to a third motor 608 in the same manner, the tendon string 204 on the little finger 5 is connected to a fourth motor 609 in the same manner, and the tendon string 204 on the thumb is connected to a fifth motor 610 in the same manner.

As shown in fig. 5, the thumb drive connection assembly in the palm 6 comprises: bevel gear one 618, bevel gear two 619, wire block 620, locating block 621, tendon rope 204, tendon rope conduit 622, thumb connection base 623. Wire block 620 is located below end fixing block three 614 and is in threaded connection with palm shell 601, and wire block 620 is provided with a through hole for guiding tendon rope 204. One end of the tendon rope 204 is fixed to the first winding sheave 615 of the fifth motor 610, then passes around the first winding sheave 615, passes through the through hole of the wire block 620 and protrudes out, then enters the tendon rope guide 622, and passes through the thumb connection base 623 into the proximal joint component of the thumb 1. One end of the tendon rope guide 622 is fixedly bonded to the tendon rope extending end of the wire block 620, and the other end of the tendon rope guide 622 is fixedly bonded to the tendon rope inlet of the thumb connecting base 623, so that the connecting length of the tendon rope 204 between the wire block 620 and the thumb connecting base 623 is always the same as the length of the tendon rope guide 622. The tendon rope 204 is contracted and relaxed by the forward and reverse rotation of the fifth motor 610, so that the flexion and extension of the thumb 1 are realized. The swing of the thumb 1 is realized by means of a bevel gear transmission structure: the first bevel gear 618 is fixedly connected with the sixth motor 611 through a jackscrew, the second bevel gear 619 is meshed with a rotating shaft of the first bevel gear 618 in an angle of 135 degrees, the rotating shaft of the second bevel gear 619 is installed on the positioning block 621, and the thumb connecting base 623 is fixed between the second bevel gear 619 and the positioning block 621 through the jackscrew and rotates synchronously with the second bevel gear 619.

While the invention has been described with reference to the drawings and examples, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. Therefore, it is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.

Claims

1. A rigid-flexible coupling under-actuated dexterous hand device is characterized by comprising fingers, a palm (6), a palm connecting base (7) and a fixed platform (8); the fingers comprise a thumb (1), an index finger (2), a middle finger (3), a ring finger (4) and a little finger (5), the structures of the five fingers are the same, each finger is provided with three knuckles and three joints, so that the fingers have three degrees of freedom of opening and closing, wherein the thumb (1) is additionally provided with one degree of freedom of swinging through a bevel gear mechanism on a palm (6); the knuckles and the joints are sequentially and alternately bonded to form a rigid-flexible coupling structure; the roots of all the fingers are fixed on the palm (6), the palm (6) is fixedly connected with the palm connecting base (7), and the palm connecting base (7) is fixedly connected with the fixed platform (8); five fingers are respectively driven by tendon ropes (204), and a driving system is integrated in the dexterous hand device;

the index finger (2) comprises a first index finger knuckle (201), a second index finger knuckle (202), a third index finger knuckle (203), a tendon rope (204) and a proximal joint assembly, a middle joint assembly and a distal joint assembly which are formed by the same three structures;

the near joint component comprises a first upper shell (205), a first lower shell (206), a first rotating shaft (207), a first torsion spring (208), a second torsion spring (209), a first clamping spring (210), a second clamping spring (211), a first pulley (212), a first end cover (213) and a second end cover (214); the middle joint component comprises an upper shell II (215), a lower shell II (216), a rotating shaft II (217), a torsion spring III (218), a torsion spring IV (219), a torsion spring III (220), a torsion spring IV (221), a pulley II (222), an end cover III (223) and an end cover IV (224); the far joint component comprises an upper shell III (225), a lower shell III (226), a rotating shaft III (227), a torsion spring V (228), a torsion spring VI (229), a torsion spring V (230), a torsion spring VI (231), a pulley III (232), an end cover V (233) and an end cover VI (234); the end surface of the lower shell I (206) is in threaded connection with the palm (6); two end faces of the first index finger knuckle (201) are respectively bonded with the end faces of the first upper shell (205) and the second lower shell (216), two end faces of the second index finger knuckle (202) are respectively bonded with the end faces of the second upper shell (215) and the third lower shell (226), and the end face of the third index finger knuckle (203) is bonded with the end face of the third upper shell (225); in the near joint assembly, a first rotating shaft (207) penetrates through shaft holes of a first upper shell (205) and a first lower shell (206) to connect the first rotating shaft and the first lower shell, a first torsion spring (208) and a second torsion spring (209) on the first rotating shaft (207) are installed on legs which penetrate through the first upper shell (205) and the first lower shell (206) to be fixed, a first pulley (212) is fixed together by a first clamping spring (210) and a second clamping spring (211) on the first rotating shaft (207), and the first rotating shaft (207) is fixed together by a first end cover (213) and a second end cover (214); in the middle joint component, a second rotating shaft (217) penetrates through shaft holes of a second upper shell (215) and a second lower shell (216) to connect the second upper shell (215) and the second lower shell (216), mounting feet of a third torsion spring (218) and a fourth torsion spring (219) on the second rotating shaft (217) penetrate through the second upper shell (215) and the second lower shell (216) to be fixed, a second pulley (222) is fixed together by a third clamping spring (220) and a fourth clamping spring (221) on the second rotating shaft (217), and a second rotating shaft (217) is fixed together by a third end cover (223) and a fourth end cover (224); in the remote joint assembly, a rotating shaft III (227) penetrates through shaft holes of an upper shell III (225) and a lower shell III (226) to connect the rotating shaft III (227) and the lower shell III (226), mounting feet of a torsion spring V (228) and a torsion spring VI (229) on the rotating shaft III (227) penetrate through the upper shell III (225) and the lower shell III (226) to be fixed, a pulley III (232) is fixed by the clamp spring V (230) and the clamp spring VI (231) on the rotating shaft III (227) together, and the rotating shaft III (227) is fixed by an end cover V (233) and an end cover VI (234) together; the range of rotation of each joint is defined by the shape of the joint shell;

a pulley I (212), a pulley II (222) and a pulley III (232) in the index finger (2), wherein a torsion spring I (208), a torsion spring II (209), a torsion spring III (218), a torsion spring IV (219), a torsion spring V (228), a torsion spring VI (229) and the tendon rope (204) jointly form an under-actuated system of the index finger (2); the tendon rope (204) passes through each knuckle, joint and passes around each pulley, and the rotation of each joint is realized by the contraction or the relaxation of the tendon rope (204); one end of the tendon rope (204) is connected with the palm (6), and the other end of the tendon rope is fixed on the end face of an upper shell III (225) in the far joint component; in the process that the tendon rope (204) drives the index finger (2) to move, the first knuckle (201) and the second knuckle (202) only deform slightly, and after the first knuckle and the second knuckle touch an object, the first knuckle and the second knuckle gradually deform greatly under the action of the force of the tendon rope (204);

the other finger structure is the same as the index finger (2);

the palm (6) comprises a palm shell (601), a forefinger connecting base (602), a middle finger connecting base (603), a ring finger connecting base (604), a little finger connecting base (605), a thumb transmission connecting assembly and a motor fixing assembly;

the motor fixing assembly comprises a first motor (606), a second motor (607), a third motor (608), a fourth motor (609), a fifth motor (610), a sixth motor (611), a first fixed block (612), a second fixed block (613), a third fixed block (614), a first winding sheave (615), a first upper fixed block (616) and a first lower fixed block (617); the lower fixing block I (617) is connected with the palm shell (601), the upper fixing block I (616) is connected with the lower fixing block I (617), and each motor is respectively fixed between the upper fixing block I (616) and the lower fixing block I (617), wherein a sixth motor (611) for bevel gear transmission is fixed by two pairs of upper fixing block I (616) and lower fixing block I (617); the number of the first winding grooved wheels (615) is 5, and the first winding grooved wheels are fixedly connected with output shafts of a first motor (606), a second motor (607), a third motor (608), a fourth motor (609) and a fifth motor (610) through jackscrews respectively; the first end fixing block (612) is provided with a threaded hole and a through hole, the second end fixing block (613) and the third end fixing block (614) are respectively provided with a threaded hole and a through hole, the threaded hole is used for being in threaded connection with the palm shell (601), and the through hole is used for placing the first winding sheave (615); the forefinger connecting base (602) is L-shaped, a threaded hole is formed in the horizontal end face of the forefinger connecting base and used for being fixed with a first lower shell (206) in the forefinger (2) proximal joint assembly, a threaded hole is formed in the vertical section of the forefinger connecting base and used for being fixed with a palm shell (601), a screw is arranged on the vertical end face of the forefinger connecting base, the tendon rope (204) penetrates out of the first lower shell (206), then bypasses the screw, and then penetrates through a small hole in a first winding grooved wheel (615) to be fixedly bonded with the first winding grooved wheel (615); the middle finger connecting base (603), the ring finger connecting base (604), the little finger connecting base (605) and the index finger connecting base (602) have the same structure; the tendon rope (204) on the middle finger (3) is connected with a second motor (607) in the same way, the tendon rope (204) on the ring finger (4) is connected with a third motor (608) in the same way, the tendon rope (204) on the little finger (5) is connected with a fourth motor (609) in the same way, and the tendon rope (204) on the thumb is connected with a fifth motor (610) in the same way;

the thumb transmission connecting assembly comprises a first bevel gear (618), a second bevel gear (619), a wire guide block (620), a positioning block (621), a tendon rope (204), a tendon rope guide pipe (622) and a thumb connecting base (623); the wire block (620) is positioned below the end fixing block III (614) and connected with the palm shell (601), and a through hole is formed in the wire block (620) and used for guiding the tendon rope (204); one end of the tendon rope (204) is fixed on a winding sheave I (615) of the fifth motor (610), passes through a through hole of the wire block (620) and extends out after passing through the winding sheave I (615), extends into the tendon rope guide pipe (622), and then passes through the thumb connecting base (623) to enter a proximal joint component of the thumb (1); one end of the tendon rope guide pipe (622) is fixedly bonded to the tendon rope extending end of the wire block (620), and the other end of the tendon rope guide pipe is fixedly bonded to the tendon rope inlet of the thumb connecting base (623), so that the connecting length of the tendon rope (204) between the wire block (620) and the thumb connecting base (623) is always the same as the length of the tendon rope guide pipe (622); the tendon rope (204) is contracted and relaxed through the forward and reverse rotation of the fifth motor (610), so that the flexion and extension of the thumb (1) are realized; the swing of the thumb (1) is realized through a bevel gear transmission structure: the first bevel gear (618) is fixedly connected with the sixth motor (611) through a jackscrew, the second bevel gear (619) is meshed with a rotating shaft of the first bevel gear (618) at 135 degrees, the rotating shaft of the second bevel gear (619) is installed on the positioning block (621), and the thumb connecting base (623) is fixed between the second bevel gear (619) and the positioning block (621) through the jackscrew and rotates synchronously with the second bevel gear (619).

2. A rigid soft coupling under-actuated dexterous hand device as claimed in claim 1, wherein the knuckles of the five fingers are made of soft material.

3. A rigid soft coupling under-actuated dexterous hand device according to claim 1 or 2, wherein the joints of the five fingers are made of rigid material.