CN114012766B - Multi-degree-of-freedom bionic hand and operation method for electric positioning and pneumatic clamping of multi-degree-of-freedom bionic hand - Google Patents

Abstract

The invention relates to the technical field of bionic hands, in particular to a multi-degree-of-freedom bionic hand and an operation method of electric positioning and pneumatic clamping of the multi-degree-of-freedom bionic hand, and relates to application occasions such as robots, automatic logistics equipment, medical equipment such as rehabilitation and artificial limbs. The hand-held device comprises a palm part, a first finger part connected to the palm part and three second finger parts connected to the palm part, wherein the palm part positions the root states of the first finger part, the second finger part and the third finger part, and the first finger part, the second finger part and the third finger part realize pneumatic clamping actions; the palm part is provided with a multi-finger rotating shaft and a single-finger rotating shaft which are arranged in parallel. The invention is an electro-pneumatic compound driven multi-degree-of-freedom bionic hand, fully utilizes the high precision of motor control and the high speed and high flexibility of pneumatic transmission, the gas circuit units of all fingers are cooperatively controlled by high-speed switch valves, the positions of finger contact points and the contact force are convenient to control, and the flexibility is high.

Description

Multi-degree-of-freedom bionic hand and operation method for electric positioning and pneumatic clamping of multi-degree-of-freedom bionic hand

Technical Field

The invention relates to the technical field of bionic hands, in particular to a multi-degree-of-freedom bionic hand and an operation method of electric positioning and pneumatic clamping of the multi-degree-of-freedom bionic hand, and relates to application occasions such as robots, automatic logistics equipment, medical equipment such as rehabilitation and artificial limbs.

Background

The complexity of grabbing objects such as raw materials, semi-finished products and finished products in the food industry and the light industry, inner package goods in the electronic commerce field and the like is summarized into characteristics of physical shapes (large size change and large shape difference) and physical properties (soft, hard, tough and crisp). The environment-friendly type automatic gripping robot has the advantages of adaptability to the shape, physical reliability and rapidness in gripping, needs a smart end effector, is matched with a multi-degree-of-freedom mechanical arm, is used for sorting, packaging and other processes, and meets the demands of unmanned production and supply of foods and living necessities as far as possible.

At present, end clamps are commonly used on robots, automation, logistics and other equipment in industry and commerce, the clamping parts are not finger structures, and the number of degrees of freedom is small, so that the flexibility is poor, the adaptability is low, and the requirements of complex objects to be gripped and application scenes in universality cannot be met.

In the prior art, the soft pneumatic finger is made of soft materials capable of bearing large strains, has infinite multiple degrees of freedom and continuous deformation capacity, and can change the shape and the size of the finger at will in a large range, so that the finger can change the configuration and reach any point in a working space. Due to low impedance to pressure, the soft robot can be compatible with a contact object in a compliant deformation mode, so that the contact force is greatly reduced, and the soft robot has good application potential in the aspect of grabbing soft and fragile objects. The soft pneumatic finger has poor structural rigidity and very low torsional rigidity, and is in contact with the body by wrapping, so that the distribution of contact force is difficult to adjust.

Disclosure of Invention

Aiming at the defects in the prior art, the application provides the multi-degree-of-freedom bionic hand and the operation method for electric positioning and pneumatic clamping of the multi-degree-of-freedom bionic hand, and the grabbing of objects in different shapes can be realized by adjusting and controlling the actions of different finger parts, so that the application range is greatly improved.

The technical scheme adopted by the invention is as follows:

the multi-degree-of-freedom bionic hand comprises a palm part, a first finger part connected to the palm part and three second finger parts connected to the palm part, wherein the palm part positions the root states of the first finger part, the second finger part and the third finger part, and the first finger part, the second finger part and the third finger part realize pneumatic clamping actions; the palm part is provided with a multi-finger rotating shaft and a single-finger rotating shaft which are arranged in parallel, two ends of the multi-finger rotating shaft and the single-finger rotating shaft are respectively connected with a bearing seat, the bearing seat is detachably connected to the palm seat through a connecting piece, a first incomplete gear is arranged on the multi-finger rotating shaft, a second incomplete gear is arranged on the single-finger rotating shaft, and the first incomplete gear is meshed with the second incomplete gear; the multi-finger rotating shaft is respectively connected with a second rotating block and two third rotating blocks through keys, the two third rotating blocks are positioned at the left side and the right side of the second rotating block, the two third rotating blocks and the second rotating block are axially distributed along the multi-finger rotating shaft, and the second rotating blocks are connected with the second finger part through a first-head screw pin shaft; two first rotating blocks are respectively connected to the single-finger rotating shaft through keys, and any one of the two first rotating blocks is detachably connected with the first finger part through a second square head screw pin shaft.

Further, a second spacer is arranged between the second incomplete gear and the first rotating block and is sleeved on the single-finger rotating shaft, a first spacer is respectively arranged between the first incomplete gear and one second rotating block and between the first incomplete gear and two third rotating blocks and is sleeved on the multi-finger rotating shaft.

Further, the upper end of the palm seat is detachably connected with the upper box body through a connecting piece, the upper box body is vertically provided with a rotating motor, the driving end of the rotating motor is connected with a driving bevel gear, the driving bevel gear is meshed with a driven bevel gear, and the driven bevel gear is connected with a single-finger rotating shaft through a key.

Further, the indexing motor is fixed on the upper box body, the driving end of the indexing motor is sleeved with the multi-finger crank, the side wall of the multi-finger crank, which is sleeved with the indexing motor, is provided with the bolt hole, the bolt hole is internally provided with the locking bolt, the driving end of the indexing motor is tightly propped against the locking bolt connected to the side wall of the multi-finger crank, the multi-finger crank is internally sleeved with the multi-finger crank shaft, the multi-finger crank shaft is tightly propped against the locking bolt connected to the side wall of the multi-finger crank, one end of the multi-finger crank shaft is connected with one end of a first multi-finger flexible shaft, the other end of the first multi-finger flexible shaft is connected with a first flexible shaft, the first flexible shaft is connected with one of two multi-finger rotating blocks, the first flexible shaft is sleeved with an indexing block, the rotating block is detachably connected with a second finger part through the connecting piece, and the second finger part can swing a certain angle around the first flexible shaft through the rotating block.

Further, the rocker shaft is rotatably connected in the upper box body through the bearing seat, one end of the rocker shaft is sleeved with the rocker, the side wall of the rocker is connected with the locking bolt, the rocker shaft is tightly propped in the rocker by the locking nut, one end of the rocker is connected with one end of the second multi-finger flexible shaft, the other end of the second multi-finger flexible shaft is connected with the second soft connecting shaft, the second soft connecting shaft is connected with the other of the two third rotating blocks through the second soft connecting shaft in a sleeved mode, the rotating block is detachably connected with a second finger part through a connecting piece, the second finger part can swing around the second soft connecting shaft for a certain angle through the rotating block, one end of the multi-finger crank is hinged with one end of the connecting rod through a pin shaft, the other end of the connecting rod is hinged with the rocker through the pin shaft, the multi-finger crank, the rocker and the connecting rod are connected to form a reverse crank rocker structure, and the eccentric distances of the multi-finger crank and the rocker are equal, namely the rotating angles of the multi-finger crank and the rocker are equal, and the rotating direction is opposite.

Further, the first finger part comprises a first slotting support, the first slotting support is detachably connected with an upper hinge page through a connecting piece, the upper hinge page is detachably connected with a first pneumatic muscle top seat through the connecting piece, the lower end of the upper hinge page is hinged with a lower hinge page, a first pneumatic muscle base is arranged on the lower hinge page, a first pneumatic muscle is arranged between the first pneumatic muscle base and the first pneumatic muscle top seat, an outer shell of the first pneumatic muscle is an elastic corrugated pipe with a cylindrical structure, an opening end of the first pneumatic muscle is connected to the first pneumatic muscle top seat through a first hoop, a closing end of the first pneumatic muscle is connected to the first pneumatic muscle base through a connecting component, an air passage is arranged in the first pneumatic muscle top seat, an air passage end is communicated with an air chamber inside the first pneumatic muscle, a first pneumatic pipe connector is connected to an air passage inlet end, and a first sealing gasket is arranged between the first pneumatic pipe connector and the first pneumatic muscle top seat; the position of connecting first turning block on the first grooving support sets up rectangular first fluting, and the connecting piece between first grooving support and the first turning block is arranged in first fluting, and relative mounted position between first grooving support and the first turning block can be adjusted in first grooved setting.

Further, the second finger part comprises a second slotting support, a hinge seat is detachably connected to the second slotting support through a connecting piece, a second pneumatic muscle top seat is detachably connected to the hinge seat through the connecting piece, an opening end of a second pneumatic muscle is connected to the second pneumatic muscle top seat through a second anchor ear, an outer shell of the second pneumatic muscle is an elastic corrugated pipe with a conical structure, a plurality of L-shaped hinges are sequentially hinged to the lower end of the hinge seat, a T-shaped hinge is hinged to one L-shaped hinge at the lowest end of the L-shaped hinges, an air passage is arranged in the second pneumatic muscle top seat, an air passage outlet end is communicated with an air chamber inside the second pneumatic muscle, a second pneumatic pipe joint is connected to an air passage inlet end, and a second sealing gasket is arranged between the second pneumatic pipe joint and the second pneumatic muscle top seat; the position of the second slotting support, which is connected with the second rotating block or the third rotating block, is provided with a strip-shaped second slotting, a connecting piece between the second slotting support and the second rotating block or the second rotating block is positioned in the second slotting, and the relative installation position between the second slotting support and the second rotating block or the third rotating block can be adjusted through the arrangement of the second slotting.

Further, the L-shaped hinge comprises a hinge part and an inclined flat plate arranged at the lower end of the hinge part, and the inclined flat plates of the plurality of L-shaped hinges are clamped in the trough of the second pneumatic muscle outer shell to form a support for the first pneumatic muscle outer shell.

A multi-degree-of-freedom bionic manual and electric positioning and pneumatic clamping operation method is characterized in that a robot body, an indexing motor and a rotating motor of a multi-degree-of-freedom bionic hand are arranged, and the robot body, the indexing motor and the rotating motor are cooperatively controlled by gas circuit units of a first pneumatic muscle and a second pneumatic muscle in a manner that: according to the visual or object shape parameters, controlling the angular displacement of the indexing motor, and being suitable for the shape characteristics of the object; according to the vision or object fixing position, controlling the robot body to enable the bionic hand to reach the target position, and determining the contact distribution state of the bionic hand and the object; according to the size parameters of the vision or the object, controlling the angular displacement of the rotating motor, and determining the contact distribution state of the bionic hand and the object; according to the volume and density weight parameters of the object and the characteristic parameters of softness, hardness and toughness and brittleness, the opening frequency and duration of the high-speed switch valve are controlled by adopting a Pulse Width Modulation (PWM) mode, and the inner cavity pressure changes of the first pneumatic muscle and the second pneumatic muscle are accurately controlled, so that the contact instantaneous impact and the grabbing contact force of the first finger part and the second finger part with the object are controlled.

The beneficial effects of the invention are as follows:

the invention is an electro-pneumatic compound driven multi-degree-of-freedom bionic hand, fully utilizes the high precision of motor control and the high speed and high flexibility of pneumatic transmission, has compact and reasonable structure and convenient operation, the gas circuit units of all fingers are cooperatively controlled by adopting high-speed switch valves, and the positions and the contact force of the finger contact points are convenient to control and have high flexibility; the contact state of the flexibly connected knuckle and the multiple knuckles can be reduced, so that the flexible grabbing effect is realized; meanwhile, the structural rigidity of the finger is good, and the torsional rigidity is high; the two output mechanisms and the two flexible shafts are adopted, so that the two requirements of two mutually perpendicular degrees of freedom that the finger roots of the two third fingers rotate along the horizontal axis in the same direction and are required to be indexed along the vertical axis in opposite directions are solved; one motor is used for controlling the finger roots of one finger and the other three fingers to rotate along the horizontal axis in opposite directions, so that the opening and closing degree is high; the torque is flexibly transmitted by a flexible shaft under the control of one motor, so that the third finger parts on the two sides of the second finger part are simultaneously and oppositely indexed along the vertical shaft, and the shape adaptability is good; simultaneously, the first finger part and the second finger part which are arranged face to face can be independently and manually adjusted in eccentricity and indexing angle along the vertical axis, and the grabbing range is wide.

Drawings

FIG. 1 is a top view of the present invention with the upper housing removed.

Fig. 2 is a cross-sectional view A-A of fig. 1.

Fig. 3 is a cross-sectional view of fig. 1C-C.

Fig. 4 is a sectional view of D-D in fig. 2.

Fig. 5 is a view showing the structure of the first finger portion of the present invention.

Fig. 6 is a view showing the construction of a second finger portion according to the present invention.

Fig. 7 is a structural view of an L-shaped hinge according to the present invention.

Fig. 8 is a top view of the upper case of the present invention.

Fig. 9 is a sectional view of B-B in fig. 8.

Fig. 10 is a front view of the palm rest of the present invention.

Fig. 11 is a top view of the palm rest of the present invention.

Fig. 12 is a diagram showing a multi-finger rotary shaft structure according to the present invention.

Fig. 13 is a single finger shaft structure diagram of the present invention.

Fig. 14 is a multi-finger crank half cross-sectional view of the present invention.

Fig. 15 is a diagram of the multi-finger crank construction of the present invention.

Fig. 16 is a view showing a first soft coupling structure of the present invention.

FIG. 17 is a diagram of an indexing block configuration of the present invention.

FIG. 18 is a diagram of a third rotor block configuration of the present invention.

Wherein: 100. a palm portion; 101. a first rotating block; 102. a multi-finger spindle; 103. the first end is screwed with the pin shaft; 104. a first incomplete gear; 105. a second rotating block; 106. a single-finger rotating shaft; 107. a second incomplete gear; 108. the first spacer bush; 109. the second spacer bush; 110. a palm rest; 111. an indexing motor; 112. a rotating motor; 113. driving a bevel gear; 114. a driven bevel gear; 115. an upper case; 116. a rocker shaft; 117. a multi-finger crank; 118. a multi-finger crank shaft; 119. a first multi-finger flexible shaft; 120. a first soft coupling; 121. a rocker; 122. a second multi-finger flexible shaft; 123. a second soft coupling; 124. a connecting rod; 125. the second square head screw pin shaft; 126. a transfer block; 127. press-connecting the conical head; 128. a nut; 129. a third rotating block; 200. a first finger portion; 201. a first slotted bracket; 202. a hinge upper page; 203. a hinge lower page; 204. a first pneumatic muscle top mount; 205. a first pneumatic tube connector; 206. a first gasket; 207. the first hoop; 208. a first pneumatic muscle base; 209. a first pneumatic muscle; 210. a connection assembly; 300. a second finger portion; 301. a second slotted bracket; 302. a hinge base; 303. an L-shaped hinge; 3031. a hinge portion; 3032. obliquely placing a flat plate; 304. a T-shaped hinge; 305. a second pneumatic muscle; 306. a second pneumatic muscle top seat; 307. a second pneumatic tube joint; 308. a second gasket; 309. and a second hoop.

Detailed Description

The following describes specific embodiments of the present invention with reference to the drawings.

In the embodiment shown in fig. 1 and 4, the multi-degree-of-freedom bionic hand includes a palm portion 100, a first finger portion 200 connected to the palm portion 100, and three second finger portions 300 connected to the palm portion 100, and in use, the palm portion 100 positions the root states of the first finger portion 200 and the second finger portion 300, and the first finger portion 200 and the second finger portion 300 implement pneumatic clamping actions, so that pinching, enveloping grabbing and holding actions of two or more fingers can be implemented.

In the embodiment shown in fig. 2, the palm portion 100 has a multi-finger shaft 102 and a single-finger shaft 106 arranged in parallel, the structure of the multi-finger shaft 102 is shown in fig. 12, and the structure of the single-finger shaft 106 is shown in fig. 13. The two ends of the multi-finger rotating shaft 102 and the single-finger rotating shaft 106 are respectively connected with bearing seats, the bearing seats are detachably connected to the palm seat 110 through connecting pieces, and the structure of the palm seat 110 is shown in fig. 10 and 11. The first incomplete gear 104 is arranged on the multi-finger rotating shaft 102, the second incomplete gear 107 is arranged on the single-finger rotating shaft 106, and the first incomplete gear 104 and the second incomplete gear 107 are in meshed connection, so that synchronous reverse rotation of the multi-finger rotating shaft 102 and the single-finger rotating shaft 106 is realized. Meanwhile, the radius size of the first incomplete gear 104 is smaller than that of the second incomplete gear 107, so that the rotation speed of the single-finger rotation shaft 106 is smaller than or equal to that of the multi-finger rotation shaft 102 when the single-finger rotation shaft 106 and the multi-finger rotation shaft 102 synchronously rotate.

In the embodiment shown in fig. 2, the single-finger rotating shaft 106 is respectively connected with two first rotating blocks 101 through keys, and any one of the two first rotating blocks 101 is detachably connected with the first finger portion 200 through the second square head screw pin shaft 125. The multi-finger rotating shaft 102 is respectively connected with a second rotating block 105 and two third rotating blocks 129 through keys, the two third rotating blocks 129 are positioned at the left side and the right side of the second rotating block 105, the two third rotating blocks 129 and the second rotating block 105 are axially distributed along the multi-finger rotating shaft 102, the second rotating block 105 on the multi-finger rotating shaft 102 is connected with the second finger part 300 through a first-head screw pin shaft 103, and the two third rotating blocks 129 on the multi-finger rotating shaft 102 are connected with the second finger part 300 through a rotating block 126. The third rotor block 129 is shown in fig. 18.

In the embodiment shown in fig. 1, a second spacer 109 is provided between the second incomplete gear 107 and the first rotating block 101, and the second spacer 109 is sleeved on the single-finger rotating shaft 106. The first incomplete gear 104, the second rotating block 105 and the third rotating block 129 are respectively provided with a first spacer 108 for separation, and the first spacer 108 is sleeved on the multi-finger rotating shaft 102.

In the embodiment shown in fig. 1 and 3, the upper end of the palm rest 110 is detachably connected with the upper box 115 through a connecting piece, the upper box 115 is vertically provided with a rotating motor 112, the driving end of the rotating motor 112 is connected with a driving bevel gear 113, the driving bevel gear 113 is in meshed connection with a driven bevel gear 114, and the driven bevel gear 114 is connected on the single-finger rotating shaft 106 through a key. When the rotary motor 112 works, the single-finger rotary shaft 106 is driven to rotate by a pair of bevel gears which are meshed with each other, and the single-finger rotary shaft 106 drives the multi-finger rotary shaft 102 to synchronously and reversely rotate by a pair of incomplete gears which are meshed with each other, so that the first finger part 200 connected to the single-finger rotary shaft 106 and the second finger part 300 connected to the multi-finger rotary shaft 102 move in opposite directions or in opposite directions.

In the embodiment shown in fig. 2 and 3, an indexing motor 111 is fixed on the upper case 115, and a multi-finger crank 117 is sleeved at the driving end of the indexing motor 111. As shown in fig. 14 and 15, a bolt hole is formed in the side wall of the multi-finger crank 117, which is sleeved with the position of the indexing motor 111, a locking bolt is arranged in the bolt hole, and the driving end of the indexing motor 111 is tightly propped up by the locking bolt connected to the side wall of the multi-finger crank 117. The multi-finger crank 117 is sleeved with a multi-finger crank shaft 118, and the multi-finger crank shaft 118 is tightly propped up by a locking bolt connected to the side wall of the multi-finger crank 117. One end of the multi-finger crank shaft 118 is connected with one end of a first multi-finger flexible shaft 119, and the other end of the first multi-finger flexible shaft 119 is connected with a first flexible shaft 120. The first flexible shaft 120 is connected to one of the two third rotating blocks 129, the first flexible shaft 120 is sleeved with an indexing block 126, the indexing block 126 is detachably connected with a second finger 300 through a connecting piece, and the second finger 300 can swing around the first flexible shaft 120 by a certain angle through the indexing block 126. The structure of the positioning block 126 is shown in fig. 17.

In the embodiment shown in fig. 2, a taper hole is formed at one end of the multi-finger crank shaft 118, a taper hole is formed at one end of the first soft connecting shaft 120, press-connection taper heads 127 are respectively arranged at two ends of the first multi-finger flexible shaft 119, and two ends of the first multi-finger flexible shaft 119 are respectively connected with the multi-finger crank shaft 118 and the taper hole of the first soft connecting shaft 120 through the press-connection taper heads 127. The outer end of the taper hole of the first soft connecting shaft 120 is provided with a nut 128, one end of the first multi-finger flexible shaft 119 is locked in the taper hole by the nut 128, the first soft connecting shaft 120 is provided with a nut, and the other end of the first multi-finger flexible shaft 119 is locked on the first soft connecting shaft 120 by the nut.

In the embodiment shown in fig. 3, the upper case 115 is rotatably connected to the rocker shaft 116 through a bearing seat, one end of the rocker shaft 116 is sleeved with the rocker 121, a locking bolt is connected to the side wall of the rocker 121, and the locking nut tightly pushes the rocker shaft 116 into the rocker 121. One end of the rocker 121 is connected with one end of the second multi-finger flexible shaft 122, the other end of the second multi-finger flexible shaft 122 is connected with the second soft connecting shaft 123, the second soft connecting shaft 123 is connected to the other one of the two third rotating blocks 129, an indexing block 126 is sleeved on the second soft connecting shaft 123, the indexing block 126 is detachably connected with a second finger 300 through a connecting piece, and the second finger 300 can swing around the second soft connecting shaft 123 for a certain angle through the indexing block 126.

In the embodiment shown in fig. 4, the multi-finger crank 117 is pivotally connected at one end to one end of the connecting rod 124, and at the other end to the rocker 121. The multi-finger crank 117, the rocker 121 and the connecting rod 124 are connected to form a reverse crank rocker structure, and the eccentricities of the multi-finger crank 117 and the rocker 121 are equal, namely the rotation angles of the multi-finger crank 117 and the rocker 121 are equal and the steering directions are opposite. The indexing motor 111 directly drives the multi-finger crank 117 to rotate, the multi-finger crank 117 drives the rocker 121 to rotate through the reverse crank rocker structure, power is flexibly transmitted through the first soft connecting shaft 120 and the second soft connecting shaft 123 respectively, the second finger parts 300 on the left side and the right side are driven to rotate along the vertical axis respectively, the second finger parts 300 on the left side and the right side are turned reversely, and the turning angles are the same.

The palm 100 has the first finger 200 attached to the single-finger shaft 106 and the second finger 300 attached to the multi-finger shaft 102, and the rotation motor 112 controls the first and second fingers 200 and 300 to rotate in opposite directions along the horizontal axis, thereby increasing the opening/closing degree. The indexing motor 111 is used for flexibly transmitting torque by virtue of the flexible shaft, so that the two second finger parts 300 on the left side and the right side are simultaneously and oppositely indexed along the vertical axis, and the shape adaptability is good; the first finger portion 200 and the second finger portion 300 which are arranged face to face can be independently manually adjusted in eccentricity and indexing angle along the vertical axis, and the gripping range is wide.

Referring to fig. 5, an embodiment of a first finger portion 200 is shown, where the first finger portion 200 includes a first slotted bracket 201, and the first slotted bracket 201 is detachably connected to a hinge upper leaf 202 by a connector, and the hinge upper leaf 202 is detachably connected to a first pneumatic muscle top seat 204 by a connector. The lower end of the hinge upper page 202 is hinged with the hinge lower page 203, a first pneumatic muscle base 208 is arranged on the hinge lower page 203, a first pneumatic muscle 209 is arranged between the first pneumatic muscle base 208 and the first pneumatic muscle top seat 204, and the outer shell of the first pneumatic muscle 209 is an elastic corrugated pipe with a cylindrical structure. The open end of the first pneumatic muscle 209 is connected to the first pneumatic muscle top seat 204 through a first anchor ear 207, and the closed end of the first pneumatic muscle 209 is connected to the first pneumatic muscle base 208 through a connecting assembly 210. An air passage is arranged in the first pneumatic muscle top seat 204, an air outlet end of the air passage is communicated with an air chamber in the first pneumatic muscle 209, a first pneumatic pipe joint 205 is connected to an air inlet end of the air passage, and a first sealing gasket 206 is arranged between the first pneumatic pipe joint 205 and the first pneumatic muscle top seat 204 in order to ensure the tightness of the first pneumatic pipe joint 205.

The first slotting support 201 is provided with a strip-shaped first slotting at the position where the first rotating block 101 is connected, a connecting piece between the first slotting support 201 and the first rotating block 101 is positioned in the first slotting, and the relative installation position between the first slotting support 201 and the first rotating block 101 can be adjusted through the arrangement of the first slotting.

Referring to fig. 6, an embodiment of a second finger portion 300 is shown, where the second finger portion 300 includes a second slotted bracket 301, a hinge base 302 detachably connected to the second slotted bracket 301 by a connector, a second pneumatic muscle top base 306 detachably connected to the hinge base 302 by a connector, and an open end of a second pneumatic muscle 305 connected to the second pneumatic muscle top base 306 by a second hoop 309, where an outer shell of the second pneumatic muscle 305 is an elastic bellows with a conical structure. The lower end of the hinge base 302 is hinged with a plurality of L-shaped hinges 303 in turn, a plurality of L-shaped hinges 303, and a T-shaped hinge 304 is hinged on one L-shaped hinge 303 positioned at the lowest end of the plurality of L-shaped hinges 303. An air passage is arranged in the second pneumatic muscle top seat 306, an air passage air outlet end is communicated with an air chamber inside the second pneumatic muscle 305, a second pneumatic pipe joint 307 is connected to an air passage air inlet end, and a second sealing gasket 308 is arranged between the second pneumatic pipe joint 307 and the second pneumatic muscle top seat 306 in order to ensure the tightness of the second pneumatic pipe joint 307.

As shown in fig. 8, the L-shaped hinge 303 includes a hinge portion 3031 and a diagonal plate 3032 disposed at a lower end of the hinge portion 3031, and the diagonal plates 3032 of the plurality of L-shaped hinges 303 are engaged in the valleys of the outer casing of the second pneumatic muscle 305 to form a support for the outer casing of the second pneumatic muscle 305.

As shown in fig. 6, a second slot having a long strip shape is provided at a position of the second slot bracket 301 where the second rotating block 105 or the third rotating block 129 is connected, and a connecting piece between the second slot bracket 301 and the second rotating block 105 or the second rotating block 129 is located in the second slot, and the arrangement of the second slot can adjust a relative installation position between the second slot bracket 301 and the second rotating block 105 or the third rotating block 129.

The first finger portion 200 is a single degree of freedom skeletal finger, the first finger portion 200 is rotatable only about the single finger axis of rotation 106, the second finger portion 300 is a multiple degree of freedom skeletal finger, and the second finger portion 300 is rotatable about both the multiple finger axis of rotation 102 and the soft joint axis.

The operation method of the multi-degree-of-freedom bionic hand and the electric positioning and pneumatic clamping thereof is as follows:

the robot body, the transposition motor 111 and the rotation motor 112 for installing the multi-degree-of-freedom bionic hand and the cooperative control mode of each air path unit of the first pneumatic muscle 209 and the second pneumatic muscle 305 are as follows: controlling the angular displacement of the indexing motor 111 according to the visual or object shape parameters, and adapting to the shape characteristics of the object; according to the vision or object fixing position, controlling the robot body to enable the bionic hand to reach the target position, and determining the contact distribution state of the bionic hand and the object; controlling the angular displacement of the rotating motor 112 according to the size parameters of the vision or the object, and determining the contact distribution state of the bionic hand and the object; according to the volume and density weight parameters of the object and the characteristic parameters of softness, hardness and toughness, the opening frequency and duration of the high-speed switch valve are controlled by adopting a Pulse Width Modulation (PWM) mode, and the inner cavity pressure changes of the first pneumatic muscle 209 and the second pneumatic muscle 305 are precisely controlled, so that the contact instantaneous impact and grabbing contact force of the first finger part 200 and the second finger part 300 with the object are controlled.

The working conditions of several specific application scenarios of the multi-degree-of-freedom bionic hand are as follows:

1. the rotating motor 112 works, the finger roots of the first finger part 200 and the three second finger parts 300 are electrically controlled to rotate to corresponding positions along the horizontal axis, the mechanical arm moves in place, and the first finger part 200 and the second finger part 300 in the middle position are pneumatically enabled to pinch or envelop and grasp cuboid, horizontal cylinder, sphere, ellipsoid and symmetrical structural objects.

2. After the first finger portion 200 and the second finger portion 300 in the middle position are manually adjusted so that the first finger portion 200 and the second finger portion 300 in the middle position are indexed in the vertical direction, the rotating motor 112 electrically controls the first finger portion 200 and the second finger portion 300 in the middle position to rotate corresponding positions along the horizontal axis, the mechanical arm moves in place, and the first finger portion 200 and the second finger portion 300 in the middle position are radially pinched or enveloped by the grabbing cone frustum or pyramid frustum.

3. The rotating motor 112 electrically controls the first finger part 200 and the three second finger parts 300 to rotate along the horizontal axis, the indexing motor 111 electrically controls the left and right second finger parts 300 to index in opposite directions along the vertical axis, the mechanical arm moves in place, three fingers of the first finger part 200 and the opposite left and right second finger parts 300 are pneumatically held in radial directions to form a right vertical cylinder, a sphere, an ellipsoid and a symmetrical object, or the three fingers are pneumatically pinched to form a right vertical cuboid, wherein the two second finger parts 300 are on the same plane.

4. The rotating motor 112 electrically controls the first finger part 200 and the three second finger parts 300 to rotate along the horizontal axis, the indexing motor 111 electrically controls the left and right two second finger parts 300 to index along the vertical axis, the mechanical arm moves in place, the four fingers of the first finger part 200 and the three second finger parts 300 are radially and horizontally held to take a right vertical cylinder, a sphere, an ellipsoid and a symmetrical object by pneumatic, or the four fingers are pinched to take a right vertical cuboid by pneumatic, wherein the three second finger parts 300 are on the same plane.

5. In special occasions, three second finger parts 300 are arranged in a multi-degree-of-freedom skeleton finger arrangement mode, the second finger part 300 at the middle position is close to the first finger part 200 in length, the rotating motor 112 controls the finger roots to rotate in place along the horizontal axis, the mechanical arm moves in place, firstly, the second finger part 300 and the first finger part 200 are pneumatically made to pinch objects and slowly leave a supporting surface, then, the two second finger parts 300 are pneumatically made to catch the objects again, and the reliability is improved, and then the two second finger parts rapidly move; or when the four fingers grasp symmetrical objects with thick middle and thin two ends, the two second finger parts 300 directly grip the positions of the two thin two ends of the object, and the wrapping property is good.

6. Under the condition of small operation space, the palm is provided with five finger mounting positions, and two positions facing the outermost side are respectively provided with one finger at the positions of the thumb and the index finger of the hand; the second finger 300 is arranged at the position of the root of the index finger, the first finger 200 is arranged at the position of the root of the opposite thumb, or the same second finger 300 is arranged at the position of the root of the opposite thumb, the rotating motor 112 controls the root of the finger to rotate in place along the horizontal axis, and the mechanical arm moves in place, so that the two fingers at the positions of the root of the thumb and the index finger pinch or envelop the cuboid, the horizontal cylinder, the sphere, the ellipsoid and the symmetrical object.

7. Manually adjusting the first finger part 200 and the second finger part 300 to index along the vertical axis, loosening the knurled nut sleeves of the two flexible shafts driving the two second finger parts 300, manually adjusting the knurled nut sleeves after indexing along the vertical axis, screwing the knurled nut sleeves, controlling the finger roots to rotate in place along the horizontal axis by the rotating motor 112, moving the mechanical arm in place, and pneumatically enabling the four fingers to grasp an asymmetric special-shaped object.

8. The second finger part 300 is replaced, the slotted inclined support double holes of the second finger part 300 are used for being fixedly arranged on the positioning block by screws, then the first finger part 200 is manually adjusted to be positioned along the vertical axis, the knurled nut sleeves of the two flexible shafts driving the two second finger parts 300 are loosened, the knurled nut sleeves are manually adjusted to be positioned along the vertical axis respectively, then the knurled nut sleeves are screwed down, the rotating motor 112 controls the finger roots to rotate in place along the horizontal axis, and the mechanical arm moves in place, so that three fingers of the first finger part 200 and the second finger parts 300 on the left side and the right side are radially pinched or enveloped to grasp the cone frustum and the pyramid frustum.

The above description is intended to illustrate the invention and not to limit it, the scope of which is defined by the claims, and any modifications can be made within the scope of the invention.

Claims (5)

1. A multi-freedom-degree bionic hand is characterized in that: the hand-held device comprises a palm part (100), a first finger part (200) connected to the palm part (100) and three second finger parts (300) connected to the palm part (100), wherein the palm part positions the finger root states of the first finger part (200) and the second finger part (300), and the first finger part (200) and the second finger part (300) realize pneumatic clamping actions; the palm part (100) is provided with a multi-finger rotating shaft (102) and a single-finger rotating shaft (106) which are arranged in parallel, two ends of the multi-finger rotating shaft (102) and the single-finger rotating shaft (106) are respectively connected with bearing seats, the bearing seats are detachably connected to the palm seat (110) through connecting pieces, a first incomplete gear (104) is arranged on the multi-finger rotating shaft (102), a second incomplete gear (107) is arranged on the single-finger rotating shaft (106), and the first incomplete gear (104) and the second incomplete gear (107) are meshed; the multi-finger rotating shaft (102) is respectively connected with a second rotating block (105) and two third rotating blocks (129) through keys, the two third rotating blocks (129) are positioned at the left side and the right side of the second rotating block (105), the two third rotating blocks (129) and the second rotating block (105) are axially distributed along the multi-finger rotating shaft (102), and the second rotating block (105) is connected with a second finger part (300) through a first-head screw pin shaft (103); two first rotating blocks (101) are respectively connected to the single-finger rotating shaft (106) through keys, and any one of the two first rotating blocks (101) is detachably connected with a first finger part (200) through a second square head screw pin shaft (125); a second spacer (109) is arranged between the second incomplete gear (107) and the first rotating block (101) for separation, the second spacer (109) is sleeved on the single-finger rotating shaft (106), a first spacer (108) is respectively arranged between the first incomplete gear (104) and one second rotating block (105) and between the first incomplete gear and two third rotating blocks (129) for separation, and the first spacer (108) is sleeved on the multi-finger rotating shaft (102); the upper end of the palm seat (110) is detachably connected with the upper box body (115) through a connecting piece, a rotating motor (112) is vertically arranged on the upper box body (115), the driving end of the rotating motor (112) is connected with a driving bevel gear (113), the driving bevel gear (113) is in meshed connection with a driven bevel gear (114), and the driven bevel gear (114) is connected to the single-finger rotating shaft (106) through a key; an indexing motor (111) is fixed on the upper box body (115), a multi-finger crank (117) is sleeved at the driving end of the indexing motor (111), a bolt hole is formed in the side wall of the multi-finger crank (117) at the position of the multi-finger crank (117), a locking bolt is arranged in the bolt hole, the driving end of the indexing motor (111) is tightly propped up through the locking bolt connected to the side wall of the multi-finger crank (117), a multi-finger crank shaft (118) is sleeved in the multi-finger crank shaft (117), the multi-finger crank shaft (118) is tightly propped up through the locking bolt connected to the side wall of the multi-finger crank (117), one end of the multi-finger crank shaft (118) is connected with one end of a first multi-finger flexible shaft (119), the other end of the first multi-finger flexible shaft (119) is connected with a first soft connecting shaft (120), the first soft connecting shaft (120) is connected with one of two third rotating blocks (129), an indexing block (126) is sleeved on the first soft connecting shaft (120), a second finger part (300) is detachably connected to the indexing block (126) through a connecting piece, and the second finger part (300) can swing around the first soft connecting shaft (120) by a certain angle through the rotating block (126); the upper box body (115) is rotationally connected with a rocker shaft (116) through a bearing seat, one end of the rocker shaft (116) is sleeved with a rocker (121), a locking bolt is connected to the side wall of the rocker (121), the rocker (116) is tightly propped against the rocker (121) through a locking nut, one end of the rocker (121) is connected with one end of a second multi-finger flexible shaft (122), the other end of the second multi-finger flexible shaft (122) is connected with a second soft connecting shaft (123), the second soft connecting shaft (123) is connected onto the other one of two third rotating blocks (129), an indexing block (126) is sleeved on the second soft connecting shaft (123), a second finger part (300) is detachably connected onto the indexing block (126) through a connecting piece, the second finger part (300) can swing around the second soft connecting shaft (123) for a certain angle, one end of the multi-finger crank (117) is hinged with one end of a connecting rod (124) through a pin shaft, the other end of the connecting rod (124) is hinged with the second multi-finger crank (117) through a pin shaft, the multi-finger crank (117), the rocker (121) and the connecting rod (124) are connected with the other one end of the connecting rod (124) to form a multi-finger crank (121), and the opposite rotating crank (117) and the multi-finger crank).

2. The multi-degree of freedom bionic hand of claim 1, wherein: the first finger part (200) comprises a first slotting support (201), an upper hinge page (202) is detachably connected to the first slotting support (201) through a connecting piece, a first pneumatic muscle top seat (204) is detachably connected to the upper hinge page (202) through a connecting piece, a lower hinge page (203) is hinged to the lower end of the upper hinge page (202), a first pneumatic muscle base (208) is arranged on the lower hinge page (203), a first pneumatic muscle (209) is arranged between the first pneumatic muscle base (208) and the first pneumatic muscle top seat (204), an outer shell of the first pneumatic muscle (209) is an elastic corrugated pipe with a cylindrical structure, an opening end of the first pneumatic muscle (209) is connected to the first pneumatic muscle top seat (204) through a first hoop (207), a closed end of the first pneumatic muscle (209) is connected to the first pneumatic muscle base (208) through a connecting component (210), an air passage is arranged in the first pneumatic muscle top seat (204), an air outlet end is communicated with the first pneumatic muscle (209), an upper air passage end is connected to the first pneumatic muscle top seat (205), and a first sealing joint (206) is arranged between the first pneumatic muscle top seat (204); the position of connecting first turning block (101) on first fluting support (201) sets up rectangular first fluting, and the connecting piece between first fluting support (201) and first turning block (101) is arranged in first fluting, and relative mounted position between first fluting support (201) and first turning block (101) can be adjusted in first fluting setting.

3. The multi-degree of freedom bionic hand of claim 1, wherein: the second finger part (300) comprises a second slotted bracket (301), a hinge seat (302) is detachably connected to the second slotted bracket (301) through a connecting piece, a second pneumatic muscle top seat (306) is detachably connected to the hinge seat (302) through a connecting piece, an opening end of the second pneumatic muscle (305) is connected to the second pneumatic muscle top seat (306) through a second hoop (309), an outer shell of the second pneumatic muscle (305) is an elastic corrugated pipe with a conical structure, a plurality of L-shaped hinges (303) are sequentially hinged to the lower end of the hinge seat (302), a T-shaped hinge (304) is hinged to one L-shaped hinge (303) at the lowest end of the L-shaped hinges (303), an air passage is arranged in the second pneumatic muscle top seat (306), an air passage outlet end is communicated with an air chamber inside the second pneumatic muscle top seat (305), a second pneumatic pipe joint (307) is connected to an air passage inlet end, and a second sealing gasket (308) is arranged between the second pneumatic pipe joint (307) and the second pneumatic muscle top seat (306); the position of the second slotting support (301) connected with the second rotating block (105) or the third rotating block (129) is provided with a strip-shaped second slotting, a connecting piece between the second slotting support (301) and the second rotating block (105) or the third rotating block (129) is positioned in the second slotting, and the relative installation position between the second slotting support (301) and the second rotating block (105) or the third rotating block (129) can be adjusted through the arrangement of the second slotting.

4. A multi-degree of freedom bionic hand according to claim 3, wherein: the L-shaped hinges (303) comprise hinge parts (3031) and inclined flat plates (3032) arranged at the lower ends of the hinge parts (3031), and the inclined flat plates (3032) of the L-shaped hinges (303) are clamped in the trough of the outer shell of the second pneumatic muscle (305) to form a support for the outer shell of the second pneumatic muscle (305).

5. A method of operation of multi-degree of freedom bionic manual and electric positioning and pneumatic clamping as claimed in any one of claims 1 to 3, wherein: the robot body, the transposition motor (111) and the rotation motor (112) are provided with the multiple-degree-of-freedom bionic hand, and the cooperative control mode of each air path unit of the first pneumatic muscle (209) and the second pneumatic muscle (305) is as follows: according to the visual or object shape parameters, controlling the angular displacement of the indexing motor (111), and adapting to the shape characteristics of the object; according to the vision or object fixing position, controlling the robot body to enable the bionic hand to reach the target position, and determining the contact distribution state of the bionic hand and the object; according to the size parameters of the vision or the object, controlling the angular displacement of the rotating motor (112), and determining the contact distribution state of the bionic hand and the object; according to the volume and density weight parameters of the object and the characteristic parameters of softness, hardness and toughness and brittleness, the opening frequency and duration of the high-speed switch valve are controlled by adopting a Pulse Width Modulation (PWM) mode, and the inner cavity pressure changes of the first pneumatic muscle (209) and the second pneumatic muscle (305) are accurately controlled, so that the contact instantaneous impact and grabbing contact force of the first finger part (200) and the second finger part (300) with the object are controlled.

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