CN116079690A

CN116079690A - Thumb installation device and built-in smart hand of driver

Info

Publication number: CN116079690A
Application number: CN202310093128.6A
Authority: CN
Inventors: 姜力; 李汪洋; 程明; 杨邦出
Original assignee: Harbin Institute of Technology
Current assignee: Harbin Institute of Technology
Priority date: 2023-02-10
Filing date: 2023-02-10
Publication date: 2023-05-09

Abstract

The invention relates to the technical field of built-in dexterous hand structures of drivers, in particular to a thumb mounting device and a built-in dexterous hand of a driver. The thumb mounting device comprises a thumb mounting frame, a motor, a worm wheel, a worm and a modularized thumb, wherein the thumb mounting frame comprises a connecting piece, a first mounting piece and a second mounting piece, the connecting piece is assembled on a palm mounting plate, and the first mounting piece and the second mounting piece are respectively fixedly connected with the upper end and the lower end of the connecting piece; the worm wheel is fixedly connected with the second mounting piece, the worm is meshed with the worm wheel, and the first mounting piece is fixedly connected with the modularized thumb; the extending direction of the base joint of the modularized thumb is parallel to the transverse direction of the palm mounting plate, and one end of the base joint of the modularized thumb is fixedly connected with the first mounting piece. The driving mechanism, the worm wheel and the thumb mounting frame are arranged, so that the modularized thumb has the palm freedom degree, the flexibility of the modularized thumb is improved, and the humanoid effect of the smart hand with the built-in driver is improved.

Description

Thumb installation device and built-in smart hand of driver

Technical Field

The invention relates to the technical field of built-in dexterous hand structures of drivers, in particular to a thumb mounting device and a built-in dexterous hand of a driver.

Background

The built-in smart hand of driver is imitative human hand design, and it has palm structure and modularization finger, and the modularization finger rotates to be connected in palm structure, simultaneously with driver, sensor, control circuit all integrate in the inside of modularization finger and palm structure, realizes crooked/extension and abduction/adduction motion of each joint of modularization finger, and wherein, the modularization finger includes modularization thumb, modularization index finger, modularization middle finger, modularization ring finger and modularization little finger.

The flexibility of the human hand depends largely on the freedom of the palming of the thumb, whereas the modular thumb of the dexterous hand with built-in driver usually does not have the freedom of palming, which is less flexible. Meanwhile, in the dexterous hand with the built-in driver, when the modularized thumb and the modularized index finger are combined, the fingertips of the modularized thumb and the modularized index finger are contacted, so that the joint working space of the modularized thumb and other modularized fingers is located above the palm center, and in the hand, when the thumb is combined, the fingertips of the thumb and the base joints of the index finger are contacted, so that the joint working space of the thumb and other fingers is generally located at the front side of the palm center. Therefore, the modularized thumb of the existing driver built-in dexterous hand still has the working performance of the thumb of the human hand, and meanwhile, the modularized thumb and modularized ring finger of the existing driver built-in dexterous hand have weaker operation capability even if the degree of freedom of the pair of hands is provided, so that the humanoid effect of the driver built-in dexterous hand is poor. In addition, a worm gear is generally used in the modularized finger structure to provide self-locking capability for saving energy in a static grabbing task, but the function of the built-in smart hand of the driver needs to perform a large amount of dynamic interaction besides the static grabbing task, and a large amount of unexpected collisions can occur due to factors such as control errors, mechanical gaps, environmental uncertainty and the like, so that the built-in smart hand of the driver is easy to damage.

Disclosure of Invention

The invention solves the problem of improving the working performance of the modularized thumb of the built-in dexterous hand of the driver so as to improve the humanoid effect of the built-in dexterous hand of the driver.

In order to solve the problems, the invention provides a thumb mounting device which is applied to a built-in smart hand of a driver, wherein the built-in smart hand of the driver comprises a palm mounting plate, a modularized index finger, a modularized middle finger, a modularized ring finger and a modularized little finger, the extending directions of the modularized index finger, the modularized middle finger, the modularized ring finger and the modularized little finger are all vertical to the palm mounting plate, the thumb mounting device comprises a thumb mounting frame, a driving mechanism, a worm wheel, a worm and a modularized thumb, the thumb mounting frame comprises a connecting piece, a first mounting piece and a second mounting piece, the connecting piece is assembled on the palm mounting plate, and the first mounting piece and the second mounting piece are fixedly connected with the upper end and the lower end of the connecting piece respectively;

the worm wheel is fixedly connected with the second mounting piece, the axial direction of the worm wheel is the same as the vertical direction of the palm mounting plate, the driving mechanism is used for being fixedly connected with the palm mounting plate, the driving mechanism is used for being in transmission connection with the worm, the worm is meshed with the worm wheel, and the first mounting piece is fixedly connected with the modularized thumb;

the extending direction of the base joint of the modularized thumb is parallel to the transverse direction of the palm mounting plate, one end of the base joint of the modularized thumb is fixedly connected with the first mounting piece, the other end of the base joint of the modularized thumb is rotationally connected with the middle knuckle of the modularized thumb, and the extending directions of the middle knuckle of the modularized thumb, the proximal knuckle of the modularized thumb and the fingertips of the modularized thumb are parallel to the vertical direction of the palm mounting plate.

The invention has the technical effects that: the device comprises a driving mechanism, a worm wheel and a thumb mounting frame, wherein the worm is driven to rotate by the driving mechanism, the worm is meshed with the worm wheel, the worm wheel is fixedly connected with the thumb mounting frame, the modularized thumb is fixedly connected with the thumb mounting frame, the axial extension direction of the worm wheel is parallel to the vertical direction of the palm mounting plate, and the modularized thumb can be driven to move from the back side of the palm mounting plate to the palm side until the fingertips of the modularized thumb are contacted with fingertips of other modularized fingers, so that the modularized thumb has the palm matching degree of freedom, the flexibility of the modularized thumb is improved, and the humanoid effect of the built-in smart hand of the driver is improved. Meanwhile, the extending direction of the base joint of the modularized thumb is parallel to the transverse direction of the palm mounting plate, the extending length of the modularized thumb in the vertical direction of the palm mounting plate can be shortened, when the modularized thumb is combined with the modularized index finger, the fingertip of the modularized thumb is contacted with the base joint of the modularized index finger, and compared with the contact of the fingertip of the modularized thumb with the fingertip of the modularized index finger, the structure can enable the joint working space of the modularized thumb, the modularized index finger, the modularized middle finger, the modularized ring finger and the modularized little finger to be located on the front side of the palm mounting plate, so that the humanoid effect of the built-in smart hand of the driver is further improved. In addition, the worm and the worm wheel are arranged, the self-locking function is realized, the continuous output power of the driving mechanism is not needed, the thumb mounting frame can be kept at the current position, and the heating of the driving mechanism and the energy loss can be effectively reduced.

Optionally, the first mounting piece the second mounting piece is located the back of the hand one side of palm mounting panel, the base joint of modularization forefinger, the base joint of modularization middle finger, the base joint of modularization ring finger, the base joint of modularization little finger all with the back of the hand of palm mounting panel rotates to be connected.

Optionally, be provided with first junction surface on the first installed part, be provided with the second junction surface on the thumb base joint, first junction surface set up to the inclined plane and with the vertical direction of palm mounting panel is the acute angle, the inclined plane orientation palm mounting panel's palm one side, the second junction surface set up to the plane and with the vertical direction of palm mounting panel is perpendicular, first junction surface with second junction surface laminating each other and fixed connection.

Optionally, the thumb installation device further comprises a positioning mechanism, the positioning mechanism comprises a lower bracket, a thumb lower shaft and a first bearing, the lower bracket is fixedly connected with the palm installation plate, the first bearing is arranged in the second installation piece, two ends of the thumb lower shaft are respectively and rotatably connected with the lower bracket and the first bearing, the driving mechanism is fixedly arranged on the lower bracket, the lower bracket is opposite to the worm, the axial extending direction of the positioning groove is parallel to the transverse direction of the palm installation plate, and the worm is arranged in the positioning groove.

Optionally, the positioning mechanism further comprises an upper bracket, a thumb upper shaft and a second bearing, the upper bracket is fixedly connected with the palm mounting plate, the second bearing is arranged in the first mounting piece, and two ends of the thumb upper shaft are respectively connected with the upper bracket and the second bearing in a rotating manner.

Optionally, the thumb mounting device further comprises a limiting mechanism, the limiting mechanism comprises a first stop block and a second stop block, the first stop block and the second stop block are both assembled on the lower bracket, the extending direction of the front end face of the first stop block is parallel to the transverse direction of the palm mounting plate, and the extending direction of the front end face of the second stop block is parallel to the transverse direction of the palm mounting plate; the second mounting piece is provided with a first abutting surface and a second abutting surface, the extending direction of the first abutting surface is parallel to the vertical direction of the palm mounting plate, the extending direction of the second abutting surface is parallel to the transverse direction of the palm mounting plate, the first stop block is used for abutting the first abutting surface, and the second stop block is used for abutting the second abutting surface.

Optionally, the thumb mounting device further comprises an angular displacement sensor fixedly arranged on the lower bracket and used for detecting the rotation angle of the base joint of the modularized thumb.

Optionally, a plurality of strain beams are provided on the second mounting, and a plurality of strain gauges are provided on each of the strain beams, the strain gauges being used for detecting moment of a base joint of the modular thumb.

The invention also provides a smart hand with a built-in driver, comprising the thumb-mounted device as described above.

The built-in dexterous hand of the driver comprises the thumb mounting device, and has the same beneficial effects as the thumb mounting device, and the description is omitted here.

Optionally, the manipulator with built-in driver further comprises an electrical system, wherein the modularized thumb, the modularized index finger, the modularized middle finger, the modularized ring finger and the modularized little finger all comprise a base joint, a middle knuckle, a proximal knuckle and a fingertip, and the base joint of the modularized index finger, the base joint of the modularized middle finger, the base joint of the modularized ring finger and the base joint of the modularized little finger are all in rotary connection with the upper end of the palm mounting plate;

the electric system comprises a base joint circuit board, a middle finger joint circuit board, a fingertip circuit board and a palm circuit board, wherein the base joint circuit board, the middle finger joint circuit board and the fingertip circuit board are respectively arranged in a base joint, a middle finger joint and a fingertip, the palm circuit board is assembled on the palm mounting plate, and the fingertip circuit board, the middle finger joint circuit board, the base joint circuit board and the palm circuit board are electrically connected in sequence.

Drawings

FIG. 1 is a schematic diagram of the structure of a built-in actuator dexterous hand of the present invention;

FIG. 2 is a front view of a built-in actuator dexterous hand of the present invention;

FIG. 3 is a rear view of the built-in actuator dexterous hand of the present invention;

FIG. 4 is a front view of the modular thumb and palm mounting plate of the present invention;

FIG. 5 is a front view of the thumb mount of the present invention;

FIG. 6 is a side view of the thumb mount of the present invention;

FIG. 7 is a cross-sectional view of the thumb mount of the present invention;

FIG. 8 is a schematic view of the thumb mount of the present invention;

FIG. 9 is a schematic structural view of a first state of the modular thumb of the present invention;

FIG. 10 is a cross-sectional view of a first state of the modular thumb of the present invention;

FIG. 11 is a schematic structural view of a second state of the modular thumb of the present invention;

FIG. 12 is a cross-sectional view of a second state of the modular thumb of the present invention;

FIG. 13 is a configuration diagram of a built-in actuator dexterous hand of the present invention;

FIG. 14 is a schematic view of the electrical system of the built-in actuator smart hand of the present invention;

fig. 15 is a block diagram of the electrical system of the built-in-driver smart hand of the present invention.

Reference numerals:

1. palm; 11. a palm mounting plate; 12. a mounting base; 21. modularized thumb; 22. modularized index finger; 23. modularized middle finger; 24. modularized ring finger; 25. modularized little finger; 31. a basal joint; 32. middle knuckle; 33. a proximal knuckle; 34. a fingertip; 4. a thumb mounting rack; 41. a connecting piece; 42. a first mounting member; 421. a first connection surface; 43. a second mounting member; 431. a first abutment surface; 432. a second abutment surface; 433. a strain beam; 51. a driving mechanism; 52. a worm; 53. a worm wheel; 61. a lower bracket; 62. a thumb lower shaft; 63. a first bearing; 64. an upper bracket; 65. a thumb upper shaft; 66. a second bearing; 67. an end cap; 68. a third bearing; 69. a bolt; 71. a first stopper; 72. a second stopper; 73. a first angular displacement sensor; 81. a base joint circuit board; 811. a first motor; 812. a first displacement sensor; 813. a first temperature sensor; 814. a first current sensor; 815. a first joint moment sensor; 82. a middle knuckle circuit board; 821. a second displacement sensor; 822. a second temperature sensor; 823. a second current sensor; 824. a second motor; 825. a second joint torque sensor; 826. a first tactile sensor; 83. a proximal knuckle circuit board; 831. a second angular displacement sensor; 832. a third motor; 833. a third joint torque sensor; 84. a fingertip circuit board; 841. a fourth joint torque sensor; 842. a second tactile sensor; 85. a palm circuit board; 851. an electrical interface; 852. a digital switch; 853. a third angular displacement sensor; 854. a third tactile sensor; 855. an inertial measurement mechanism; 86. a wire pressing block; 87. an upper computer; 91. a connecting disc; 911. a first interface; 912. a second interface; 92. and (5) a mechanical arm.

Detailed Description

In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.

In this embodiment, an XYZ axis coordinate system is established, the X axis forward direction is forward, the X axis backward direction is backward, the Y axis forward direction is left, the Y axis backward direction is right, the Z axis forward direction is upward, and the Z axis backward direction is downward.

In order to solve the above-mentioned problems, as shown in fig. 1-8, the thumb mounting device of the embodiment of the invention is applied to a smart hand with built-in driver, the smart hand with built-in driver comprises a palm mounting plate 11, a modularized index finger 22, a modularized middle finger 23, a modularized ring finger 24 and a modularized little finger 25, the extending directions of the modularized index finger 22, the modularized middle finger 23, the modularized ring finger 24 and the modularized little finger 25 are all parallel to the vertical direction of the palm mounting plate 11, the thumb mounting device comprises a thumb mounting frame 4, a driving mechanism 51, a worm wheel 53, a worm 52 and a modularized thumb 21, the thumb mounting frame 4 comprises a connecting piece 41, a first mounting piece 42 and a second mounting piece 43, the connecting piece 41 is assembled on the palm mounting plate 11, and the first mounting piece 42 and the second mounting piece 43 are fixedly connected with the upper end and the lower end of the connecting piece 41 respectively;

the worm wheel 53 is fixedly connected with the second mounting piece 43, the axial direction of the worm wheel 53 is the same as the vertical direction of the palm mounting plate 11, the driving mechanism 51 is fixedly connected with the palm mounting plate 11, the driving mechanism 51 is in transmission connection with the worm 52, the worm 52 is meshed with the worm wheel 53, and the first mounting piece 42 is fixedly connected with the modularized thumb 21;

the extending direction of the base joint of the modularized thumb 21 is parallel to the transverse direction of the palm mounting plate 11, one end of the base joint of the modularized thumb 21 is fixedly connected with the first mounting piece 42, the other end of the base joint of the modularized thumb 21 is rotationally connected with the middle knuckle of the modularized thumb 21, and the extending directions of the middle knuckle of the modularized thumb 21, the proximal knuckle of the modularized thumb 21 and the fingertips of the modularized thumb 21 are all parallel to the vertical direction of the palm mounting plate 11.

In this embodiment, the smart hand with built-in driver includes, for example, a palm 1, a palm mounting plate 11 vertically disposed in the palm 1, the vertical direction of the palm mounting plate 11 being the length direction of the palm mounting plate 11, that is, the Z-axis direction, the lateral direction of the palm mounting plate 11 being the width direction of the palm mounting plate 11, that is, the Y-axis direction, and the direction of the back of the hand of the palm mounting plate 11 toward the palm being the X-axis direction. The middle knuckle of the modularized thumb 21, the proximal knuckle of the modularized thumb 21 and the fingertips of the modularized thumb 21 are sequentially connected in a rotating way. The driving mechanism 51 is started to drive the worm 52 to rotate, the worm wheel 53 is driven to rotate by utilizing the meshing relationship between the worm 52 and the worm wheel 53, the worm wheel 53 is combined with the second mounting piece 43 to be fixedly connected, the second mounting piece 43 and the first mounting piece 42 are fixedly arranged at the upper end and the lower end of the connecting piece 41, the base joint in the modularized thumb 21 is fixedly connected with the first mounting piece 42, and then the base joint synchronously rotates when the worm wheel 53 rotates. Since the axial extending direction of the worm wheel 53 is the Z-axis direction, the base joint rotates about the Z-axis as the central axis, that is, the base joint moves back and forth between the back side and the palm side of the palm mounting plate 11; in combination with the sequential connection of the base joint, middle knuckle, proximal knuckle and fingertip of the modular thumb 21, the modular finger is rotated about the Z axis as a central axis, i.e., the modular finger moves back and forth between the dorsal and palmar sides of the palm mounting plate 11.

Meanwhile, the extending direction of the modularized index finger 22 is the Z-axis direction, the modularized thumb 21 is applied to driving the built-in dexterous hand, the extending direction of the base joint of the modularized thumb 21 is the Y-axis direction, and the extending directions of the middle knuckle of the modularized thumb 21, the near knuckle of the modularized thumb 21 and the fingertip of the modularized thumb 21 are all the Z-axis directions, so that the whole extending length of the modularized thumb 21 in the Z-axis direction can be shortened, and when the modularized thumb 21 and the modularized index finger 22 are combined, the fingertip of the modularized thumb 21 is contacted with the base joint of the modularized index finger 22.

In summary, the driving mechanism 51, the worm 52, the worm wheel 53 and the thumb mounting frame 4 are arranged, the worm 52 is driven to rotate by the driving mechanism 51, the worm wheel 53 is meshed with the worm wheel 53 by the worm 52, the worm wheel 53 is fixedly connected with the thumb mounting frame 4, the modularized thumb 21 is fixedly connected with the thumb mounting frame 4, the axial extension direction of the worm wheel 53 is parallel to the vertical direction of the palm mounting plate 11, the modularized thumb 21 can be driven to move from the back side of the palm mounting plate 11 to the palm side until the fingertips of the modularized thumb 21 are contacted with fingertips of other modularized fingers, so that the modularized thumb 21 has the freedom of pairing, the flexibility of the modularized thumb 21 is improved, and the humanoid effect of the built-in smart hand of the driver is improved. Meanwhile, the extending direction of the base joint of the modularized thumb 21 is parallel to the transverse direction of the palm mounting plate 11, the extending length of the modularized thumb 21 in the vertical direction of the palm mounting plate 11 can be shortened, when the modularized thumb 21 is combined with the modularized index finger 22, the fingertip of the modularized thumb 21 is contacted with the base joint of the modularized index finger 22, and compared with the contact of the fingertip of the modularized thumb 21 with the fingertip of the modularized index finger 22, the structure can enable the joint working space of the modularized thumb 21, the modularized index finger 22, the modularized middle finger 23, the modularized ring finger 24 and the modularized little finger 25 to be located at the front side of the palm mounting plate 11, so that the humanoid effect of the built-in smart hand of the driver is further improved. In addition, the worm 52 and the worm wheel 53 are arranged, the self-locking function is realized, the driving mechanism 51 is not required to continuously output power, the thumb mounting frame 4 can be kept at the current position, and the heat generation of the driving mechanism 51 and the energy loss can be effectively reduced.

Alternatively, as shown in fig. 1-7, the first mounting member 42 and the second mounting member 43 are located on the back side of the palm mounting plate 11, and the base joints of the modularized index finger 22, the modularized middle finger 23, the modularized ring finger 24 and the modularized little finger 25 are all rotatably connected with the back of the palm mounting plate 11.

In this embodiment, the thumb mount 4 is configured as the connecting member 41, the first mounting member 42 and the second mounting member 43, and the first mounting member 42 and the second mounting member 43 are disposed on the side of the palm mounting plate 11 facing the back of the hand, and the worm wheel 53 is fixedly connected to the second mounting member 43, so that the worm wheel 53 is also located on the back side of the palm mounting plate 11, that is, the base joint of the modularized thumb 21 is connected to the back of the hand of the palm mounting plate 11. Meanwhile, the joints of the modularized index finger 22, the modularized middle finger 23, the modularized ring finger 24 and the modularized little finger 25 are connected on the back of the hand of the palm mounting plate 11, so that the modularized thumb 21 can be rotated to be in the same plane with the modularized index finger 22, the modularized middle finger 23, the modularized ring finger 24 and the modularized little finger 25, and the humanoid effect of the smart hand with the built-in driver is improved.

Optionally, as shown in fig. 8, the first mounting member 42 is provided with a first connection surface 421, the base joint is provided with a second connection surface, the first connection surface 421 is configured as an inclined surface and forms an acute angle with the vertical direction of the palm mounting plate 11, the inclined surface faces the palm side of the palm mounting plate 11, the second connection surface is configured as a plane and is perpendicular to the vertical direction of the palm mounting plate 11, and the first connection surface 421 and the second connection surface are mutually attached and fixedly connected.

In the present embodiment, the first connection surface 421 is illustratively a front end surface of the first mount 42, while an upper end surface of the first mount 42 is a plane. The first connecting surface 421 is an inclined surface, and the second connecting surface is a plane, so that the modularized thumb 21 needs to be inclined by a certain angle to attach the first connecting surface 421 and the second connecting surface to each other, and because the palm mounting plate 11 is vertically arranged, the modularized thumb 21 and the palm mounting plate 11 have a certain included angle, and specifically, the middle knuckle of the modularized thumb 21, the proximal knuckle of the modularized thumb 21 and the fingertip of the modularized thumb 21 are all from the back of the hand of the palm mounting plate 11 to the palm. Therefore, by arranging the first connecting surface 421 which is an inclined surface on the first mounting piece 42 and arranging the second connecting surface which is a plane on the base joint, and attaching the first connecting surface 421 and the second connecting surface, the modularized thumb 21 and the palm mounting plate 11 can form a certain included angle, so that the configuration of the modularized thumb 21 is more similar to that of a human hand, the joint working space between the modularized thumb 21 and other modularized fingers can be increased, and the humanoid effect is further improved.

Optionally, as shown in fig. 7, the thumb mounting device further includes a positioning structure, the positioning structure includes a lower bracket 61, a thumb lower shaft 62, a first bearing 63, the lower bracket 61 is fixedly connected with the palm mounting plate 11, the first bearing 63 is disposed in the second mounting member 43, two ends of the thumb lower shaft 62 are respectively rotatably connected with the lower bracket 61 and the first bearing 63, the driving mechanism 51 is fixedly disposed on the lower bracket 61, a positioning groove is formed on the lower bracket 61 opposite to the worm 52, an axial extension direction of the positioning groove is parallel to a transverse direction of the palm mounting plate 11, and the worm 52 is disposed in the positioning groove.

In the present embodiment, the first bearing 63 is illustratively provided at the upper end of the lower bracket 61, the driving mechanism 51 is provided with a motor and a decelerator, a transmission shaft of the motor is in transmission connection with the decelerator, the decelerator is in transmission connection with the worm 52, and the positioning groove is provided in a cylindrical structure. Therefore, the axial extension direction of the positioning groove in the lower bracket 61 is parallel to the transverse direction of the palm mounting plate 11, and the worm 52 is arranged in the positioning groove, so that the axial extension direction of the worm 52 is parallel to the transverse direction of the palm mounting plate 11, the positioning of the worm 52 is facilitated, the meshing of the worm 52 and the worm wheel 53 is facilitated by combining the vertical direction of the palm mounting plate 11 with the axial extension direction of the worm wheel 53, and the transmission effect between the worm 52 and the worm wheel 53 is ensured. At the same time, providing the thumb lower shaft 62 and the first bearing 63 allows for flexibility in the relative rotation between the lower bracket 61 and the second mount 43.

Optionally, as shown in fig. 7, the positioning structure further includes an upper bracket 64, a thumb upper shaft 65, and a second bearing 66, where the upper bracket 64 is fixedly connected with the palm mounting plate 11, and the second bearing 66 is disposed in the first mounting member 42, and two ends of the thumb upper shaft 65 are respectively rotatably connected with the upper bracket 64 and the second bearing 66.

In this embodiment, the upper bracket 64 is disposed at the upper end of the thumb mounting frame 4, and the upper bracket 64 is rotatably connected with the first mounting member 42 of the thumb mounting frame 4 through the thumb upper shaft 65, so that the thumb mounting frame 4 can be supported by using the upper bracket 64, and the rigidity and strength of the thumb mounting frame 4 can be improved. At the same time, the provision of the second bearing 66 within the upper bracket 64 allows for flexibility in the relative rotation between the upper bracket 64 and the first mounting member 42.

Optionally, as shown in fig. 7, the positioning structure further includes an end cover 67 and a third bearing 68, where the end cover 67 is located at the lower end of the lower bracket 61 and is connected to the lower bracket 61 using a bolt 69; a third bearing 68 is provided at the upper end of the lower bracket 61, and the lower end of the thumb lower shaft 62 is rotatably connected with the third bearing 68.

Optionally, as shown in fig. 9 to 12, the thumb mounting device further includes a limit mechanism including a first stopper 71 and a second stopper 72, the first stopper 71 and the second stopper 72 are both assembled on the lower bracket 61, the extending direction of the front end surface of the first stopper 71 is parallel to the lateral direction of the palm mounting plate 11, and the extending direction of the front end surface of the second stopper 72 is parallel to the lateral direction of the palm mounting plate 11; the second mounting member 43 is provided with a first abutment surface 431 and a second abutment surface 432, and the front end surface of the first stopper 71 is adapted to abut against the first abutment surface 431 and the front end surface of the second stopper 72 is adapted to abut against the second abutment surface 432.

In the present embodiment, the first abutment surface 431 is illustratively perpendicular to the second abutment surface 432. When the first thumb mounting frame 4 rotates from the palm side of the palm mounting plate 11 to the back side of the palm mounting plate 11, the second mounting piece 43 drives the second abutting surface 432 to move to the second stop block 72, the front end surface of the second stop block 72 abuts against the second abutting surface 432, and the second mounting piece 43 of the thumb mounting frame 4 is limited to move continuously, namely the thumb mounting frame 4 is limited to move continuously. Meanwhile, when the thumb mounting frame 4 rotates from the back side of the palm mounting plate 11 to the palm side of the palm mounting plate 11, the second mounting piece 43 drives the first abutting surface 431 to move to the first stop block 71, the front end surface of the first stop block 71 abuts against the first abutting surface 431, and the second mounting piece 43 of the thumb mounting frame 4 is limited to move continuously. Therefore, the limiting mechanism consisting of the first stop block 71 and the second stop block 72 is arranged, and the first abutting surface 431 and the second abutting surface 432 are arranged on the second mounting piece 43, so that the movement range of the second mounting piece 43 can be limited, the movement range of the thumb mounting frame 4 and the modularized thumb 21 can be limited, the movement range of the thumb is more accordant with the movement range of the thumb of a human hand, and the humanoid effect is improved. Meanwhile, the extending direction of the first abutting surface 431 is parallel to the vertical direction of the palm mounting plate 11, the extending direction of the second abutting surface 432 is parallel to the transverse direction of the palm mounting plate 11, the extending directions of the front end surface of the first stop block 71 and the front end surface of the second stop block 72 are parallel to the transverse direction of the palm mounting plate 11, and then the rotating angle of the modularized thumb 21 is 90 degrees, so that the humanoid effect is further improved.

Optionally, as shown in fig. 7, the limiting mechanism further includes a first angular displacement sensor 73, where the first angular displacement sensor 73 is fixedly disposed on the lower bracket 61 and is used to detect the rotation angle of the thumb mount 4.

In the present embodiment, the first angular displacement sensor 73 is illustratively disposed at the lower end of the end cap 67. A palm circuit board 85 is provided to electrically connect the first angular displacement sensor 73, the palm circuit board 85, and the driving mechanism 51. The first angular displacement sensor 73 is used to detect the rotation angle of the thumb mount 4 and transmit the rotation angle to the palm circuit board 85, when the palm circuit board 85 receives the rotation angle of the thumb mount 4, the output power of the driving mechanism 51 can be controlled, the second abutting surface 432 of the second mounting piece 43 of the thumb mount 4 can be prevented from being in strong collision with the second stop block 72 of the limiting mechanism, and the first abutting surface 431 of the first mounting piece 42 of the thumb mount 4 can be prevented from being in strong collision with the first stop block 71 of the limiting mechanism. Accordingly, the first angular displacement sensor 73 is provided to detect the rotation angle of the thumb mount 4, and control the output power of the driving mechanism 51, so that the thumb mount 4 and the limiting mechanism can be prevented from being collided strongly, and the thumb mount 4 is protected.

Alternatively, as shown in fig. 8, the second mounting member 43 is provided with a plurality of strain beams 433, and strain gauges for detecting moment of the base joint are provided on each of the plurality of strain beams 433.

In the present embodiment, the second mounting member 43 is exemplarily provided in a plate-like structure, and the second mounting member 43 is hollowed out to form four strain beams 433 on the second mounting member 43, and strain gauges are provided at both sides of each strain beam 433. Therefore, the strain gauge is used for detecting the joint moment of the second mounting piece 43 of the thumb mounting frame 4, so that the output power of the driving mechanism 51 is effectively controlled, the driving flexible control of the driving mechanism 51, the worm 52 and the worm wheel 53 on the thumb mounting frame 4 is ensured, the output power of the driving mechanism 51 can be reduced when the modularized thumb 21 collides, and the damage of the thumb mounting frame 4 due to overlarge collision stress is prevented. The strain gauge, the worm 52 and the worm wheel 53 are arranged on the built-in smart hand of the driver, the built-in smart hand of the driver is self-locked by the worm 52 and the worm wheel 53 in static work, energy can be saved, the built-in smart hand of the driver can be prevented from collision by the strain gauge in dynamic work, and the structure of the built-in smart hand of the driver is protected.

Another embodiment of the invention is a smart hand with built-in actuator, comprising the thumb-mounted device described above.

In this embodiment, the smart hand with the built-in driver includes a thumb mounting device, which has the same beneficial effects as the thumb mounting device and will not be described here again.

Optionally, as shown in fig. 14 and 15, the driver-built-in smart hand further includes an electrical system, and the modularized thumb 21, the modularized index finger 22, the modularized middle finger 23, the modularized ring finger 24, and the modularized little finger 25 each include a base joint 31, a middle finger joint 32, a proximal finger joint 33, and a fingertip 34, and the base joint 31 of the modularized index finger 22, the base joint 32 of the modularized middle finger 23, the base joint 33 of the modularized ring finger 24, and the base joint 34 of the modularized little finger 25 are all rotatably connected with the upper end of the palm mounting plate 11;

the electrical system comprises a base joint circuit board 81, a middle knuckle circuit board 82, a near knuckle circuit board 83, a fingertip circuit board 84 and a palm circuit board 85, wherein the base joint circuit board 81, the middle knuckle circuit board 82, the near knuckle circuit board 83 and the fingertip circuit board 84 are respectively arranged in the base joint 31, the middle knuckle 32, the near knuckle 33 and the fingertip 34, the palm circuit board 85 is assembled on the palm mounting plate 11, and the fingertip circuit board 84, the near knuckle circuit board 83, the middle knuckle circuit board 82, the base joint circuit board 81 and the palm circuit board 85 are electrically connected in sequence.

In the present embodiment, illustratively, the base joint 31, the middle knuckle 32, the proximal knuckle 33, and the fingertip 34 are sequentially rotatably connected. The fingertip 34 is provided with a fourth joint moment sensor 841 and a second touch sensor 842 which are electrically connected with the fingertip circuit board 84; the proximal knuckle 33 is provided with a second angular displacement sensor 831 and a third joint moment sensor 833 which are electrically connected with a proximal knuckle circuit board 83; the middle knuckle 32 is provided with a second displacement sensor 821, a second temperature sensor 822, a second joint moment sensor 825 and a first touch sensor 826 which are all electrically connected with the middle knuckle circuit board 82; the base joint 31 is provided with two first displacement sensors 812, two first temperature sensors 813, a current sensor and a first joint moment sensor 815 which are all electrically connected with the base joint circuit board 81; the palm 1 is provided with a digital switch 852, a third angular displacement sensor 853, a third tactile sensor 854, and an inertial measurement mechanism 855, all of which are electrically connected to the palm circuit board 85. Therefore, the structures such as the sensors in the fingertip 34, the proximal knuckle 33, the middle knuckle 32 and the base joint 31 are gradually increased, so that the volumes of the fingertip 34, the proximal knuckle 33, the middle knuckle 32 and the base joint 31 are sequentially increased, an electrical system can be reasonably arranged in a modularized finger, the electrical system is prevented from occupying the space of the palm 1 or the mechanical arm 92, and the integration level of the smart hand with the built-in driver is improved. Meanwhile, the volumes of the fingertip 34, the proximal knuckle 33, the middle knuckle 32 and the base joint 31 are sequentially increased, and the volume is consistent with the structure of the human hand joint, so that the humanoid effect is improved. In addition, the touch sensors are arranged at the fingertips 34, the middle knuckle 32 and the palm 1 palm, so that the contact state of the driver built-in dexterous hand and an object can be accurately perceived, and the dexterous operation is realized; rubber can be arranged on the fingertips 34, the middle knuckle 32 and the palm 1, so that friction force is increased, and an object can be held conveniently.

Alternatively, as shown in fig. 15, a first motor 811 is provided in the proximal knuckle 33, a second motor 824 is provided in the middle knuckle 32, two third motors 832 are provided in the base knuckle 31, the first motor 811 is provided as a brushless motor, and the second motor 824 and the third motors 832 are each provided as linear motors. Wherein the brushless motor in the proximal knuckle 33 is used to drive the fingertip 34 for flexion and extension, and the linear motor in the middle knuckle 32 is used to drive the proximal knuckle for flexion and extension. The two linear motors in the base joint 31 are used to drive the middle knuckle 32 to flex and swing left and right, respectively. Therefore, as shown in fig. 13, the modular thumb 21, the modular index finger 22, the modular middle finger 23, the modular ring finger 24, and the modular little finger 25 have 4 degrees of freedom, and the modular thumb 21 further includes a half-grip degree of freedom, that is, 5 degrees of freedom, so that the driver-built-in dexterous hand has 21 degrees of freedom in total, and the same degree of freedom as the human hand, thereby improving the humanoid effect of the driver-built-in dexterous hand.

Optionally, as shown in fig. 6, the electrical system further includes a pressing block 86, where the pressing blocks 86 are disposed on the base joints of the modularized thumb 21, the modularized index finger 22, the modularized middle finger 23, the modularized ring finger 24 and the modularized little finger 25, and the power line and the signal line can be fixedly disposed in the semicircular groove, so that the modularized thumb 21, the modularized index finger 22, the modularized middle finger 23, the modularized ring finger 24 and the modularized little finger 25 are prevented from interfering with or being pulled by the power line and the signal line during movement, thereby improving the reliability of the electrical system.

Optionally, a first slave controller is disposed on the base joint circuit board 81, and a second slave controller is disposed on the palm circuit board 85, where the first slave controller is electrically connected to the second slave controller, and the second slave controller is electrically connected to the upper computer 87.

In the present embodiment, the first slave controller is used for data collection of the sensors in the fingertip 34, the proximal knuckle 33, the middle knuckle 32, and the base joint 31, and the second slave controller is used for processing the data collection. Meanwhile, the upper computer 87 only sends high-level control instructions, and the master-slave distributed design is beneficial to shortening the control period of the system.

Optionally, as shown in fig. 3, 14 and 15, an electrical interface 851 is provided on the palm circuit board 85, and the palm circuit board 85 is connected to a power source through the electrical interface 851 to supply power.

Optionally, as shown in fig. 1, the built-in smart driver further includes a connection pad 91, a first interface 911 of the connection pad 91 is connected to the palm 1 of the built-in smart driver, and a second interface 912 of the connection pad 91 is connected to the mechanical arm 92.

In the present embodiment, illustratively, the lower end of the palm 1 is provided with a mount 12, the mount 12 is screwed with a first interface 911 of the connection pad 91, and a second interface 912 of the connection pad 91 is screwed with the mechanical arm 92. The driver built-in robot and the connection pad 91 can be connected by rotating the connection pad 91 with female threads, thereby connecting the driver built-in robot and the robot arm 92. When the driver built-in dexterous hand and the mechanical arm 92 are required to be separated, the driver built-in dexterous hand and the mechanical arm 92 can be separated only by rotating the connecting disc 91 by hand. Thus, the process of attaching and detaching the driver-built-in dexterous hand to the robot arm 92 can be simplified.

Although the present disclosure is described above, the scope of protection of the present disclosure is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the scope of the invention.

Claims

1. The thumb mounting device is characterized by comprising a palm mounting plate (11), a modularized index finger (22), a modularized middle finger (23), a modularized ring finger (24) and a modularized little finger (25), wherein the extending directions of the modularized index finger (22), the modularized middle finger (23), the modularized ring finger (24) and the modularized little finger (25) are parallel to the vertical direction of the palm mounting plate (11), the thumb mounting device comprises a thumb mounting frame (4), a driving mechanism (51), a worm (52), a worm wheel (53) and a modularized thumb (21), the thumb mounting frame (4) comprises a connecting piece (41), a first mounting piece (42) and a second mounting piece (43), the connecting piece (41) is assembled on the mounting plate (11), and the first mounting piece (42) and the second mounting piece (43) are fixedly connected with the upper end and the lower end of the connecting piece (41) respectively;

the worm wheel (53) is fixedly connected with the second mounting piece (43), the axial direction of the worm wheel (53) is the same as the vertical direction of the palm mounting plate (11), the driving mechanism (51) is fixedly connected with the palm mounting plate (11), the driving mechanism (51) is in transmission connection with the worm (52), the worm (52) is meshed with the worm wheel (53), and the first mounting piece (42) is fixedly connected with the modularized thumb (21);

the extending direction of the base joint of the modularized thumb (21) is parallel to the transverse direction of the palm mounting plate (11), one end of the base joint of the modularized thumb (21) is fixedly connected with the first mounting piece (42), the other end of the base joint of the modularized thumb (21) is rotationally connected with the middle knuckle of the modularized thumb (21), and the extending directions of the middle knuckle of the modularized thumb (21), the proximal knuckle of the modularized thumb (21) and the fingertips of the modularized thumb (21) are parallel to the vertical direction of the palm mounting plate (11).

2. Thumb mounting arrangement according to claim 1, characterised in that the first mounting piece (42) and the second mounting piece (43) are located on the dorsal side of the palm mounting plate (11), and the base joint of the modular index finger (22), the base joint of the modular middle finger (23), the base joint of the modular ring finger (24) and the base joint of the modular little finger (25) are each in rotational connection with the dorsal side of the palm mounting plate (11).

3. The thumb mounting device according to claim 1, wherein the first mounting member (42) is provided with a first connecting surface (421), the base joint of the modularized thumb (21) is provided with a second connecting surface, the first connecting surface (421) is provided as an inclined surface and forms an acute angle with the vertical direction of the palm mounting plate (11), the inclined surface faces towards the palm side of the palm mounting plate (11), the second connecting surface is provided as a plane and is perpendicular to the vertical direction of the palm mounting plate (11), and the first connecting surface (421) and the second connecting surface are mutually attached and fixedly connected.

4. A thumb mounting device according to claim 3, further comprising a positioning mechanism, wherein the positioning mechanism comprises a lower bracket (61), a thumb lower shaft (62) and a first bearing (63), the lower bracket (61) is fixedly connected with the palm mounting plate (11), the first bearing (63) is arranged in the second mounting piece (43), two ends of the thumb lower shaft (62) are respectively and rotatably connected with the lower bracket (61) and the first bearing (63), the driving mechanism (51) is fixedly arranged on the lower bracket (61), the lower bracket (61) is provided with a positioning groove relative to the worm (52), the axial extension direction of the positioning groove is parallel to the transverse direction of the palm mounting plate (11), and the worm (52) is arranged in the positioning groove.

5. The thumb mounting arrangement according to claim 4, wherein the positioning mechanism further comprises an upper bracket (64), a thumb upper shaft (65) and a second bearing (66), the upper bracket (64) is fixedly connected with the palm mounting plate (11), the second bearing (66) is disposed in the upper bracket (64), and both ends of the thumb upper shaft (65) are respectively rotatably connected with the first mounting member (42) and the second bearing (66).

6. The thumb mounting device according to claim 5, further comprising a stopper mechanism including a first stopper (71) and a second stopper (72), the first stopper (71) and the second stopper (72) being each fitted on the lower bracket (61), an extending direction of a front end surface of the first stopper (71) being parallel to a lateral direction of the palm mounting plate (11), an extending direction of a front end surface of the second stopper (72) being parallel to the lateral direction of the palm mounting plate (11); the second mounting piece (43) is provided with a first abutting surface (431) and a second abutting surface (432), the first stop block (71) is used for abutting against the first abutting surface (431), and the second stop block (72) is used for abutting against the second abutting surface (432).

7. The thumb mount of claim 6, further comprising a first angular displacement sensor (73), the first angular displacement sensor (73) being fixedly disposed on the lower bracket (61) and configured to detect an angle of rotation of a base joint of the modular thumb (21).

8. Thumb mounting device according to claim 1, characterised in that the second mounting piece (43) is provided with a plurality of strain beams (433), a plurality of strain beams (433) each being provided with strain gauges for detecting the moment of the base joint of the modular thumb (21).

9. A dexterous hand with built-in driver comprising a thumb-mounted device according to any of claims 1-8.

10. The built-in driver dexterous hand according to claim 9, further comprising an electrical system, wherein the modular thumb (21), the modular index finger (22), the modular middle finger (23), the modular ring finger (24), and the modular little finger (25) each comprise a base joint (31), a middle knuckle (32), a proximal knuckle (33), and a fingertip (34), wherein the base joint (31) of the modular index finger (22), the base joint (31) of the modular middle finger (23), the base joint (31) of the modular ring finger (24), and the base joint (31) of the modular little finger (25) are each rotatably connected with an upper end of a palm mounting plate (11);

the electric system comprises a base joint circuit board (81), a middle finger joint circuit board (82), a middle finger joint circuit board (83), a fingertip circuit board (84) and a palm circuit board (85), wherein the base joint circuit board (81), the middle finger joint circuit board (82), the middle finger joint circuit board (83) and the fingertip circuit board (84) are respectively arranged at the base joint, the middle finger joint circuit board and the fingertip, the palm circuit board (85) is assembled on the palm mounting plate (11), the fingertip circuit board (84), the middle finger joint circuit board (83), the middle finger joint circuit board (82) and the base joint circuit board (81) are electrically connected in sequence.