CN212553914U - Under-actuated dexterous hand with palm capable of being forked and wrist capable of rotating coaxially - Google Patents

Abstract

The utility model discloses an underactuated dexterous hand with palm that can divide and coaxial rotation wrist, including 5 underactuated fingers, can divide fork palm and coaxial rotation wrist. The under-actuated structure realizes the kinematic coupling of three knuckles, the direct current gear motor drives the under-actuated structure, the thumb realizes the kinematic coupling of the upper knuckle and the middle knuckle through the under-actuated structure, and the lower knuckle drives the single motor to realize the palmar movement of the thumb; the initial opening and closing angle of the palm is determined between every two fingers through the cylindrical spiral spring and the initial steel wire between the two spring fixing seats. In the grabbing process, the opening and closing angle of the palm is controlled by two traction steel wires arranged corresponding to each finger, one end of each steel wire is connected with the root of each finger, and the other end of each steel wire is connected with a driving motor after bypassing a wire guide wheel; the coaxial rotating wrists are driven by gears to realize the vertical intersection of the rotating shafts of the wrists with two degrees of mobility. The dexterous hand has the advantages of strong flexibility, and good controllability and reliability of finger stretching and bending movement and finger separating and combining movement.

Description

Under-actuated dexterous hand with palm capable of being forked and wrist capable of rotating coaxially

Technical Field

The utility model relates to a dexterous hand of imitative people, concretely relates to flexible hand of under-actuated with can divide fork palm and coaxial rotation wrist.

Background

With the development of science and technology and the increase of demand in recent years, the field of robots faces more and more challenges, but a common robot end effector cannot adapt to the change of the shape of an object and cannot enable the surface of the object to bear uniform clamping force, so that objects with complex shapes, different materials and sizes cannot be clamped and operated. In order to improve the operation ability, flexibility and quick response ability of the fingers and the wrists of the robot, the robot can perform various complex operations like a human hand, such as assembly operation, maintenance operation, equipment operation, etiquette gestures of a robot model and the like, and a dexterous hand with flexible motion and various actions is required.

SUMMERY OF THE UTILITY MODEL

To the above-mentioned prior art, the utility model provides a the utility model discloses a for overcoming the not enough of prior art, designed an under-actuated dexterous hand with can branch palm and coaxial rotation wrist, this dexterous hand can accomplish the independent control to each finger, can adjust finger workspace with multiple method according to the shape size of the object of snatching simultaneously. The structure is smaller and more flexible by adopting an underactuated mode based on the connecting rod, the wrist can complete the rotation of a plurality of degrees of freedom, and the device can adapt to a more complex working environment.

In order to solve the technical problem, the utility model provides an under-actuated dexterous hand with a forked palm and a coaxial rotating wrist, which comprises a forked palm connected with the coaxial rotating wrist through a rudder disc, wherein the forked palm comprises a palm base, five fingers are connected on the palm base, and the five fingers comprise a thumb, an index finger, a middle finger, a ring finger and a little finger; the palm device comprises a palm base, a palm base seat, a palm, a middle finger, a ring finger, a little finger, a palm base seat and a palm, wherein the four fingers including the index finger, the middle finger, the ring finger and the little finger are connected to the palm base seat of the forked palm through palm base shafts; the index finger, the ring finger of the middle finger and the little finger respectively comprise a lower knuckle, a middle knuckle and an upper knuckle, wherein the adjacent ends of the lower knuckle, the middle knuckle and the upper knuckle are connected through rotating shafts in the same finger of the index finger, the ring finger of the middle finger and the little finger, and the rotating shafts are arranged in parallel; the index finger, the ring finger of the middle finger and the little finger are respectively driven by a first direct current speed reducing motor so as to pull the lower knuckle, the middle knuckle and the upper knuckle of the same finger of the index finger, the ring finger of the middle finger and the little finger to rotate around respective rotating shafts, so that an object is grabbed; the thumb comprises a middle knuckle and an upper knuckle, the middle knuckle and the upper knuckle are in motion coupling through an under-actuated connecting rod, and the bending of the thumb is completed under the driving of a second direct-current speed reduction motor; the root of the thumb is driven by a third direct-current speed reduction motor to control the opening and closing of the thumb, and the palm movement and the grabbing operation after the spatial rotation of 45 degrees are realized through a spatial dislocation component;

the top of the palm base is provided with a palm fixing plate, the palm fixing plate is connected with four rear plates and four front plates, and the four rear plates and the four front plates are arranged in a one-to-one correspondence manner from front to back; the upper part of the front of the rear plate is provided with a finger base, and the index finger, the middle finger, the ring finger and the little finger are respectively positioned by the finger base and are fixed on the detachable forked palm through threaded connection; cylindrical spiral springs are arranged on the four rear plates and between the adjacent spring fixing seats; the lower part of the front plate is provided with a sliding chute, and a spring fixing seat is embedded in the sliding chute; sequentially passing a steel wire rope through a spring fixing seat connected with a forefinger, a middle finger, a ring finger and a little finger and a cylindrical spiral spring between the spring fixing seats, fastening the two sides of the steel wire rope, and determining the initial opening and closing angle of the separable palm by controlling the length of the steel wire rope; the upper part of the back plate is provided with a wire feeding wheel, two sides of the lower part of the back of the palm fixing plate are respectively provided with a plurality of wire guiding wheels, one end of a steel wire is tied to the wire feeding wheel of the back plate, and the other end of the steel wire is connected to a driving device after bypassing a plurality of the wire guiding wheels on the palm fixing plate; sequentially penetrating a steel wire rope through a spring fixing seat connected with the rear plate and a cylindrical spiral spring between the spring fixing seats, fastening the two sides of the steel wire rope, and determining the initial opening and closing angle of the detachable forked palm by controlling the length of the steel wire rope;

the coaxial rotating wrist realizes two degrees of motion of pitching and swinging through gear transmission, realizes the rotation of two shafts in the same plane and is attached to the physiological structure of a human hand.

Further, but have the dexterous hand of underactuation of palm and coaxial rotation wrist that can branch, for snatching the target object of equidimension not, need accomplish five fingers for thereby the rotation of palm basic shaft enlarges or reduces the space of snatching of finger to there are following two kinds of situations:

firstly, the spring fixing seats connected with the forefinger, the middle finger, the ring finger and the little finger slide along respective sliding grooves by using steel wire ropes of cylindrical spiral springs which penetrate through the spring fixing seats connected with the forefinger, the middle finger, the ring finger and the little finger and the spring fixing seats, when the spring fixing seats slide along the sliding grooves in the direction far away from the palm base, under the action force of the steel wire ropes, the forefinger, the middle finger, the ring finger and the little finger shrink in the middle to reduce the grabbing space so as to grab objects with smaller size, and when the spring fixing seats move in the direction close to the palm base along the sliding grooves, under the action force of the cylindrical spiral springs, the grabbing space is expanded;

secondly, a steel wire is tied on the upper line wheel by utilizing the upper line wheel arranged on the upper part of the back surface of the back plate and a plurality of wire guide wheels arranged on the palm fixing plate, the other end of the steel wire is connected to a driving device after bypassing a plurality of wire guide wheels, and the steel wire is pulled to enable the fingers fixed with the back plate to rotate outwards or inwards, so that the grabbing space of the fingers is enlarged or reduced.

The utility model discloses in, coaxial rotation wrist includes steering wheel and lower steering wheel, the output shaft of lower steering wheel drives after the twice transmission of three gear go up the steering wheel and accomplish swing motion to drive the swing of detachable fork palm through the connection pad, with go up the axis of the gear that the steering wheel linked firmly with the axis of rotation of going up the steering wheel is crossing perpendicularly, the output shaft of going up the steering wheel passes through the connection pad and drives detachable fork palm and accomplish pitching motion, thereby but the forked palm can carry out the rotation around two crossing axes of mutually perpendicular.

The utility model discloses in, be equipped with the bearing frame on the palm base, the lower extreme of knuckle passes through thumb front bezel and thumb back plate and rotates around the thumb rotation axis in the thumb, the thumb rotation axis is installed on the bearing frame.

The utility model discloses in, include four structures of pointing of forefinger, middle finger, ring finger and little finger are the same, and its structure is as follows:

the finger comprises an upper knuckle, a middle knuckle, a lower knuckle, a finger driving connecting rod, a finger rotating shaft, a finger base, a middle knuckle connecting rod, a lower knuckle connecting rod, a finger sliding block nut and a finger clamping ring; one end of the finger rotating shaft is provided with an external thread, the other end of the finger rotating shaft is provided with an annular groove, and the finger clamping ring is embedded in the annular groove; the output shaft of the first direct current speed reducing motor is connected with the finger sliding block nut, the lower end of the finger driving connecting rod is connected with the finger sliding block nut through the finger rotating shaft and the finger clamping ring, the upper end of the finger driving connecting rod is connected with the lower end of the lower knuckle through the rotating shaft, and the lower end of the lower knuckle is further connected with the finger base through the rotating shaft; the lower end of the lower knuckle connecting rod is connected with the finger base, and the upper end of the lower knuckle connecting rod is rotatably connected with the lower end of the middle knuckle; the lower end of the middle knuckle connecting rod is connected with the upper end of the lower knuckle, the lower end of the upper knuckle is rotatably connected with the upper end of the middle knuckle connecting rod, and the lower end of the upper knuckle is also connected with the upper end of the middle knuckle through a rotating shaft; the output of the first direct current gear motor is converted into linear motion through the finger sliding block nut, when the finger sliding block nut is close to the first direct current gear motor to move, the finger driving connecting rod is pulled to drive the lower knuckle to rotate around a rotating shaft connected with the finger base, and the bending of the finger is completed through the transmission of the finger driving connecting rod: when the first direct current speed reducing motor drives the finger sliding block nut to move away from the first direct current speed reducing motor, the finger straightening process is completed through the transmission of the finger driving connecting rod.

The five fingers are respectively provided with a potentiometer for measuring the rotating angle of the lower finger section of each finger around the finger rotating shaft.

Compare in existing manipulator and imitative people's manipulator, the utility model provides an under-actuated dexterous hand with palm that can divide and coaxial rotation wrist has following beneficial effect:

(1) the utility model discloses a finger adopts the underactuated scheme, has simplified dexterous hand's structure greatly, and it is simpler to control, also can accomplish the most action that the staff can go on simultaneously.

(2) The utility model discloses an introduce spring fixing base and cylindrical coil spring on steel wire and line wheel and the connecting piece, can realize the bifurcation and the closure of palm through 2 kinds of modes to reduce or enlarge adding of finger and hold the space, accomplish snatching not unidimensional shape object.

(3) The utility model discloses a coaxial wrist can make the wrist accomplish around the rotation of 2 mutually perpendicular crossing axes, is close the motion mode of staff, deals with comparatively complicated operational environment, has saved the space simultaneously.

(4) The utility model discloses can carry out the independent control to every finger, make the centre gripping object atress more even.

Drawings

FIG. 1 is a schematic view of the general structure of an under-actuated dexterous hand with a forked palm and a coaxial rotating wrist according to the present invention;

FIG. 2 is a schematic front view of a palm portion of an under-actuated dexterous hand with a bifurcated palm and a coaxially rotating wrist;

FIG. 3 is a schematic view of the inside of the palm portion of the under-actuated dexterous hand of the present invention;

FIG. 4 is a schematic view of the back of the palm part of the under-actuated dexterous hand of the present invention

FIG. 5 is a schematic view of the little finger part of the under-actuated dexterous hand of the present invention;

FIG. 6 is a schematic view of the little finger axis of the under-actuated dexterous hand of the present invention;

fig. 7 is a schematic view of the coaxial rotating wrist of the under-actuated dexterous hand of the present invention.

In the figure:

1-thumb 2-index finger 3-middle finger

4-ring finger 5-little finger 501-N20 DC speed reducing motor

502-little finger slider nut 503-little finger drive link 504-little finger shaft

505-little finger snap ring 506-little finger lower knuckle 507-little finger base

508-little finger lower knuckle connecting rod 509-little finger middle knuckle 510-little finger middle knuckle connecting rod

511-little finger upper knuckle 512-potentiometer 6-separable branch palm

601-palm base 602-palm fixing plate 603-spring fixing seat

604-forefinger back plate 605-middle finger back plate 606-ring finger back plate

607-little finger back plate 608-finger base 609-cylindrical coil spring

610-sliding groove 611-palm base shaft 7-coaxial rotating wrist

701-upper steering gear 702 and lower steering gear 703-connecting disc

801-upper wire wheel 802 of ring finger back plate-first wire wheel 803-second wire wheel

804-upper line wheel 805 on the side of index finger-line wheel on the back plate of index finger

806-line wheel of little finger back plate

Detailed Description

The present invention will be further described with reference to the following drawings and specific examples, but the following examples are by no means limiting the present invention.

As shown in fig. 1, the utility model provides an under-actuated dexterous hand with a forked palm and a coaxial rotating wrist, which comprises a forked palm base 6 base connected with a coaxial rotating wrist base 7 base through a rudder disc, wherein the forked palm base 6 base comprises a palm base 601 base, five fingers are connected on the palm base 601 base, and the five fingers comprise a thumb base 1 base, a forefinger base 2 base, a middle finger base 3 base, a ring finger base 4 base and a little finger base 5 base; the four fingers including the forefinger base 2 base, the middle finger base 3 base, the ring finger base 4 base and the little finger base 5 base are connected to the palm base 601 base of the forked palm base 6 base through the palm base 611 base, the forefinger base 2 base, the ring finger base 4 base and the little finger base 5 base can respectively rotate inwards or outwards around the axis of the palm base 611 base, and the root of the middle finger base 3 base is provided with a limiting structure to limit the rotation of the middle finger base 3 base towards the forefinger base 2 base; the base of the index finger base 2, the base of the middle finger base 3, the base of the ring finger base 4 and the base of the little finger base 5 respectively comprise a lower knuckle, a middle knuckle and an upper knuckle, the bases of the index finger base 2, the base of the middle finger base 3, the base of the ring finger base 4 and the base of the little finger base 5 are arranged in the same finger, the adjacent ends of the lower knuckle, the middle knuckle and the upper knuckle are connected through rotating shafts, and the rotating shafts are arranged in parallel; the forefinger base 2 base, the middle finger base 3 base ring finger base 4 base and the little finger base 5 base are respectively driven by a first direct current gear motor to pull the lower knuckle, the middle knuckle and the upper knuckle of the same finger in the forefinger base 2 base, the middle finger base 3 base ring finger base 4 base and the little finger base 5 base to rotate around respective rotating shafts, so as to grab an object.

The base of the thumb base 1 comprises a middle knuckle and an upper knuckle of the thumb, the middle knuckle of the thumb and the upper knuckle of the thumb are in motion coupling through an under-actuated connecting rod, and the bending of the thumb is completed under the driving of a second direct-current speed reduction motor; the root of the base of the thumb base 1 is driven by a third direct current speed reduction motor to control the opening and closing of the base of the thumb base 1, and the palm movement and the grabbing operation after the spatial rotation of 45 degrees are realized through a spatial dislocation component. The palm base 601 is provided with a bearing seat on the base, the lower end of the middle knuckle of the thumb rotates around a thumb rotating shaft through a thumb front plate and a thumb back plate, and the thumb rotating shaft is installed on the bearing seat as shown in fig. 1.

Fig. 2 and 3 are schematic diagrams of the front side of the palm part and the inner part of the palm part of the under-actuated dexterous hand with a forked palm and a coaxially rotating wrist. The top of the base 601 of the palm base of the detachable palm base 6 is provided with a base 602 of the palm fixing plate, the palm base 601 and the palm fixing plate 602 are fixedly connected through threads, the base 602 of the palm fixing plate is connected with four rear plates and four front plates, and the four rear plates and the four front plates are arranged in a front-back one-to-one correspondence manner; a finger base 608 base is arranged at the upper part of the front surface of the rear plate, the finger base 608 and the front plate are fixedly connected through threads, and the forefinger base 2 base, the middle finger base 3 base, the ring finger base 4 base and the little finger base 5 base are fixedly connected on the base of the palm base 6 which can be forked through threads under the positioning of the finger base 608 base respectively; a cylindrical spiral spring base 609 base is arranged between the adjacent spring fixing base bases 603 on the four rear plates; the lower part of the front plate is provided with a sliding groove base 610 base, a spring fixing seat base 603 base is embedded in the sliding groove base 610 base, and the spring fixing seat 603 can slide along the sliding groove 610. During assembly, the hand base 608 and the spring fixing seat 603 are connected to the front board, the palm base shaft 611 is connected to the rear board, the whole palm base shaft 611 is fixed to the palm base 601 through a shaft shoulder of the palm base shaft 611, and finally the palm fixing plate 602 is fixed to the palm base shaft 611 through threads, and meanwhile, the shaft shoulder of the palm base shaft 611 is ensured to be matched with a hole in the palm fixing plate 602.

As shown in fig. 2 and 3, a spring fixing seat 603 is installed between the front and rear plates of the index finger 2, the middle finger 3, the ring finger 4 and the little finger 5, the 4 spring fixing seats are flexibly constrained by 3 cylindrical coil springs 609, a steel wire rope sequentially passes through the base of the spring fixing seat 603 connected with the base of the middle finger base 3, the base of the ring finger base 4 and the base of the little finger base 5 from the left end of the spring fixing seat at the inner side of the index finger 2 and the base of the cylindrical coil spring 609 between the spring fixing seats, the two sides are fastened, the distance between the finger root of the index finger 2 and the finger root of the little finger 5 is limited within a certain range by controlling the length of the steel wire rope, the little finger 5 is prevented from rotating outwards by too large an angle without constraint, the object is not convenient to grasp, and the initial opening and closing angle of the branch-able palm is controlled by the length of the. In order to grasp objects with different sizes, five fingers need to rotate relative to the base of the palm base shaft 611 so as to expand or reduce the grasping space of the fingers, and the distance between the fingers is adjusted by utilizing a steel wire rope penetrating through a spring fixing seat 603 connected with the base of the index finger base 2, the base of the middle finger base 3, the base of the ring finger base 4 and the base of the little finger base 5 and a cylindrical spiral spring 609 between the spring fixing seats, sliding the spring fixing seats 603 connected with the base of the index finger base 2, the base of the middle finger base 3, the base of the ring finger base 4 and the base of the little finger base 5 along respective sliding grooves, and when the spring fixing seats 603 slide along the sliding grooves in the direction far away from the palm base 611, under the acting force of the steel wire rope, the base of the index finger base 2, the base of the middle finger base 3, the base of the ring finger base 4 and the base of the little finger base 5 contracts towards the, the smaller target object of size is more convenient for snatch, moves to being close to palm base 611 direction along the spout when spring fixing base 603, when moving to the lower extreme, under cylinder coil spring 609 effort, enlarges and snatchs the space, and at this moment, dexterous hand's working space is the biggest, is favorable to snatching the great target object of volume.

Fig. 4 is a schematic diagram of the back of the palm part of the under-actuated dexterous hand of the present invention, showing an implementation scheme of another method for adjusting the distance between the fingers: a wire feeding wheel is arranged at the upper part of the back plate, a plurality of wire guiding wheels are respectively arranged at two sides of the lower part of the back of the base 602 of the palm fixing plate, one end of a steel wire is tied to the wire feeding wheel of the back plate, and the other end of the steel wire is connected to a driving device after bypassing a plurality of the wire guiding wheels on the base 602 of the palm fixing plate; a steel wire is tied on the upper thread wheel 8 by utilizing the upper thread wheel arranged on the upper part of the back surface of the back plate and a plurality of thread guide wheels arranged on the base of the palm fixing plate base 602, the other end of the steel wire is connected to a driving device after bypassing a plurality of thread guide wheels, and the steel wire is pulled to enable the fingers fixed with the back plate to rotate towards the outer side or the inner side, so that the grabbing space of the fingers is enlarged or reduced. Taking the ring finger 4 as an example, a steel wire is tied on the upper thread wheel 801 of the back plate of the ring finger, the other end of the steel wire passes around the first thread guide wheel 802 on the side of the little finger on the palm fixing plate 602, at this time, the ring finger 4 is rotated outwards by pulling the steel wire, and similarly, if the other end of the steel wire passes around the second thread guide wheel 803 on the side of the index finger on the palm fixing plate, the ring finger 4 is rotated inwards by pulling the steel wire. For the middle finger 3, the existence of the sliding groove 610 (shown in fig. 2) with the limiting function limits the rotation of the middle finger 3 to the direction close to the index finger 2, so the middle finger 3 can not complete the rotation to the direction close to the index finger 2, the position adjustment of the middle finger 3 is similar to the adjustment of the ring finger 4, two steel wires are needed to be tied on the upper wire wheel 804 on the middle finger back plate 605, the other ends of the two steel wires respectively bypass the first wire wheel 802 on the side of the small finger on the palm fixing plate 602 and the second wire wheel 803 on the side of the index finger, and 2 steel wires are respectively pulled to complete the rotation of the middle finger 3 close to the ring finger 4 and the task of returning to the vertical state. For the forefinger 2, only 1 steel wire needs to be used, one end is tied to the upper wire wheel 805 on the forefinger back plate 604, the other end is wound around the first wire wheel 802 on the little finger side on the palm fixing plate 602, when the working space needs to be reduced, the steel wire is pulled to enable the forefinger 2 to rotate towards the direction close to the middle finger 3, if the steel wire is loosened, the forefinger 2 can be bounced towards the direction far away from the middle finger 3 under the acting force of the cylindrical spiral spring arranged between the forefinger and the middle finger, and therefore the working space of the hand is enlarged. Similarly, the little finger 5 only needs to use 1 steel wire, one end of the steel wire is tied to the upper wire wheel 806 of the little finger back plate 607, the other end of the steel wire bypasses the second wire wheel 803 on the forefinger side of the palm fixing plate 602, when the working space needs to be reduced, the steel wire is pulled to enable the little finger 5 to rotate towards the direction close to the ring finger 4, if the steel wire is loosened, the little finger 5 can be bounced towards the direction far away from the ring finger 4 under the acting force of the cylindrical spiral spring arranged between the little finger and the ring finger, and therefore the working space of the hand is enlarged.

The base of the coaxial rotating wrist base 7 comprises 2 structures which are vertical and intersected with each other in rotating axes and similar to universal joints, and consists of two steering engines, as shown in figure 7, the two steering engines are an upper steering engine 702 and a lower steering engine 701, an output shaft of a base 702 of the lower steering engine drives the base of the base 701 of the upper steering engine to complete swinging motion after being transmitted twice through three gears, thereby driving the bifurcate palm to swing through the connecting disc, the axis of the gear fixedly connected with the base of the upper steering engine base 701 is vertically crossed with the rotating shaft of the base of the upper steering engine base 701, the output shaft of the upper steering engine 701 drives the branch-separable palm to complete pitching motion through the connecting disc, therefore, the bifurcate palm can rotate around two axes which are perpendicular to each other and intersect, and the five fingers are respectively provided with a potentiometer for measuring and controlling the rotating angle of the lower knuckle of each finger around the finger rotating shaft. In a word, in the utility model the coaxial rotation wrist base 7 base passes through gear drive, realizes every single move and two degrees of mobility of swing, realizes the rotation of diaxon in the coplanar, the physiological structure of laminating staff.

The utility model discloses in, the structure of four fingers of 2 bases of forefinger base, 3 bases of middle finger base, 4 bases of ring finger base and 5 bases of little finger base is the same, and its structure is as follows: the finger comprises an upper knuckle, a middle knuckle, a lower knuckle, a finger driving connecting rod, a finger rotating shaft, a finger base, a middle knuckle connecting rod, a lower knuckle connecting rod, a finger sliding block nut and a finger clamping ring; one end of the finger rotating shaft is provided with an external thread, the other end of the finger rotating shaft is provided with an annular groove, and the finger clamping ring is embedded in the annular groove; the output shaft of the first direct current speed reducing motor is connected with the finger sliding block nut, the lower end of the finger driving connecting rod is connected with the finger sliding block nut through the finger rotating shaft and the finger clamping ring, the upper end of the finger driving connecting rod is connected with the lower end of the lower knuckle through the rotating shaft, and the lower end of the lower knuckle is further connected with the finger base through the rotating shaft; the lower end of the lower knuckle connecting rod is connected with the finger base, and the upper end of the lower knuckle connecting rod is rotatably connected with the lower end of the middle knuckle; the lower end of the middle knuckle connecting rod is connected with the upper end of the lower knuckle, the lower end of the upper knuckle is rotatably connected with the upper end of the middle knuckle connecting rod, and the lower end of the upper knuckle is also connected with the upper end of the middle knuckle through a rotating shaft; the output of the first direct current gear motor is converted into linear motion through the finger sliding block nut, when the finger sliding block nut is close to the first direct current gear motor to move, the finger driving connecting rod is pulled to drive the lower knuckle to rotate around a rotating shaft connected with the finger base, and the bending of the finger is completed through the transmission of the finger driving connecting rod: when the first direct current speed reducing motor drives the finger sliding block nut to move away from the first direct current speed reducing motor, the finger straightening process is completed through the transmission of the finger driving connecting rod.

Fig. 5 shows a structural representation of a little finger. Because the utility model discloses an each finger structure is basically the same, consequently, figure 5 is a general finger drive form, and is right the utility model discloses a 4 fingers are all suitable for. The first direct current speed reducing motor 501 adopts an N20 direct current speed reducing motor, an output shaft of the motor is connected with a little finger sliding block nut 502, one end of a little finger driving connecting rod 503 is connected with the little finger sliding block nut 502 through a little finger shaft 504 and a little finger clamping ring 505, the structure of the little finger shaft 504 is shown in figure 6, one end of the little finger shaft is provided with an external thread, the other end is provided with an annular groove, the little finger shaft 504 penetrates from the unthreaded end of the little finger sliding block nut 502 to the threaded end during installation, and the little finger shaft 504 is tightly attached to the little finger clamping ring 505 by screwing. One end of the little finger lower knuckle 506 is connected with the little finger driving connecting rod 503 through a rotating shaft, and the little finger lower knuckle 506 is connected with the little finger base 507 through a rotating shaft at an adjacent position. One end of a little finger lower knuckle connecting rod 508 is connected with the little finger base 507 seat, one end of a little finger middle knuckle 509 is rotatably connected with the other end of the little finger lower knuckle connecting rod 508, and the little finger middle knuckle 509 is connected with the little finger lower knuckle 506 through a rotating shaft at an adjacent position. One end of the little finger middle knuckle connecting rod 510 is connected with the little finger lower knuckle 506, one end of the little finger upper knuckle 511 is rotatably connected with the other end of the little finger middle knuckle connecting rod 510, and the little finger upper knuckle 511 is connected with the little finger middle knuckle 509 through a rotating shaft at an adjacent position. The specific connection mode of the rotating shaft parts is the same as that of the little finger sliding block nut 502 and the little finger driving connecting rod 503. The output of the N20 dc gear motor 501 is converted into linear motion by the little finger sliding block nut 502, when the little finger sliding block nut 502 moves close to the motor, the little finger driving connecting rod 503 is pulled to drive the little finger lower knuckle 506 to rotate around the rotating shaft between the little finger lower knuckle and the little finger base 507, and the bending of the finger is completed by the connecting rod transmission: when the motor drives the little finger sliding block nut 502 to move away from the motor, the finger straightening process is completed through the transmission of the connecting rod.

Although the present invention has been described with reference to the accompanying drawings, the present invention is not limited to the above embodiments, which are only illustrative and not restrictive, and those skilled in the art can make many modifications without departing from the spirit of the present invention.

Claims (6)

1. The utility model provides an under-actuated dexterous hand with palm that can divide and coaxial rotation wrist which characterized in that: the palm comprises a forked palm (6) connected with a coaxial rotating wrist (7) through a rudder disc, wherein the forked palm (6) comprises a palm base (601), five fingers are connected to the palm base (601), and the five fingers comprise a thumb (1), an index finger (2), a middle finger (3), a ring finger (4) and a little finger (5);

the finger joint comprises four fingers, namely the index finger (2), the middle finger (3), the ring finger (4) and the little finger (5), wherein the four fingers are connected to a palm base (601) of the forked palm (6) through a palm base shaft (611), the index finger (2), the ring finger (4) and the little finger (5) can rotate inwards or outwards around the axis of the palm base shaft (611), and the root of the middle finger (3) is provided with a limiting structure so as to limit the rotation of the middle finger (3) close to the index finger (2);

the index finger (2), the middle finger (3), the ring finger (4) and the little finger (5) respectively comprise a lower finger joint, a middle finger joint and an upper finger joint, the index finger (2), the middle finger (3), the ring finger (4) and the little finger (5) are arranged in the same finger, the adjacent ends of the lower finger joint, the middle finger joint and the upper finger joint are connected through rotating shafts, and the rotating shafts are arranged in parallel; the index finger (2), the ring finger (4) of the middle finger (3) and the little finger (5) are respectively driven by a first direct current speed reducing motor to pull the lower knuckle, the middle knuckle and the upper knuckle of the same finger in the index finger (2), the ring finger (4) of the middle finger (3) and the little finger (5) to rotate around respective rotating shafts, so that an object is grabbed;

the thumb (1) comprises a middle knuckle and an upper knuckle, the middle knuckle and the upper knuckle are in motion coupling through an under-actuated connecting rod, and the bending of the thumb is completed under the driving of a second direct-current speed reduction motor; the root of the thumb (1) is driven by a third direct-current speed reduction motor to control the opening and closing of the thumb (1), and the palm movement and the grabbing operation after the spatial rotation of 45 degrees are realized through a spatial dislocation component;

the top of the palm base (601) is provided with a palm fixing plate (602), the palm fixing plate (602) is connected with four rear plates and four front plates, and the four rear plates and the four front plates are arranged in a one-to-one correspondence manner; a finger base (608) is arranged at the upper part of the front face of the rear plate, and the index finger (2), the middle finger (3), the ring finger (4) and the little finger (5) are respectively fixed on the forkable palm (6) through threaded connection under the positioning of the finger base (608); cylindrical spiral springs (609) are arranged between the adjacent spring fixing seats (603) on the four rear plates; the lower part of the front plate is provided with a sliding groove (610), and a spring fixing seat (603) is embedded in the sliding groove (610); sequentially passing a steel wire rope through a spring fixing seat (603) connected with a forefinger (2), a middle finger (3), a ring finger (4) and a little finger (5) and a cylindrical spiral spring (609) between the spring fixing seats, fastening the two sides of the steel wire rope, and determining the initial opening and closing angle of the bifurcated palm by controlling the length of the steel wire rope;

the upper part of the back plate is provided with a wire feeding wheel, two sides of the lower part of the back of the palm fixing plate (602) are respectively provided with a plurality of wire guiding wheels, one end of a steel wire is tied to the wire feeding wheel of the back plate, and the other end of the steel wire is connected to a driving device after bypassing a plurality of the wire guiding wheels on the palm fixing plate (602);

sequentially penetrating a steel wire rope through a spring fixing seat (603) connected with the rear plate and a cylindrical spiral spring (609) between the spring fixing seats, fastening the two sides of the steel wire rope, and determining the initial opening and closing angle of the detachable palm by controlling the length of the steel wire rope;

the coaxial rotating wrist (7) realizes two degrees of motion of pitching and swinging through gear transmission, realizes the rotation of two shafts in the same plane and is attached to the physiological structure of a human hand.

2. The under-actuated dexterous hand with bifurcated palm and coaxial wrist rotation of claim 1, wherein: in order to grasp objects with different sizes, five fingers need to complete rotation relative to the palm base shaft (611) so as to enlarge or reduce the grasping space of the fingers, and the following two situations exist:

firstly, a steel wire rope penetrating through a spring fixing seat connected with an index finger (2), a middle finger (3), a ring finger (4) and a little finger (5) and a cylindrical spiral spring between the spring fixing seats is used for sliding the spring fixing seats connected with the index finger (2), the middle finger (3), the ring finger (4) and the little finger (5) along respective sliding chutes, when the spring fixing seats slide along the sliding chutes in the direction far away from the palm base, under the acting force of the steel wire rope, the index finger (2), the middle finger (3), the ring finger (4) and the little finger (5) shrink towards the middle to reduce the grabbing space so as to grab objects with smaller size, and when the spring fixing seats move along the sliding chutes in the direction close to the palm base, under the acting force of the cylindrical spiral spring, the grabbing space is enlarged;

secondly, a steel wire is tied on the upper wire feeding wheel (8) by utilizing the upper wire feeding wheel arranged on the upper part of the back surface of the back plate and a plurality of wire guiding wheels arranged on the palm fixing plate (602), the other end of the steel wire is connected to a driving device after bypassing a plurality of wire guiding wheels, and the steel wire is pulled to enable the fingers fixed with the back plate to rotate outwards or inwards, so that the grabbing space of the fingers is enlarged or reduced.

3. The under-actuated dexterous hand with bifurcated palm and coaxial wrist rotation of claim 1, wherein: the coaxial rotating wrist (7) comprises an upper steering engine and a lower steering engine, an output shaft of the lower steering engine (702) drives the upper steering engine (701) to complete swinging motion after being transmitted twice through three gears, so that a separable forked palm is driven to swing through a connecting disc, the axis of a gear fixedly connected with the upper steering engine (701) is vertically intersected with a rotating shaft of the upper steering engine (701), the output shaft of the upper steering engine drives the separable forked palm to complete pitching motion through the connecting disc, and the separable palm can rotate around two mutually vertically intersected axes.

4. The under-actuated dexterous hand with bifurcated palm and coaxial wrist rotation of claim 1, wherein: the palm base (601) is provided with a bearing seat, the lower end of a knuckle in the thumb rotates around a thumb rotating shaft through a thumb front plate and a thumb rear plate, and the thumb rotating shaft is installed on the bearing seat.

5. The under-actuated dexterous hand with bifurcated palm and coaxial wrist rotation of claim 1, wherein: the structure of four fingers including the forefinger (2), the middle finger (3), the ring finger (4) and the little finger (5) is the same, and the structure is as follows:

the finger comprises an upper knuckle, a middle knuckle, a lower knuckle, a finger driving connecting rod, a finger rotating shaft, a finger base, a middle knuckle connecting rod, a lower knuckle connecting rod, a finger sliding block nut and a finger clamping ring;

one end of the finger rotating shaft is provided with an external thread, the other end of the finger rotating shaft is provided with an annular groove, and the finger clamping ring is embedded in the annular groove;

the output shaft of the first direct current speed reducing motor is connected with the finger sliding block nut, the lower end of the finger driving connecting rod is connected with the finger sliding block nut through the finger rotating shaft and the finger clamping ring, the upper end of the finger driving connecting rod is connected with the lower end of the lower knuckle through the rotating shaft, and the lower end of the lower knuckle is further connected with the finger base through the rotating shaft; the lower end of the lower knuckle connecting rod is connected with the finger base, and the upper end of the lower knuckle connecting rod is rotatably connected with the lower end of the middle knuckle;

the lower end of the middle knuckle connecting rod is connected with the upper end of the lower knuckle, the lower end of the upper knuckle is rotatably connected with the upper end of the middle knuckle connecting rod, and the lower end of the upper knuckle is also connected with the upper end of the middle knuckle through a rotating shaft; the output of the first direct current gear motor is converted into linear motion through the finger sliding block nut, when the finger sliding block nut is close to the first direct current gear motor to move, the finger driving connecting rod is pulled to drive the lower knuckle to rotate around a rotating shaft connected with the finger base, and the bending of the finger is completed through the transmission of the finger driving connecting rod: when the first direct current speed reducing motor drives the finger sliding block nut to move away from the first direct current speed reducing motor, the finger straightening process is completed through the transmission of the finger driving connecting rod.

6. An under-actuated dexterous hand with a bifurcated palm and coaxial wrist rotation according to claim 4 or 5, characterized in that: the five fingers are respectively provided with a potentiometer for measuring the rotating angle of the lower finger section of each finger around the finger rotating shaft.

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