CN212825441U

CN212825441U - Rope-driven under-actuated five-finger manipulator

Info

Publication number: CN212825441U
Application number: CN202021178195.6U
Authority: CN
Inventors: 刁燕; 樊庆怡; 于晓春; 罗华
Original assignee: Sichuan University
Current assignee: Sichuan University
Priority date: 2020-06-23
Filing date: 2020-06-23
Publication date: 2021-03-30
Anticipated expiration: 2030-06-23

Abstract

The utility model relates to a rope-driven underactuated five-finger manipulator, which comprises a palm component, a thumb component, a four-finger component and a steel wire rope, wherein the thumb component, the four-finger component and the steel wire rope are arranged on the palm component; the utility model can realize that the manipulator grips objects in various ways through the step-by-step work and the synchronous work of the three rotating motors in the palm; by adopting the rope-pulley system structure driven by the rope, the number of the finger driving motors is reduced on the premise of not influencing the daily life function of the manipulator, so that the manufacturing cost and the weight of the manipulator are reduced, the driving element is compacted in the palm, the fingers are lighter and more compact, and the movement is more stable; the utility model discloses both can carry out the self-adaptation to the object and snatch, can initiatively adjust the gesture of finger again and carry out more accurate snatching to suitable position.

Description

Rope-driven under-actuated five-finger manipulator

Technical Field

The utility model belongs to the technical field of the robotechnology and specifically relates to a rope-driven owes drives five fingers manipulator.

Background

In recent years, with the rapid development of economy, robots have also been rapidly developed and widely used in various fields, and a manipulator is a final execution mechanism for the operation of the robot, and the performance of the manipulator directly determines the operation capability of the robot.

The contact between the robot and the environment depends on an end effector, and the early manipulator is mainly used on a simple clamp type and parallel moving mechanism, is basically used on an automatic production line of a factory, and has poor universality; at present, the multi-finger manipulator has various human-hand-simulated researches from an external structure to an internal tendon transmission system, the researches of schools and research institutes such as Qinghua, Beijing, Tianda, Haugh and the like are achieved in China, the problems of poor reliability, high quality and low flexibility generally exist, and the high under-actuated manipulator can only realize passive adaptation and cannot realize active control; the mechanical arm researches of UK Shadow company, Germany Schunk company and the like are carried out abroad, the intelligence and the flexibility are higher, but the quantity of driving motors is large, the control system is complex, the cost is high, and the investment in the flat market is not facilitated; therefore, the development of the five-finger flexible underactuated manipulator with high universality, dexterity and light weight is necessary.

SUMMERY OF THE UTILITY MODEL

The not enough to prior art, the utility model provides a rope-driven is owed and is driven five fingers manipulator, by 11 degrees of freedom of three motor drive and 4 coupling degrees of freedom, realize the crooked of five fingers and the swing of thumb, can the self-adaptation snatch, also can initiatively adjust gesture to suitable position.

In order to achieve the purpose, the utility model adopts the following technical scheme.

A rope-driven underactuated five-finger manipulator comprises a palm component 1, a four-finger component 2, a thumb component 3 and three drives, wherein the four-finger component 2 and the thumb component 3 are mounted on the palm component; the five-finger manipulator has 11 active degrees of freedom and 4 coupling degrees of freedom; the four-finger assembly 2 comprises an index finger, a middle finger, a ring finger and a little finger which are all the same, and each finger of the four-finger assembly 2 consists of a proximal joint 26, a middle joint 24 and a distal joint rod 21; the thumb component 3 comprises a thumb proximal joint rod 35 of a thumb, a thumb distal joint rod 31 and a metacarpal joint 314; the rope-driven underactuated five-finger manipulator has a powerful gripping mode and an accurate gripping mode.

The utility model discloses compact structure, quality are light, and 11 initiative degrees of freedom of three electric machine control and 4 coupling degrees of freedom can accomplish the self-adaptation and snatch, also can accomplish initiative adjustment gesture to suitable position, and the light flexibility of operation.

Preferably, the four-finger assembly consists of a proximal joint 26, a middle joint 24 and a distal joint rod 21; a first steel wire rope 220 bypasses a first proximal joint pulley 218, one end of the first steel wire rope is connected with a first extension spring 110, the other end of the first steel wire rope is connected with a first movable pulley 15 in the palm, and the first movable pulley 15 moves linearly to drive the proximal joint to bend; a second steel wire rope 212 rounds the first double-groove pulley 210, one end of the second steel wire rope is connected with the second extension spring 111, the other end of the second steel wire rope is connected with the second movable pulley 16 in the palm, a third steel wire rope 217 rounds the first double-groove pulley 210 to form synchronous transmission with the first middle joint pulley 25, and the second movable pulley 16 moves linearly to drive the middle joint to bend; and a wire rope four 214 is wound on the middle joint pulley two 215 and the far joint pulley one 213 in a crossed mode to form a crossed tendon, so that the near joint and the middle joint are coupled in a coaction mode to drive the far joint to bend.

Rope and pulley cross combined action coupling drive distal joint are crooked among the four finger components, do not need a plurality of motor drives, and every finger has 3 degrees of freedom, and working space is big, can grip, to holding between the fingers, the side is held between the fingers the action of snatching of multiple gesture such as holding between the fingers.

Preferably, the thumb component consists of a metacarpal joint 314, a thumb proximal joint rod 35 and a thumb distal joint rod 31; a third motor 118 controls the metacarpal joints to swing; a wire rope eight 312 bypasses the second proximal joint pulley 310, one end of the wire rope is connected with a third extension spring 120, the other end of the wire rope is connected with a first movable pulley in the palm, and the first movable pulley moves linearly to drive the proximal joint of the thumb to bend; the wire rope nine 313 rounds the near joint double-groove pulley II 36, one end of the wire rope is connected with the extension spring IV 121, the other end of the wire rope is connected with the second movable pulley in the palm, the wire rope seven 39 rounds the double-groove pulley I to form synchronous transmission with the far joint pulley II 34, and the second movable pulley linearly moves to drive the far joint of the thumb to bend.

The third motor drives the thumb component to swing and match for self-adaptive grabbing, and meanwhile, the third motor can drive the thumb component to actively adjust the posture to adapt to grabbing tasks with different requirements.

Preferably, the palm component consists of a palm front plate 12, a palm rear plate 11, a T-shaped groove 14, a first movable pulley 15, a second movable pulley 16, a first fixed pulley 17, a second fixed pulley 18, a steering wheel 116, a steel wire rope, a motor, a winding wheel 128, a first motor L-shaped plate 127 and a second motor L-shaped plate 131; one end of a wire rope five 123 is fixed on a winding wheel 128 of a motor one 126, the wire rope rounds five first fixed pulleys and five first movable pulleys, the other end of the wire rope is connected with a tension spring five 125, and the linear motion of the five first movable pulleys is controlled through the rotation of the motor one, namely the proximal joint bending of five fingers; one end of a wire rope six 122 is fixed on a wire winding wheel on the motor two 130, the wire winding wheel winds around five second fixed pulleys and five second movable pulleys, the other end of the wire rope six 122 is connected with a tension spring six 124, and the linear motion of the five second movable pulleys is controlled through the rotation of the motor two, namely the bending of the far joint of the thumb and the bending of the middle joint of the four fingers.

The first motor and the second motor can work step by step to realize accurate gripping and can work simultaneously to realize force gripping, the mechanical arm can select different gripping modes according to the shape and the property of an actual object, and the gripping modes are diversified; the movable pulley, the fixed pulley, the steel wire rope five and the steel wire rope six form an under-actuated system structure in the palm, the T-shaped groove ensures linear motion of the movable pulley, and the under-actuated system is reasonable in structural space layout, stable and firm in connection and stable and accurate in control effect.

Has the advantages that:

1. the utility model adopts a rope-driven underactuated five-finger manipulator, which has compact structure, light weight, simple control system and lower cost, can realize that three motors control 11 active degrees of freedom and 4 coupling degrees of freedom through the step-by-step work and the synchronous work of three rotating motors in a palm, can finish self-adaptive gripping, can also actively adjust the posture to a proper position for accurate gripping, and has light and flexible operation;

2. the rope and the pulley in the four-finger assembly act in a coupling manner in a crossed manner to drive the far joint to bend, a plurality of motors are not needed for driving, each finger has 3 degrees of freedom, the working space is large, and grabbing actions of various postures such as gripping, opposite-to-side-pinching and the like can be performed; by adopting the rope-pulley system structure driven by the rope, the number of the finger driving motors is reduced on the premise of not influencing the daily life function of the manipulator, so that the manufacturing cost and the weight of the manipulator are reduced, the driving element is compacted in the palm, the fingers are lighter and more compact, and the movement is more stable; the under-actuated rope-pulley system extension spring is connected with the tail end of the steel wire rope, so that the phenomenon that the motor torque is too large due to too large contact force is prevented, and in addition, the auxiliary tensioning effect is also realized.

3. The third motor drives the thumb component to swing and match for self-adaptive grabbing, and meanwhile, the third motor can drive the thumb component to actively adjust to a more appropriate posture so as to adapt to grabbing tasks with different requirements.

4. The weight of the fingers is reduced by adopting a rope as a main transmission mode; the manipulator can select different gripping modes according to the shape and the property of an actual object, and the gripping modes are diversified; the movable pulley, the fixed pulley, the steel wire rope five and the steel wire rope six form an under-actuated system structure in the palm, the T-shaped groove ensures linear motion of the movable pulley, and the under-actuated system is reasonable in structural space layout, stable and firm in connection and stable and accurate in control effect.

Drawings

Fig. 1 is a schematic structural view of the manipulator of the present invention;

fig. 2 is a front view of the palm structure of the present invention (the palm front plate is not shown);

fig. 3 is a right side view of the palm structure of the present invention;

FIG. 4 is a schematic view of the index finger of the present invention;

FIG. 5 is a schematic view of the cross tendon principle;

fig. 6 is a top view of the thumb structure of the present invention;

FIG. 7 is a right side view of the thumb structure of the present invention;

FIG. 8 is a schematic winding diagram of a steel wire rope of an under-actuated system in a palm;

FIG. 9 is a first schematic view of the index finger physically grasping a dish;

FIG. 10 is a second schematic view of the index finger physically grasping the dish;

FIG. 11 is a first schematic view illustrating a process of precisely grasping a disc-shaped object;

fig. 12 is a schematic diagram illustrating a second process of precisely grabbing a disc-shaped object.

Reference numerals:

1-palm component, 2-four fingers component, 3-thumb component, 11-palm back plate, 12-palm front plate, 13-threading device, 14-T-shaped groove, 15-first movable pulley, 16-second movable pulley, 17-first fixed pulley, 18-second fixed pulley, 19-wire pressing aluminum sleeve, 110-tension spring I, 111-tension spring II, 112-pulley mandrel, 113-cross screw m2, 114-long pulley frame, 115-short pulley frame, 116-steering wheel, 117-motor three L-shaped plate, 118-motor three, 119-guide wheel, 120-tension spring III, 121-tension spring IV, 122-steel wire rope six, 123-steel wire rope five, 124-tension spring six, 125-tension spring five, 126-motor one, 127-motor one L-shaped plate, 128-winding wheel, 129-steel wire rope grooved pressing plate, 130-motor two, 131-motor two L-shaped plate, 21-far joint rod, 22-shaft three, 23-deep groove ball bearing and 24-middle joint; 25-middle joint pulley I, 26-near joint, 27-bolt, 28-washer, 29-nut, 210-double-groove pulley I, 211-bearing seat, 212-steel wire rope II, 213-far joint pulley I, 214-steel wire rope IV, 215-middle joint pulley II, 216-shaft II, 217-steel wire rope III, 218-near joint pulley I, 219-shaft I, 220-steel wire rope I, 31-thumb far joint rod, 32-deep groove ball bearing, 33-shaft II, 34-far joint pulley II, 35-thumb near joint rod, 36-double-groove pulley II, 37-bearing seat, 38-guide wheel shaft, 39-steel wire rope seven, 310-near joint pulley II, 311-shaft I, 312-steel wire rope eight, 313-steel wire rope nine, 314-metacarpal joint plate, 315-guide wheel and 316-connecting plate.

Detailed Description

The present invention will be further explained with reference to the accompanying drawings:

example 1:

referring to fig. 1, the rope-driven underactuated five-finger manipulator comprises a palm 1, a thumb 3 and other four fingers 2, wherein the thumb is provided with a swinging metacarpal joint and a bendable proximal joint and a bendable distal joint, the other four fingers are provided with a bendable proximal joint, a bendable middle joint and a bendable distal joint, the four distal joints are driven in a coupling mode, the whole manipulator has 11 degrees of freedom and 4 degrees of coupling freedom, and each finger is connected with a palm front plate 12 and a palm rear plate 11 through bolt fastening connection. Three motors are arranged in the palm, a first motor 126 is used for driving the proximal joint of the five fingers to bend, a second motor 130 is used for driving the middle joint of the four fingers and the distal joint of the thumb to bend, and a third motor 118 is used for driving the metacarpal joint of the thumb to swing.

Because modular design, the manipulator five fingers divide into thumb module and all the other four finger modules, the utility model discloses compact structure, quality are light, and 11 initiative degrees of freedom of three motor control and 4 coupling degrees of freedom can accomplish the self-adaptation and snatch, also can accomplish initiative adjustment to suitable gesture, and the operation is light nimble.

Example 2:

embodiment 2 is based on embodiment 1, refer to fig. 2 and fig. 3, which are a front view and a right view of a rope-driven underactuated five-finger manipulator palm structure, a palm back plate 11 is provided with motor frame fixing holes of three motors, a right side is provided with a fixing hole of a steering wheel frame, a middle part is welded with a mounting plate of four fingers corresponding to a tension spring, a bottom part is welded with a mounting plate of a thumb corresponding to a T-shaped groove, a movable pulley and a fixed pulley, and two sides are welded with guide wheel spindles. The T-shaped groove 14 is directly embedded into a corresponding groove hole on the mounting plate; the first fixed pulley 17 and the second fixed pulley 18 are connected with the mounting plate through a through hole at the bottom of the pulley frame by bolts; the first movable pulley 15 and the second movable pulley 16 are connected with a first steel wire rope 220 and a second steel wire rope 212 through a threading device at the bottom of the pulley frame, and one end of the mandrel I12 where the movable pulleys are located is embedded in the T-shaped groove to ensure linear motion of the movable pulleys; the motor three L-shaped plate 117, the motor one L-shaped plate 127 and the motor two L-shaped plate 131 are connected with the palm back plate through motor frame fixing holes in the palm back plate through bolts, and the end faces are connected with end face screws of the motors to realize the installation of the motors; the steering wheel 116 is connected with the palm back plate 11 through a long pulley frame 114 and a short pulley frame 115 by bolts; the guide wheel 119 is mounted on a guide wheel spindle, positioning being achieved by means of a spring washer. The middle part of the palm front plate 12 is welded with a mounting plate with four fingers corresponding to the T-shaped groove, the movable pulley and the fixed pulley, and the bottom part is welded with a mounting plate with a thumb corresponding to the extension spring. The T-shaped groove is directly embedded into a corresponding slotted hole on the mounting plate; the first fixed pulley 17 and the second fixed pulley 18 are connected with the mounting plate through a through hole at the bottom of the pulley frame by bolts; the first movable pulley 15 and the second movable pulley 16 are connected with the eight 312 and the nine 313 steel wire ropes through a threading device at the bottom of the pulley frame, and one end of the mandrel where the movable pulleys are located is embedded in the T-shaped groove to ensure the linear motion of the movable pulleys.

The movable pulley, the fixed pulley, the steel wire rope five and the steel wire rope six form an under-actuated system structure in the palm, the T-shaped groove ensures the linear motion of the movable pulley, and the under-actuated system has reasonable structural space layout, stable and firm connection and stable and accurate control effect;

example 3:

embodiment 3 is based on embodiment 2, see fig. 4, which is a structural schematic diagram of an index finger of the present rope-driven under-actuated five-finger manipulator, wherein the index finger 2 is connected with a front plate and a rear plate of a palm through a bearing seat 211; the first steel wire rope 220 bypasses the first proximal joint pulley 218, one end of the first steel wire rope is connected with the first movable pulley 15 in the palm through the threading device 13, the other end of the first steel wire rope is connected with the first stretching spring 110 in the palm through the compression aluminum sleeve 19, and the power of the first motor 126 is transmitted from the palm to the forefinger to realize the bending of the proximal joint; a second steel wire rope 212 bypasses the first proximal joint double-groove pulley 210, one end of the second steel wire rope is connected with the second movable pulley 16 in the palm through a threading device, the other end of the second steel wire rope is connected with the second palm inner extension spring 111 through a compression aluminum sleeve, the power of the second motor 130 is transmitted to the forefinger from the palm, and a third steel wire rope 217 bypasses the first proximal joint double-groove pulley 210 and the first middle joint pulley 25 to form synchronous rope transmission, so that the middle joint is bent; and a wire rope four 214 is wound between the middle joint pulley two 215 and the far joint pulley one 213 in a crossing manner, so that the far joint coupling bending is realized. The rotating angle range of the three joints is 0-90 degrees.

The first proximal joint pulley 218 is in interference fit with the first shaft 219, and the first proximal joint 26 is in interference fit with the first shaft, such that a rotational angle of the first proximal joint pulley is equal to a rotational angle θ of the first proximal joint₁(ii) a The first double-groove pulley 210 is in clearance fit with the first shaft, the first middle joint pulley 25 is in interference fit with the second shaft 216, and the middle joint 24 is in interference fit with the second shaft, so that the rotation angle of the first double-groove pulley relative to the second near joint pulley is equal to that of the first double-groove pulleyMiddle joint angle of rotation, i.e. theta₂＝θ₂₁θ₁(ii) a The second middle joint pulley 215 is in clearance fit with the shaft and is in fastening connection with the near joint rod through bolt fastening connection, namely the second middle joint pulley is relatively static with the near joint rod, the first far joint pulley 213 is in interference fit with the third shaft 22, the third far joint rod 21 is in interference fit with the third shaft, and the first far joint pulley and the second middle joint pulley reversely transmit due to the relation of crossed tendons to realize the coupling bending of the far joint.

The rope and the pulley in the four-finger assembly act in a coupling manner in a crossed manner to drive the far joint to bend, a plurality of motors are not needed for driving, each finger has 3 degrees of freedom, the working space is large, and grabbing actions of various postures such as gripping, opposite-to-side-pinching and the like can be performed;

example 4:

embodiment 4 is based on embodiment 3, see fig. 5, and is a schematic diagram of the principle of the cross tendon of the rope-driven under-actuated five-finger manipulator, and when the near joint is taken as a reference, the second middle joint pulley is relatively static with respect to the near joint, so θ₂＝0°，θ₃0 deg.. The initial position is at A, B, C, D where the crossed tendon contact point is

When the middle joint rotates theta 2

Since P32 is relatively stationary, C, D is always constant. To achieve the equilibrium state, cross tendon drive P3 rotates to move point A to A 'and point B to B'. At this time

Angle theta of P3 rotation₃＝θ₂. Thus the distal joint angle theta₃＝θ₂。

The crossed tendon has simple and exquisite structural design, and the two far joints can synchronously rotate by the same angle when working by adopting a combined structure of the double pulleys and the crossed tendon.

Example 5:

embodiment 5 is based on embodiment 4, see fig. 6 and 7, and is a top view and a right view of a thumb structure of a rope-driven under-actuated five-finger manipulator, wherein a thumb 3 is in bolt fastening connection with a metacarpal joint 314 through a bearing seat 37; the metacarpal joint is in bolt fastening connection with the connecting plate 316, the output shaft of the motor III 118 is in interference fit with the hole of the connecting plate, and the rotation angle of the output shaft of the motor III is the swing angle of the metacarpal joint. A wire rope eight 312 bypasses the second proximal joint pulley 310, one end of the wire rope is connected with the first movable pulley in the palm through a threading device, and the other end of the wire rope is connected with the third stretching spring 120 in the palm through a compression aluminum sleeve, so that the power of the motor I is transmitted to the thumb from the palm, and the proximal joint of the thumb is bent; the wire rope nine 313 bypasses the near joint double-groove pulley II 36, one end of the wire rope is connected with the second movable pulley in the palm through a threading device, the other end of the wire rope is connected with the stretching spring IV 121 in the palm through a compression aluminum sleeve, the power of the motor II is transmitted to the thumb from the palm, and the wire rope seven 39 bypasses the near joint double-groove pulley II 36 and the far joint pulley II 34 to form synchronous rope transmission, so that the far joint of the thumb is bent. The swing range of metacarpal joints is-90-30 degrees, when swinging-90 degrees, the thumb is positioned at one side of the palm, the side pinching action can be realized, the rotation angle range of the proximal joint is 0-60 degrees, and the rotation angle range of the distal joint is 0-90 degrees.

The second proximal joint pulley 310 is in interference fit with the first thumb shaft 311, and the proximal joint rod 35 of the thumb is in interference fit with the first shaft, so that the rotation angle of the second proximal joint pulley 310 is equal to the rotation angle theta of the proximal joint₁(ii) a The second double-groove pulley 36 is in clearance fit with the first shaft, the second far joint pulley 34 is in interference fit with the second thumb shaft 33, and the thumb far joint rod 31 is in interference fit with the second thumb shaft, so that the rotation angle of the second double-groove pulley 36 relative to the second near joint pulley 310 is equal to the rotation angle of the thumb far joint.

The thumb component only uses three motors to control three finger joints of the thumb, and the thumb can swing to be matched with the four-finger component for self-adaptive gripping and can actively adjust the posture to a proper position to be matched with the four-finger component for gripping.

Example 6:

embodiment 6 is based on embodiment 5, see fig. 8, which is a schematic winding diagram of a steel wire rope of an under-actuated system in a palm of a rope-driven under-actuated five-finger manipulator, wherein one end of a steel wire rope five 123 is fixed on a winding wheel of a motor i, an output shaft of the motor i is in interference connection with the winding wheel, and an end plate of the winding wheel punches a hole to guide the tail end of the steel wire rope to extend out and is fixed with an end surface through a belt-grooved pressing plate 129; the other end of the high-rigidity extension spring five 125 is connected with a high-rigidity extension spring five 125 on the mounting plate through a compression joint aluminum sleeve. The principle of the wire rope six 122 is the same as that of the wire rope five, one end of the wire rope six 122 is fixed on a winding wheel of the motor two and bypasses 5 second movable pulleys and five second fixed pulleys, and the other end of the wire rope six 122 is connected with a tension spring six 124. When the motor rotates, tension T is applied to the fifth steel wire rope and the sixth steel wire rope, the movable pulley is pulled downwards by two times of tension 2T, the T-shaped groove ensures the linear motion of the movable pulley, and the movable pulley drives the pulleys of all joints to rotate when moving downwards.

The first extension spring, the second extension spring, the third extension spring and the fourth extension spring are used for jointly acting with the movable pulley to drive the first steel wire rope and the second steel wire rope to drive the finger joint to bend, the tension of the extension spring and the movable pulley is balanced, so that the finger can stably rotate, the spring provides a limiting effect when the finger is reset, and the joint corner can be calculated through the deformation amount of the extension spring; the tension spring five and the tension spring six are used for buffering impact and assisting tensioning, and damage caused by excessive contact force generated by hard contact of the motor is prevented.

When the motor works, the five fingers rotate towards the gripping direction. When one of the fingers is firstly contacted with the object, the movable pulley of the finger cannot continuously descend, and the posture of the finger is kept unchanged. But the other movable pulleys continue to move downwards, and the movement is stopped until each finger is in contact with the object. The five fingers realize the adaptivity of passively adapting to the shape of the object.

Example 7:

example 7 is based on example 6, see fig. 9, and is an analysis diagram of the physical grasping and accurate grasping of a dish-shaped object by an index finger of a rope-driven under-actuated five-finger manipulator, and for the dish-shaped object, the physical grasping can only be contacted by a fingertip and is unstable. If accurate grasping is required, grasping can be made more stable by knuckle contact.

Different gripping manners can be selected according to the shape and the property of the actual object, and the gripping manner of the manipulator can be selected in a diversified manner.

Example 8:

example 8 is a specific implementation process of the rope-driven under-actuated five-finger manipulator for accurately grabbing the disc-shaped object based on example 7 and referring to fig. 10. First, the motor is driven to make the first movable pulley descend to the maximum extent, and the proximal joint rotates 90 degrees along with the first movable pulley. At this time, the middle joint is rotated by 90 degrees in the opposite direction to the proximal joint, although the posture of the middle joint is kept inconvenient. Due to the action of the coupling tendon driver, the far joint rotates reversely to 90 degrees relative to the middle joint, and then the motor keeps still and the first movable pulley keeps fixed. And a second driving motor pulls the second movable pulley, the middle joint and the far joint rotate towards the gripping direction, and the movement is stopped when the middle joint and the far joint contact with an object. Depending on the position of the object in this example, the second movable pulley is moved almost to maximum displacement, i.e. the middle joint pulley rotates approximately 90. The result of this is a pinching action.

Two driving motors work coordinately, can be fine realize the accurate gripping of dish form object, and snatch the action and steadily rapidly.

The principle and the preferred example of the present invention are only described above, and the present invention can be variously changed and improved, and all the modifications, equivalent replacements, improvements, etc. are included in the protection scope of the present invention.

Claims

1. The utility model provides a rope-driven is owed and is driven five fingers manipulator which characterized in that: comprises a palm component (1), a four-finger component (2) and a thumb component (3) which are arranged on the palm component; the four-finger assembly (2) comprises an index finger, a middle finger, a ring finger and a little finger which are identical in structure, each finger of the four-finger assembly (2) is composed of a near joint (26), a middle joint (24) and a far joint rod (21), the rotation of the near joint (26) is driven by a steel wire rope I (220) and an extension spring I (110), the rotation of the middle joint (24) is driven by a steel wire rope II (212), a steel wire rope III (217) and an extension spring II (111), and the far knuckle realizes coupling driving by means of the principle of a crossed tendon coupling tendon driver; the thumb component (3) comprises a thumb near joint rod (35) of a thumb, a thumb far joint rod (31) and a metacarpal joint (314), the thumb near knuckle is driven by a steel wire rope eight (312) and a tension spring three (120), the thumb far knuckle is driven by a steel wire rope nine (313), a steel wire rope seven (39) and a tension spring four (121), the metacarpal joint is directly driven by a motor three, the metacarpal joint is driven to rotate around a motor shaft when the motor rotates, and the rope-driven underactuated five-finger manipulator can effectively realize accurate gripping.

2. The rope-driven under-actuated five-finger manipulator according to claim 1, characterized in that: the four-finger assembly (2) consists of a proximal joint (26), a middle joint (24) and a distal joint rod (21); a first steel wire rope (220) bypasses the first near joint pulley (218), one end of the first steel wire rope is connected with a first extension spring (110), the other end of the first steel wire rope is connected with a first movable pulley (15) in the palm, and the first movable pulley (15) moves linearly to control the bending of the near joint; a second steel wire rope (212) rounds the first joint-approaching double-groove pulley (210), one end of the second steel wire rope is connected with a second extension spring (111), the other end of the second steel wire rope is connected with a second movable pulley (16) in the palm, a third steel wire rope (217) rounds the first double-groove pulley (210) to form synchronous transmission with the first middle joint pulley (25), and the second movable pulley (16) controls the bending of the middle joint in linear motion; and a wire rope four (214) is wound on a middle joint pulley two (215) in a crossing way to form a crossed tendon with a far joint pulley one (213), so that the near joint and the middle joint are coupled to drive the far joint to bend under the joint action.

3. The rope-driven under-actuated five-finger manipulator according to claim 1, characterized in that: the thumb component (3) consists of a metacarpal joint (314), a thumb proximal joint rod (35), a thumb distal joint rod (31) and a motor III (118); an output shaft of a motor III (118) in the palm is fixedly connected with the metacarpal joint through a connecting plate (316) to directly control the metacarpal joint to swing; a wire rope eight (312) rounds a second proximal joint pulley (310), one end of the wire rope is connected with a third extension spring (120), the other end of the wire rope is connected with a first movable pulley (15) in the palm, and the first movable pulley (15) moves linearly to control the bending of the proximal joint of the thumb; the wire rope nine (313) rounds the near joint double-groove pulley II (36), one end of the wire rope nine (313) is connected with the extension spring IV (121), the other end of the wire rope nine (313) is connected with the second movable pulley (16) in the palm, the wire rope seven (39) rounds the double-groove pulley II (36) to form synchronous transmission with the far joint pulley II (34), and the second movable pulley (16) moves linearly to control the bending of the far joint of the thumb.

4. The rope-driven under-actuated five-finger manipulator according to claim 1, characterized in that: the palm component (1) consists of a palm front plate (12), a palm rear plate (11), a T-shaped groove (14), a first movable pulley (15), a second movable pulley (16), a first fixed pulley (17), a second fixed pulley (18), a steering wheel (116), a steel wire rope, a first motor (126), a second motor (130), a wire winding wheel (128), a first motor L-shaped plate (127) and a second motor L-shaped plate (131); an output shaft of the motor I (126) is connected with the winding wheel, one end of the steel wire rope V (123) is connected with the winding wheel, the steel wire rope V bypasses the five first fixed pulleys (17) and the five first movable pulleys (15), and the other end of the steel wire rope V (123) is connected with the extension spring V (125), so that the linear motion of the five first movable pulleys (15) is controlled, namely the proximal joint bending of the five fingers is realized; an output shaft of the second motor (130) is connected with the winding wheel, one end of the steel wire rope six (122) is connected with the winding wheel and bypasses the five second fixed pulleys (18) and the five second movable pulleys (16), and the other end of the steel wire rope six (122) is connected with the extension spring six (124), so that the linear motion of the five second movable pulleys (16) is controlled, namely the far joint of the thumb bends and the middle joint of the four fingers bends; the movable pulley, the fixed pulley and the steel wire rope form an under-actuated system structure in the palm.