CN215503595U - Multi freedom's smart hand device of intelligence - Google Patents

Abstract

The utility model relates to an intelligent dexterous hand device with multiple degrees of freedom, and belongs to the technical field of medical instruments. Multi freedom's intelligent dexterous hand device includes palm mechanism, thumb steering mechanism, four fingers extend and retrieve mechanism and finger mechanism, and finger mechanism is provided with four, corresponding to forefinger, middle finger, ring finger and little finger, thumb mechanism connects on palm mechanism, thumb steering mechanism is located palm mechanism, and with thumb mechanism connects for control the turning to of thumb mechanism, finger mechanism connects on palm mechanism, four fingers extend and retrieve the mechanism and be located palm mechanism, and with finger mechanism connects for control finger mechanism's extension is retrieved. Compared with the prior art, the utility model has the advantages of high degree of freedom, strong functionality, good impact resistance, convenient assembly and maintenance and the like.

Description

Multi freedom's smart hand device of intelligence

Technical Field

The utility model relates to the technical field of medical instruments, in particular to an intelligent dexterous hand device with multiple degrees of freedom.

Background

Human limb amputation can result from congenital disabilities, accidents, and certain diseases. The demand for prosthetic hands is also increasing.

In recent years, with the continuous progress of embedded hardware technology, engineers develop artificial hands by simulating the structure and function of human hands, and expect that the artificial hands can perform production work and daily life like normal human hands, and even stably grasp and freely operate common objects. At present, a plurality of companies manufacture commercialized robot multi-finger dexterous hands. The Shadow spatial hand, introduced by the company Shadow Robot, uk, has 24 degrees of freedom, 20 of which are individually controllable. SF5H from SCHUNK, Germany, has 8 independent control degrees of freedom and does not have sensing functions such as contact. The flexible multi-finger dexterous hand Bionic SoftHand with a joint structure issued by FESTO company in Germany in 2019 has 12 degrees of freedom, and can simulate the manual operation by a reinforcement learning method.

Due to the characteristics of high degree of freedom, compact structure, complexity and the like of a real hand, most artificial hand products cannot perfectly replace the functions of the hand, and the design and the functions of the artificial hand products are simplified and balanced under certain specific occasions and functional requirements. The choice of mechanical transmission is critical to the robot design. On the one hand, it determines the difficulty, complexity and cost of the mechanical design, and on the other hand, it directly affects the efficiency and reliability of the robot transmission. In order to improve the integration and compactness of the system design and reduce the cost, and in order to simplify the subsequent motion control, the design of the artificial hand often reduces the number of the used motors (namely, the number of the actuators), thereby forming an underactuated scheme that the number of the actuators is smaller than the number of degrees of freedom. The full-drive scheme dexterous hand capable of accurately simulating all movements of a human hand is a final development target in the future, but under the technical conditions at the present stage, the whole integration of a full-drive bionic hand system is too poor, the size is too large, a plurality of joints and actuators need to be controlled, and the flexibility of resisting external impact is lacked, so that the design of the intelligent dexterous hand with the functionality has important significance in meeting the daily life activity of an injured person.

SUMMERY OF THE UTILITY MODEL

The utility model aims to overcome the defects of the prior art and provide an intelligent dexterous hand device with multiple degrees of freedom.

The purpose of the utility model can be realized by the following technical scheme:

the utility model provides an intelligent dexterous hand device with multiple degrees of freedom, which comprises a palm mechanism, a thumb steering mechanism, a four-finger stretching and recovering mechanism and a finger mechanism.

Wherein, the finger mechanism is provided with four finger mechanisms, corresponding to the forefinger, the middle finger, the ring finger and the little finger. Each finger mechanism is similarly configured.

The thumb mechanism is connected to the palm mechanism, and the thumb steering mechanism is located in the palm mechanism, connected with the thumb mechanism and used for controlling steering of the thumb mechanism. The finger mechanism is connected to the palm mechanism, and the four-finger stretching and recovering mechanism is located in the palm mechanism, connected with the finger mechanism and used for controlling stretching and recovering of the finger mechanism.

In one embodiment of the utility model, the thumb mechanism is connected with the thumb steering mechanism through a shaft key, and the integral steering function of the thumb mechanism is realized by the relative movement of parts in the thumb steering mechanism.

In one embodiment of the utility model, a thumb connecting rod mechanism, a spring box and an electric push rod are arranged in the thumb mechanism, and the motion of one degree of freedom of the thumb mechanism is realized through the work of the thumb connecting rod mechanism and the limit of a compression spring in the spring box under the drive of the electric push rod; the thumb mechanism is connected with the thumb steering mechanism, and a gear set base, a bevel gear set, a motor, a connecting shaft, a connecting key, a shaft sleeve and the like are arranged in the thumb steering mechanism. The thumb steering mechanism is connected with the palm through a base of the rolling bearing. Under the drive of the motor, the rotation of one degree of freedom is realized through the rotation of the inner ring of the rolling bearing. Under the drive of another motor, the connected thumb mechanism is driven to rotate with one degree of freedom through the matching between the bevel gear and the bevel gear. A linear motor and a special-shaped rod mechanism are arranged in the four-finger stretching and recovering mechanism to drive the four-finger mechanism to realize the stretching and recovering function of the four fingers; the finger mechanism is internally provided with a motor, a worm and worm gear mechanism, a gear transmission group mechanism and a finger connecting rod mechanism, and the finger mechanism is driven by the motor to realize the buckling and stretching movement of the finger mechanism through the matching of the worm and worm gear, the transmission of the gear group and the movement of the connecting rod mechanism.

In one embodiment of the utility model, the palm mechanism comprises a palm core plate, a hand back plate, an upper baffle, a lower baffle, a bottom side baffle and corresponding matching hole columns, the upper baffle, the lower baffle and the bottom side baffle are connected between the palm core plate and the hand back plate, and a space for accommodating the thumb turning mechanism and the four-finger stretching and recovering mechanism is formed between the palm core plate and the hand back plate. The palm mechanism is internally of a hollow structure, provides sufficient space for the movement of the thumb steering mechanism and the four-finger stretching and recovering mechanism, and plays a role in fixing the position. Other parts of the palm mechanism are mainly used for sealing and protecting the palm. The palm mechanism is used for fixing and sealing the whole structure of the intelligent hand.

In one embodiment of the utility model, the palm center plate is provided with a plurality of matching hole columns for realizing connection with the thumb steering mechanism and the four-finger stretching and retracting mechanism.

In one embodiment of the utility model, the thumb mechanism comprises a first knuckle of the thumb, a second knuckle of the thumb, a third knuckle of the thumb, a thumb linkage, a spring box, a power putter and a thumb root connecting shaft. The spring box and the electric push rod are arranged inside the third knuckle of the thumb, the thumb root connecting shaft is connected with the third knuckle of the thumb, and the thumb root connecting shaft is used for being connected with the thumb steering mechanism so as to realize connection of the thumb mechanism and the thumb steering mechanism.

In one embodiment of the present invention, the thumb linkage includes a thumb two-knuckle link, a thumb lever, a thumb two-to-three knuckle upper link, and a thumb two-to-three knuckle lower link. One end of the thumb two-knuckle connecting rod is connected with the first knuckle of the thumb, and the other end of the thumb two-knuckle connecting rod is connected with the middle hole of the thumb lever. One end of the two ends of the thumb lever is connected with one end of a connecting rod at the upper part of the second knuckle to the third knuckle of the thumb, the other end of the thumb lever is connected with a connecting column of the second knuckle of the thumb, and the end connected with the second knuckle of the thumb is a fulcrum of the thumb connecting rod mechanism on the second knuckle of the thumb. The other end of the upper connecting rod of the second knuckle to the third knuckle of the thumb is connected with the upper part of the spring box. One end of the connecting rod at the lower part of the second knuckle to the third knuckle of the thumb is connected with the second knuckle of the thumb, the other end of the connecting rod is connected with the lower part of the spring box, and a compression spring is arranged in the spring box.

When the electric push rod drives the spring box to move, the connecting rod at the upper part of the two to three knuckles of the thumb drives the connecting rod mechanism to move around the fulcrum, so that the movement between the first knuckle of the thumb and the second knuckle of the thumb is realized. When the electric push rod drives the spring box to move, the lower connecting rods of the second knuckle to the third knuckle of the thumb are driven to realize the movement between the second knuckle of the thumb and the third knuckle of the thumb. Under the drive of the electric push rod, the spring box and the compression spring in the spring box drive the whole thumb connecting rod mechanism to realize the simultaneous movement of three knuckles of the thumb mechanism.

Wherein, the first knuckle of the thumb is an end effector. And the first knuckle of the thumb, the second knuckle of the thumb and the third knuckle of the thumb are connected with the thumb connecting rod mechanism in a shaft connecting mode.

Wherein, still be provided with the apron on the thumb second knuckle.

In one embodiment of the utility model, the thumb turning mechanism comprises a gear set base, a gear set, a bevel gear set, a rolling bearing, a thumb turning first motor, a thumb turning second motor and a shaft sleeve, wherein the base of the rolling bearing is fixed in the palm mechanism so as to fix the palm mechanism and the thumb turning mechanism.

In one embodiment of the utility model, the base of the rolling bearing is fixed on the palm center plate to realize the fixation of the palm mechanism and the thumb steering mechanism.

In one embodiment of the utility model, the thumb-turn first motor and the gear set base are respectively connected with the rolling bearing through shafts, and the shafts are arranged on the shaft sleeve.

In one embodiment of the utility model, the gear set, the bevel gear set and the thumb-turning second motor are all mounted on the gear set base, the gear set comprises a pair of gears, the bevel gear set comprises a pair of bevel gears, the pair of gears of the gear set and the pair of bevel gears of the bevel gear set are meshed with each other, the thumb-turning second motor is connected with one gear of the gear set through a shaft, the other gear of the thumb-turning second motor is coaxially connected with one bevel gear, and the other bevel gear of the thumb-turning second motor is connected with the thumb mechanism through a thumb root connecting shaft.

Under the drive of the thumb steering first motor, the inner ring of the rolling bearing starts to rotate, the gear set base, parts on the gear set base and the thumb mechanism rotate around the transmission shaft together, and the motion of the first degree of freedom of the thumb steering mechanism is realized. Under the drive of the thumb turning to the second motor, the rotation of the thumb mechanism on the other degree of freedom is realized through the transmission of the gear set and the bevel gear set.

In one embodiment of the utility model, the sleeve comprises a plurality of sleeves, which mainly serve for distance control, position limitation, etc.

In one embodiment of the present invention, the four-finger extending and retracting mechanism includes a linear motor, a slider rail, an index finger link, a ring finger link, a little finger link, an index finger profile bar, a middle finger profile bar, a little finger profile bar, a finger base, and a finger base plug.

In one embodiment of the present invention, one end of each of the index finger special-shaped rod, the middle finger special-shaped rod and the little finger special-shaped rod is provided with a pin slot, and the pin slot is matched with the finger base through a finger base pin, wherein the middle finger special-shaped rod is simultaneously connected with two finger bases, which respectively correspond to the middle finger and the ring finger, the index finger special-shaped rod is connected with one finger base, which corresponds to the index finger, the little finger special-shaped rod is connected with one finger base, which corresponds to the little finger, and four finger bases are respectively connected and matched with the finger mechanism.

In one embodiment of the utility model, one end of the forefinger special-shaped rod is connected with the palm center plate through the shaft hole and is used as a fulcrum when the finger root of the corresponding forefinger rotates, the other end of the forefinger special-shaped rod is connected with the forefinger connecting rod, and the other end of the forefinger connecting rod is connected with the slide block guide rail to form a connecting rod mechanism; one end of the middle finger special-shaped rod is connected with the palm center plate through a shaft hole and serves as a fulcrum when the finger root of the corresponding ring finger rotates, the position of the finger root of the corresponding middle finger is fixed through a latch key, the other end of the middle finger special-shaped rod is connected with a connecting rod of the ring finger, and the other end of the connecting rod of the ring finger is connected with a slide block guide rail to form a connecting rod mechanism; one end of the little finger special-shaped rod is connected with the palm center plate through the shaft hole and is used as a pivot corresponding to the rotation of the finger root of the little finger, the other end of the little finger special-shaped rod is connected with the little finger connecting rod, and the other end of the little finger connecting rod is connected with the slide block guide rail to form a connecting rod mechanism; the slider guide rail is connected with a linear motor, and the linear motor is fixed on the palm center plate.

In one embodiment of the utility model, the linear motor drives the slider guide rail to perform push-pull motion, and drives the three-finger-root special-shaped link mechanism to move, so that a finger root corresponding to the index finger, a finger root corresponding to the ring finger and a finger root corresponding to the little finger respectively rotate around a fulcrum to unfold, and the extending and recovering functions of the four fingers are realized.

In one embodiment of the utility model, the special-shaped connecting rods in the four-finger extension and recovery mechanism are provided with key grooves and are connected with the finger roots of the four-finger mechanisms through keys, so that the finger mechanisms move along with the four-finger extension and recovery mechanism to realize the inward-retraction and outward-extension movement of the four fingers. Wherein, the root of the middle finger is completely fixed with the palm center plate and does not move along with the four-finger stretching and retracting mechanism.

In an embodiment of the present invention, the finger mechanism includes a finger anterior segment knuckle, a finger middle segment knuckle, a finger link mechanism, a knuckle mount, a gear mount, a motor, a worm and worm gear mechanism, a gear transmission set mechanism, a anterior segment knuckle key, and other mating keys, a shaft sleeve, a baffle, etc.

In one embodiment of the utility model, the finger front-segment knuckles are connected with the knuckle fixing frame through shaft holes by using a finger link mechanism, the finger middle-segment knuckles are further connected with the gear transmission set mechanism through the finger link mechanism, the motor, the worm and worm gear mechanism and the gear transmission set mechanism are all fixed on the gear fixing frame and are fixed through a key shaft and a shaft sleeve, the gear transmission set mechanism is connected with the worm and worm gear mechanism, the motor is connected with the worm and worm gear mechanism, and the motor is used as a power source of the finger mechanism.

Under the drive of the motor, the worm and worm gear mechanism changes the motion direction and sequentially transmits power to the gear transmission set mechanism and the finger link mechanism. And finally, the finger link mechanism drives the finger front knuckle and the finger middle knuckle to move, so that the flexion and extension movement of the finger mechanism is realized.

In one embodiment of the utility model, the finger anterior knuckle is an end effector, which is divided into left and right parts and connected by an anterior knuckle key.

In one embodiment of the utility model, the gear fixing frame is connected with a finger root in a four-finger stretching and recovering mechanism.

In one embodiment of the utility model, holes are arranged at the joints of the palm mechanism, the four-finger stretching and retracting mechanism and the four-finger mechanism.

Compared with the prior art, the utility model has the following beneficial effects:

1. the thumb mechanism, the finger mechanism and the four-finger stretching and recovering mechanism all adopt the connecting rod as the transmission device, compared with the defects that a fully-driven flexible bionic hand system needs numerous control joints and actuators, and the gripping force is difficult to ensure, the utility model simplifies the subsequent motion control, simultaneously keeps the general functions of a dexterous hand, is convenient to assemble and maintain, and simultaneously reduces the consumption of power in the transmission process.

2. According to the utility model, the motor in the thumb rotating mechanism drives the sliding bearing and the bevel gear set to control the rotation of the thumb section in two directions, so that the degree of freedom of the thumb mechanism is increased, and the functionality of the whole dexterous hand is improved. The compression spring arranged at the thumb mechanism realizes the automatic reset of the thumb slide block, and the accuracy of the bionic hand for realizing the gripping function is improved.

3. The finger mechanism of the utility model adopts the worm gear and the gear set as the transmission device, improves the integration and the compactness of the design, saves the space occupied by the tail end of the finger mechanism in the palm, and ensures that the four-finger stretching and recovering mechanism has sufficient working space.

4. The four-finger stretching and recovering mechanism designed by the utility model takes the root of the middle finger as a rotating shaft, realizes the adduction and abduction movement of the index finger, the ring finger and the little finger through the transmission of the linkage connecting rod, has exquisite structure and high flexibility, improves the freedom degree of a dexterous hand, can simulate more realized working conditions, and embodies stronger anthropomorphic humanity.

5. The utility model has independent motor drive for each degree of freedom, compact structure, obvious advantages in the situation of high dynamic response (such as precision and high-speed control), and can realize both force gripping and precise gripping.

Drawings

FIG. 1 is a schematic diagram of an overall structure of a multi-degree-of-freedom smart hand device in embodiment 1 of the present invention;

fig. 2 is a front view of a palm mechanism in the multi-degree of freedom smart hand device according to embodiment 1 of the present invention;

fig. 3 is a schematic rear view of a palm mechanism in the multi-degree-of-freedom smart hand device in embodiment 1 of the present invention;

FIG. 4 is a schematic diagram of a side view of a palm mechanism in the multi-degree of freedom smart hand device in embodiment 1 of the present invention;

FIG. 5 is a schematic structural diagram of a thumb mechanism in the multi-degree-of-freedom smart hand device in embodiment 1 of the present invention;

FIG. 6 is a schematic structural diagram of a thumb turning mechanism in the multi-degree-of-freedom smart hand device in embodiment 1 of the present invention;

FIG. 7 is a schematic structural diagram of a four-finger stretching and retracting mechanism of a multi-degree-of-freedom smart hand device in embodiment 1 of the present invention;

fig. 8 is a schematic front view of a finger mechanism in a multi-degree-of-freedom smart hand device in embodiment 1 of the present invention.

Fig. 9 is a schematic side sectional view of a finger mechanism of a multi-degree-of-freedom smart hand device according to embodiment 1 of the present invention.

Fig. 10 is a schematic side sectional view of a finger mechanism of a multi-degree-of-freedom smart hand device in embodiment 1 of the present invention.

Reference numerals:

2-a palm mechanism;

21-palm center plate; 22-dorsal panel; 23-an upper baffle plate; 24-a lower baffle; 25-bottom side baffles; 26-a mating hole column;

3-a thumb mechanism;

31-first knuckle of thumb; 32-thumb second knuckle; 33-third knuckle of thumb; 34-thumb linkage; 341-thumb two-knuckle link; 342-thumb lever; 343-thumb two to three knuckle upper link; 344-thumb two to three knuckle lower link; 35-a spring box; 36-an electric push rod; 37-thumb root connecting shaft;

4-thumb turn mechanism;

41-gear set base; 42-gear set; 43-bevel gear set; 44-rolling bearings; 45-thumb turn first motor; 46-thumb turn second motor; 47-shaft sleeve;

5-four-finger stretching and recovering mechanism;

51-a linear motor; 52-a slider guide; 53-index finger link; 54-ring finger link; 55-little finger connecting rod; 56-forefinger profile bar; 57-middle finger profile bar; 58-little finger special-shaped rod; 59-finger root; 510-finger root bolts;

6-finger mechanism;

61-finger anterior knuckle; 62-middle finger knuckle; 63-finger linkage; 64-knuckle mount; 65-gear fixing frame; 66-a motor; 67-worm and worm-gear mechanism; 68-a gear train mechanism; 69-anterior knuckle Key.

Detailed Description

The utility model is described in detail below with reference to the figures and specific embodiments.

It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; the connection can be mechanical connection, electrical connection, physical connection or wireless communication connection; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

Examples

As shown in fig. 1, the present embodiment provides a multi-degree-of-freedom intelligent dexterous hand device, which includes a palm mechanism 2, a thumb mechanism 3, a thumb steering mechanism 4, a four-finger stretching and retracting mechanism 5, and a finger mechanism 6.

The finger mechanisms 6 are provided with four corresponding to the index finger, the middle finger, the ring finger and the little finger. Each finger mechanism is similarly configured.

The thumb mechanism 3 is connected to the palm mechanism 2, and the thumb steering mechanism 4 is located in the palm mechanism 2, connected with the thumb mechanism 3 and used for controlling steering of the thumb mechanism 3. The finger mechanism 6 is connected to the palm mechanism 2, and the four-finger stretching and recovering mechanism 5 is located in the palm mechanism 2, connected with the finger mechanism 6 and used for controlling stretching and recovering of the finger mechanism 6.

The thumb mechanism is connected with the thumb steering mechanism through a shaft key, and the integral steering function of the thumb mechanism is realized by the relative movement of parts in the thumb steering mechanism.

A thumb connecting rod mechanism, a spring box and an electric push rod are arranged in the thumb mechanism 3, and the thumb mechanism can move in one degree of freedom by the operation of the thumb connecting rod mechanism and the limit of a compression spring in the spring box under the driving of the electric push rod; the thumb mechanism is connected with the thumb steering mechanism, and a gear set base, a bevel gear set, a motor, a connecting shaft, a connecting key, a shaft sleeve and the like are arranged in the thumb steering mechanism. The thumb steering mechanism is connected with the palm through a base of the rolling bearing. Under the drive of the motor, the rotation of one degree of freedom is realized through the rotation of the inner ring of the rolling bearing. Under the drive of another motor, the connected thumb mechanism is driven to rotate with one degree of freedom through the matching between the bevel gear and the bevel gear. A linear motor and a special-shaped rod mechanism are arranged in the four-finger stretching and recovering mechanism to drive the four-finger mechanism to realize the stretching and recovering function of the four fingers; the finger mechanism is internally provided with a motor, a worm and worm gear mechanism, a gear transmission group mechanism and a finger connecting rod mechanism, and the finger mechanism is driven by the motor to realize the buckling and stretching movement of the finger mechanism through the matching of the worm and worm gear, the transmission of the gear group and the movement of the connecting rod mechanism.

With further reference to fig. 2, 3 and 4, the palm mechanism 2 comprises a palm center plate 21, a hand back plate 22, an upper baffle plate 23, a lower baffle plate 24, a bottom baffle plate 25 and corresponding fitting hole columns 26,

an upper baffle plate 23, a lower baffle plate 24 and a bottom baffle plate 25 are connected between the palm center plate 21 and the hand back plate 22, and a space for accommodating the thumb steering mechanism 4 and the four-finger stretching and recovering mechanism 5 is formed between the palm center plate 21 and the hand back plate 22. The palm mechanism 2 is internally of a hollow structure, provides sufficient space for the movement of the thumb steering mechanism 4 and the four-finger stretching and recovering mechanism 5, and plays a role in fixing the position. Other parts of the palm mechanism 2 are mainly used for sealing and protecting the palm. The palm mechanism 2 is used for fixing and sealing the whole structure of the intelligent hand.

With further reference to fig. 2 and 3, the palm-center plate 21 is provided with a plurality of matching hole columns 26 for connecting the thumb-turning mechanism 4 and the four-finger extending and retracting mechanism 5.

With further reference to fig. 5, the thumb mechanism 3 includes a first thumb knuckle 31, a second thumb knuckle 32, a third thumb knuckle 33, a thumb linkage 34, a spring box 35, a power pushrod 36, and a thumb connection shaft 37. The first thumb knuckle 31 and the second thumb knuckle 32 are connected with each other through a thumb link mechanism 34, the second thumb knuckle 32 and the third thumb knuckle 33 are connected with each other through a thumb link mechanism 34, the spring box 35 and the electric push rod 36 are arranged inside the third thumb knuckle 33, the thumb root connecting shaft 37 is connected with the third thumb knuckle 33, and the thumb root connecting shaft 37 is used for being connected with the thumb steering mechanism 4 so as to connect the thumb mechanism 3 with the thumb steering mechanism 4.

The thumb link mechanism 34 includes a thumb-two knuckle link 341, a thumb lever 342, a thumb-two-to-three knuckle upper link 343, and a thumb-two-to-three knuckle lower link 344.

One end of the thumb-two knuckle connecting rod 341 is connected with the thumb first knuckle 31, and the other end is connected with the middle hole of the thumb lever 342. One end of the two ends of the thumb lever 342 is connected with one end of the upper connecting rod 343 of the second to third knuckles of the thumb, the other end is connected with the connecting column of the second knuckle 32 of the thumb, and the end connected with the second knuckle 32 of the thumb is the fulcrum of the thumb connecting rod mechanism on the second knuckle 32 of the thumb. The other end of the thumb two-to-three knuckle upper link 343 is connected to the upper portion of the spring box 35. One end of the thumb two-to-three knuckle lower link 344 is connected with the thumb second knuckle 32, and the other end is connected with the lower part of the spring box 35, and a compression spring is arranged in the spring box 35.

When the electric push rod 36 drives the spring box 35 to move, the upper connecting rod 343 of the second to third knuckles of the thumb drives the connecting rod mechanism to move around the fulcrum, so that the movement between the first knuckle 31 of the thumb and the second knuckle 32 of the thumb is realized. When the electric push rod 36 drives the spring box 35 to move, the thumb two-to-three knuckle lower link 344 is driven to realize the movement between the thumb second knuckle 32 and the thumb third knuckle 33. Under the driving of the electric push rod 36, the spring box 35 and the compression spring inside the spring box drive the whole thumb linkage 34 to realize the simultaneous movement of three knuckles of the thumb mechanism.

Wherein, the first knuckle of the thumb is an end effector. And the first knuckle of the thumb, the second knuckle of the thumb and the third knuckle of the thumb are connected with the thumb connecting rod mechanism in a shaft connecting mode.

Wherein, a cover plate is further arranged on the thumb second knuckle 32.

With further reference to fig. 6, the thumb turn mechanism 4 includes a gear set base 41, a gear set 42, a bevel gear set 43, a rolling bearing 44, a thumb turn first motor 45, a thumb turn second motor 46 and a bushing 47,

the base of the rolling bearing 44 is fixed in the palm mechanism 2 to fix the palm mechanism 2 and the thumb turning mechanism 4.

More specifically, the base of the rolling bearing 44 is fixed to the palm panel 21 to fix the palm mechanism 2 and the thumb turn mechanism 4.

The thumb-steering first motor 45 and the gear set base 41 are connected to the rolling bearing 44 through shafts, respectively, which are disposed on a shaft sleeve 47.

The gear set 42, the bevel gear set 43 and the thumb-turning second motor 46 are all mounted on the gear set base 41, the gear set 42 comprises a pair of gears, the bevel gear set 43 comprises a pair of bevel gears, the pair of gears of the gear set 42 and the pair of bevel gears of the bevel gear set 43 are meshed with each other, the thumb-turning second motor 46 is connected with one gear of the gear set 42 through a shaft, the other gear of the thumb-turning second motor is coaxially connected with one bevel gear, and the other bevel gear of the thumb-turning second motor is connected with the thumb mechanism 3 through a thumb root connecting shaft 37.

Under the drive of the thumb-steering first motor 45, the inner ring of the rolling bearing 44 starts to rotate, and the gear set base 41 and the parts thereon and the thumb mechanism 3 rotate together around the transmission shaft, so that the movement of the first degree of freedom of the thumb-steering mechanism is realized. Driven by the thumb turning second motor 46, the rotation of the thumb mechanism 3 in another degree of freedom is realized through the transmission of the gear set 42 and the bevel gear set 43.

The sleeve 47 includes a plurality of sleeves, and mainly functions to control distance and limit position.

With further reference to fig. 7, the four-finger extending and retracting mechanism 5 includes a linear motor 51, a slider rail 52, an index finger link 53, a ring finger link 54, a little finger link 55, an index finger shaped lever 56, a middle finger shaped lever 57, a little finger shaped lever 58, a finger base 59, and a finger base pin 510.

One end of the forefinger special-shaped rod 56, the middle finger special-shaped rod 57 and the little finger special-shaped rod 58 is provided with a pin slot which is matched with a finger root 59 through a finger root pin 510, wherein the middle finger special-shaped rod 57 is simultaneously connected with two finger roots 59 which are respectively corresponding to a middle finger and a ring finger, the forefinger special-shaped rod 56 is connected with one finger root 59 which is corresponding to a forefinger, the little finger special-shaped rod 58 is connected with one finger root 59 which is corresponding to a little finger, and four finger roots 59 are respectively connected and matched with the finger mechanism 6.

One end of the forefinger special-shaped rod 56 is connected with the palm center plate 21 through a shaft hole and serves as a fulcrum when the finger root corresponding to the forefinger rotates, the other end of the forefinger special-shaped rod is connected with the forefinger connecting rod 53, and the other end of the forefinger connecting rod 53 is connected with the slider guide rail 52 to form a connecting rod mechanism; one end of the middle finger special-shaped rod 57 is connected with the palm center plate 21 through a shaft hole and serves as a fulcrum when the finger root corresponding to the ring finger rotates, the position of the finger root corresponding to the middle finger is fixed through a latch key, the other end of the middle finger special-shaped rod is connected with the ring finger connecting rod 54, and the other end of the ring finger connecting rod 54 is connected with the slide block guide rail 52 to form a connecting rod mechanism; one end of the little finger special-shaped rod 58 is connected with the palm center plate 21 through the shaft hole and is used as a fulcrum when the finger root corresponding to the little finger rotates, the other end is connected with the little finger connecting rod 55, and the other end of the little finger connecting rod 55 is connected with the slide block guide rail 52 to form a connecting rod mechanism; the slider guide rail 52 is connected with the linear motor 51, and the linear motor 51 is fixed on the palm center plate 21.

The linear motor 51 drives the slider guide rail 52 to do push-pull motion, and drives the three finger-base special-shaped link mechanisms to move, so that the finger base corresponding to the forefinger, the finger base corresponding to the ring finger and the finger base corresponding to the little finger respectively rotate around the pivot to unfold, and the stretching and recovering functions of the four fingers are realized.

The special-shaped connecting rods in the four-finger stretching and recovering mechanism 5 are provided with key grooves and are in key connection with finger roots of the four-finger mechanisms, so that the finger mechanisms move along with the four-finger stretching and recovering mechanism, and the inward-folding and outward-unfolding movement of the four fingers is realized. Wherein, the root of the middle finger is completely fixed with the palm center plate 21 and does not move along with the four-finger stretching and retracting mechanism 5.

Referring to fig. 8, 9 and 10, the finger mechanism 6 includes a finger anterior segment knuckle 61, a finger middle segment knuckle 62, a finger link mechanism 63, a knuckle fixing frame 64, a gear fixing frame 65, a motor 66, a worm and worm gear mechanism 67, a gear transmission set mechanism 68, a anterior segment knuckle key 69, and other mating keys, shafts, shaft sleeves, baffles, and the like.

The finger front segment knuckle 61 and the knuckle fixing frame 64 are connected through a finger connecting rod mechanism 63 in a shaft hole mode, the finger middle segment knuckle 62 is connected with a gear transmission set mechanism 68 through the finger connecting rod mechanism 63, and the motor 66, the worm and worm gear mechanism 67 and the gear transmission set mechanism 68 are fixed on a gear fixing frame 65 and are fixed through a key shaft and a shaft sleeve.

The gear train 68 is connected to the worm and worm gear 67, the motor 66 is connected to the worm and worm gear 67, and the motor 66 serves as a power source for the finger mechanism 6.

Under the drive of the motor 66, the worm and worm gear mechanism 67 changes the moving direction, and then transmits power to the gear transmission set mechanism 68 and the finger link mechanism 63. Finally, the finger link mechanism 63 drives the finger anterior knuckle 61 and the finger middle knuckle 62 to move, so as to realize the flexion and extension movement of the finger mechanism 6.

The finger anterior knuckle 61 is an end effector, which is divided into two parts, i.e., a left part and a right part, and is connected by an anterior knuckle key 69.

The gear fixing frame 65 is connected with the finger root 59 in the four-finger extending and recovering mechanism 5.

In this embodiment, holes are formed at the joints of the palm mechanism, the four-finger stretching and retracting mechanism, and the four-finger mechanism.

The multi-degree-of-freedom intelligent dexterous hand device provided by the embodiment has the advantages that the motion of each degree of freedom is driven by an independent motor, and the structure is compact. Under different input signals, coordinated movement between different parts of the finger mechanism can be realized, and force gripping or accurate gripping can be realized, so that the requirements of people in need are met.

The embodiments described above are intended to facilitate the understanding and use of the utility model by those skilled in the art. It will be readily apparent to those skilled in the art that various modifications to these embodiments may be made, and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the above embodiments, and those skilled in the art should make improvements and modifications within the scope of the present invention based on the disclosure of the present invention.

Claims (9)

1. A multi-degree-of-freedom intelligent dexterous hand device is characterized by comprising a palm mechanism, a thumb mechanism, four thumb steering mechanisms, four finger stretching and recovering mechanisms and four finger mechanisms, wherein the number of the finger mechanisms is four, the four finger mechanisms correspond to an index finger, a middle finger, a ring finger and a little finger, the thumb mechanism is connected to the palm mechanism, the thumb steering mechanism is located in the palm mechanism and connected with the thumb mechanism and used for controlling the steering of the thumb mechanism, the finger mechanisms are connected to the palm mechanism, and the four finger stretching and recovering mechanisms are located in the palm mechanism and connected with the finger mechanisms and used for controlling the stretching and recovering of the finger mechanisms;

the palm mechanism comprises a palm core plate, a hand back plate, an upper baffle, a lower baffle, a bottom side baffle and corresponding matching hole columns, the upper baffle, the lower baffle and the bottom side baffle are connected between the palm core plate and the hand back plate, and a space for accommodating the thumb steering mechanism and the four-finger stretching and recycling mechanism is formed between the palm core plate and the hand back plate.

2. The multi-degree-of-freedom intelligent dexterous hand device according to claim 1, wherein the thumb mechanism comprises a first thumb knuckle, a second thumb knuckle, a third thumb knuckle, a thumb link mechanism, a spring box, an electric push rod and a thumb root connecting shaft, the first thumb knuckle and the second thumb knuckle are connected through the thumb link mechanism, the second thumb knuckle and the third thumb knuckle are connected through the thumb link mechanism, the spring box and the electric push rod are arranged inside the third thumb knuckle, the thumb root connecting shaft is connected with the third thumb knuckle, and the thumb root connecting shaft is used for being connected with the thumb steering mechanism so as to achieve connection of the thumb mechanism and the thumb steering mechanism.

3. The multi-degree-of-freedom intelligent dexterous hand device according to claim 2, wherein the thumb link mechanism comprises a thumb two-knuckle link, a thumb lever, a thumb two-to-three-knuckle upper link and a thumb two-to-three-knuckle lower link, wherein one end of the thumb two-knuckle link is connected with the first knuckle of the thumb, the other end of the thumb two-knuckle link is connected with the middle hole of the thumb lever, one end of the two ends of the thumb lever is connected with one end of the thumb two-to-three-knuckle upper link, the other end of the thumb lever is connected with the connecting column of the thumb second knuckle, one end connected with the thumb second knuckle is the fulcrum of the thumb link mechanism on the thumb second knuckle, the other end of the thumb two-to-three-knuckle upper link is connected with the upper part of the spring box, one end of the thumb two-to-three-knuckle lower link is connected with the thumb second knuckle, and the other end of the spring box lower part, and a compression spring is arranged in the spring box.

4. The device of claim 3, wherein when the electric push rod drives the spring box to move, the upper connecting rod of the second to third knuckles of the thumb drives the connecting rod mechanism to move around the fulcrum, so as to realize the movement between the first knuckle of the thumb and the second knuckle of the thumb; when the electric push rod drives the spring box to move, the lower connecting rods of the second knuckle to the third knuckle of the thumb are driven to realize the movement between the second knuckle of the thumb and the third knuckle of the thumb; under the drive of the electric push rod, the spring box and the compression spring in the spring box drive the whole thumb connecting rod mechanism to realize the simultaneous movement of three knuckles of the thumb mechanism.

5. The multi-degree-of-freedom intelligent dexterous hand device according to claim 1, wherein the thumb turning mechanism comprises a gear set base, a gear set, a bevel gear set, a rolling bearing, a first thumb turning motor, a second thumb turning motor and a shaft sleeve, the rolling bearing base is fixed in the palm mechanism to fix the palm mechanism and the thumb turning mechanism, the first thumb turning motor and the gear set base are respectively connected with the rolling bearing through shafts, the shafts are arranged on the shaft sleeve, the gear set, the bevel gear set and the second thumb turning motor are all arranged on the gear set base, the gear set comprises a pair of gears, the bevel gear set comprises a pair of bevel gears, the pair of gears of the gear set and the pair of bevel gears of the bevel gear set are mutually meshed, and the second thumb turning motor is connected with one gear of the gear set through a shaft, the other gear is coaxially connected with one bevel gear, and the other bevel gear is connected with the thumb mechanism through a thumb root connecting shaft.

6. The device of claim 5, wherein the inner ring of the rolling bearing starts to rotate under the driving of the thumb-steering first motor, the gear set base and the parts thereon rotate around the transmission shaft together with the thumb mechanism, so that the motion of the first degree of freedom of the thumb-steering mechanism is realized, and the rotation of the thumb mechanism on the other degree of freedom is realized through the transmission of the gear set and the bevel gear set under the driving of the thumb-steering second motor.

7. The multi-degree-of-freedom intelligent dexterous hand device according to claim 1, wherein the four-finger stretching and retracting mechanism comprises a linear motor, a slide block guide rail, an index finger connecting rod, a ring finger connecting rod, a little finger connecting rod, an index finger profiled rod, a middle finger profiled rod, a little finger profiled rod, a finger root and a finger root bolt,

one end of the forefinger special-shaped rod, the middle finger special-shaped rod and the little finger special-shaped rod is provided with a pin slot which is matched with the finger roots through a finger root pin, wherein the middle finger special-shaped rod is simultaneously connected with two finger roots which respectively correspond to the middle finger and the ring finger, the forefinger special-shaped rod is connected with one finger root which corresponds to the forefinger, the little finger special-shaped rod is connected with one finger root which corresponds to the little finger, and four finger roots are respectively connected and matched with the finger mechanism,

one end of the forefinger special-shaped rod is connected with the palm center plate through a shaft hole and serves as a fulcrum when the finger root of the corresponding forefinger rotates, the other end of the forefinger special-shaped rod is connected with the forefinger connecting rod, and the other end of the forefinger connecting rod is connected with the slide block guide rail to form a connecting rod mechanism; one end of the middle finger special-shaped rod is connected with the palm center plate through a shaft hole and serves as a fulcrum when the finger root of the corresponding ring finger rotates, the position of the finger root of the corresponding middle finger is fixed through a latch key, the other end of the middle finger special-shaped rod is connected with a connecting rod of the ring finger, and the other end of the connecting rod of the ring finger is connected with a slide block guide rail to form a connecting rod mechanism; one end of the little finger special-shaped rod is connected with the palm center plate through the shaft hole and is used as a pivot corresponding to the rotation of the finger root of the little finger, the other end of the little finger special-shaped rod is connected with the little finger connecting rod, and the other end of the little finger connecting rod is connected with the slide block guide rail to form a connecting rod mechanism; the slide block guide rail is connected with a linear motor, and the linear motor is fixed on the palm center plate;

the linear motor drives the sliding block guide rail to do push-pull motion, and drives the three finger root special-shaped connecting rod mechanisms to move, so that the finger root corresponding to the forefinger, the finger root corresponding to the ring finger and the finger root corresponding to the little finger respectively rotate around the pivot to unfold, and the stretching and recovering functions of the four fingers are realized.

8. The device of claim 1, wherein the finger mechanism comprises a finger anterior segment knuckle, a finger middle segment knuckle, a finger link mechanism, a knuckle mount, a gear mount, a motor, a worm and worm gear mechanism, a gear transmission set mechanism and a anterior segment knuckle key, the finger anterior segment knuckle and the knuckle mount are connected through a shaft hole by the finger link mechanism, the finger middle segment knuckle is connected with the gear transmission set mechanism through the finger link mechanism, the motor, the worm and worm gear mechanism and the gear transmission set mechanism are all fixed on the gear mount, the gear transmission set mechanism is connected with the worm and worm gear mechanism, the motor is connected with the worm and worm gear mechanism, and the motor is used as a power source for the finger mechanism to walk.

9. The device of claim 8, wherein the worm and worm gear mechanism changes the direction of motion and sequentially transmits power to the gear transmission set mechanism and the finger link mechanism under the driving of the motor; and finally, the finger link mechanism drives the finger front knuckle and the finger middle knuckle to move, so that the flexion and extension movement of the finger mechanism is realized.

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