WO2024239388A1 - 仿人变胞灵巧手 - Google Patents

仿人变胞灵巧手 Download PDF

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Publication number
WO2024239388A1
WO2024239388A1 PCT/CN2023/099168 CN2023099168W WO2024239388A1 WO 2024239388 A1 WO2024239388 A1 WO 2024239388A1 CN 2023099168 W CN2023099168 W CN 2023099168W WO 2024239388 A1 WO2024239388 A1 WO 2024239388A1
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WO
WIPO (PCT)
Prior art keywords
finger
unit
palm
finger back
module
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2023/099168
Other languages
English (en)
French (fr)
Inventor
戴建生
王宏强
朱人杰
曲思敬
包辰博
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Southern University of Science and Technology
Original Assignee
Southern University of Science and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Southern University of Science and Technology filed Critical Southern University of Science and Technology
Publication of WO2024239388A1 publication Critical patent/WO2024239388A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/0233—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by chains, cables or ribbons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/08—Program-controlled manipulators characterised by modular constructions
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
    • Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change

Definitions

  • the invention relates to the technical field of robots, and in particular to a humanoid metamorphosis dexterous hand.
  • Robots can replace human hands to perform multiple tasks in complex and harsh environments.
  • Traditional robots are designed with fully rigid palms and fingers to adapt to high-load-bearing grasping scenarios, but their flexibility and control capabilities are limited, and the driving mechanism of the robot requires complex structural design, resulting in a complicated robot structure, high cost and low reliability.
  • the robot needs to have overall rigidity while also having a certain degree of flexibility.
  • Traditional robots cannot meet the above requirements.
  • the present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a humanoid metamorphosis dexterous hand that can take into account the rigidity and flexibility requirements of a manipulator.
  • the palm module includes a plurality of palm connecting rods and a palm driving unit.
  • the plurality of palm connecting rods are connected end to end in sequence and are enclosed to form a closed loop structure.
  • the palm driving unit is connected to some of the palm connecting rods to drive the adjacent palm connecting rods to rotate relative to each other.
  • the flexibility of the finger pad unit in the present invention is greater than that of the finger back unit.
  • the finger pad unit When performing a grasping task, the finger pad unit has a high degree of fit with the object to be grasped, can adapt to the shape of the object to be grasped, and achieve stable grasping.
  • the finger pad unit and the finger back unit adopt a soft and hard
  • the finger back unit provides a certain degree of rigid support for the finger module
  • the finger web unit has good flexibility, which facilitates the bending of the finger module toward the finger web unit, which conforms to the characteristic that human fingers can only bend toward the palm, so that the finger module has a certain degree of rigidity and flexibility at the same time, meeting the requirements for stiffness and flexibility of the robot in different grasping environments.
  • the finger pad unit includes a plurality of finger pad connectors, the finger pad connectors are arranged along the length direction of the finger module, and the edges of adjacent finger pad connectors close to each other are connected to form a finger pad bending portion, and the thickness of the finger pad bending portion is less than the thickness of the finger pad connector;
  • the finger back unit includes a plurality of finger back connectors, which are arranged along the length direction of the finger module, and the edges of adjacent finger back connectors close to each other are connected to form a finger back bending portion, and the thickness of the finger back bending portion is less than the thickness of the finger back connector;
  • the finger back bending portion and the finger pulp bending portion are arranged opposite to each other along the bending direction of the finger module.
  • a plurality of the finger pad connectors are arranged along the width direction of the finger module, and the edges of the adjacent finger pad connectors along the width direction that are close to each other are connected to form a transition portion, and the transition portion is recessed away from the finger back unit;
  • a plurality of finger back connectors are arranged along the width direction of the finger module, and the edges of the adjacent finger back connectors along the width direction are connected to form a reinforcement portion, which protrudes toward the finger web unit and is located between adjacent finger web units.
  • the finger back unit is connected to the finger web unit to form an integrally formed structure
  • the finger back connector includes four finger back connecting surfaces, the sides of the four finger back connecting surfaces are connected end to end in sequence, and the vertices of the four finger back connecting surfaces coincide to form a finger back vertex angle;
  • the fingertip connector includes four fingertip connector surfaces, the sides of which are connected end to end in sequence, and the vertices of which coincide to form a fingertip vertex angle, and the opening of the finger back vertex angle in the width direction of the finger unit is not less than the opening of the fingertip vertex angle.
  • notches are provided at the edges of the finger pad connectors, the notches of adjacent finger pad connectors are arranged facing each other, and the notches are located at the bending parts of the finger pads.
  • the finger pad connector is provided with notches on two opposite sides along the length direction, the notches of adjacent finger pad connectors are arranged facing each other, the notches are located in the bending part of the finger pads, and the notches on the side facing away from the finger back unit are larger than the notches on the side facing the finger back unit.
  • the interior of the fingertip connector has a first cavity penetrating along the length direction.
  • the first cavities of adjacent finger pad connectors are connected
  • the interior of the finger back connector has a second cavity penetrating along the length direction, and the second cavities of adjacent finger back connectors are connected.
  • the interior of the finger back unit is provided with a guide hole penetrating along the length direction, the guide holes of adjacent finger back units are interconnected, the finger back traction wire is sequentially passed through the guide holes; the finger pulp traction wire is sequentially passed through the first cavity.
  • two palm drive units are provided, wherein one of the palm links includes two arms, and the two palm drive units are respectively mounted on the two arms and are used to drive the palm links connected to the arms to rotate.
  • the finger module includes a fixing base, the finger drive unit, the finger back unit and the finger web unit are all installed on the fixing base, and the fixing base is detachably connected to the palm connecting rod.
  • FIG1 is a schematic structural diagram of an embodiment of the humanoid metamorphosis dexterous hand of the present invention.
  • FIG2 is a schematic diagram of an embodiment of a finger module
  • FIG3 is a schematic diagram of the finger back unit and the finger web unit in FIG2 after explosion
  • FIG4 is a cross-sectional view of a finger back unit and a finger web unit
  • FIG5 is an enlarged view of point A in FIG2;
  • FIG6 is a schematic diagram of an embodiment of a finger pad unit
  • FIG7 is a schematic diagram of the fingertip unit in FIG6 from another direction
  • FIG8 is a schematic diagram of the finger module after hiding the winding roller
  • FIG. 9 is a schematic diagram of an embodiment of a palm link.
  • Palm module 100 palm link 110, support arm 111, palm drive unit 120; Finger module 200, finger back unit 210, finger back connector 211, finger back connecting surface 2111, finger back top angle 2112, second cavity 2113, guide hole 2114, finger back bending portion 212, reinforcement portion 213, finger pad unit 220, finger pad connector 221, finger pad connecting surface 2211, finger pad top angle 2212, notch 2213, first cavity 2214, finger pad bending portion 222, transition portion 223, Finger driving unit 230, finger back traction wire 240, finger web traction wire 250, fixing seat 260, wire hole 261, winding roller 270; Base 300.
  • orientations such as up, down, front, back, left, right, etc.
  • orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.
  • an embodiment of the present invention provides a humanoid metamorphic dexterous hand, which includes a palm module 100 and a finger module 200.
  • a plurality of finger modules 200 are provided and installed on the palm module 100.
  • the palm module 100 and the finger module 200 are used to simulate the palm and fingers of a human hand, respectively.
  • the plurality of finger modules 200 cooperate in action and perform corresponding grasping tasks.
  • the palm module 100 includes a plurality of palm links 110 and a palm drive unit 120.
  • the plurality of palm links 110 are connected in rotation in sequence and enclosed to form a closed loop structure.
  • the palm drive unit 120 is connected to some of the palm links 110 to drive the adjacent palm links 110 to rotate relative to each other.
  • the number of finger modules 200 is set to 3-5, and only some of the palm links 110 are installed with finger modules 200; in addition, only some of the palm links 110 are directly affected by the palm.
  • the palm drive unit 120 drives the palm link 110 to rotate, and the other palm links 110 are driven by the other palm drive units 120 connected thereto to rotate.
  • the multiple palm links 110 are rotatably connected to form a closed-loop structure, under the drive of the palm drive unit 120, the number of palm links 110 participating in the rotation and the degree of freedom of the palm module 100 change, so as to form the palm module 100 into a metamorphic mechanism; in this way, the palm module 100 can present different configurations, so that the finger module 200 can change different grasping angles, which can be suitable for grasping requirements in various task environments.
  • the finger module 200 includes a finger back unit 210, a finger belly unit 220 and a finger driving unit 230.
  • the finger back unit 210 and the finger belly unit 220 are stacked, the flexibility of the finger belly unit 220 is greater than that of the finger back unit 210, a finger back traction wire 240 is passed through the interior of the finger back unit 210, and a finger belly traction wire 250 is passed through the interior of the finger belly unit 220, one end of the finger back traction wire 240 is connected to the tail end of the finger back unit 210, and the other end is connected to the finger driving unit 230, one end of the finger belly traction wire 250 is connected to the tail end of the finger belly unit 220, and the other end is connected to the finger driving unit 230, and the finger driving unit 230 is used to drive the finger back traction wire 240 and the finger belly traction wire 250 to retract and release, so that the finger module 200 bends toward the finger belly unit 220 or stretches away from the finger belly unit 220.
  • the finger module 200 in the initial state is in a straight line shape, and the finger driving unit 230 pulls the fingertip traction wire 250 to tighten while releasing the finger back traction wire 240.
  • the fingertip unit 220 is pulled by the finger back traction wire 240 and bends and curls, and the finger back unit 210 is not pulled by the finger back traction wire 240, but is driven by the fingertip unit 220 and bends synchronously with the fingertip unit 220.
  • the finger module 200 can perform the grasping task; the finger driving unit 230 releases the fingertip traction wire 250 while tightening the finger back traction wire 240.
  • the finger back unit 210 is pulled by the finger back traction wire 240 and stretches from a bent state, and the fingertip unit 220 is not pulled by the fingertip traction wire 250, but is synchronously stretched under the drive of the finger back unit 210, so that the finger module 200 is restored to the initial state, and the finger module 200 releases the grasped object.
  • the anthropomorphic metamorphosis dexterous hand in the present invention highly restores the synergistic effect of the palm and fingers when the human hand performs a grasping action; for example, when the human hand performs a grasping action, the palm wraps and contracts toward the palm, and each finger bends and curls toward the palm.
  • the multiple palm connecting rods 110 of the palm module 100 can change the configuration and rotate toward the palm of the palm module 100 under the drive of the palm driving unit 120, and the finger driving unit 230 in the finger module 200 bends the finger back unit 210 and the finger web unit 220 through the traction wire, and cooperates with the contraction of the palm module 100 to enclose the object between the finger module 200 and the palm to complete the grasping task.
  • the flexibility of the finger pad unit 220 is set to be greater than the flexibility of the finger back unit 210.
  • the finger pad unit 220 contacts the object to be grasped, and the highly flexible finger pad unit 220 has a high degree of fit with the object to be grasped, and can adapt to the shape of the object to be grasped, thereby achieving stable grasping, and will not damage the object to be grasped due to hard contact or collision with the object to be grasped;
  • the finger pad unit 220 and the finger back unit 210 adopt a combination of soft and hard methods, and the finger back unit 210 has a higher hardness than the finger pad unit 220, and the finger pad unit 220 has better flexibility than the finger back unit 210, and the finger back Unit 210 provides a certain degree of rigid support for the finger module 200 to prevent the overall flexibility of the finger module 200 from being too large and affecting the structural strength.
  • the good flexibility of the finger pad unit 220 facilitates the bending of the finger module 200 toward the finger pad unit 220, which conforms to the characteristic that human fingers can only bend toward the palm, so that the finger module 200 has a certain degree of rigidity and flexibility at the same time, meeting the requirements for the rigidity and flexibility of the manipulator in different grasping environments.
  • each finger module 200 is connected to a different palm link 110, the bending directions of the finger modules 200 are different, but they all bend toward the palm of the palm module 100, and when the finger module 200 bends, the finger back unit 210 bends toward the finger web unit 220.
  • the finger pad unit 220 includes a plurality of finger pad connectors 221, which are arranged along the length direction of the finger module 200, and the edges of adjacent finger pad connectors 221 close to each other are connected to form a finger pad bending portion 222, and the thickness of the finger pad bending portion 222 is less than the thickness of the finger pad connector 221; in this way, a plurality of finger pad connectors 221 are connected to form the finger pad unit 220, and when the finger pad unit 220 is bent, it is bent based on the connection between the adjacent finger pad connectors 221, that is, the finger pad bending portion 222, and since the thickness of the finger pad bending portion 222 is relatively small, the bending of the finger pad unit 220 is more convenient.
  • the finger back unit 210 includes a plurality of finger back connectors 211, which are arranged along the length direction of the finger module 200, and the edges of adjacent finger back connectors 211 close to each other are connected to form a finger back bending portion 212, and the thickness of the finger back bending portion 212 is less than the thickness of the finger back connector 211; in this way, a plurality of finger back connectors 211 are connected to form the finger back unit 210, and when the finger back unit 210 is bent, it is bent based on the connection between the adjacent finger back connectors 211, that is, the finger back bending portion 212, and since the thickness of the finger back bending portion 212 is relatively small, the bending of the finger back unit 210 is more convenient.
  • the finger back bending portion 212 and the finger web bending portion 222 are arranged relatively to each other along the bending direction of the finger module 200.
  • the bending positions of the finger back unit 210 and the finger web unit 220 match each other, thereby avoiding the bending positions of the finger back unit 210 and the finger web unit 220 interfering with each other during the bending process of the finger module 200 due to the misalignment of the bending positions of the finger back unit 210 and the finger web unit 220, thereby affecting the grasping efficiency.
  • multiple finger pad connectors 221 are arranged along the width direction of the finger module 200, and the edges of the adjacent finger pad connectors 221 along the width direction are close to each other to form a transition portion 223, and the transition portion 223 is recessed away from the finger back unit 210; similarly, multiple finger back connectors 211 are arranged along the width direction of the finger module 200, and the edges of the adjacent finger back connectors 211 along the width direction are close to each other to form a reinforcement portion 213, and the reinforcement portion 213 protrudes toward the finger pad unit 220 and is located between adjacent finger pad units 220.
  • Arranging the fingertip connector 221 and the finger back connector 211 in the width direction can increase the gripping surface of the finger module 200 and the contact area between the finger module 200 and the object to be gripped, and improve the degree of envelopment of the finger module 200 to the object to be gripped; and, since the distance in the width direction of the finger back unit 210 is lengthened, the strength of the finger module 200 in the width direction is improved, and deformation in the width direction when the finger module 200 is bent can be avoided, which can improve the gripping stability of the finger module 200.
  • the transition part 223 on the fingertip unit 220 cooperates with the reinforcement part 213 on the finger back unit 210 to strengthen the gripping stability of the finger module 200.
  • the portion 213 abuts against the adjacent finger pad unit 220 in the width direction. Since the finger back unit 210 is stronger than the finger pad unit 220, the strength of the finger module 200 in the width direction can be further improved to prevent the finger module 200 from stretching or bending in the width direction.
  • the length direction mentioned above refers to the overall extension direction of the finger module 200 , and the finger module 200 extends back to the palm module 100 , which conforms to the basic shape of a human hand; the width direction refers to the arrangement direction of adjacent finger modules 200 .
  • a plurality of finger pad connectors 221 arranged along the length direction form a finger pad bending group
  • a plurality of finger back connectors 211 arranged along the length direction form a finger back bending group.
  • the finger pad bending group and the finger back bending group each have multiple groups, and adjacent finger pad connection groups are connected by a transition portion 223, and adjacent groups of finger back connection groups are connected by a reinforcement portion 213.
  • each group of finger pad connection groups is provided with a finger pad traction wire 250, and in the same finger module 200, the number of finger pad traction wires 250 is the same as the number of finger pad connectors 221 arranged in the width direction; similarly, each group of finger back connection groups is provided with a finger back traction wire 240, and in the same finger module 200, the number of finger back traction wires 240 is the same as the number of finger back connectors 211 arranged in the width direction.
  • the influence of the flexibility of the traction accuracy of the finger back unit 210 and the finger belly unit 220 can be reduced, the finger back bending group and the finger belly bending group in the same finger module 200 are bent synchronously, and the traction effect of the traction wire on different areas of the finger back unit 210 and the finger belly unit 220 is relatively uniform, thereby improving the gripping force of the finger module 200 on the object to be grasped.
  • the finger back connector 211 includes four finger back connecting surfaces 2111, the side edges of the four finger back connecting surfaces 2111 are connected end to end in sequence, and the vertices of the four finger back connecting surfaces 2111 coincide to form a finger back vertex angle 2112; the side edges of adjacent finger back connecting surfaces 2111 are connected to each other to form a connecting edge together, each finger back connector 211 includes four connecting edges, and two of the connecting edges extend along the width direction of the finger module 200 and are respectively located on two opposite sides of the finger back vertex angle 2112, and two of the connecting edges extend along the length direction of the finger module 200 and are respectively located on two opposite sides of the finger back vertex angle 2112.
  • the fingertip connector 221 includes four fingertip connector surfaces 2211, the side edges of the four fingertip connector surfaces 2211 are connected end to end in sequence, and the vertices of the four fingertip connector surfaces 2211 coincide to form a fingertip vertex angle 2212; the side edges of adjacent fingertip connector surfaces 2211 are connected to each other to form a connecting edge together, and each fingertip connector 221 includes four connecting edges, and two of the connecting edges extend along the width direction of the finger module 200 and are respectively located on two opposite sides of the fingertip vertex angle 2212, and two of the connecting edges extend along the length direction of the finger module 200 and are respectively located on two opposite sides of the fingertip vertex angle 2212.
  • the fingertip vertex angle 2212 is located on the side of the fingertip unit 220 facing away from the bending direction
  • the finger back vertex angle 2112 is located on the side of the finger back unit 210 facing away from the bending direction.
  • the finger back vertex angle 2112 is located on the side of the fingertip vertex angle 2212 facing away from the bending direction
  • the positions of the connecting edges on the finger back connector 211 and the connecting edges on the fingertip connector 221 correspond in the bending direction of the finger module 200.
  • the opening of the finger back top angle 2112 is set to be no less than the opening of the finger web top angle 2212.
  • the two connecting edges extending along the width direction in the finger back unit 210 can provide greater support in the width direction. Since the hardness of the finger back unit 210 is higher than that of the finger web unit 220, the finger back unit 210 can provide greater supporting force to the finger web unit 220 in the width direction, thereby improving the strength of the finger module 200 in the width direction and reducing the shrinkage and bending of the finger module 200 in the width direction.
  • the finger back unit 210 and the finger web unit 220 are connected to form an integrally formed structure; that is, the finger back unit 210 and the finger web unit 220 are integrally formed, and no later assembly is required.
  • the assembly difficulty of the finger module 200 is reduced, and on the other hand, the matching accuracy of the finger back bending portion 212 and the finger web bending portion 222 is high, so that the finger module 200 has a higher bending performance.
  • the finger back unit 210 and the finger web unit 220 are formed by injection molding, 3D printing, and other processing methods.
  • the finger back connector 211 and the finger pulp connector 221 are bonded to each other on the sides facing each other, and the finger back bending portion 212 and the finger pulp bending portion 222 are split structures.
  • the finger back connector 211 and the finger pulp connector 221 are bonded to each other, so that the finger back unit 210 and the finger pulp unit 220 form an integral structure and can bend synchronously, and the connection method is simple and fast; in addition, since the finger back bending portion 212 and the finger pulp bending portion 222 are not connected and are independent of each other, the influence of bonding on the bending performance of the finger module 200 can be reduced, so that the finger back bending portion 212 and the finger pulp bending portion 222 can be bent freely, thereby improving the bending flexibility of the finger module 200.
  • a notch 2213 is provided at the edge of the finger pad connector 221, and the notches 2213 of the finger pad connectors 221 adjacent in the length direction are arranged facing each other. After the finger pad connectors 221 adjacent in the length direction are connected to each other, the two notches 2213 are butted against each other and combined to form a closed through hole, and the notch 2213 is exactly located at the finger pad bending portion 222.
  • Providing the notch 2213 on the finger pad connector 221 can further improve the flexibility of the finger pad unit 220, reduce the degree of extrusion of the side of the finger pad bending portion 222 facing away from the finger back unit 210 when bending, and make the bending of the finger pad unit 220 more flexible.
  • notches 2213 are provided on opposite sides of the finger pad connector 221 along the length direction, and the notches 2213 of the finger pad connectors 221 adjacent to each other along the length direction are arranged opposite to each other. After the finger pad connectors 221 adjacent to each other in the length direction are connected to each other, the two notches 2213 are connected to each other and combined to form a closed through hole, and the notch 2213 is located exactly on the finger pad bending portion 222, and the notch 2213 on the side facing away from the finger back unit 210 is set to be larger than the notch 2213 on the side facing the finger back unit 210.
  • notches 2213 are set on both sides of the finger pad unit 220, which can improve the flexibility of the finger pad unit 220 during bending and stretching, and further improve the flexibility of the finger pad unit 220; and, because the finger module 200 turns away from the finger back unit 210 when bending, the notch 2213 on the side facing away from the finger back unit 210 is set to be larger than the notch 2213 on the side facing the finger back unit 210, which is more conducive to the bending of the finger pad unit 220 and makes the bending of the finger module 200 more flexible.
  • the interior of the fingertip connector 221 has a first cavity 2214 that runs through the length direction, and the first cavities 2214 of adjacent fingertip connectors 221 are connected. Since the interior of the fingertip connector 221 is hollow, the fingertip unit 220 is more flexible. When the fingertip unit 220 is bent, it can produce a greater deformation to adapt to the shape of the grasped object.
  • the back connector 211 has a second cavity 2113 running through it along the length direction, so that the finger back unit 210 can have a certain flexibility and can bend better when being pulled by the finger back pulling wire 240 or driven by the finger web unit 220.
  • the interior of the finger back connector 211 has a guide hole 2114 that penetrates along the length direction, and the guide holes 2114 of adjacent finger back units 210 are interconnected.
  • the finger back traction wire 240 is sequentially arranged in the guide hole 2114.
  • the finger back traction wire 240 is driven by the finger driving unit 230, it is guided by the guide hole 2114 and is retracted and released along the length direction of the finger module 200, so as to prevent the finger back traction wire 240 from shaking inside the finger back connector 211.
  • the guide hole 2114 is set in the finger back unit 210, which can accurately limit the bending direction of the finger module 200 and improve the grasping accuracy of the humanoid metamorphosis dexterous hand.
  • the finger web traction wire 250 is directly arranged in the first cavity 2214 of the plurality of finger web units 220, and the first cavity 2214 is used to realize the traction of the finger web unit 220 by the finger web traction wire 250.
  • the guide hole 2114 is arranged at the center of the finger back connector 211 in the width direction, so that the traction force on different areas of the finger back connector 211 in the width direction is more uniform, and the finger module 200 grasps the object more stably.
  • the finger module 200 further includes a fixing base 260, on which the finger drive unit 230, the finger back unit 210 and the finger web unit 220 are all mounted, and the fixing base 260 is detachably connected to the palm link 110.
  • the finger module 200 is mounted on the palm link 110 as an integral structure, and when the internal structure of the finger module 200 fails, the finger module 200 can be directly disassembled for maintenance; in addition, the finger drive unit 230 is located inside the finger module 200 and is not associated with the palm drive unit 120, which can reduce the interference between different drive elements inside the humanoid metamorphic dexterous hand, making the structure of the humanoid metamorphic dexterous hand simpler and the motion control faster.
  • the finger driving unit 230 can be configured as a reduction motor.
  • the finger driving unit 230 is installed inside the fixing seat 260.
  • a winding roller 270 is provided inside the fixing seat 260.
  • the finger back traction wire 240 or the finger belly traction wire 250 is wound around the outer periphery of the winding roller 270.
  • the winding roller 270 is connected to the finger driving unit 230 and rotates under the drive of the finger driving unit 230 to wind the finger back traction wire 240 or the finger belly traction wire 250 around the outer periphery of the winding roller 270 or release the traction wire wound on the winding roller 270.
  • Two winding rollers 270 are arranged in the fixing seat 260 along the stacking direction of the finger back unit 210 and the finger belly unit 220.
  • the two winding rollers 270 are used to wind the finger back traction wire 240 and the finger belly traction wire 250 respectively.
  • each winding roller 270 can be driven by one finger driving unit 230, or two winding rollers 270 share one finger driving unit 230.
  • the finger back unit 210 and the finger belly unit 220 are connected to the outer wall of the fixing seat 260, and the fixing seat 260 is provided with a finger back wire hole 261 extending toward the finger back unit 210 and a finger belly wire hole 261 extending toward the finger belly unit 220.
  • the finger back traction wire 240 is led out toward the finger back wire hole 261 by the winding roller 270, and is introduced into the guide hole 2114 in the finger back unit 210 through the guidance of the finger back wire hole 261.
  • the finger belly traction wire 250 is led out toward the finger belly wire hole 261 by the winding roller 270, and is introduced into the first cavity 2214 in the finger belly unit 220 through the guidance of the finger belly wire hole 261.
  • two palm drive units 120 are provided, wherein one palm link 110 includes two The two palm drive units 120 are respectively mounted on the two arms 111 and are used to drive the palm connecting rods 110 connected to the arms 111 to rotate. The rotation of the two palm connecting rods 110 can further drive the other palm connecting rods 110 that are rotatably connected to the two palm connecting rods 110 to rotate, so that the palm module 100 changes the corresponding configuration.
  • the two arms 111 provide a mounting base for the palm drive unit 120, so that the palm drive unit 120 is integrated into the interior of the palm module 100, and the appearance of the humanoid cell-like dexterous hand is more concise.
  • the anthropomorphic metamorphic dexterous hand also includes a base 300, and a palm link 110 with two arms 111 is rotatably connected to the base 300.
  • the palm link 110 rotates relative to the base 300, the positions of the palm module 100 and the finger module 200 can be changed.
  • the finger module 200 can grasp objects at different positions, thereby expanding the grasping range of the anthropomorphic metamorphic dexterous hand.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
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Abstract

本发明公开了一种仿人变胞灵巧手，包括手掌模块与多个手指模块，手指模块包括指背单元、指腹单元与手指驱动单元，指背单元与指腹单元层叠设置，指腹单元的柔性大于指背单元的柔性，手指驱动单元用于驱动指背牵引丝与指腹牵引丝收放，以使手指模块朝向指腹单元弯曲或背向指腹单元舒展。执行抓取任务时，指腹单元与待抓取物的贴合度较高，能够适应待抓取物的形状，指腹单元与指背单元采用软硬结合的方式，指背单元为手指模块提供一定程度的硬性支撑，指腹单元的柔性好，便于手指模块朝向指腹单元弯曲，符合人体手指只能朝向掌心弯曲的特性，使手指模块同时具备一定的刚性与柔性，满足不同抓取环境下对机械手刚度与柔度的需求。

Description

仿人变胞灵巧手 技术领域
本发明涉及机器人技术领域，尤其涉及一种仿人变胞灵巧手。
背景技术
机械手能够替代人手在复杂、恶劣的环境中执行多项任务，传统的机械手为适应高承载力的抓取场景，设置为全刚性的手掌和手指，但灵活性和控制力度的能力有限，并且机械手的驱动机构需要复杂的结构设计实现，造成机械手机构冗杂、成本高且可靠性低，另外实际使用场合中，为了更好的模仿人手进行工作，执行相应的抓取任务，机械手在具备整体刚性的同时需要兼具一定的柔性，传统机械手并不能满足上述要求。
发明内容
本发明旨在至少解决现有技术中存在的技术问题之一。为此，本发明提出一种仿人变胞灵巧手，能够兼顾机械手的刚度和柔度需求。
根据本发明实施例的仿人变胞灵巧手，包括：
手掌模块，包括多个手掌连杆与手掌驱动单元，多个所述手掌连杆首尾依次转动连接，并围合形成闭环结构，所述手掌驱动单元与部分的所述手掌连杆连接，以驱使相邻的所述手掌连杆相对转动；
手指模块，设置有多个，部分的所述手掌连杆上安装有一个所述手指模块，所述手指模块包括指背单元、指腹单元与手指驱动单元，所述指背单元与所述指腹单元层叠设置，所述指腹单元的柔性大于所述指背单元的柔性，所述指背单元内部穿设有指背牵引丝，所述指腹单元内部穿设有指腹牵引丝，所述指背牵引丝的一端连接于所述指背单元的尾端，另一端连接于所述手指驱动单元，所述指腹牵引丝的一端连接于所述指腹单元的尾端，另一端连接于所述手指驱动单元，所述手指驱动单元用于驱动所述指背牵引丝与所述指腹牵引丝收放，以使所述手指模块朝向所述指腹单元弯曲或背向所述指腹单元舒展。
根据本发明实施例的仿人变胞灵巧手，至少具有如下有益效果：
本发明中的指腹单元的柔性大于指背单元的柔性，执行抓取任务时，指腹单元与待抓取物的贴合度较高，能够适应待抓取物的形状，实现稳定抓取，指腹单元与指背单元采用软硬 结合的方式，指背单元为手指模块的提供一定程度的硬性支撑，指腹单元的柔性好，便于手指模块朝向指腹单元弯曲，符合人体手指只能朝向掌心弯曲的特性，使手指模块同时具备一定的刚性与柔性，满足不同抓取环境下对机械手刚度与柔度的需求。
根据本发明的一些实施例，所述指腹单元包括多个指腹连接体，所述指腹连接体沿所述手指模块的长度方向排布，相邻的所述指腹连接体相互靠近的边缘连接形成指腹弯曲部，所述指腹弯曲部的厚度小于所述指腹连接体的厚度；
所述指背单元包括多个指背连接体，所述指背连接体沿所述手指模块的长度方向排布，相邻的所述指背连接体相互靠近的边缘连接形成指背弯曲部，所述指背弯曲部的厚度小于所述指背连接体的厚度；
其中，所述指背弯曲部与所述指腹弯曲部沿所述手指模块的弯曲方向相对设置。
根据本发明的一些实施例，多个所述指腹连接体沿所述手指模块的宽度方向排布，沿所述宽度方向相邻的所述指腹连接体相互靠近的边缘连接形成过渡部，所述过渡部背向所述指背单元凹陷；
多个所述指背连接体沿所述手指模块的宽度方向排布，沿所述宽度方向相邻的所述指背连接体相互靠近的边缘连接形成加强部，所述加强部朝向所述指腹单元突出，并位于相邻的所述指腹单元之间。
根据本发明的一些实施例，所述指背单元与所述指腹单元连接形成一体成型结构；
或者，所述指背连接体与所述指腹连接体相向的一侧相互粘接，并且所述指背弯曲部与所述指腹弯曲部设置为分体式结构。
根据本发明的一些实施例，所述指背连接体包括四个指背连接面，四个所述指背连接面的侧边依次首尾相接，并且四个所述指背连接面的顶点重合，以形成指背顶角；
所述指腹连接体包括四个指腹连接面，四个所述指腹连接面的侧边依次首尾相接，并且四个所述指腹连接面的顶点重合，以形成指腹顶角，所述指背顶角在所述手指单元宽度方向的开度不小于所述指腹顶角的开度。
根据本发明的一些实施例，所述指腹连接体的边缘设有缺口，相邻所述指腹连接体的所述缺口相向设置，所述缺口位于所述指腹弯曲部。
根据本发明的一些实施例，所述指腹连接体沿所述长度方向相对的两侧设有缺口，相邻所述指腹连接体的缺口相向设置，所述缺口位于所述指腹弯曲部，并且背向所述指背单元一侧的所述缺口大于朝向所述指背单元一侧的所述缺口。
根据本发明的一些实施例，所述指腹连接体的内部具有沿所述长度方向贯穿的第一空腔， 相邻所述指腹连接体的所述第一空腔连通，所述指背连接体的内部具有沿所述长度方向贯穿的第二空腔，相邻所述指背连接体的所述第二空腔连通。
根据本发明的一些实施例，所述指背单元的内部设有沿所述长度方向贯穿的导向孔，相邻所述指背单元的所述导向孔相互连通，所述指背牵引丝依次穿设于所述导向孔内；所述指腹牵引丝依次穿设于所述第一空腔内。
根据本发明的一些实施例，所述手掌驱动单元设置有两个，其中一个所述手掌连杆包括两个支臂，两个所述手掌驱动单元分别安装于两个所述支臂，并用于驱动连接于所述支臂的所述手掌连杆转动。
根据本发明的一些实施例，所述手指模块包括固定座，所述手指驱动单元、所述指背单元与所述指腹单元均安装于所述固定座，所述固定座与所述手掌连杆可拆卸连接。
本发明的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实践了解到。
附图说明
下面结合附图和实施例对本发明做进一步的说明，其中：
图1为本发明仿人变胞灵巧手一个实施例的结构示意图；
图2为手指模块一个实施例的示意图；
图3为图2指背单元与指腹单元爆炸后的示意图；
图4为指背单元与指腹单元的剖视图；
图5为图2中A处的放大图；
图6为指腹单元一个实施例的示意图；
图7为图6中指腹单元另一方向的示意图；
图8为手指模块隐藏绕线辊后的示意图；
图9为手掌连杆一个实施例的示意图。
附图标记：
手掌模块100，手掌连杆110，支臂111，手掌驱动单元120；
手指模块200，指背单元210，指背连接体211，指背连接面2111，指背顶角2112，第
二空腔2113，导向孔2114，指背弯曲部212，加强部213，指腹单元220，指腹连接体221，指腹连接面2211，指腹顶角2212，缺口2213，第一空腔2214，指腹弯曲部222，过渡部223， 手指驱动单元230，指背牵引丝240，指腹牵引丝250，固定座260，导线孔261，绕线辊270；
底座300。
具体实施方式
下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，仅用于解释本发明，而不能理解为对本发明的限制。
在本发明的描述中，需要理解的是，涉及到方位描述，例如上、下、前、后、左、右等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
在本发明的描述中，若干的含义是一个以上，多个的含义是两个以上，大于、小于、超过等理解为不包括本数，以上、以下、以内等理解为包括本数。如果有描述到第一、第二只是用于区分技术特征为目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量或者隐含指明所指示的技术特征的先后关系。
本发明的描述中，除非另有明确的限定，设置、安装、连接等词语应做广义理解，所属技术领域技术人员可以结合技术方案的具体内容合理确定上述词语在本发明中的具体含义。
本发明的描述中，参考术语“一个实施例”、“一些实施例”、“示意性实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
参照图1，本发明的实施例中提供了一种仿人变胞灵巧手，仿人变胞灵巧手包括手掌模块100与手指模块200，手指模块200设置有多个，并安装于手掌模块100上，手掌模块100与手指模块200分别用于模拟人手的手掌及手指，多个手指模块200配合动作，并执行相应抓取任务。
具体的，手掌模块100包括多个手掌连杆110与手掌驱动单元120，多个手掌连杆110周围依次转动连接，并围合形成闭环结构，手掌驱动单元120与部分的手掌连杆110连接，以驱动相邻的手掌连杆110相对转动。为便于执行抓取动作，手指模块200设置为3-5个，只有部分的手掌连杆110上安装有手指模块200；另外，只有部分的手掌连杆110直接受手 掌驱动单元120的驱动而转动，其他的手掌连杆110受与其连接的其他手掌驱动单元120的带动而转动，由于多个手掌连杆110转动连接为闭环结构，在手掌驱动单元120的驱动下，参与转动的手掌连杆110的数量以及手掌模块100的自由度发生变化，以将手掌模块100构成变胞机构；如此，手掌模块100能够呈现出不同构型，使手指模块200变换不同的抓取角度，能够适用于多种任务环境下的抓取需求。
参照图2至图4，手指模块200包括指背单元210、指腹单元220与手指驱动单元230，指背单元210与指腹单元220层叠设置，指腹单元220的柔性大于指背单元210的柔性，指背单元210的内部穿设有指背牵引丝240，指腹单元220的内部穿设有指腹牵引丝250，指背牵引丝240的一端连接于指背单元210的尾端，另一端连接于手指驱动单元230，指腹牵引丝250的一端连接于指腹单元220的尾端，另一端连接于手指驱动单元230，手指驱动单元230用于驱动指背牵引丝240和指腹牵引丝250收放，以使手指模块200朝向指腹单元220弯曲或背向指腹单元220舒展。示例性的，初始状态下的手指模块200呈现为直线形态，手指驱动单元230拉动指腹牵引丝250收紧的同时，释放指背牵引丝240，此情形下，指腹单元220受指背牵引丝240的牵引并进行弯曲、蜷缩，指背单元210不受指背牵引丝240的牵引，而在指腹单元220的带动下跟随指腹单元220同步弯曲，此时，手指模块200能够执行抓取任务；手指驱动单元230释放指腹牵引丝250的同时，收紧指背牵引丝240，此情形下，指背单元210受指背牵引丝240的牵引，由弯曲状态进行舒展，指腹单元220不受指腹牵引丝250的牵引，而在指背单元210的带动下同步舒展，使手指模块200恢复至初始状态，此时手指模块200释放抓取物。
需要说明的是，本发明中的仿人变胞灵巧手高度还原了人手执行抓取动作时，手掌与手指的协同效应；如，人手执行抓取动作时，手掌向手心方向包绕、收缩，各个手指朝向手心弯曲、蜷缩，本发明中，手掌模块100的多个手掌连杆110在手掌驱动单元120的驱动下能够改变构型并朝向手掌模块100的掌心转动，并且手指模块200中的手指驱动单元230通过牵引丝牵引指背单元210与指腹单元220弯曲，配合手掌模块100的收缩，将物体包络于手指模块200与掌心之间，完成抓取任务。
进一步的，本发明中将指腹单元220的柔性设置为大于指背单元210的柔性，一方面，执行抓取任务时，指腹单元220与待抓取物接触，高柔性的指腹单元220与待抓取物的贴合度较高，能够适应待抓取物的形状，实现稳定抓取，并且不会因为与待抓取物之间产生硬性接触、碰撞，而损坏待抓取物；另一方面，指腹单元220与指背单元210采用软硬结合的方式，指背单元210比指腹单元220的硬度高，指腹单元220较指背单元210的柔度好，指背 单元210为手指模块200的提供一定程度的硬性支撑，避免手指模块200整体柔度过大而影响结构强度，指腹单元220的柔性好，便于手指模块200朝向指腹单元220弯曲，符合人体手指只能朝向掌心弯曲的特性，使手指模块200同时具备一定的刚性与柔性，满足不同抓取环境下对机械手刚度与柔度的需求。
需要说明的是，由于每一手指模块200连接于不同的手掌连杆110，手指模块200的弯曲方向各异，但均朝向手掌模块100的掌心弯曲，并且手指模块200弯曲时，指背单元210朝向指腹单元220弯曲。
在一些实施例中，参照图3，指腹单元220包括多个指腹连接体221，指腹连接体221沿手指模块200的长度方向排布，相邻的指腹连接体221相互靠近的边缘连接形成指腹弯曲部222，指腹弯曲部222的厚度小于指腹连接体221的厚度；如此，多个指腹连接体221连接形成指腹单元220，指腹单元220弯曲时基于相邻的指腹连接体221的连接处，即指腹弯曲部222进行弯曲，由于指腹弯曲部222的厚度较小，使指腹单元220的弯曲更为便利。同样的，指背单元210包括多个指背连接体211，指背连接体211沿手指模块200的长度方向排布，相邻的指背连接体211相互靠近的边缘连接形成指背弯曲部212，指背弯曲部212的厚度小于指背连接体211的厚度；如此，多个指背连接体211连接形成指背单元210，指背单元210弯曲时基于相邻的指背连接体211的连接处，即指背弯曲部212进行弯曲，由于指背弯曲部212的厚度较小，使指背单元210的弯曲更为便利。进一步的，指背弯曲部212与指腹弯曲部222沿手指模块200的弯曲方向相对设置，在手指模块200弯曲时，指背单元210与指腹单元220的弯曲位置相匹配，避免由于指背单元210与指腹单元220的弯曲位置错位，导致在手指模块200弯曲过程中，指背单元210的弯曲与指腹单元220的弯曲相互干涉，影响抓取效率。
进一步的，多个指腹连接体221沿手指模块200的宽度方向排布，沿宽度方向相邻的指腹连接体221相互靠近的边缘形成过渡部223，过渡部223背向指背单元210凹陷；同样的，多个指背连接体211沿手指模块200的宽度方向排布，沿宽度方向相邻的指背连接体211相互靠近的边缘形成加强部213，加强部213朝向指腹单元220突出，并位于相邻的指腹单元220之间。将指腹连接体221与指背连接体211在宽度方向上排布，可以增大手指模块200的抓取面以及手指模块200与待抓取物之间的接触面积，提高手指模块200对待抓取物的包络程度；并且，由于指背单元210宽度方向上的距离加长，手指模块200在宽度方向上的强度提高，避免手指模块200弯曲时在宽度方向上发生变形，能够提高手指模块200抓取的稳定性。另外，指腹单元220上的过渡部223与指背单元210上的加强部213相互配合，加强 部213在宽度方向上与相邻的指腹单元220抵接，由于指背单元210的强度高于指腹单元220，能够进一步提高手指模块200在宽度方向上的强度，避免手指模块200在宽度方向上的伸缩或弯曲。
需要说明的是，上述的长度方向是指手指模块200整体的延伸方向，手指模块200背向手掌模块100延伸，符合人手的基本形态；宽度方向是指相邻手指模块200的排布方向。
多个沿长度方向排布的指腹连接体221形成指腹弯曲组，多个沿长度方向排布的指背连接体211形成指背弯曲组，当指腹连接体221与指背连接体211排布有多个时，指腹弯曲组与指背弯曲组均具有多组，相邻的指腹连接组通过过渡部223连接，相邻组的指背连接组通过加强部213连接。需要说明的是，每组的指腹连接组内均穿设有一个指腹牵引丝250，同一手指模块200内，指腹牵引丝250的数量与指腹连接体221在宽度方向上排布的数量相同；同样的，每组的指背连接组内均穿设有一个指背牵引丝240，同一手指模块200内，指背牵引丝240的数量与指背连接体211在宽度方向上排布的数量相同。如此，能够减小指背单元210与指腹单元220的柔度牵引精度的影响，同一手指模块200内的指背弯曲组与指腹弯曲组同步弯曲，指背单元210与指腹单元220的不同区域所受到的牵引丝的牵引作用相对均匀，提高了手指模块200对待抓取物的抓取力度。
本发明中，参照图5，指背连接体211包括四个指背连接面2111，四个指背连接面2111的侧边依次首尾相接，并且四个指背连接面2111的顶点重合，以形成指背顶角2112；相邻的指背连接面2111的侧边相互连接后共同形成结合棱，每一指背连接体211内均包括四个结合棱，并且其中两条结合棱沿手指模块200的宽度方向延伸，且分别位于指背顶角2112相对的两侧，其中两条结合棱沿手指模块200的长度方向延伸，且分别位于指背顶角2112相对的两侧。同样的，参照图6，指腹连接体221包括四个指腹连接面2211，四个指腹连接面2211的侧边依次首尾相接，并且四个指腹连接面2211的顶点重合，以形成指腹顶角2212；相邻的指腹连接面2211的侧边相互连接后共同形成结合棱，每一指腹连接体221内均包括四个结合棱，并且其中两条结合棱沿手指模块200的宽度方向延伸，且分别位于指腹顶角2212相对的两侧，其中两条结合棱沿手指模块200的长度方向延伸，且分别位于指腹顶角2212相对的两侧。
需要说明的是，指腹顶角2212位于指腹单元220背向弯曲方向的一侧，指背顶角2112位于指背单元210背向弯曲方向的一侧，指背单元210与指腹单元220层叠设置后，指背顶角2112位于指腹顶角2212背向弯曲方向的一侧，指背连接体211上的结合棱与指腹连接体221上的结合棱的位置在手指模块200的弯曲方向上对应。本实施例中，沿手指模块200的 宽度方向，设置指背顶角2112的开度不小于指腹顶角2212的开度，指背单元210中沿宽度方向延伸的两条结合棱能够在宽度方向上提供更大的支撑，由于指背单元210的硬度高于指腹单元220的硬度，指背单元210能够在宽度方向上向指腹单元220提供更大的支撑力，进而提高手指模块200在宽度方向上的强度，减小手指模块200在宽度方向上的收缩、弯曲。
在一个实施例中，指背单元210与指腹单元220连接形成一体成型结构；即，指背单元210与指腹单元220一体呈型，无需进行后期装配。一方面，降低了手指模块200的装配难度，另一方面，指背弯曲部212与指腹弯曲部222的匹配精度高，使手指模块200具有较高的弯曲性能。示例性的，指背单元210与指腹单元220通过注塑、3D打印等加工方式成型。
在其他实施例中，指背连接体211与指腹连接体221相向的一侧相互粘接，并且指背弯曲部212与指腹弯曲部222为分体式结构。从而，在指背单元210与指腹单元220的层叠方向上，指背连接体211与指腹连接体221相互粘接，使指背单元210与指腹单元220形成整体结构，并能够同步弯曲，连接方式简单、快捷；另外，由于指背弯曲部212与指腹弯曲部222并未连接，并相互独立，因此能够减小粘接对手指模块200弯曲性能的影响，使指背弯曲部212与指腹弯曲部222能够自由弯曲，提高了手指模块200的弯曲的灵活度。
本发明中，参照图6与图7，指腹连接体221的边缘设置有缺口2213，在长度方向上相邻的指腹连接体221的缺口2213相向设置，长度方向上相邻的指腹连接体221相互连接后，两个缺口2213相互对接并组合形成封闭的通孔，且该缺口2213恰好位于指腹弯曲部222。在指腹连接体221上设置缺口2213，能够进一步提高指腹单元220的柔性，减小指腹弯曲部222背向指背单元210的一侧在弯曲时的挤压程度，使指腹单元220的弯曲更为灵活。
在另一实施例中，指腹连接体221沿长度方向相对的两侧均设有缺口2213，沿长度方向相邻的指腹连接体221的缺口2213相向设置，长度方向上相邻的指腹连接体221相互连接后，两个缺口2213相互对接并组合形成封闭的通孔，且缺口2213恰好位于指腹弯曲部222上，背向指背单元210一侧的缺口2213设置为大于朝向所述指背单元210一侧的缺口2213。如此，指腹单元220的两侧均设置缺口2213，可以提高指腹单元220弯曲以及舒展过程中的灵活度，进一步提高了指腹单元220的柔性；并且，由于手指模块200弯曲时背向指背单元210，将背向指背单元210一侧的缺口2213设置为大于朝向指背单元210一侧的缺口2213，更有利于指腹单元220的弯曲，使手指模块200的弯曲更为灵活。
本发明中，参照图3，指腹连接体221的内部具有沿长度方向贯穿的第一空腔2214，相邻的指腹连接体221的第一空腔2214连通，由于指腹连接体221的内部中空，指腹单元220的柔性更高，指腹单元220弯曲时，能够产生更大的变形以适配抓取物的形状。同样的，指 背连接体211的内部具有沿长度方向贯穿的第二空腔2113，使指背单元210能够兼顾一定的柔性，在受到指背牵引丝240牵引或者指腹单元220带动时，能够更好的进行弯曲。
进一步的，参照图4，指背连接体211的内部具有沿长度方向贯穿的导向孔2114，相邻指背单元210的导向孔2114相互连通，指背牵引丝240依次穿设于导向孔2114内，指背牵引丝240受手指驱动单元230的驱动时，受导向孔2114的导向而沿手指模块200的长度方向收放，避免指背牵引丝240在指背连接体211内部晃动，由于指背单元210具有一定硬度，将导向孔2114设置于指背单元210，能够准确限定手指模块200的弯曲方向，提高仿人变胞灵巧手的抓取精度。另外，指腹牵引丝250直接穿设于多个指腹单元220的第一空腔2214内，利用第一空腔2214实现指腹牵引丝250对指腹单元220的牵引。
另外，导向孔2114设置于指背连接体211在宽度方向上的中心处，指背连接体211宽度方向上不同区域所受的牵引力更为均匀，手指模块200对抓取物的抓取更为稳定。
参照图2，手指模块200还包括固定座260，手指驱动单元230、指背单元210与指腹单元220均安装于固定座260上，固定座260与手掌连杆110可拆卸连接。如此，手指模块200作为一整体结构安装于手掌连杆110，手指模块200内部结构出现故障时，可以直接拆卸手指模块200进行维护；另外，手指驱动单元230位于手指模块200内部，与手掌驱动单元120没有关联，可以降低仿人变胞灵巧手内部不同驱动元件之间的干涉，使仿人变胞灵巧手结构更为简单，运动控制更为快捷。
手指驱动单元230可以设置为减速电机，手指驱动单元230安装于固定座260的内部，固定座260的内部设有绕线辊270，指背牵引丝240或指腹牵引丝250绕设于绕线辊270的外周，绕线辊270与手指驱动单元230连接，并在手指驱动单元230的驱动下转动，以将指背牵引丝240或指腹牵引丝250缠绕于绕线辊270的外周或者释放缠绕于绕线辊270上的牵引丝。固定座260内沿指背单元210与指腹单元220的层叠方向排布有两个绕线辊270，两个绕线辊270分别用于绕设指背牵引丝240和指腹牵引丝250，另外，每一绕线辊270均可通过一个手指驱动单元230进行驱动，或者两个绕线辊270共用一个手指驱动单元230。
另外，参照图8，指背单元210与指腹单元220连接于固定座260的外壁，固定座260内设置有朝向指背单元210延伸的指背导线孔261与朝向指腹单元220延伸的指腹导线孔261，指背牵引丝240由绕线辊270向指背导线孔261引出，经由指背导线孔261的导向，引入指背单元210内的导向孔2114内，指腹牵引丝250由绕线辊270向指腹导线孔261引出，经由指腹导线孔261的导向，引入指腹单元220内的第一空腔2214内。
本发明中，参照图9，手掌驱动单元120设置有两个，其中一个手掌连杆110包括两个 支臂111，两个手掌驱动单元120分别安装于两个支臂111上，并用于驱动连接于支臂111的手掌连杆110转动，两个手掌连杆110的转动能够进一步带动与该两个手掌连杆110转动连接的其他手掌连杆110转动，使手掌模块100变换相应构型。需要说明的是，两个支臂111为手掌驱动单元120提供安装基础，使手掌驱动单元120集成于手掌模块100的内部，仿人变胞灵巧手的外形更为简洁。
另外，仿人变胞灵巧手还包括底座300，具有两个支臂111的手掌连杆110转动连接于底座300上，该手掌连杆110相对底座300转动时，能够改变手掌模块100与手指模块200的位置，手指模块200能够对不同位置处的抓取物进行抓取，扩大了仿人变胞灵巧手的抓取范围。
上面结合附图对本发明实施例作了详细说明，但是本发明不限于上述实施例，在所属技术领域普通技术人员所具备的知识范围内，还可以在不脱离本发明宗旨的前提下作出各种变化。此外，在不冲突的情况下，本发明的实施例及实施例中的特征可以相互组合。

Claims (11)

  1. 仿人变胞灵巧手，其特征在于，包括：
    手掌模块，包括多个手掌连杆与手掌驱动单元，多个所述手掌连杆首尾依次转动连接，并围合形成闭环结构，所述手掌驱动单元与部分的所述手掌连杆连接，以驱使相邻的所述手掌连杆相对转动；
    手指模块，设置有多个，部分的所述手掌连杆上安装有一个所述手指模块，所述手指模块包括指背单元、指腹单元与手指驱动单元，所述指背单元与所述指腹单元层叠设置，所述指腹单元的柔性大于所述指背单元的柔性，所述指背单元内部穿设有指背牵引丝，所述指腹单元内部穿设有指腹牵引丝，所述指背牵引丝的一端连接于所述指背单元的尾端，另一端连接于所述手指驱动单元，所述指腹牵引丝的一端连接于所述指腹单元的尾端，另一端连接于所述手指驱动单元，所述手指驱动单元用于驱动所述指背牵引丝与所述指腹牵引丝收放，以使所述手指模块朝向所述指腹单元弯曲或背向所述指腹单元舒展。
  2. 根据权利要求1所述的仿人变胞灵巧手，其特征在于，所述指腹单元包括多个指腹连接体，所述指腹连接体沿所述手指模块的长度方向排布，相邻的所述指腹连接体相互靠近的边缘连接形成指腹弯曲部，所述指腹弯曲部的厚度小于所述指腹连接体的厚度；
    所述指背单元包括多个指背连接体，所述指背连接体沿所述手指模块的长度方向排布，相邻的所述指背连接体相互靠近的边缘连接形成指背弯曲部，所述指背弯曲部的厚度小于所述指背连接体的厚度；
    其中，所述指背弯曲部与所述指腹弯曲部沿所述手指模块的弯曲方向相对设置。
  3. 根据权利要求2所述的仿人变胞灵巧手，其特征在于，多个所述指腹连接体沿所述手指模块的宽度方向排布，沿所述宽度方向相邻的所述指腹连接体相互靠近的边缘连接形成过渡部，所述过渡部背向所述指背单元凹陷；
    多个所述指背连接体沿所述手指模块的宽度方向排布，沿所述宽度方向相邻的所述指背连接体相互靠近的边缘连接形成加强部，所述加强部朝向所述指腹单元突出，并位于相邻的所述指腹单元之间。
  4. 根据权利要求2所述的仿人变胞灵巧手，其特征在于，所述指背单元与所述指腹单元连接形成一体成型结构；
    或者，所述指背连接体与所述指腹连接体相向的一侧相互粘接，并且所述指背弯曲部与所述指腹弯曲部设置为分体式结构。
  5. 根据权利要求2所述的仿人变胞灵巧手，其特征在于，所述指背连接体包括四个指背 连接面，四个所述指背连接面的侧边依次首尾相接，并且四个所述指背连接面的顶点重合，以形成指背顶角；
    所述指腹连接体包括四个指腹连接面，四个所述指腹连接面的侧边依次首尾相接，并且四个所述指腹连接面的顶点重合，以形成指腹顶角，所述指背顶角在所述手指单元宽度方向的开度不小于所述指腹顶角的开度。
  6. 根据权利要求2所述的仿人变胞灵巧手，其特征在于，所述指腹连接体的边缘设有缺口，相邻所述指腹连接体的所述缺口相向设置，所述缺口位于所述指腹弯曲部。
  7. 根据权利要求2所述的仿人变胞灵巧手，其特征在于，所述指腹连接体沿所述长度方向相对的两侧设有缺口，相邻所述指腹连接体的缺口相向设置，所述缺口位于所述指腹弯曲部，并且背向所述指背单元一侧的所述缺口大于朝向所述指背单元一侧的所述缺口。
  8. 根据权利要求2所述的仿人变胞灵巧手，其特征在于，所述指腹连接体的内部具有沿所述长度方向贯穿的第一空腔，相邻所述指腹连接体的所述第一空腔连通，所述指背连接体的内部具有沿所述长度方向贯穿的第二空腔，相邻所述指背连接体的所述第二空腔连通。
  9. 根据权利要求8所述的仿人变胞灵巧手，其特征在于，所述指背单元的内部设有沿所述长度方向贯穿的导向孔，相邻所述指背单元的所述导向孔相互连通，所述指背牵引丝依次穿设于所述导向孔内；所述指腹牵引丝依次穿设于所述第一空腔内。
  10. 根据权利要求1所述的仿人变胞灵巧手，其特征在于，所述手掌驱动单元设置有两个，其中一个所述手掌连杆包括两个支臂，两个所述手掌驱动单元分别安装于两个所述支臂，并用于驱动连接于所述支臂的所述手掌连杆转动。
  11. 根据权利要求1所述的仿人变胞灵巧手，其特征在于，所述手指模块包括固定座，所述手指驱动单元、所述指背单元与所述指腹单元均安装于所述固定座，所述固定座与所述手掌连杆可拆卸连接。
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