CN113894832B

CN113894832B - Three-finger rope-driven dexterous hand

Info

Publication number: CN113894832B
Application number: CN202111311958.9A
Authority: CN
Inventors: 李辉; 赵川; 张柏楠; 蒋志宏; 黄强; 刘梦华; 郑涛; 马亦凡; 曹晓磊; 孙泽源; 刘运淇; 冯甚尧; 王郅豪
Original assignee: Beijing Institute of Technology BIT
Current assignee: Beijing Institute of Technology BIT
Priority date: 2021-11-08
Filing date: 2021-11-08
Publication date: 2023-03-14
Anticipated expiration: 2041-11-08
Also published as: CN113894832A

Abstract

The invention discloses a three-finger rope-driven dexterous hand, which relates to the technical field of three-finger mechanical arms applied in an unstructured environment and comprises a finger module, a finger-palm joint module and a palm module; the two sides of the middle bottom of the palm module are respectively provided with a finger-palm joint module which is used for connecting the finger modules positioned at the two sides; the top of the palm module is provided with a finger module. The rope wheel mechanism and the coupling connecting rod mechanism of the fingers respectively improve the gripping force and the wrapping property of the fingers, realize the cooperative control of all joints of the fingers, and ensure that the fingers meet the self-adaptability when gripping objects so as to simplify the control process. The interlocking joint realizes the motion control of the rotation and the side swing of the interphalangeal joint through a spring-pulley mechanism which is distributed in an orthogonal way, realizes the fusion and the cooperation of a palm joint and a finger joint transmission system, and realizes the cooperative control of the orthogonal motion of the joint. The multi-freedom-degree flexible control of the three-finger manipulator is realized under the condition of double drive, and the number of motors and the complexity of cooperative control are greatly reduced.

Description

Three-finger rope-driven dexterous hand

Technical Field

The invention relates to the technical field of three-finger manipulators applied to unstructured environments, in particular to a three-finger rope-driven dexterous hand.

Background

The three finger manipulator can cover almost all gripping functions. At present, the three-finger dexterous hand is mostly represented by an underactuated mechanism, so that the number of driving motors is simplified, but the three-finger dexterous hand lacks dexterity and only can meet basic grasping. For example, the invention with the patent application number of CN201310574100.0 discloses a driving system of an underactuated robot dexterous hand, which is integrated in a palm, can realize linkage driving of multiple fingers (the number n of the fingers is more than or equal to 3) by only one steering engine, has simple structure and convenient control and installation, and enlarges the practicability and the application range of the multi-finger dexterous hand, but a finger-palm joint does not have the control capacity of side swinging and rotation, so that the dexterity of the fingers is reduced, and the motion range and the transmission ratio of a finger joint driving mechanism are smaller. The invention with the patent application number CN202011343866.4 relates to a three-finger dexterous hand based on a full-drive finger. The three-finger dexterous hand based on the fully-driven fingers has the advantages of flexible structure, simplicity in control, high position precision and good stability, each finger tip has larger accessible space, position control and torque control grabbing can be realized according to instructions, the grabbing stability of objects with complex structures is improved, the complexity of control is increased due to full driving of the joints, the driving force of the finger joints is limited, and meanwhile force-position mixed control in the coating process is complex. CN202110725355.7 patent application number is a rigid-soft coupling under-actuated dexterous hand device, in which the thumb additionally increases a "swing" degree of freedom through a bevel gear mechanism on the palm. The knuckles of the fingers are all made of soft materials, the joints are all made of rigid materials, and the knuckles and the joints are sequentially and alternately bonded to form a rigid-flexible coupling structure. The roots of all the fingers are fixed on the palm of the hand, and the palm is connected with the fixed platform through the palm connecting base. Five fingers are driven by tendon ropes, and all driving systems are integrated in the dexterous hand device. The whole finger can be prevented from being damaged after colliding with the environment under the non-structural environment, and the grabbing stability is enhanced; is beneficial to realizing object pinching by fingertips; by adopting the modularized design idea, five fingers are completely independent from the palm, the processing and the assembly are simpler, the four fingers do not have side swing movement, and the number of joints is larger; the joints of the fingers only have bending drive and no extension drive, and the under-actuated smart operation of the interphalangeal joints is not realized.

Disclosure of Invention

In order to solve the technical problems, the invention provides a three-finger rope-driven dexterous hand to solve the problem of multi-joint under-actuated control, so that the control complexity and the grabbing capacity of a three-finger manipulator are improved.

In order to achieve the purpose, the invention provides the following scheme:

the invention provides a three-finger rope-driven dexterous hand which comprises a finger module, a finger-palm joint module and a palm module; the two sides of the middle bottom of the palm module are respectively provided with the finger-palm joint module, and the finger-palm joint module is used for connecting the finger modules positioned at the two sides; the finger module is arranged at the top of the palm module;

the finger modules connected with the finger-palm joint module are a first finger and a second finger respectively, and the finger modules connected with the top end of the palm module are a third finger respectively.

Optionally, the palm module comprises a palm shell, an upper support plate, a finger upright post and a lower support plate which are connected in sequence; the finger upright post is connected with the finger III; the lower supporting plate faces one side of the upper supporting plate and is provided with an L-shaped frame, two finger-palm joint modules are arranged between the L-shaped frame and the upper supporting plate and are respectively connected with the first finger and the second finger.

Optionally, a first motor is arranged on one side, facing the upper supporting plate, of the L-shaped frame, and a first large wheel disc and a second large wheel disc are arranged on an output shaft of the first motor;

a motor II is arranged on one side, facing the lower supporting plate, of the upper supporting plate, and a large wheel disc III is arranged on an output shaft of the motor II;

a finger stretching rope II is arranged on the large wheel disc I and used for driving the finger module to stretch and laterally swing;

a finger extension rope III is arranged on the large wheel disc II and is used for driving the finger III to extend and rotate for locking;

and a finger bending rope II is arranged on the large wheel disc III and used for driving the finger module to bend and rotate for locking.

Optionally, a driving hole is formed in the middle of the finger upright post, and the finger extension rope III penetrates through the driving hole and is connected with the finger in a three-phase mode; the finger stand is close to the one end of going up the backup pad is provided with and indicates the side pendulum shaft hole, indicate the side pendulum shaft hole be used for with indicate three connections.

Optionally, the finger and palm joint module comprises a finger and palm joint shell, a rotary spring locker, a side-swinging spring locker and a guide wheel II;

a rotary hole is formed in the middle of the finger-palm joint shell along the direction parallel to the finger module, a rotary shaft is arranged in the rotary hole and used for enabling the finger-palm joint module to rotate relative to the palm module;

a side swinging hole is formed in the middle of the palm joint shell along the direction perpendicular to the finger module and is used for being connected with the finger module;

the top end face of the palm joint shell is provided with the second guide wheel, the outer side end face of the palm joint shell is provided with the rotary spring locking device, and one side of the palm joint shell, which is close to the lower supporting plate, is provided with the side swing spring locking device.

Optionally, the rotation spring locker and the side pendulum spring locker both include a limiting housing, a guide sheave, a locking pin, and a locking spring; the limiting shell is arranged in the palm joint shell, the locking pin penetrates through the limiting shell, and an arc-shaped groove is formed in the end part, extending into the palm joint shell, of one end of the locking pin; the locking spring is arranged between the locking pin and the limiting shell, and the guide sheave is arranged at the bottom of the other end of the locking pin;

the finger bending rope III extends out of the large wheel disc III and then sequentially passes through the guide wheel II and the guide grooved wheel of the rotary spring locker to be connected with the finger module;

the finger extension rope II extends out of the large wheel disc I and then sequentially passes through a guide wheel III and a guide grooved wheel of the side swing spring locking device and then is connected with the finger module; and the third guide wheel is arranged on the L-shaped frame.

Optionally, two ends of the L-shaped frame facing the upper supporting plate are respectively provided with a third guide frame, and the third guide wheel is arranged on the third guide frame.

Optionally, the finger module comprises a finger section I, a finger section II, a finger section III and a finger section IV; a side swing shaft is arranged on the inner side of the finger section IV and is used for being connected with the finger-palm joint module or the palm module; the first finger section is connected with the second finger section through a first joint; the second finger section is connected with the third finger section through a second joint; the third finger section is connected with the fourth finger section through a third joint;

one end of the inner side of the finger section II is provided with a guide wheel I;

the first joint comprises a first driven rod, a first rocker, a first driving rod and a first roller; one end of the rocker is connected with the middle part of the first finger section, the other end of the rocker is connected with one end of the driven rod, the middle part of the driven rod is connected with one end of the driving rod, the other end of the driven rod is connected with one end of the second finger section, the other end of the driving rod is connected with one end of the first finger section, the roller I is arranged in the second finger section in a sliding mode, and the roller I is connected with the middle part of the driven rod I and one end of the first finger section; a first spring set is arranged between one end of the first finger section and the other end of the first rocker;

the second joint comprises a second driving rod, a second driven rod, a second roller and a second rocker; one end of the second rocker is connected with one end of the second finger section, the other end of the second rocker is connected with one end of the second driven rod, the other end of the second driven rod is connected with one end of the third finger section, the middle part of the second driving rod is connected with the middle part of the second driven rod, one end of the second driving rod is connected with the other end of the second finger section, the other end of the second driving rod is connected with the second roller, the second roller is slidably arranged in the third finger section, and the other end of the third finger section and one end of the second rocker are provided with a second spring group;

the third joint comprises a third roller, a third driving rod, a third driven rod and a third rocker; one end of the rocker III is connected with one end of the finger section III, the other end of the rocker III is connected with one end of the driven rod III, the middle of the driven rod III is connected with one end of the driving rod III, the other end of the driven rod III is connected with one end of the finger section IV, the other end of the driving rod III is connected with the roller in a three-phase mode, the roller III is slidably arranged in the finger section IV, and a spring group III is arranged at the other end of the finger section III and one end of the rocker III;

the elastic force of the first spring group is larger than that of the second spring group and larger than that of the third spring group.

Optionally, a sheave deca a is coaxially arranged on the roller three, a sheave nine a is arranged at one end of the finger section four, a sheave seven a is arranged in the middle of the driving rod three, a sheave eight a is arranged at one end of the finger section three, a sheave six a is coaxially arranged on the roller two, a sheave five a is arranged at the other end of the finger section three, a sheave four a is arranged in the middle of the driving rod two, a sheave three a is arranged at one end of the finger section two, a sheave two a is coaxially arranged on the roller one, a sheave one a is arranged at the other end of the finger section two, and a tie rod one is arranged at one side, away from the sheave two a, of the other end of the finger section two;

one end of the extension rope is connected with a finger extension rope, and the other end of the extension rope sequentially bypasses the sheave deca A, the sheave nine A, the sheave seven A, the sheave eight A, the sheave six A, the sheave five A, the sheave four A, the sheave three A, the sheave two A and the sheave one A and then is fixed on the tie bar one.

Optionally, a geneva wheel decab is coaxially arranged on the roller three, a geneva wheel nonab is arranged at one end of the finger section four, a geneva wheel heptab is arranged in the middle of the driving rod three, a geneva wheel octab is arranged at one end of the finger section three, a geneva wheel hexab is coaxially arranged on the roller two, a geneva wheel pentab is arranged at the other end of the finger section three, a geneva wheel tetrab is arranged in the middle of the driving rod two, a geneva wheel trisb is arranged at one end of the finger section two, a geneva wheel diab is coaxially arranged on the roller one, a geneva wheel first B is arranged at the other end of the finger section two, and a tie bar second is arranged on one side, away from the geneva wheel second B, of the other end of the finger section two;

one end of the bent rope is connected with the bent rope, and the other end of the bent rope sequentially bypasses the ten sheave B, the nine sheave B, the seven sheave B, the eight sheave B, the six sheave B, the five sheave B, the four sheave B, the three sheave B, the two sheave B and the one sheave B and then is fixed on the second tie bar.

Compared with the prior art, the invention achieves the following technical effects:

according to the novel self-adaptive three-finger manipulator based on the mechanism interlocking control, the rope wheel mechanism and the coupling link mechanism of the fingers respectively improve the gripping force and the wrapping property of the fingers, and the combination of the rope wheel mechanism and the coupling link mechanism realizes the cooperative control of all joints of the fingers, so that the self-adaptability is met when the fingers grip an object, and the control process is simplified. The interlocking joint realizes the motion control of the rotation and the lateral swing of the interphalangeal joint through a spring-pulley mechanism which is distributed in an orthogonal way, thereby realizing the fusion and the cooperation of a palm joint and a finger joint transmission system and realizing the cooperative control of the orthogonal motion of the joint. The manipulator of the invention can realize multi-degree-of-freedom flexible control of the three-finger manipulator under the condition of only double drive, and greatly reduces the number of motors and the complexity of cooperative control.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required in the embodiments will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic view of the overall structure according to the present invention;

FIG. 2 is a schematic diagram of a single finger side view according to the present invention;

FIG. 3 is a schematic top view of a single finger according to the present invention;

FIG. 4 isbase:Sub>A cross-sectional view taken along the plane A-A ofbase:Sub>A single finger according to the present invention;

FIG. 5 is a cross-sectional view taken along the plane B-B of a single finger according to the present invention;

FIG. 6 is a schematic view of a metacarpal joint module according to the present invention;

FIG. 7 is a schematic side view of a knuckle module according to the present invention;

FIG. 8 is a schematic oblique left side view of a palm module according to the present invention;

FIG. 9 is a diagonal right side schematic view of a palm module according to the invention;

in the figure:

1. a finger module; 2. a finger and palm joint module; 3. a palm module; A. a first finger; B. a second finger; C. a third finger;

101. a finger section four; 102. a third roller; 103. a third driving rod; 104. a finger section III; 105. a driven rod III; 106. a rocker III; 107. a second driving rod; 108. a driven rod II; 109. a finger section II; 110. a rocker II; 111. a first driven rod; 112. a first finger section; 113. a first rocker; 114. a first spring set; 115. a first driving rod; 116. a first roller; 117. a second spring set; 118. a third spring group;

119. a second roller; 120. a first guide wheel; 121. a side swing shaft; 122. a grooved wheel A; 123. a second grooved wheel A; 124. a grooved pulley III A; 125. a grooved wheel V A; 126. a grooved wheel six A; 127. eight A grooved wheels; 128. a grooved pulley nine A; 129. stretching the rope; 130. a grooved pulley deca A; 131. a guide pin;

132. a grooved pulley seven A; 133. a grooved pulley A; 134. a first tie bar; 135. a second tie bar; 136. a grooved pulley nine B; 137. eighty B grooved wheels; 138. a sheave five B; 139. a grooved wheel III B; 140. a first grooved wheel B; 141. a second sheave B; 142. a grooved wheel IV B; 143. a grooved wheel six B; 144. a grooved pulley seven B; 145. bending the rope; 146. a grooved pulley ten B;

201. a finger and palm joint shell; 202. a rotary spring locker; 203. a lateral-swing spring locker; 204. a second guide wheel; 205. rotating the hole; 206. side swing holes; 207. a limiting shell; 208. a guide sheave; 209. a locking pin; 210. a locking spring;

301. a first finger bending rope; 302. palm shells; 303. an upper support plate; 304. a finger post; 305. a third finger extension rope; 306. a first motor; 307. a first large disk wheel; 308. a second large-disc wheel; 309. a second finger extension rope; 310. a third guide wheel; 311. a third guide frame; 312. an avoidance groove; 313. a second finger bending rope; 314. a large disc wheel III; 315. a second motor; 316. a fourth guide wheel; 317. a first finger extending rope; 318. an L-shaped frame; 319. a lower support plate; 320. a finger side swing shaft hole; 321. and a third finger bending rope.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1 to 9, the present embodiment provides a three-finger rope-driven dexterous hand, which includes a finger module 1, a finger-palm joint module 2 and a palm module 3; two sides of the middle bottom of the palm module 3 are respectively provided with a finger-palm joint module 2, and the finger-palm joint modules 2 are used for connecting the finger modules 1 positioned at two sides; the top of the palm module 3 is provided with a finger module 1;

the finger modules 1 connected with the finger-palm joint module 2 are a finger A and a finger B respectively, and the finger modules 1 connected with the top end of the palm module 3 are a finger C respectively.

The three fingers form an isosceles triangle. The finger and palm joint module 2 can provide the side swing motion and the rotation motion of fingers; the palm module 3 provides support, control and power for the finger module 1 and the finger-palm joint module 2.

In this embodiment, the palm module 3 includes a palm shell 302, an upper support plate 303, a finger post 304 and a lower support plate 319 which are connected in sequence; the palm shell 302, the upper supporting plate 303 and the lower supporting plate 319 are all triangular plate-shaped structures; the finger post 304 is connected with the finger III C; an L-shaped frame 318 is arranged on one side of the lower supporting plate 319 facing the upper supporting plate 303, two palm joint modules 2 are arranged between the L-shaped frame 318 and the upper supporting plate 303, and the two palm joint modules 2 are respectively connected with a first finger A and a second finger B.

A first motor 306 is arranged on one side of the L-shaped frame 318, which faces the upper supporting plate 303, and a first large wheel disc and a second large wheel disc are arranged on an output shaft of the first motor 306; a second motor 315 is arranged on one side, facing the lower supporting plate 319, of the upper supporting plate 303, and a third large wheel disc is arranged on an output shaft of the second motor 315; a second finger stretching rope 309 is arranged on the first large wheel disc, and the second finger stretching rope 309 is used for driving the finger module 1 to stretch and laterally swing; a finger extension rope III 305 is arranged on the large wheel disc II, and the finger extension rope III 305 is used for driving a finger III C to extend and rotate for locking; and a second finger bending rope 313 is arranged on the third large wheel disc, and the second finger bending rope 313 is used for driving the finger module 1 to bend and rotate for locking.

A driving hole is formed in the middle of the finger upright column 304, and a finger extension rope III 305 penetrates through the driving hole and is connected with a finger III C; one end of the finger post 304 close to the upper support plate 303 is provided with a finger side swing shaft hole 320, and the finger side swing shaft hole 320 is used for being connected with a finger C.

The palm joint module 2 comprises a palm joint shell 201, a rotary spring locker 202, a side swing spring locker 203 and a guide wheel II 204; a rotary hole 205 is formed in the middle of the finger and palm joint shell 201 in the direction parallel to the finger module 1, a rotary shaft is arranged in the rotary hole 205, and the rotary shaft is used for enabling the finger and palm joint module 2 to rotate relative to the palm module 3; a side swing hole 206 is formed in the middle of the palm joint shell 201 in the direction perpendicular to the finger module 1, and the side swing hole 206 is used for being connected with the finger module 1; the top end surface of the palm joint shell 201 is provided with a second guide wheel 204, the outer side end surface of the palm joint shell 201 is provided with a rotary spring lock 202, and one side of the palm joint shell 201 close to the lower support plate 319 is provided with a side swing spring lock 203.

The rotation spring locker 202 and the side pendulum spring locker 203 both comprise a limiting shell 207, a guide sheave 208, a locking pin 209 and a locking spring 210; the limiting shell 207 is arranged in the palm joint shell 201, the locking pin 209 penetrates through the limiting shell 207, and an arc-shaped groove is formed in the end part, extending into the palm joint shell 201, of the locking pin 209; locking pin 209 and limiting shell

207, a locking spring 210 is arranged between the locking pins, and a guide sheave 208 is arranged at the bottom of the other end of the locking pin 209; the third finger bending rope 321 extends from the third large wheel disc and then sequentially passes through the second guide wheel 204 and the guide grooved wheel 208 of the rotary spring locker 202 and then is connected with the finger module

1 are connected; the finger extension rope II 309 extends out of the large wheel I and then sequentially passes through the guide wheel III 310 and the guide grooved wheel 208 of the side swing spring locking device 203 to be connected with the finger module 1; the third guide wheel 310 is arranged on the L-shaped frame 318.

Two ends of one side of the L-shaped frame 318 facing the upper support plate 303 are respectively provided with a third guide frame 311, and the third guide wheel 310 is arranged on the third guide frame 311.

More specifically, the central longitudinal section of the second guide wheel 204 is tangent to the edge of the guide sheave 208 of the rotary spring locker 202, so that the first finger-bent rope 301 or the second finger-bent rope 313 can pass through the second guide wheel 204 and then be guided by the guide sheave 208 of the rotary spring locker 202, and the first finger-bent rope 301 or the second finger-bent rope 313 provides extrusion force for the locking pin 209 to overcome the elastic force of the locking spring 210, so that the locking pin 209 extrudes the rotary shaft, and the rotary locking of the first finger a or the second finger B is realized.

The longitudinal section of the third guide wheel 310 is tangent to the edge of the guide sheave 208 of the side swing spring lock 203, so that the second finger extension rope 309 passing through the third guide wheel 310 can be guided through the guide sheave 208 of the side swing spring lock 203 to drive the finger module 1.

The finger module 1 comprises a first finger segment 112, a second finger segment 109, a third finger segment 104 and a fourth finger segment 101; a side swing shaft 121 is arranged on the inner side of the finger section four 101, and the side swing shaft 121 is used for being connected with the finger and palm joint module 2 or the palm module 3; the first finger segment 112 is connected with the second finger segment 109 through a first joint; the second finger segment 109 is connected with the third finger segment 104 through a second joint; the third finger segment 104 is connected with the fourth finger segment 101 through a third joint; one end of the inner side of the finger section four 101 is provided with a first guide wheel 120, a third finger bending rope 321 winds the first guide wheel 120 for a circle, the third finger bending rope 321 is controlled through a third large wheel disc to drive the first guide wheel 120, and swinging of the third finger C is achieved.

The first joint comprises a first driven rod 111, a first rocker 113, a first driving rod 115 and a first roller 116; one end of a rocker 113 is connected with the middle of the first finger section 112, the other end of the rocker 113 is connected with one end of a driven rod 111, the middle of the driven rod 111 is connected with one end of a driving rod 115, the other end of the driven rod 111 is connected with one end of the second finger section 109, the other end of the driving rod 115 is connected with one end of the first finger section 112, a roller 116 is slidably arranged in the second finger section 109, and the roller 116 is connected with the middle of the driven rod 111 and one end of the first finger section 112; a first spring group 114 is arranged between one end of the first finger segment 112 and the other end of the first rocker 113.

The second joint comprises a second driving rod 107, a second driven rod 108, a second roller 119 and a second rocker 110; one end of the second rocker 110 is connected with one end of the second finger section 109, the other end of the second rocker 110 is connected with one end of the second driven rod 108, the other end of the second driven rod 108 is connected with one end of the third finger section 104, the middle part of the second driving rod 107 is connected with the middle part of the second driven rod 108, one end of the second driving rod 107 is connected with the other end of the second finger section 109, the other end of the second driving rod 107 is connected with the second roller 119, the second roller 119 is slidably arranged in the third finger section 104, and the other end of the third finger section 104 and one end of the second rocker 110 are provided with a second spring group 117.

The third joint comprises a third roller 102, a third driving rod 103, a third driven rod 105 and a third rocker 106; one end of a rocker III 106 is connected with one end of a finger section III 104, the other end of the rocker III 106 is connected with one end of a driven rod III 105, the middle of the driven rod III 105 is connected with one end of a driving rod III 103, the other end of the driven rod III 105 is connected with one end of a finger section IV 101, the other end of the driving rod III 103 is connected with a roller III 102, the roller III 102 is slidably arranged in the finger section IV 101, and a spring group III 118 is arranged at the other end of the finger section III 104 and one end of the rocker III 106.

The spring force of spring set one 114 is greater than the spring force of spring set two 117 than the spring force of spring set three 118.

The third roller 102 is coaxially provided with a first sheave A130, one end of the fourth finger section 101 is provided with a second sheave A128, the middle part of the third driving rod 103 is provided with a seventh sheave A132, one end of the third finger section 104 is provided with a eighth sheave A127, the second roller 119 is coaxially provided with a sixth sheave A126, the other end of the third finger section 104 is provided with a fifth sheave A, the middle part of the second driving rod 107 is provided with a fourth sheave A133, one end of the second finger section 109 is provided with a third sheave A124, the first roller 116 is coaxially provided with a second sheave A123, the other end of the second finger section 109 is provided with a first sheave A122, and one side, away from the second sheave A123, of the other end of the second finger section 109 is provided with a first tie rod 134; one end of the extension rope 129 is connected with the finger extension rope 129, and the other end of the extension rope 129 sequentially passes through a sheave deca 130, a sheave nona 128, a sheave hepta a132, a sheave octa a127, a sheave hexa a126, a sheave penta a, a sheave tetra a133, a sheave tri a124, a sheave di a123 and a sheave mono a122 and then is fixed on a tie bar one 134.

A third roller 102 is coaxially provided with a tenth sheave B146, one end of a fourth finger section 101 is provided with a ninth sheave B136, the middle part of a third driving rod 103 is provided with a seventh sheave B144, one end of a third finger section 104 is provided with an eighth sheave B137, a second roller 119 is coaxially provided with a sixth sheave B143, the other end of the third finger section 104 is provided with a fifth sheave B138, the middle part of a second driving rod 107 is provided with a fourth sheave B142, one end of a second finger section 109 is provided with a third sheave B139, a first roller 116 is coaxially provided with a second sheave B141, the other end of the second finger section 109 is provided with a first sheave B140, and one side, away from the second sheave B141, of the other end of the second finger section 109 is provided with a second tie rod 135;

one end of the bent rope 145 is connected with the bent rope 145, and the other end of the bent rope is fixed on the tie bar II 135 after sequentially passing through the sheave Ten B146, the sheave nine B136, the sheave seven B144, the sheave eight B137, the sheave six B143, the sheave five B138, the sheave four B142, the sheave three B139, the sheave II B141 and the sheave I B140.

The extension rope 129 is pulled by the first motor 306, so that the third finger section 104 rotates around the ninth sheave A128, the second finger section 109 rotates around the fifth sheave A, and the first finger section 112 rotates around the first sheave A122, so that the extension of the finger module 1 is completed; the bending rope 145 is pulled by the second motor 315, so that the third finger section 104 rotates around the ninth B sheave 136, the second finger section 109 rotates around the fifth B sheave 138, and the first finger section 112 rotates around the first B sheave 140, so as to complete the bending of the finger module 1.

For fine operation, the extension rope 129 and the bending rope 145 cooperate to cooperatively control the metacarpal joint module 2 to change the side swing and rotation states of the first finger A and the second finger B, and meanwhile, the finger gripping function can still be realized when the positions are kept, and the extension rope 129 plays a role in providing antagonistic force.

The rotation of the palm joint module 2 changes the spatial positions of the three fingers from an equilateral triangle in fig. 1 to an obtuse triangle, and simultaneously the fingerprint surfaces of the first finger a and the second finger B change to be opposite or parallel or in a transition state.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.

The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above description of the embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims

1. A three-finger rope-driven dexterous hand is characterized by comprising a finger module, a finger-palm joint module and a palm module; the two sides of the middle bottom of the palm module are respectively provided with the finger-palm joint module, and the finger-palm joint module is used for connecting the finger modules positioned at the two sides; the finger module is arranged at the top of the palm module;

the finger modules connected with the finger-palm joint module are a first finger and a second finger respectively, and the finger modules connected with the top end of the palm module are a third finger respectively;

the finger module comprises a finger section I, a finger section II, a finger section III and a finger section IV; a side swing shaft is arranged on the inner side of the finger section IV and is used for being connected with the finger-palm joint module or the palm module; the first finger section is connected with the second finger section through a first joint; the second finger section is connected with the third finger section through a second joint; the third finger section is connected with the fourth finger section through a third joint;

one end of the inner side of the finger section IV is provided with a first guide wheel;

the first joint comprises a first driven rod, a first rocker, a first driving rod and a first roller; one end of the rocker is connected with the middle part of the first finger section, the other end of the rocker is connected with one end of the driven rod, the middle part of the driven rod is connected with one end of the driving rod, the other end of the driven rod is connected with one end of the second finger section, the other end of the driving rod is connected with one end of the first finger section, the first roller is slidably arranged in the second finger section, and the first roller is connected with the middle part of the first driven rod and one end of the first finger section; a first spring set is arranged between one end of the first finger section and the other end of the first rocker;

2. The three-finger rope-driven dexterous hand according to claim 1, wherein the palm module comprises a palm shell, an upper support plate, a finger stand column and a lower support plate which are connected in sequence; the finger upright post is connected with the finger III; the lower supporting plate faces one side of the upper supporting plate and is provided with an L-shaped frame, two finger and palm joint modules are arranged between the L-shaped frame and the upper supporting plate and are respectively connected with the first finger and the second finger.

3. The three-finger rope-driven dexterous hand according to claim 2, wherein a first motor is arranged on one side of the L-shaped frame facing the upper support plate, and a first large wheel disc and a second large wheel disc are arranged on an output shaft of the first motor;

a second motor is arranged on one side, facing the lower supporting plate, of the upper supporting plate, and a third large wheel disc is arranged on an output shaft of the second motor;

a finger extension rope III is arranged on the large wheel disc II and is used for driving extension and rotation locking of the finger III;

and a second finger bending rope is arranged on the third large wheel disc and is used for driving the finger module to bend and rotate for locking.

4. The three-finger rope-driven dexterous hand as claimed in claim 3, wherein a driving hole is arranged in the middle of the finger upright post, and the finger extension rope three penetrates through the driving hole to be connected with the fingers in three phases; indicate the stand to be close to the one end of going up the backup pad is provided with and indicates the side pendulum shaft hole, indicate the side pendulum shaft hole be used for with indicate three connections.

5. The three-finger rope-driven dexterous hand according to claim 3, wherein the finger-palm joint module comprises a finger-palm joint shell, a rotary spring locker, a side-swinging spring locker and a second guide wheel;

a rotary hole is formed in the middle of the finger and palm joint shell along the direction parallel to the finger module, a rotary shaft is arranged in the rotary hole and used for enabling the finger and palm joint module to rotate relative to the palm module;

a side swinging hole is formed in the middle of the finger palm joint shell in the direction perpendicular to the finger module and is used for being connected with the finger module;

6. The three-finger rope-driven dexterous hand according to claim 5, wherein the rotation spring locker and the side-swing spring locker each comprise a limiting shell, a guide sheave, a locking pin and a locking spring; the limiting shell is arranged in the palm joint shell, the locking pin penetrates through the limiting shell, and an arc-shaped groove is formed in the end part, extending into the palm joint shell, of one end of the locking pin; the locking spring is arranged between the locking pin and the limiting shell, and the guide grooved wheel is arranged at the bottom of the other end of the locking pin;

7. The three-finger rope-driven dexterous hand according to claim 6, wherein two ends of one side of the L-shaped frame facing the upper support plate are respectively provided with a third guide frame, and the third guide wheels are arranged on the third guide frames.

8. The three-finger rope-driven dexterous hand according to claim 1, wherein a sheave ten A is coaxially arranged on the roller three, a sheave nine A is arranged at one end of the finger section four, a sheave seven A is arranged in the middle of the driving rod three, a sheave eight A is arranged at one end of the finger section three, a sheave six A is coaxially arranged on the roller two, a sheave five A is arranged at the other end of the finger section three, a sheave four A is arranged in the middle of the driving rod two, a sheave three A is arranged at one end of the finger section two, a sheave two A is coaxially arranged on the roller one, a sheave one A is arranged at the other end of the finger section two, and a tie bar one is arranged at one side, away from the sheave two A, of the other end of the finger section two;

one end of the extension rope is connected with the finger extension rope, and the other end of the extension rope sequentially bypasses the sheave deca A, the sheave nine A, the sheave seven A, the sheave eight A, the sheave six A, the sheave five A, the sheave four A, the sheave three A, the sheave two A and the sheave one A and then is fixed on the tie rod one.

9. The three-finger rope-driven dexterous hand according to claim 1, wherein a third roller is coaxially provided with a ten-B-sheave, a ninth-B-sheave is arranged at one end of a fourth finger section, a seventh-B-sheave is arranged in the middle of a third driving rod, an eighth-B-sheave is arranged at one end of the third finger section, a sixth-B-sheave is coaxially arranged with a second roller, a fifth-B-sheave is arranged at the other end of the third finger section, a fourth-B-sheave is arranged in the middle of a second driving rod, a third-B-sheave is arranged at one end of the second finger section, a second-B-sheave is coaxially arranged with the first roller, a first-B-sheave is arranged at the other end of the second finger section, and a second tie bar is arranged at the other end of the second finger section, which is far away from the second-B-sheave;