CN210081755U - Drive built-in type multi-finger dexterous hand - Google Patents

Abstract

The utility model discloses a drive built-in multi-finger dexterous hand, which comprises a palm, a thumb, a forefinger, a middle finger, a ring finger and a little finger; thumb, forefinger, middle finger, ring finger and little finger distribute and install on the palm, the utility model provides a little finger is far away to indicate the joint and is close to indicate the joint and adopt the coupling of four bar linkage in plane, and two palm knuckles of four fingers sharing reduce driver figure, are favorable to simplifying the structure, and adversary's flexibility does not lead to the fact great influence simultaneously. The joint adopts a one-level worm gear transmission mechanism, has simple and compact structure and has self-locking function. The grabbing working state is kept for a long time, and the power consumption is reduced. The parts such as palms, fingers and joints can be modularized, so that the interchangeability of the parts and the maintainability of the whole hand are enhanced. The structure is compact, the integration level is high, and all drivers, transmission mechanisms, controllers and sensors can be arranged on dexterous hands.

Description

Drive built-in type multi-finger dexterous hand

Technical Field

The utility model relates to a dexterous hand, in particular to a multi-finger dexterous hand with a built-in drive.

Background

The hand is an extension of human consciousness and plays an important role in daily life. The mechanical dexterous hand is used as a substitute for a natural hand, and needs to have the appearance similar to a human hand and the function of flexibly operating objects. With the progress of the robot technology, the requirement of the manipulator as a final link and an execution component of the interaction between the robot and the external environment for high-level operation capability is more and more urgent. The mechanical dexterous hand is also the most complicated part of a humanoid robot, and the difficulty is mainly that not only the driving system, the transmission system, the sensor system and the electric system are integrated into a whole in a limited hand space, but also enough gripping force and gripping precision are ensured.

According to the comparison between the number of degrees of freedom and the number of drivers, the existing mechanical dexterous hand can be divided into: under-actuated and full-actuated redundant actuation.

The number of actuators of the underactuated hand is less than the number of degrees of freedom, so there are coupled degrees of freedom inside it, i.e. multiple degrees of freedom are actuated by one actuator. Common coupling transmission modes are as follows: tendon ropes and pulley mechanisms, linkage mechanisms, and the like. The driver needed by the under-actuated hand is less, the transmission structure is relatively simple, and the manufacturing cost is lower; however, since there is a degree of freedom in coupling, the respective joints of the finger cannot be controlled independently, so that the position and posture of the finger cannot be controlled precisely. When grabbing objects, it is only possible to passively adapt to the contour of the object being grabbed. At present, most artificial hands on the market are under-actuated, and generally have 2-4 degrees of freedom for one finger, but only one actuator is configured. The flexibility degree of the device is far from that of natural hands, and the device is unsatisfactory when finishing fine operation.

The number of actuators for a fully actuated hand is equal to the number of degrees of freedom, one actuator for each degree of freedom being independently actuated. Therefore, the finger pose of the full-drive hand is flexible and changeable, and more fine operations can be realized under the condition of proper control. However, the number of driving and transmission mechanisms of the full-driving hand is often large, which brings great difficulty to high integration.

Redundant driving means that the number of drives is greater than the number of degrees of freedom. In a dexterous hand using tendon rope transmission, redundant drives may occur, since the tendon rope can only transmit tension, so that two drives are required for forward and reverse movements of one joint. And redundancy can be reduced by installing a return spring at the joint. For a tendon-rope driven manipulator, N degrees of freedom require 2N drives to precisely control the position of each joint. The use of a return spring, while reducing redundancy, also means that the position of the joint cannot be accurately controlled.

The full-driven manipulator has the most driving and transmission elements, the most complex structure and great realization difficulty, so that the current under-driven manipulator is more practical. In designing an under-actuated mechanically dexterous hand, it is important to consider which degrees of freedom are coupled together without significantly adversely affecting the dexterity of the hand, and how to simplify the structure of each joint using a simpler transmission scheme.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a drive built-in polydactyly dexterous hand to solve the problem of proposing among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme:

a drive built-in multi-finger dexterous hand comprises a palm, a thumb, an index finger, a middle finger, a ring finger and a little finger; the palm comprises a palm base body, a palm cover, a wrist interface, a metacarpophalangeal joint connecting block, a metacarpophalangeal joint speed reducing motor, a metacarpophalangeal joint transmission mechanism, a metacarpophalangeal joint angular displacement sensor, a metacarpophalangeal joint end cover, a metacarpophalangeal joint worm support frame, a driver and a controller, wherein the palm base body is used as an installation base of the whole hand, the speed reducing motor, the driver and the controller are installed in a groove in the middle of the palm base body, the palm covers are installed on the front surface and the back surface of the palm base body, the wrist interface is installed at the center of the lower part of the palm through screws, the metacarpophalangeal joint transmission mechanism comprises a metacarpophalangeal joint worm, a metacarpophalangeal joint worm wheel shaft, a flat key, a bearing, a gasket and a sleeve, the worm is sleeved on an output, one end of a worm cantilever is radially supported, a groove for placing a worm wheel is formed in a palm and finger joint connecting block, the worm wheel is just embedded into the groove along the width direction, key grooves are formed in holes of the worm wheel and the palm and finger joint connecting block, the worm wheel and the palm and finger joint connecting block are arranged on a palm and finger joint worm wheel shaft together with a flat key, the palm and finger joint connecting block obtains power transmitted by the palm and finger joint worm wheel shaft, a bearing, a gasket and a sleeve are arranged in a palm and finger joint hole on a palm base body, one end face of a palm and finger joint end cover is propped against the end face of an outer ring of the bearing through the sleeve so that the bearing can be axially positioned, the end cover is fastened on the end face of the palm and finger joint hole of the palm base body through a screw, the palm and finger joint angular displacement sensor is a magnetic encoder and consists of, the magnet passes through a magnet switching section of thick bamboo fixed mounting and is in metacarpophalangeal joint worm-gear shaft axle head, and the encoder chip is installed on metacarpophalangeal joint end cover, and when the metacarpophalangeal joint rotated, the same corner displacement will appear in the relative encoder chip of magnet, and thumb metacarpophalangeal joint gear motor installs in the recess of palm base member left downside, and this joint axis has realized the thumb around the horizontal hunting of palm along vertical direction. The speed reduction motors for driving the metacarpophalangeal joints of the other four fingers are arranged in the grooves in the middle of the palm, and the axes of the joints are along the horizontal direction to realize the bending of the other four fingers in the palm direction.

As a further aspect of the present invention: the thumb is composed of three major parts, namely a thumb metacarpal knuckle, a thumb proximal knuckle and a thumb distal knuckle, to form two joints, namely a thumb proximal knuckle and a thumb distal knuckle, and has two independent degrees of freedom, when the thumb swings to be overlapped with the plane of a palm substrate, the thumb metacarpal knuckle is embedded into a groove on the lower right side of the palm substrate, one end of the thumb metacarpal knuckle connected with the palm plays the role of a metacarpal knuckle connecting block, the other end of the thumb metacarpal knuckle is a thumb proximal knuckle hole, the groove in the thumb metacarpal knuckle is used for installing a thumb proximal knuckle speed reducing motor, the joint of the thumb metacarpal knuckle and the thumb proximal knuckle is the thumb proximal knuckle, the thumb proximal knuckle transmission mechanism is basically the same as the metacarpal knuckle, the only difference is that a worm gear shaft, a worm gear and a proximal knuckle connecting block are not connected by a key for transmission, but the worm gear shaft of the thumb proximal knuckle is flatly milled and then screwed into the worm gear and the proximal knuckle connecting block by a set screw for transmission The torque is transferred, the other end of the thumb proximal knuckle connecting block is fixedly connected with the thumb proximal knuckle by a screw, the thumb proximal knuckle is of a cylindrical structure with one end sealed, a thumb distal knuckle speed reduction motor is placed and installed in the cylinder, a transmission mechanism of the thumb distal knuckle is similar to the thumb proximal knuckle, two ear-shaped bosses are arranged on the outer end surface of the proximal knuckle with the seal, and a thumb distal knuckle hole is formed in each boss; the end face is also provided with a through hole and a threaded hole, the through hole is a channel extending out of the output shaft of the far finger joint speed reduction motor, the threaded hole is used for installing and fixing a far finger joint worm support frame, a thumb far finger joint worm wheel and a thumb far knuckle connecting block are connected and fastened by screws, the thumb far knuckle is also a cylindrical structure with one end sealed, only one end sealed is provided with an inclined slope, and the thumb far knuckle connecting block is clung to the inner wall of the thumb far knuckle and fastened together by screws.

As a further aspect of the present invention: the index finger comprises three major parts, namely an index finger palm knuckle, an index finger near knuckle and an index finger far knuckle, and has two joints which are respectively an index finger near knuckle and an index finger far knuckle and have two independent degrees of freedom, the axes of the two joints are parallel to the axis of the palm knuckle, the three knuckles are all in a cylindrical structure with one end sealed, the index finger far knuckle and the thumb far knuckle are the same, one end of the seal is provided with an inclined slope, the structures of the index finger near knuckle and the index finger far knuckle are the same and are similar to the structure of the thumb far knuckle, an index finger near knuckle decelerating motor and an index finger far knuckle decelerating motor are respectively arranged in the cylinders of the index finger palm knuckle and the index finger near knuckle, the upper ends of the palm knuckle and palm knuckle connecting blocks (common for the index finger and the middle finger) are connected and fastened through screws, the upper ends of the index finger near knuckle and near knuckle connecting blocks are connected and fastened through screws, the upper ends of the index finger far knuckle and the index finger far knuckle connecting block are connected and fastened through screws.

As a further aspect of the present invention: the little finger comprises three major parts, namely a little finger metacarpal knuckle, a little finger proximal knuckle and a little finger distal knuckle, which are two joints, namely a little finger proximal knuckle and a little finger distal knuckle, the structure of the little finger proximal knuckle is similar to that of the proximal knuckles of the rest four fingers, but the distal knuckle is different from the rest four fingers, the little finger distal knuckle is connected with the little finger proximal knuckle through a plane four-bar linkage mechanism, and the little finger metacarpal knuckle is a frame of the four-bar linkage mechanism; the far knuckle of the little finger is a connecting rod of a four-bar linkage; the proximal knuckle of the little finger is a link lever which is driven by the worm of the proximal knuckle of the little finger and the worm wheel to rotate around the worm wheel shaft of the proximal knuckle of the little finger; the other side link is a curved rod, and the two side links form a cross. Three knuckles of the little finger are all cylindrical with one end provided with a seal, in order to avoid a curved rod piece in the four-bar mechanism, the seal end of the near knuckle of the little finger is partially cut off, the cylinder walls of the near knuckle and the far knuckle of the little finger are provided with longitudinal grooves, the upper end surface of the palm knuckle of the little finger is provided with a support frame with a round hole, and the round hole is used as a hinge point of the curved rod piece and the frame and is also used as a support frame for a worm of the near knuckle of the little finger.

As a further aspect of the present invention: the index finger, the middle finger and the ring finger have the same structure, but have slight difference in length, the middle finger is the longest, the index finger is the shortest, and the ring finger is between the two.

As a further aspect of the present invention: the little finger and the ring finger share one metacarpophalangeal joint, and the lower ends of the metacarpophalangeal joints of the little finger and the ring finger are fastened with the same metacarpophalangeal joint connecting block by screws.

As a further aspect of the present invention: each joint of the dexterous hand is driven by a miniature speed reducing motor and is in one-level worm and gear transmission.

Compared with the prior art, the beneficial effects of the utility model are that: 1. the far finger joint and the near finger joint of the little finger are coupled by adopting a plane four-bar mechanism, and four fingers share two palm knuckles, so that the number of drivers is reduced, the structure is simplified, and the flexibility of the hand is not greatly influenced.

2. The joint of the invention adopts a primary worm gear transmission mechanism, has simple and compact structure and has self-locking function. The grabbing working state is kept for a long time, and the power consumption is reduced.

3. The parts such as the palm, the fingers, the joints and the like in the invention can be modularized, so that the interchangeability of the parts and the maintainability of the whole hand are enhanced.

4. The invention has compact structure and high integration level, and all drivers, transmission mechanisms, controllers and sensors can be arranged on dexterous hands.

Drawings

FIG. 1 is a schematic view of a full-handed three-dimensional structure;

FIG. 2 is a schematic view of a palm structure;

FIG. 3 is a schematic view of the structure of metacarpophalangeal joints;

FIG. 4 is a schematic view of the thumb configuration;

FIG. 5 is a cross-sectional view of the thumb;

FIG. 6 is a schematic view of the structure of the index finger;

FIG. 7 is a cross-sectional view of an index finger;

fig. 8 is a schematic view of the structure of the little finger.

In the figure: 1-palm; 2-thumb; 3-index finger; 4-middle finger; 5-ring finger; 6-little finger;

101-palm substrate; 102-palm cover; 103-wrist interface; 104-palm knuckle connecting block; 105-metacarpophalangeal joint speed reducing motor; 106-metacarpophalangeal joint transmission mechanism; 107-metacarpophalangeal joint angular displacement sensor; 108-metacarpophalangeal end caps; 109-metacarpophalangeal joint worm support frame; 110-a driver; 111-a controller;

10601-metacarpophalangeal worm wheel; 10602-metacarpophalangeal worm; 10603-metacarpophalangeal joint worm wheel shaft; 10604-Flat bond; 10605-bearing; 10606-washer; 10607-a sleeve; 10608-a magnet adapter cylinder; 10609-thumb metacarpophalangeal joint worm; 10610-thumb metacarpophalangeal joint worm gear shaft; 10611-thumb metacarpophalangeal joint speed reducing motor;

10701-magnet; 10702-encoder chip;

201-thumb metacarpal knuckle; 202 proximal knuckle of thumb; 203-distal thumb knuckle; 204-thumb proximal knuckle connecting block; 205-thumb metacarpophalangeal worm gear; 206-thumb proximal knuckle worm gear; 207-thumb joint worm; 208-thumb proximal knuckle worm gear shaft; 209-thumb distal finger joint worm gear shaft; 210-thumb proximal knuckle deceleration motor; 211-thumb distal finger joint gear motor; 212-thumb distal knuckle worm; 213-thumb distal knuckle worm gear; 214-thumb distal knuckle connection block; 215-thumb distal knuckle worm support; 216 thumb proximal knuckle set screw;

301-index finger palm knuckle; 302-index finger proximal knuckle; 303-distal knuckle of index finger; 304-index finger proximal joint deceleration motor; 305-index finger proximal knuckle worm; 306-index finger proximal knuckle worm gear; 307-forefinger joint worm gear shaft; 308-index finger proximal knuckle connecting block; 309-index finger proximal knuckle worm support frame; 310 index finger distal knuckle worm; 311-index finger distal knuckle worm gear; 312-index finger distal joint worm gear shaft; 313-index finger distal knuckle connecting block; 314-index finger distal knuckle worm support; 315-forefinger and far finger joint speed reducing motor;

601-little finger metacarpal knuckle; 602-little finger proximal knuckle; 603-little finger distal knuckle; 604-little finger joint worm; 605-little finger joint worm support frame; 606-little finger joint worm gear; 607-little finger joint worm gear shaft; 608-little finger proximal knuckle connecting block; 609-curved side link.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-8, in an embodiment of the present invention, a multi-fingered dexterous hand with built-in drive includes six parts, i.e., a palm 1, a thumb 2, an index finger 3, a middle finger 4, a ring finger 5, and a little finger 6, and fingers are distributed and mounted on the palm 1. The whole hand has thirteen joints and twelve independent degrees of freedom. The thirteen joints include three metacarpophalangeal joints and ten interphalangeal joints. The ten interphalangeal joints are divided into five proximal phalangeal joints and five distal phalangeal joints. Each finger has a proximal knuckle and a distal knuckle.

As shown in fig. 2, the palm 1 has three metacarpophalangeal joints, which include the following components: a palm base 101, a palm cover 102, a wrist interface 103, a metacarpophalangeal joint connecting block 104, a metacarpophalangeal joint speed reducing motor 105, a metacarpophalangeal joint transmission mechanism 106, a metacarpophalangeal joint angular displacement sensor 107, a metacarpophalangeal joint end cover 108, a metacarpophalangeal joint worm support 109, a driver 110, a controller 111 and other hardware circuits. The palm base 101 serves as a mounting base of the whole hand, and hardware circuits such as a speed reduction motor 105, a driver 110, a controller 111 and the like are mounted in a groove in the middle of the palm base. Palm covers 102 are respectively mounted on the front and back surfaces of the palm base 1. The wrist interface 103 is mounted at the midpoint of the lower part of the palm by screws.

As shown in fig. 2 and 3, the metacarpophalangeal joint transmission mechanism comprises a metacarpophalangeal joint worm 10602, a metacarpophalangeal joint worm wheel 10601, a metacarpophalangeal joint worm wheel shaft 10603, a flat key 10604, a bearing 10605, a gasket 10606 and a sleeve 10607. The worm 10602 is sleeved on the output shaft of the speed reducing motor 105 and is in small interference fit. The worm support bracket 109 is mounted on the palm base 101 by screws and radially supports one end of the cantilever of the worm 10602. A groove for placing a worm gear 10601 is formed in the palm and finger joint connecting block 104, and the worm gear 10601 is just embedded in the groove along the width direction. The holes of the worm gear 10601 and the metacarpophalangeal joint connecting block 104 are provided with key grooves, the two key grooves and a flat key 10604 are arranged on the metacarpophalangeal joint worm gear shaft 10603 together, and the metacarpophalangeal joint connecting block 104 obtains power transmitted by the metacarpophalangeal joint worm gear shaft 10603. The metacarpophalangeal joint worm wheel shaft 10603, the bearing 10605, the washer 10606 and the sleeve 10607 are installed in metacarpophalangeal joint holes on the palm base 101. One end face of the metacarpophalangeal joint end cover 108 is pressed against the end face of the outer ring of the bearing 10605 through a sleeve 10607 so that the bearing is axially positioned, and the end cover is fastened on the metacarpophalangeal joint hole end face of the palm base body through a screw. The metacarpophalangeal joint angular displacement sensor 107 is a magnetic encoder, and is composed of a magnet 10701 and an encoder chip 10702. To mount the magnet 10701 to the metacarpophalangeal worm gear shaft 10603, there is also a plastic magnet adapter 10608. The magnet 10701 is fixedly mounted at the shaft end of the metacarpophalangeal joint worm wheel shaft 10603 through a magnet adapter cylinder 10608. The encoder chip 10702 is mounted on the metacarpophalangeal end cap 108. When the metacarpophalangeal joint rotates, the magnet 10701 generates the same angular displacement relative to the encoder chip 10702, so that joint angular data are obtained to realize accurate closed-loop control of the position of the joint.

As shown in fig. 2, the thumb metacarpophalangeal joint gear motor 10611 is mounted in a groove on the lower left side of the palm base 101, and the joint axis is along the vertical direction, so that the left-right swinging of the thumb 2 around the palm 1 is realized. The motors of the speed reducing motors 105 for driving the metacarpophalangeal joints of the other four fingers are arranged in the grooves in the middle of the palm 1, and the axes of the joints are along the horizontal direction to realize the bending of the other four fingers towards the palm direction.

As shown in the schematic structural diagram of the thumb in fig. 4 and the sectional view of the thumb in fig. 5, the thumb 2 is composed of three major parts, namely a thumb metacarpal knuckle 201, a thumb proximal knuckle 202 and a thumb distal knuckle 203, to form two joints, namely a thumb proximal knuckle and a thumb distal knuckle, and has two independent degrees of freedom. When the thumb 2 is swung into planar registration with the palm base 101, the thumb metacarpal knuckle 201 will nest in the groove on the lower right side of the palm base 101. One end of the thumb metacarpal-phalangeal section 201 connected with the palm functions as a metacarpal-phalangeal section connecting block, and the other end is a thumb proximal-phalangeal joint hole. The groove in the knuckle of the thumb is used for installing the thumb proximal knuckle speed reducing motor 210. The joint of the metacarpal knuckle 201 and the proximal knuckle 202 of the thumb is the proximal phalangeal joint of the thumb. The thumb proximal phalangeal joint drive mechanism is substantially the same as the metacarpophalangeal joint, and the only difference is that the worm gear shaft 208, the worm gear 206 and the proximal phalangeal joint block 204 are not driven by a key connection, but the thumb proximal phalangeal joint worm gear shaft 208 is milled flat and then screwed into the worm gear and the proximal phalangeal joint block by using the set screw 216 to transmit torque. The other end of the thumb proximal knuckle connecting block 204 is connected and fastened with the thumb proximal knuckle 202 through a screw. The proximal knuckle 202 of the thumb is a cylindrical structure with one end sealed, and the inside of the cylinder is used for placing and installing the speed reduction motor 211 of the distal knuckle of the thumb. The drive mechanism of the far finger joint of the thumb is similar to that of the near finger joint of the thumb. Two ear-shaped bosses are arranged on the outer end surface of the proximal knuckle 202 with the seal, and thumb distal knuckle holes are formed in the bosses; the end face is also provided with a through hole and a threaded hole, the through hole is a channel extending out of the output shaft of the far finger joint speed reducing motor 211, and the threaded hole is used for installing and fixing the far finger joint worm support frame 215. The thumb far knuckle worm gear 213 and the thumb far knuckle connecting block 214 are fastened by screw connection. The distal thumb knuckle 203 is also a cylindrical structure with one end sealed, but with a sloped slope at one end of the seal. The thumb distal knuckle connecting block 214 is tightly attached to the inner wall of the thumb distal knuckle 203 and fastened together by screws.

The index finger 3, the middle finger 4 and the ring finger 5 have the same structure, but have a slight difference in length, the middle finger 4 is the longest, the index finger 3 is the shortest, and the ring finger 5 is between the two. The length difference comes from the difference in length between the metacarpophalangeal and proximal phalanx of the fingers. The structure of the three fingers will be described by taking the index finger 3 as an example.

As shown in the figure 6 index finger structure diagram and the figure 7 index finger sectional view, the index finger 3 comprises three major parts, namely an index finger palm knuckle 301, an index finger proximal knuckle 302 and an index finger distal knuckle 303, and has two joints which are respectively an index finger proximal knuckle and an index finger distal knuckle and have two independent degrees of freedom. The axes of both joints are parallel to the metacarpophalangeal joint axis. The three knuckles are all cylindrical structures with one end sealed, and the index finger distal knuckle 303 and the thumb distal knuckle 203 are the same, and a slope is made at one end of the seal. The structures of the proximal knuckle of the index finger and the distal knuckle of the index finger are the same and are similar to the distal knuckle of the thumb. An index finger proximal knuckle speed reducing motor 304 and an index finger distal knuckle speed reducing motor 315 are respectively arranged in the barrel of the index finger palm knuckle 301 and the index finger proximal knuckle 302. The upper ends of the index finger metacarpal knuckle 301 and the metacarpal knuckle connecting block 104 (shared by the index finger and the middle finger) are connected and fastened through screws, the upper ends of the index finger proximal knuckle 302 and the index finger proximal knuckle connecting block 308 are connected and fastened through screws, and the upper ends of the index finger distal knuckle 303 and the index finger distal knuckle connecting block 313 are connected and fastened through screws.

As shown in figure 1, the little finger 6 and the ring finger 5 share a metacarpophalangeal joint, and the lower ends of the metacarpophalangeal joints of the little finger 6 and the ring finger 5 are fastened with the same metacarpophalangeal joint block by screws.

As shown in the schematic structural diagram of the little finger in fig. 8, the little finger 6 includes three major parts, namely a metacarpal knuckle 601 of the little finger, a proximal knuckle 602 of the little finger and a distal knuckle 603 of the little finger, which are two joints, namely a proximal knuckle 601 of the little finger and a distal knuckle 603 of the little finger. The proximal joint of the little finger is similar to that of the other four fingers, but the distal joint is different from that of the other four fingers. The distal knuckle 603 of the small finger is connected to the proximal knuckle 602 of the small finger by a planar four-bar linkage. The little finger palm knuckle 601 is a frame of a four-bar linkage; the little finger distal knuckle 603 is a link of a four-bar linkage; the little finger proximal knuckle 602 is a side link which is driven by the little finger proximal joint worm 605 and the worm wheel 606 to rotate around the little finger proximal joint worm wheel shaft 607; the other side link is a curved bar 609 and the two side links form a cross. The three knuckles of the little finger are also in a cylindrical shape with a seal at one end. To avoid the curved bar 609 in the four bar linkage, the closed end of the proximal knuckle 602 of the small finger is cut away and longitudinal grooves are cut into the walls of the proximal knuckle 602 and the distal knuckle 603 of the small finger. The upper end face of the metacarpophalangeal joint 601 of the little finger is provided with a support frame 605 with a round hole, the round hole is used as a hinged point of the curved rod 609 and the frame, and the round hole is also used as a support frame for the joint worm of the little finger.

Claims (6)

1. A driven built-in multi-finger dexterous hand comprises a palm (1), a thumb (2), an index finger (3), a middle finger (4), a ring finger (5) and a little finger, wherein the thumb (2), the index finger (3), the middle finger (4), the ring finger (5) and the little finger (6) are arranged on the palm (1) in a distributed manner, and the driven built-in multi-finger dexterous hand is characterized in that the palm (1) comprises a palm base body (101), a palm cover (102), a wrist interface (103), a metacarpophalangeal joint connecting block (104), a metacarpophalangeal joint speed reducing motor (105), a metacarpophalangeal joint transmission mechanism (106), a metacarpophalangeal joint angular displacement sensor (107), a metacarpophalangeal joint end cover (108), a metacarpophalangeal joint worm support frame (109), a driver (110) and a controller (111), the palm base body (101) is used as an installation foundation, The palm joint device comprises a driver (110) and a controller (111), palm covers (102) are mounted on the front side and the back side of a palm base body (101), a wrist interface (103) is mounted at the center of the lower portion of a palm (1) through screws, a metacarpophalangeal joint transmission mechanism (106) comprises a metacarpophalangeal joint worm (10602), a metacarpophalangeal joint worm wheel (10601), a metacarpophalangeal joint worm wheel shaft (10603), a flat key (10604), a bearing (10605), a gasket (10606) and a sleeve (10607), the metacarpophalangeal joint worm (10602) is sleeved on an output shaft of a speed reducing motor (105) and is in small interference fit, a worm support frame (109) is mounted on the palm base body (101) through screws and radially supports one end of a cantilever of the metacarpophalangeal joint worm (10602), a groove for placing the metacarpophalangeal joint worm wheel (10601) is formed in a metacarpophalangeal joint connection block, the metacarpophalangeal joint worm wheel (10601) and the metacarpophalangeal joint connecting block (104) are provided with key grooves in holes, the metacarpophalangeal joint worm wheel (10601) and the flat key (10604) are arranged on a metacarpophalangeal joint worm wheel shaft (10603), the metacarpophalangeal joint worm wheel shaft (10603), a bearing (10605), a gasket (10606) and a sleeve (10607) are arranged in the metacarpophalangeal joint hole on the palm substrate (101), one end surface of a metacarpophalangeal joint end cover (108) is pressed against the end surface of the outer ring of the bearing (10605) through the sleeve (10607 so as to axially position the bearing, the end cover is fastened on the end surface of the metacarpophalangeal joint hole of the palm substrate (101) through a screw, the metacarpophalangeal joint angular displacement sensor (107) is a magnetic encoder and consists of a magnet (10701) and an encoder chip (10702), in order to install the magnet (10701) on the metacarpophalangeal joint worm wheel shaft, the palm-finger joint bending machine further comprises a magnet adapter cylinder (10608) made of plastic, the magnet (10701) is fixedly mounted at the shaft end of a palm-finger joint worm wheel shaft (10603) through the magnet adapter cylinder (10608), an encoder chip (10702) is mounted on a palm-finger joint end cover (108), when a palm-finger joint rotates, the magnet (10701) can generate the same corner displacement relative to the encoder chip (10702), a thumb palm-finger joint speed reduction motor (10611) is mounted in a groove in the left lower side of a palm substrate (101), the joint axis is along the vertical direction, the left-right swinging of a thumb (2) around a palm (1) is realized, speed reduction motor (105) motors for driving two palm-finger joints of the rest four fingers are mounted in a groove in the middle of the palm (1), and the joint axis is along the horizontal direction, so that the rest four fingers bend towards the palm center direction.

2. The dexterous hand with built-in drive for the multiple fingers according to claim 1, characterized in that the thumb (2) is composed of three major parts, namely a thumb metacarpal knuckle (201), a thumb proximal knuckle (202) and a thumb distal knuckle (203), to form two joints, namely the thumb proximal knuckle and the thumb distal knuckle, with two independent degrees of freedom, when the thumb (2) swings to coincide with the plane of the palm substrate (101), the thumb metacarpal knuckle (201) is embedded into a groove on the lower right side of the palm substrate (101), one end of the thumb metacarpal knuckle (201) connected with the palm serves as a metacarpal joint connecting block, the other end is a thumb proximal knuckle hole, the groove in the thumb knuckle is used for installing a thumb proximal knuckle deceleration motor (210), and the joint of the thumb metacarpal knuckle (201) and the thumb proximal knuckle (202) is the thumb proximal knuckle, the thumb proximal phalangeal joint transmission mechanism is basically the same as the metacarpophalangeal joint, the only difference is that the worm wheel shaft (208), the thumb proximal phalangeal joint worm wheel (206) and the proximal phalangeal joint connecting block (204) are not transmitted by adopting a key connection, after a worm wheel shaft (208) of a proximal thumb joint is milled flat, a tightening screw (216) is screwed into a worm wheel (206) of the proximal thumb joint and a connecting block (204) of a proximal knuckle to transmit torque, the other end of the connecting block (204) of the proximal thumb joint is in screw connection and fastening with the proximal thumb joint (202), the proximal thumb joint (202) is of a cylindrical structure with one end sealed, a speed reducing motor (211) of a distal thumb joint is placed and installed in the cylindrical structure, a transmission mechanism of the distal thumb joint is similar to the proximal thumb joint, two ear-shaped bosses are arranged on the outer end surface of the proximal thumb joint (202) with the seal, and a distal thumb joint hole is formed in each boss; the end face is also provided with a through hole and a threaded hole, the through hole is a channel extending out of an output shaft of the far finger joint speed reducing motor (211), the threaded hole is used for installing and fixing a far finger joint worm support frame (215), a thumb far finger joint worm wheel (213) is in screw connection and fastening with a thumb far finger joint connecting block (214), the thumb far finger joint (203) is also in a cylindrical structure with one end sealed, only one inclined slope is made at one end of the seal, and the thumb far finger joint connecting block (214) is tightly attached to the inner wall of the thumb far finger joint (203) and fastened together by screws.

3. The dexterous hand with built-in drive for the multi-finger of claim 2, wherein the index finger (3) comprises three major parts, namely an index finger palm knuckle (301), an index finger proximal knuckle (302) and an index finger distal knuckle (303), the index finger palm knuckle and the index finger distal knuckle (303) share two joints, the two joints respectively comprise two independent degrees of freedom, the axes of the two joints are parallel to the axis of the palm knuckle, the three knuckles are cylindrical structures with one sealed end, the index finger distal knuckle (303) and the big finger distal knuckle (203) are the same, an inclined slope is formed at one end of the seal, the structures of the index finger proximal knuckle and the index finger distal knuckle are the same and are similar to the big finger distal knuckle, and an index finger palm knuckle (301) and the index finger proximal knuckle (302) are respectively placed in a cylinder and provided with an index finger joint speed reducing motor (304) and an index finger distal knuckle speed reducing motor (315), the upper ends of the forefinger palm knuckle (301) and the metacarpophalangeal joint connecting block (104) are connected and fastened through screws, the upper ends of the forefinger proximal knuckle (302) and the forefinger proximal knuckle connecting block (308) are connected and fastened through screws, and the upper ends of the forefinger distal knuckle (303) and the forefinger distal knuckle connecting block (313) are connected and fastened through screws.

4. The dexterous hand with built-in drive for the multi-fingers is characterized in that the little finger (6) comprises three major parts, namely a little finger palm knuckle (601), a little finger near knuckle (602) and a little finger far knuckle (603), wherein the three major parts are the little finger near knuckle and the little finger far knuckle respectively, the structure of the little finger near knuckle is similar to that of the near knuckle of the rest four fingers, but the far knuckle is different from that of the rest four fingers, the little finger far knuckle (603) is connected with the little finger near knuckle (602) through a plane four-bar mechanism, and the little finger palm knuckle (601) is a frame of the four-bar mechanism; the little finger far knuckle (603) is a connecting rod of a four-bar linkage; the little finger proximal knuckle (602) is a link rod which is driven by a little finger proximal joint worm (604) and a little finger proximal joint worm wheel (606) to rotate around a little finger proximal joint worm wheel shaft (607); the other side link is a curved rod (609), the two side links are crossed, three knuckles of the little finger are cylindrical, one end of each knuckle is provided with a seal, in order to avoid the curved rod (609) in the four-bar linkage mechanism, the seal end of the near knuckle (602) of the little finger is cut off, longitudinal grooves are formed in the cylinder walls of the near knuckle (602) and the far knuckle (603) of the little finger, a near-finger joint worm support frame (605) of the little finger with a round hole is arranged on the upper end face of the palm knuckle (601) of the little finger, and the round hole is used as a hinge point of the curved rod (609) and the frame and is also used as a near-finger joint worm support frame of the little finger.

5. The dexterous hand with built-in drive for multi-fingered according to claim 1, characterized in that the index finger (3), the middle finger (4) and the ring finger (5) have the same structure with a slight difference in length, the middle finger (4) is the longest, the index finger (3) is the shortest and the ring finger (5) is between the two.

6. The built-in multi-finger dexterous hand of claim 1, wherein each joint of the dexterous hand is driven by a miniature speed reduction motor and is driven by a first-stage worm gear.

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