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CN-121973259-A - Under-actuated finger unit and under-actuated smart manipulator

CN121973259ACN 121973259 ACN121973259 ACN 121973259ACN-121973259-A

Abstract

The invention relates to the technical field of mechanical bionics, and discloses an underactuated finger unit and an underactuated dexterous hand, wherein the underactuated finger unit comprises a fixed end, a first phalange, a second phalange, a first joint, a second joint, a first rope and a driving rope, the fixed end, the first phalange and the second phalange are sequentially connected in a pivot mode through the first joint and the second joint, one end of the first rope is fixed in the fixed end, the first rope penetrates the first phalange after bypassing the first joint on the outer side of a hand back, penetrates the second phalange after penetrating from the first phalange and bypassing the second joint on the inner side of a hand palm and is fixed, one end of the driving rope is connected with the inner side of the hand palm of the first phalange, the other end of the driving rope is connected with a first power assembly in a transmission mode, and is used for pulling the first phalange to rotate around the first joint to the inner side of the hand palm under the pulling of the first power assembly.

Inventors

  • YAN TENG
  • ZHONG BINGZHUO
  • Chen Jiongxu
  • YU YUE
  • HUA QIXIANG

Assignees

  • 香港科技大学(广州)

Dates

Publication Date
20260505
Application Date
20260304

Claims (10)

  1. 1. An under-actuated finger unit, characterized in that the under-actuated finger unit (10) is driven by a first power component (111), the under-actuated finger unit (10) comprising a fixed end (101), a first phalange (1021), a second phalange (1022), a first joint (1031), a second joint (1032), a first rope (1041) and a driving rope (105); A first end of the first phalanx (1021) is pivotally connected to the fixed end (101) by the first joint (1031); a first end of the second phalange (1022) is pivotally connected to a second end of the first phalange (1021) by the second joint (1032); A first end of the first rope (1041) is fixed in the fixed end (101), the first rope (1041) passes through the first phalanx (1021) after bypassing the first joint (1031) on the outer side surface of the back of the hand, the first rope (1041) passes out of the first phalanx (1021) and passes through the second phalanx (1022) after bypassing the second joint (1032) on the inner side surface of the palm, and a second end of the first rope (1041) is fixed in the second phalanx (1022); One end of the driving rope (105) is connected with the inner side surface of the palm of the first phalanx (1021), the other end of the driving rope (105) is in transmission connection with the first power component (111), and the driving rope (105) is used for pulling the first phalanx (1021) to rotate towards the inner side surface of the palm around the first joint (1031) under the pulling of the first power component (111).
  2. 2. The under-actuated finger unit according to claim 1, wherein the under-actuated finger unit (10) is further driven by a reset assembly (113), the under-actuated finger unit (10) further comprising a second cord (1042) and a reset cord (106); The first end of the second rope (1042) is fixed in the fixed end (101), the second rope (1042) penetrates into the first phalange (1021) after bypassing the first joint (1031) on the inner side surface of the palm, the second rope (1042) penetrates out of the first phalange (1021) and penetrates into the second phalange (1022) after bypassing the second joint (1032) on the outer side surface of the back of the hand, and the second end of the second rope (1042) is fixed in the second phalange (1022); One end of the reset rope (106) is connected with the outer side face of the back of the hand of the first phalanx (1021), the other end of the reset rope (106) is in transmission connection with the reset assembly (113), and the reset rope (106) is used for pulling the first phalanx (1021) to rotate towards the back side under the pulling of the reset assembly (113).
  3. 3. Underactuated finger unit according to claim 2, characterized in that the reset assembly (113) is a stretched elastic member.
  4. 4. The underactuated finger unit according to claim 2, wherein the underactuated finger unit (10) further comprises a third phalange (1023), a third joint (1033), a third rope (1043) and a fourth rope (1044); A first end of the third phalange (1023) is pivotally connected to a second end of the second phalange (1022) by the third joint (1033); The first end of the third rope (1043) is fixed in the first phalange (1021), the third rope (1043) passes into the second phalange (1022) after bypassing the second joint (1032) on the outer side surface of the back of the hand, the third rope (1043) passes out of the second phalange (1022) and passes into the third phalange (1023) after bypassing the third joint (1033) on the inner side surface of the palm, and the second end of the third rope (1043) is fixed in the third phalange (1023); the first end of the fourth rope (1044) is fixed in the first phalanx (1021), the fourth rope (1044) passes through the second joint (1032) and penetrates into the second phalanx (1022) by bypassing the inner side surface of the palm, the fourth rope (1044) passes out of the second phalanx (1022) and passes through the third phalanx (1023) after passing through the third joint (1033) on the outer side surface of the back of the hand, and the second end of the fourth rope (1044) is fixed in the third phalanx (1023).
  5. 5. The underactuated finger unit as defined in claim 4, wherein the first rope (1041), the second rope (1042), the third rope (1043), or the fourth rope (1044) is an aramid rope.
  6. 6. The underactuated finger unit as claimed in claim 4, wherein the first, second or third ropes (1041, 1042, 1043) are fastened by screw compression.
  7. 7. The underactuated finger unit as claimed in claim 1, wherein the underactuated finger unit (10) is mounted on a palm body (11), the palm body (11) being provided with a plurality of mounting surfaces, the mounting surfaces being provided with second magnetic components (114); The end face, far away from the first joint (1031), of the fixed end (101) is provided with a first magnetic component (107), and the first magnetic component (107) is attracted with the second magnetic component (114); One of the mounting surface and the end surface is provided with a positioning convex part, and the other surface is provided with a positioning concave part, and the positioning convex part is correspondingly matched with the positioning concave part.
  8. 8. The underactuated finger unit as claimed in claim 1, wherein the first power assembly (111) includes a steering engine (1111) and a rudder disc (1112), the steering engine (1111) is fixed on the palm body (11), the other end of the driving rope (105) is wound around the circumference surface of the rudder disc (1112), and the steering engine (1111) drives the rudder disc (1112) to rotate to pull the second phalanges (1022).
  9. 9. The underactuated finger unit according to claim 1, wherein the underactuated finger unit (10) is further driven by a second power assembly (115), the second power assembly (115) comprising a drive motor and a second gear (1151), the drive motor being adapted to rotate the second gear; One end of the fixed end (101) far away from the first joint (1031) is fixed with a first gear (1011), the first gear (1011) is meshed with the second gear (1151), a rotation plane of the first gear (1011) and a rotation plane of any joint (103) form a preset angle, and the first gear (1011) is used for driving the under-actuated finger unit (10) to swing under the rotation of the second gear (1151).
  10. 10. An under-actuated smart manipulator (1), characterized in that the under-actuated smart manipulator (1) comprises: The palm body (11) is provided with a plurality of first driving components; And a plurality of underactuated finger units (10) according to any one of claims 1-9, wherein the first driving components are in one-to-one correspondence with the underactuated finger units (10), and the first driving components are used for driving the underactuated finger units (10) to bend.

Description

Under-actuated finger unit and under-actuated smart manipulator Technical Field The invention relates to the technical field of mechanical bionics, in particular to an underactuated finger unit and an underactuated smart manipulator. Background The bionic manipulator is used as a core execution component of the humanoid robot, the flexibility is a core index for measuring the performance of the humanoid robot, and the freedom degree is a key support for flexibility, so that the development of the dexterous manipulator with higher freedom degree is a mainstream trend of industrial technology development. However, when the degree of freedom of the existing bionic manipulator is increased for improving the flexibility, more driving devices are needed to be matched, so that the structure of the manipulator is large, the mass of the manipulator is increased, the application of the manipulator in a narrow space is limited, and the control difficulty can be increased due to excessive inertia. Numerous attempts have been made in the industry, such as the patent application of the invention published as CN120503236a, to disclose a twenty-two degree-of-freedom dexterous hand that is capable of multi-directional movement of the fingers, palm and wrist through a rope (tendon rope) drive in combination with a multi-joint design. But this scheme adopts 8 font rope to twine on the pulley of knuckle, pulls 8 font rope by outside chain direct, relies on 8 font rope and the frictional force drive joint rotation of the pulley of knuckle department, and the unstable precision upper limit that has directly limited the manipulator of frictional force, when load change or rope tension are not enough, the rope easily takes place the phenomenon of skidding with the knuckle, leads to the action to carry out the deviation and show to increase, and this deviation can't resume through the reset, belong to permanent deviation for this scheme is difficult to satisfy the high accuracy requirement. Therefore, how to avoid slipping on the basis of ensuring the driving precision becomes a technical problem to be solved urgently. Disclosure of Invention The invention aims to solve the technical problem of avoiding slipping on the basis of ensuring the driving precision. In order to solve the technical problems, the invention provides an underactuated finger unit and an underactuated smart manipulator. According to the first aspect of the invention, an under-actuated finger unit is provided and driven by a first power component, the under-actuated finger unit comprises a fixed end, a first phalange, a second phalange, a first joint, a second joint, a first rope and a driving rope, the first end of the first phalange is in pivot connection with the fixed end through the first joint, the first end of the second phalange is in pivot connection with the second end of the first phalange through the second joint, the first end of the first rope is fixed in the fixed end, the first rope penetrates into the first phalange after bypassing the first joint on the outer side surface of the dorsum of the hand, the first rope penetrates into the second phalange after penetrating out of the first phalange and bypassing the second joint on the inner side surface of the palm, the second end of the first rope is fixed in the second phalange, one end of the driving rope is connected with the inner side surface of the palm of the first phalange, the other end of the driving rope is in drive connection with the first power component, and the driving rope is used for pulling the first phalange to rotate around the first joint to the inner side surface under pulling of the first power component. In one embodiment, the under-actuated finger unit is driven by the reset assembly, the under-actuated finger unit further comprises a second rope and a reset rope, the first end of the second rope is fixed in the fixed end, the second rope firstly passes through the first phalanx by bypassing the first joint thickness of the inner side face of the palm, the second rope passes through the first phalanx and passes through the second phalanx after passing through the second joint of the outer side face of the back of the hand, the second end of the second rope is fixed in the second phalanx, one end of the reset rope is connected with the outer side face of the back of the hand of the first phalanx, the other end of the reset rope is in transmission connection with the reset assembly, and the reset rope is used for pulling the first phalanx to rotate to the back side under the pulling of the reset assembly. In one embodiment, the reset component is a tensile elastic component. In one embodiment, the under-actuated finger unit further comprises a third phalanx, a third joint, a third rope and a fourth rope, wherein the first end of the third phalanx is in pivot connection with the second end of the second phalanx through the third joint, the first end of the third rope is fixed