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CN-121989278-A - Dexterous hand, control method of dexterous hand and storage medium

CN121989278ACN 121989278 ACN121989278 ACN 121989278ACN-121989278-A

Abstract

The application discloses a dexterous hand, a control method of the dexterous hand and a storage medium, comprising a palm base, a direct-drive knuckle module, a control unit and a control unit, wherein the knuckle module comprises a knuckle module and a knuckle driving unit, the knuckle module is arranged on the palm base, the knuckle driving unit is arranged in the knuckle module and is in driving connection with a joint shaft of the knuckle module so as to drive the knuckle module to move, the rope driving module comprises a tendon rope driving unit, a tendon rope guiding mechanism and a tendon rope, the tendon rope driving unit is arranged on one side, far away from the knuckle module, of the palm base, the tendon rope guiding mechanism is arranged on the knuckle module, the tendon rope penetrates through the tendon rope guiding mechanism, one end of the tendon rope is connected with the tendon rope driving unit, the other end of the tendon rope is connected with a tail end knuckle in the knuckle module, and the control unit is in signal connection with the knuckle driving unit and the tendon rope driving unit so as to cooperatively drive the knuckle module to move. Through the structure, the defect of a single driving mode can be overcome, and the fine operation and the heavy load operation are both considered.

Inventors

  • Request for anonymity
  • Request for anonymity

Assignees

  • 帕西尼感知科技(深圳)有限公司

Dates

Publication Date
20260508
Application Date
20260326

Claims (10)

  1. 1. A smart hand, comprising: A palm base; the direct-drive knuckle module comprises a knuckle module and a knuckle driving unit, wherein the knuckle module is arranged on the palm base, and the knuckle driving unit is arranged in the knuckle module and is in driving connection with a joint shaft of the knuckle module so as to drive the knuckle module to move; The rope driving module comprises a tendon rope driving unit, a tendon rope guiding mechanism and a tendon rope, wherein the tendon rope driving unit is arranged on one side, far away from the knuckle module, of the palm base, the tendon rope guiding mechanism is arranged on the knuckle module, the tendon rope is arranged on the tendon rope guiding mechanism in a penetrating mode, one end of the tendon rope guiding mechanism is connected with the tendon rope driving unit, and the other end of the tendon rope guiding mechanism is connected with a tail end knuckle in the knuckle module; the control unit is in signal connection with the knuckle driving unit and the tendon rope driving unit and is used for sending control instructions to the knuckle driving unit and the tendon rope driving unit so as to cooperatively drive the knuckle module to move.
  2. 2. The dexterous hand according to claim 1, wherein the knuckle driving unit comprises a first driver, a speed reducer and a transmission assembly, wherein the first driver and the speed reducer are arranged in the same knuckle, the transmission assembly is arranged in another knuckle adjacent to the knuckle, the speed reducer is connected with an output shaft of the first driver, and the output shaft of the speed reducer is in driving connection with the joint shaft through the transmission assembly.
  3. 3. The dexterous hand according to claim 2, wherein the transmission assembly comprises a first bevel gear coaxially affixed to the output shaft of the reducer, a second bevel gear coaxially affixed to the articulation shaft, the first bevel gear being orthogonal to and intermeshed with the second bevel gear axis.
  4. 4. A dexterous hand according to any of claims 1 to 3 wherein the knuckle module is provided with a tactile sensor and the joint shaft is coaxially mounted with an encoder.
  5. 5. The dexterous hand according to claim 1, wherein the tendon rope driving unit comprises a second driver, a transmission member and a wire coiling device, wherein an output shaft of the second driver is connected with the wire coiling device through the transmission member, and one end of the tendon rope is coiled on the wire coiling device.
  6. 6. The dexterous hand of claim 1, wherein the tendon rope guide mechanism is a guide ring constructed of a low friction material that is attached to the housing of the knuckle module.
  7. 7. The dexterous hand of claim 1, wherein the end knuckle comprises a tendon rope tensioning sensor comprising: a magnetic sensor fixed to the distal knuckle; an elastic member which is covered outside the magnetic sensor; a permanent magnet fixed to a side of the elastic member facing the magnetic sensor and disposed at an opposite interval from the magnetic sensor; And the binding piece is fixed on one side of the elastic piece, which is opposite to the permanent magnet, and is used for fixing the other end of the tendon rope.
  8. 8. A method of controlling a dexterous hand according to any one of claims 1 to 7, wherein a control unit applied to the dexterous hand comprises one of the following control modalities: The control command is sent to the knuckle driving unit and the tendon rope driving unit, the tendon rope driving unit is controlled to output and maintain constant torque so that the tendon rope maintains preset tension, and the knuckle driving unit is controlled to be in an active driving state so as to output torque to drive the joint of the knuckle module to actively move; Sending a control instruction to the knuckle driving unit and the tendon rope driving unit to control the tendon rope driving unit to switch to an active driving state so as to output traction torque and actively traction the knuckle module to move through the tendon rope, and controlling the knuckle drive unit to switch to a passive compliance state to enable the corresponding joint to perform low-resistance passive rotation under traction of the tendon rope.
  9. 9. The control method of claim 8, wherein the smart hand further comprises an encoder, a tendon rope tension sensor, a haptic sensor, and wherein the step of issuing control instructions to the knuckle drive unit and the tendon rope drive unit further comprises: Acquiring encoder data, tendon rope tension sensor data, and load force data of the smart hand, wherein the load force data is acquired based on the haptic sensor; And judging a control mode which is required to be executed currently according to the encoder data, the tendon rope tensioning sensor data and the load force data, and outputting a corresponding control instruction.
  10. 10. A storage medium, characterized in that the storage medium is a computer-readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, realizes the steps of the control method according to any one of claims 8 to 9.

Description

Dexterous hand, control method of dexterous hand and storage medium Technical Field The application relates to the technical field of dexterous hands, in particular to a dexterous hand, a control method of the dexterous hand and a storage medium. Background The smart hand is used as a core end effector of a robot and body intelligent system, and has wide application prospect in various fields such as industry, medical treatment, aerospace and the like. The driving scheme of the dexterous hand is one of key technologies for determining the performance of the dexterous hand, and the main current driving scheme mainly comprises a motor direct driving scheme and a rope driving scheme. The motor direct-drive scheme is to directly integrate the micro motor at the finger joint, and has the advantages of high control precision and quick response. But is limited by motor power density and space constraints, the direct drive scheme has difficulty in providing sufficient output force in high-degree-of-freedom design, thereby resulting in insufficient dexterous hand mechanical properties. The rope driving scheme is to put the driver at the back and transmit power through the tendon rope, but the output force can be improved, but the control precision is low, the service life is short and fine operation is difficult to realize due to the problems of abrasion, looseness, nonlinear friction and the like of the rope body. In view of the foregoing, there is a need for a smart hand and control method employing a novel driving scheme to overcome the defect of a single driving mode, and to provide a flexible capability for both fine operation and heavy load operation. The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present application and is not intended to represent an admission that the foregoing is prior art. Disclosure of Invention The application mainly aims to provide a dexterous hand, a control method of the dexterous hand and a storage medium, and aims to solve the technical problem that the dexterous hand has the capability of flexibly considering fine operation and heavy load operation due to the defect of a single driving mode of the dexterous hand in the past. The finger-rest finger comprises a palm base, a direct-drive finger-rest module, a rope-rest module and a control unit, wherein the finger-rest module comprises a finger-rest module and a finger-rest driving unit, the finger-rest module is arranged on the palm base, the finger-rest driving unit is arranged in the finger-rest module and is in driving connection with a joint shaft of the finger-rest module so as to drive joints of the finger-rest module to move, the rope-rest module comprises a tendon rope driving unit, a tendon rope guiding mechanism and a tendon rope, the tendon rope driving unit is arranged on one side, far away from the finger-rest module, of the palm base, the tendon rope guiding mechanism is arranged on the finger-rest module, the tendon rope is arranged on the tendon rope guiding mechanism in a penetrating mode, one end of the tendon rope guiding mechanism is connected with the tendon rope driving unit, the other end of the tendon rope guiding mechanism is connected with a tail end finger joint of the finger-rest module, and the control unit is in signal connection with the finger-rest driving unit and the tendon rope driving unit so as to send control instructions to the finger-rest driving unit and the tendon rope driving unit so as to enable the finger-rest module to move cooperatively. In some embodiments, the knuckle driving unit includes a first driver, a speed reducer, and a transmission assembly, where the first driver and the speed reducer are built in the same knuckle, the transmission assembly is built in another knuckle adjacent to the knuckle, the speed reducer is connected with an output shaft of the first driver, and an output shaft of the speed reducer is in driving connection with the joint shaft through the transmission assembly. In some embodiments, the transmission assembly includes a first bevel gear coaxially affixed to the output shaft of the reducer, a second bevel gear coaxially affixed to the articulation shaft, the first bevel gear being orthogonal to and intermeshed with the second bevel gear axis. In some embodiments, the knuckle module has a tactile sensor disposed thereon and the joint shaft has an encoder coaxially mounted thereon. In some embodiments, the tendon rope driving unit comprises a second driver, a transmission piece and a wire coiling device, wherein an output shaft of the second driver is connected with the wire coiling device through the transmission piece, and one end of the tendon rope is coiled on the wire coiling device. In some embodiments, the tendon rope guide is a guide ring constructed of a low friction material that is attached to the housing of the knuckle module. In some embodiments, the end knuckle comprises a tendo