CN119188813A - A robot dexterous hand - Google Patents
A robot dexterous hand Download PDFInfo
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- CN119188813A CN119188813A CN202411324733.0A CN202411324733A CN119188813A CN 119188813 A CN119188813 A CN 119188813A CN 202411324733 A CN202411324733 A CN 202411324733A CN 119188813 A CN119188813 A CN 119188813A
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- knuckle
- finger
- joint
- assembly
- palm
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- 238000005452 bending Methods 0.000 claims abstract description 63
- 210000002435 tendon Anatomy 0.000 claims abstract description 27
- 210000003811 finger Anatomy 0.000 claims description 110
- 230000000712 assembly Effects 0.000 claims description 44
- 238000000429 assembly Methods 0.000 claims description 44
- 230000006835 compression Effects 0.000 claims description 15
- 238000007906 compression Methods 0.000 claims description 15
- 230000000149 penetrating effect Effects 0.000 claims description 9
- 210000003813 thumb Anatomy 0.000 claims description 9
- 230000001681 protective effect Effects 0.000 claims description 6
- 230000009471 action Effects 0.000 abstract description 4
- 210000000078 claw Anatomy 0.000 description 12
- 230000033001 locomotion Effects 0.000 description 7
- 230000008878 coupling Effects 0.000 description 6
- 238000010168 coupling process Methods 0.000 description 6
- 238000005859 coupling reaction Methods 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 5
- 241000282414 Homo sapiens Species 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 210000004932 little finger Anatomy 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
本发明提出了一种机器人灵巧手，包括手掌组件、手指组件和驱动组件；手掌组件至少包括手掌底座；驱动组件包括安装于手掌底座上的摆动单元和弯曲单元，分别用于驱动手指组件摆动和弯曲；手指组件包括第一指节、第二指节、第三指节、第一扭簧和第二扭簧，弯曲单元通过腱绳连接第二指节且腱绳穿过第一指节，第三指节与第二指节耦合连接；第一扭簧安装于第一关节上，第二扭簧安装于第三关节上，第二扭簧的预压力大于第一扭簧的预压力。在手指弯曲时，会首先弯曲第一指节，再进行第二指节、第三指节的弯曲，弯曲单元实现三个指节的弯曲，结构简单紧凑且占用空间小，每个手指组件配备有弯曲单元和摆动单元，可以实现较为丰富复杂的抓握动作。
The present invention proposes a robot dexterous hand, including a palm component, a finger component and a driving component; the palm component at least includes a palm base; the driving component includes a swing unit and a bending unit installed on the palm base, which are respectively used to drive the finger component to swing and bend; the finger component includes a first knuckle, a second knuckle, a third knuckle, a first torsion spring and a second torsion spring, the bending unit is connected to the second knuckle through a tendon rope and the tendon rope passes through the first knuckle, and the third knuckle is coupled and connected with the second knuckle; the first torsion spring is installed on the first joint, the second torsion spring is installed on the third joint, and the pre-pressure of the second torsion spring is greater than the pre-pressure of the first torsion spring. When the finger is bent, the first knuckle will be bent first, and then the second knuckle and the third knuckle will be bent. The bending unit realizes the bending of three knuckles. The structure is simple and compact and occupies little space. Each finger component is equipped with a bending unit and a swing unit, which can realize richer and more complex grasping actions.
Description
Technical Field
The invention relates to the technical field of mechanical arms, in particular to a robot dexterous hand.
Background
In recent years, robots have been rapidly developed, and work has been performed in different environments such as factories, battlefields, space, etc., and end effectors are a key part thereof. The end effector is usually a single degree of freedom clamp type or parallel movement type mechanism, and even a vacuum chuck type mechanism for conveyance. Most of the end actuating mechanisms are simple in structure and convenient to control, and are suitable for large-load operation, but due to the defects of weak universality, low intelligence, poor precision and the like, the simple end actuating mechanisms cannot meet the requirements of human beings on complex tasks, and the development of robots in various fields is limited. Therefore, the multi-finger manipulator is attracting attention because of the advantages of multiple execution actions, dexterity, strong adaptability and the like.
In the prior art, the multi-finger manipulator generally has the following two types that the manipulator has 4-5 fingers, each finger is provided with a plurality of joints, each finger is controlled by a single motor, the joints of the fingers are provided with motion coupling, the manipulator can only grip the hand, the function is simple, the manipulator has 4-5 fingers, each finger is provided with a plurality of joints, each finger is controlled by a plurality of motors, the motors are positioned on arms, the motion and the power are transmitted by tendon ropes, and the whole manipulator is complex and occupies large space.
Disclosure of Invention
In view of the above, the invention provides a robot dexterous hand to solve the technical problems of the above-mentioned background art that only gripping can be performed, the function is simple, or the whole machine is complex and the occupied space is large.
The technical scheme of the invention is realized as follows:
the invention provides a robot smart hand, which comprises a palm component, a finger component and a driving component, wherein:
the palm assembly at least comprises a palm base, wherein the palm base is used for being connected with a mechanical arm of a robot;
The driving assembly comprises a swinging unit and a bending unit which are arranged on the palm base, the swinging unit is used for driving the finger assembly to swing, the bending unit is used for driving the finger assembly to bend, and the bending direction is perpendicular to the swinging direction;
The finger assembly is provided with a plurality of finger assemblies, each finger assembly is connected with one driving assembly, each finger assembly comprises a first knuckle, a second knuckle, a third knuckle, a first torsion spring and a second torsion spring, the first knuckle is rotatably connected with the swinging unit through a first joint, the second knuckle is rotatably connected with the first knuckle through a second joint, the third knuckle is rotatably connected with the second knuckle through a third joint, the bending unit is connected with the second knuckle through a tendon rope, the tendon rope penetrates through the first knuckle, the third knuckle is coupled with the second knuckle to drive the third knuckle to bend while the bending unit drives the second knuckle to bend, the first torsion spring is mounted on the first joint, the second torsion spring is mounted on the third joint, and the pre-compression force of the second torsion spring is larger than the pre-compression force of the first torsion spring.
On the basis of the technical scheme, the rotary stopping unit comprises an electromagnet, a tooth-shaped braking claw and a follow-up gear, wherein the electromagnet is arranged in the first knuckle and is in driving connection with the tooth-shaped braking claw, the follow-up gear is arranged on the first joint, and the tooth-shaped braking claw can be driven to be meshed with the follow-up gear when the electromagnet is electrified so as to limit the first knuckle to rotate around the first joint.
On the basis of the above technical scheme, preferably, the swing unit comprises a swing motor, a driving gear, a driven gear and a first connecting seat, wherein the swing motor is installed on the palm base and connected with the driving gear, a connecting shaft is arranged at the bottom of the first connecting seat and rotatably installed on the palm base, the first connecting seat and the first knuckle are rotatably connected through a first joint, and the driven gear is fixedly installed on the connecting shaft and meshed with the driving gear.
On the basis of the technical scheme, preferably, the bending unit comprises a bending motor, a wire spool and a tensioning column, wherein the bending motor is arranged on the palm base and connected with the wire spool, and the tensioning column is arranged on the first knuckle and positioned below the first joint and the second joint;
the top of the first connecting seat is provided with a rope penetrating hole penetrating through the connecting shaft;
One end of the tendon rope is wound on the wire spool, and the other end of the tendon rope penetrates into the rope threading hole from one end of the connecting shaft and is connected to the second knuckle after passing through the rope threading hole and bypassing below the tensioning column.
On the basis of the above technical scheme, preferably, the finger assembly further comprises a connecting rod, one end of the first knuckle, which is close to the second knuckle, is provided with a first mounting hole and a first connecting hole, the first connecting hole is located above the first mounting hole, one end of the third knuckle, which is close to the second knuckle, is provided with a second mounting hole and a second connecting hole, the second connecting hole is located below the second mounting hole, the second joint is installed in the first mounting hole, the third joint is installed in the second mounting hole, and two ends of the connecting rod are respectively connected with the first connecting hole and the second connecting hole in a rotating mode.
On the basis of the technical scheme, preferably, the four finger assemblies are arranged, wherein three finger assemblies are arranged on the first side face of the palm base at intervals and serve as an index finger, a middle finger and a ring finger respectively, the other finger assembly is arranged on the second side face of the palm base and serves as a thumb, and the second side face is perpendicular to the first side face.
On the basis of the above technical solution, preferably, the bending plane of the finger assembly as the thumb has an included angle with the bending planes of the other three finger assemblies.
On the basis of the above technical scheme, preferably, the finger assemblies are at least three, at least three finger assemblies are circumferentially arranged on the same surface of the palm base, and the bending directions face to the inner side.
On the basis of the above technical scheme, preferably, the finger assemblies are three, the three finger assemblies are arranged on the same surface of the palm base, two finger assemblies are arranged at intervals in parallel, and the other finger assembly is arranged opposite to the two finger assemblies.
On the basis of the technical scheme, preferably, the palm assembly further comprises a protective cover, and the protective cover is connected with the palm base and covers the driving assembly.
Compared with the prior art, the smart robot hand has the following beneficial effects:
(1) The bending unit is connected with the second knuckle through the tendon rope, the tendon rope penetrates through the first knuckle, the third knuckle is connected with the second knuckle in a coupling mode, so that the bending unit drives the second knuckle to bend and simultaneously drives the third knuckle to bend, the precompression of the second torsion spring is larger than that of the first torsion spring, when the finger bends, the first knuckle is bent first, when the first knuckle is blocked (e.g. a gripping object is touched) or bent to a limiting position, bending of the second knuckle and the third knuckle is performed, bending of the three knuckles is achieved through one bending unit, the structure is simple and compact, occupied space is small, each finger assembly is provided with one bending unit and one swinging unit, hand motions are more flexible, rich and complex gripping motions can be achieved, and functions of the finger assemblies are enriched;
(2) Through setting up the rotation stopping unit, the rotation stopping unit includes electro-magnet, tooth-shaped brake claw and follower gear, the electro-magnet is installed in first knuckle and with tooth-shaped brake claw drive connection, follower gear is installed on first joint, the electro-magnet can drive tooth-shaped brake claw with follower gear meshing when being circular telegram in order to restrict first knuckle is rotated around first joint, changes the crooked order of first knuckle and second knuckle, realizes the grasping effect of more postures, improves the application scope of device;
(3) The bending motor is arranged on the palm base and is connected with the wire spool, the tensioning column is mounted on the first knuckle and located below the first joint and the second joint; the wire spool is driven by the bending motor to rotate forwards so as to tighten the tendon rope, and the second knuckle is pulled to bend the second knuckle by overcoming the pre-compression force of the second torsion spring due to the coupling of the second knuckle and the third knuckle, so that the first knuckle is pulled to bend first, and the second knuckle and the third knuckle are bent only when the first knuckle is blocked (e.g. a grabbing object is touched) or bent to a limit position;
(4) Through first connecting hole is located first mounting hole top, the second connecting hole is located second mounting hole below, the second joint install in the first mounting hole, the third joint install in the second mounting hole, the both ends of connecting rod respectively with first connecting hole with the second connecting hole rotates to be connected to make connecting rod and second knuckle crisscross each other and all connect between first knuckle and third knuckle, the spacing of second knuckle can be realized to connecting rod cooperation second torsional spring, and after overcoming the precompression of second torsional spring, the tendon rope pulling second knuckle is crooked, and the third knuckle also can crooked when bending.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a perspective view of a robotic dexterous hand in an embodiment of the present invention;
FIG. 2 is a top view of a robot smart hand (hidden protective cover) in an embodiment of the invention;
FIG. 3 is a perspective view of a robot smart hand (hidden finger assembly) in an embodiment of the invention;
FIG. 4 is a perspective view of a robot smart hand (hidden palm component) in an embodiment of the invention;
FIG. 5 is a perspective view of a robot smart hand (hidden palm component) in accordance with an embodiment of the present invention;
FIG. 6 is a schematic diagram of the structure of a robotic dexterous hand (hidden palm component and first knuckle) in an embodiment of the present invention;
FIG. 7 is a schematic view of a first knuckle in an embodiment of the invention;
FIG. 8 is a schematic view of the first knuckle, second knuckle, third knuckle and connecting rod in an embodiment of the invention;
FIG. 9 is a schematic view of a connecting rod and a second knuckle in accordance with an embodiment of the invention;
FIG. 10 is a schematic diagram of a second robotic dexterous hand in an embodiment of the present invention;
fig. 11 is a schematic structural view of a third robot smart hand in an embodiment of the present invention.
Reference numerals indicate a 1-palm component, a 2-finger component, a 3-driving component, a 4-tendon rope and a 5-rotation stopping unit;
11-palm base, 12-protective cover;
201-first joint, 202-second joint, 203-third joint, 21-first knuckle, 211-first mounting hole, 212-first connecting hole, 213-chute, 22-second knuckle, 23-third knuckle, 231-second mounting hole, 232-second connecting hole, 24-first torsion spring, 25-second torsion spring, 26-connecting rod;
31-swinging units, 311-swinging motors, 312-driving gears, 313-driven gears, 314-first connecting seats, 3141-connecting shafts, 3142-rope threading holes, 32-bending units, 321-bending motors, 322-wire reels and 323-tensioning columns;
51-electromagnet, 52-tooth-shaped braking claw and 53-follow-up gear.
Detailed Description
The following description of the embodiments of the present invention will clearly and fully describe the technical aspects of the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, are intended to fall within the scope of the present invention.
Referring to fig. 1-11, an embodiment of the present invention provides a robot dexterous hand, comprising a palm component 1, a finger component 2 and a driving component 3, wherein:
the palm assembly 1 at least comprises a palm base 11, wherein the palm base 11 is used for being connected with a mechanical arm of a robot, the palm base 11 is provided with a mounting surface, and the mounting surface is provided with a mounting hole for being connected with the mechanical arm;
The driving assembly 3 comprises a swinging unit 31 and a bending unit 32 which are arranged on the palm base 11, the swinging unit 31 is used for driving the finger assembly 2 to swing, and the bending unit 32 is used for driving the finger assembly 2 to bend, and the bending direction is perpendicular to the swinging direction;
The finger assembly 2 is provided with a plurality of finger assemblies 2, each finger assembly 2 is connected with one driving assembly 3, the finger assembly 2 comprises a first knuckle 21, a second knuckle 22, a third knuckle 23, a first torsion spring 24 and a second torsion spring 25, the first knuckle 21 is rotatably connected with the swinging unit 31 through a first joint 201, the second knuckle 22 is rotatably connected with the first knuckle 21 through a second joint 202, the third knuckle 23 is rotatably connected with the second knuckle 22 through a third joint 203, the bending unit 32 is connected with the second knuckle 22 through a tendon rope 4, the tendon rope 4 passes through the first knuckle 21, the third knuckle 23 is coupled with the second knuckle 22 so as to drive the third knuckle 23 to bend while the bending unit 32 drives the second knuckle 22 to bend, the first torsion spring 24 is mounted on the first joint 201, the second torsion spring 25 is mounted on the third joint 203, and the pre-compression force of the second torsion spring 24 is larger than the pre-compression force of the second torsion spring 25.
It should be noted that the first joint 201, the second joint 202, and the third joint 203 in this embodiment all refer to joint axes, i.e., rotation axes.
According to the robot dexterous hand, the bending unit 32 is used for connecting the second knuckle 22 through the tendon rope 4, the tendon rope 4 penetrates through the first knuckle 21, the third knuckle 23 is connected with the second knuckle 22 in a coupling mode, the bending unit 32 drives the second knuckle 22 to bend and simultaneously drives the third knuckle 23 to bend, the precompression of the second torsion spring 25 is larger than the precompression of the first torsion spring 24, when the finger bends, the first knuckle 201 is bent first, when the first knuckle 21 is blocked (e.g. touches a gripping object) or is bent to a limiting position, bending of the second knuckle 22 and the third knuckle 23 is performed, bending of the three knuckles is achieved through one bending unit 32, the structure is simple and compact, occupied space is small, each finger assembly 2 is provided with one bending unit 32 and one swinging unit 31, hand motions are more flexible, and the function of the hand motions can be enriched.
In some embodiments, the robot smart hand further comprises a rotation stopping unit 5, the rotation stopping unit 5 comprises an electromagnet 51, a tooth-shaped braking claw 52 and a follower gear 53, the electromagnet 51 is installed in the first knuckle 21 and is in driving connection with the tooth-shaped braking claw 52, a sliding groove 213 is formed in the first knuckle 21, the electromagnet 51 is placed in the sliding groove 213 and can slide along the sliding groove 213, the follower gear 53 is installed on the first joint 201, and when the electromagnet 51 is powered on, the tooth-shaped braking claw 52 can be driven to be meshed with the follower gear 53 so as to limit the first knuckle 21 to rotate around the first joint 201. Under the power-off state of the electromagnet 51, the tooth-shaped braking claw 52 and the follow-up gear 53 are not meshed, and when the electromagnet 51 is electrified, the tooth-shaped braking claw 52 can be driven to slide along the sliding groove 213 and be meshed with the follow-up gear 53, so that the first knuckle 21 is limited to rotate around the first joint 201, the second knuckle 22 is driven to bend, the bending sequence of the first knuckle 21 and the second knuckle 22 is changed, more gesture grasping effects are achieved, and the application range of the device is improved.
In some embodiments, the swing unit 31 includes a swing motor 311, a driving gear 312, a driven gear 313, and a first connection base 314, the swing motor 311 is mounted on the palm base 11 and connected to the driving gear 312, a connection shaft 3141 is disposed at the bottom of the first connection base 314, the connection shaft 3141 is rotatably mounted on the palm base 11, the first connection base 314 and the first knuckle 21 are rotatably connected through the first joint 201, and the driven gear 313 is fixedly mounted on the connection shaft 3141 and meshed with the driving gear 312. The connecting shaft 3141 is perpendicular to the first joint 201, so that the swinging direction is perpendicular to the bending direction, the driving gear 312 is driven to rotate by the swinging motor 311, the driven gear 313 meshed with the driving gear 312 is driven to rotate, the first connecting seat 314 is driven to rotate, and the whole finger assembly 2 swings around the connecting shaft 3141 in the first plane.
In some embodiments, the bending unit 32 includes a bending motor 321, a wire spool 322, and a tensioning post 323, the bending motor 321 is mounted on the palm base 11 and connected to the wire spool 322, the tensioning post 323 is mounted on the first knuckle 21 and located below the first knuckle 201 and the second knuckle 202, a rope penetrating hole 3142 penetrating through the connecting shaft 3141 is formed in the top of the first connecting seat 314, the rope penetrating hole 3142 is tangential to the wire spool 322, the rope 4 is wound on the wire spool 322 and can be threaded into the rope penetrating hole 3142 just after being wound on the wire spool 322, so that the rope 4 can be straightened better, one end of the rope 4 is wound on the wire spool 322, and the other end 3142 of the rope 4 is threaded into the rope penetrating hole 3142 from one end of the connecting shaft 3141 and is wound around below the tensioning post 323 and then connected to the second knuckle 22. The bending motor 321 drives the wire spool 322 to rotate forward so as to tighten the tendon rope 4 and pull the second knuckle 22, the tendon rope 4 can bend the second knuckle 22 by overcoming the pre-compression force of the second torsion spring 25 due to the coupling of the second knuckle 22 and the third knuckle 23, therefore, the first knuckle 21 is pulled to bend first, and the second knuckle 22 and the third knuckle 23 are bent when the first knuckle 21 is blocked (such as a gripping object is touched) or bent to a limit position, and the bending motor 321 drives the wire spool 322 to rotate reversely so as to loosen the tendon rope 4 and reset the first knuckle 21, the second knuckle 22 and the third knuckle 23 under the pressure action of the first torsion spring 24 and the second torsion spring 25.
In some embodiments, the finger assembly 2 further includes a connecting rod 26, a first mounting hole 211 and a first connecting hole 212 are disposed at an end of the first knuckle 21 near the second knuckle 22, the first connecting hole 212 is located above the first mounting hole 211, a second mounting hole 231 and a second connecting hole 232 are disposed at an end of the third knuckle 23 near the second knuckle 22, the second connecting hole 232 is located below the second mounting hole 231, the second joint 202 is mounted in the first mounting hole 211, the third joint 203 is mounted in the second mounting hole 231, and two ends of the connecting rod 26 are respectively rotatably connected with the first connecting hole 212 and the second connecting hole 232. The first connecting hole 212 is located above the first mounting hole 211, the second connecting hole 232 is located below the second mounting hole 231, the second joint 202 is mounted in the first mounting hole 211, the third joint 203 is mounted in the second mounting hole 231, two ends of the connecting rod 26 are respectively connected with the first connecting hole 212 and the second connecting hole 232 in a rotating way, so that the connecting rod 26 and the second knuckle 22 are staggered with each other and are connected between the first knuckle 21 and the third knuckle 23, the connecting rod 26 is matched with the second torsion spring 25 to realize limit of the second knuckle 22, therefore, the first knuckle 21 is driven to bend, after the pre-compression force of the second torsion spring 25 is overcome, four hinge points of the connecting rod 26 and the second knuckle 22 form a quadrangle, the third knuckle 23 can bend at the same time when the second knuckle 22 is pulled by the quadrangle rope 4, for example, when the second knuckle 22 is pulled by the quadrangle rope 4 to bend around the second joint 202, the first knuckle 22 bends inwards at the first connecting hole 26, and the pre-compression force is driven by the connecting rod 26 to bend inwards at the first knuckle 22, and the pre-compression force is driven by the second torsion spring 25 to bend the second knuckle 22 to bend at the second knuckle 22, and the first knuckle 23 is driven to bend at the pre-compression force of the second knuckle 22 outwards; conversely, after tendon rope 4 is released, the tension of tendon rope 4 disappears, and the torsion of second torsion spring 25 causes third knuckle 23 to bend and return outwards, and second knuckle 22 applies inward force to link 26 at second connecting hole 232, and second knuckle 22 bends and returns outwards around second joint 202 due to the fact that the other end of link 26 pulls at first connecting hole 212.
Based on the modular design of the finger assembly and the drive assembly, the robot dexterous hand can have several variations:
In some embodiments, as shown in fig. 1, the finger assemblies 2 are four, wherein three finger assemblies 2 are mounted on a first side of the palm base 11 at intervals, respectively as an index finger, a middle finger and a ring finger, and the other finger assembly 2 is mounted on a second side of the palm base 11, which is perpendicular to the first side, as a thumb. The three finger assemblies 2 are arranged on the first side surface of the palm base 11 at intervals and serve as an index finger, a middle finger and a ring finger respectively, the other finger assembly 2 is arranged on the second side surface of the palm base 11 and serves as a thumb, the four finger assemblies 2 can be gathered and opened through the swing units 31 respectively arranged, each finger assembly 2 can be independently bent, the gripping behavior of the finger assemblies is similar to that of a human hand, and the flexibility is better.
In further embodiments, the curved plane of the finger assembly 2, which is the thumb, is at an angle to the curved planes of the other three finger assemblies 2. Through as the bending plane of thumb the bending plane of finger subassembly 2 and other three the bending plane of finger subassembly 2 exist the contained angle for the bending direction of thumb is different with other three finger subassembly 2, thereby makes the gripping action richer, improves the stability and the reliability of device.
In actual design, on the basis of the above 4 finger assemblies 2, 1 finger assembly 2 is set as the little finger, and 5 finger assemblies 2 are set altogether, so that the device is more similar to a human hand, not only can be used as an actuating mechanism of a robot, but also can be used as a prosthetic limb, and the application range of the device is improved.
In some embodiments, the finger assembly 2 is provided with at least three, at least three finger assemblies 2 are circumferentially mounted on the same surface of the palm base 11, and the bending directions are all toward the inner side. As shown in fig. 10, 4 finger assemblies 2 are provided, the 4 finger assemblies 2 are circumferentially mounted on the same surface of the palm base 11, the bending directions of the finger assemblies 2 face the center of the circumference, the 4 finger assemblies 2 can be respectively folded and unfolded through respective provided swinging units 31, and each finger assembly 2 can be independently bent, so that grabbing under a complex grabbing state can be realized, and the stability and reliability of the device are improved.
In some embodiments, three finger assemblies 2 are provided, and three finger assemblies 2 are mounted on the same surface of the palm base 11, wherein two finger assemblies 2 are arranged in parallel and at intervals, and the other finger assembly 2 is arranged opposite to the two finger assemblies 2. As shown in fig. 11, two finger assemblies 2 are arranged at intervals in parallel, the other finger assembly 2 is arranged opposite to the two finger assemblies 2, and the bending direction of the finger assemblies is opposite to that of the two finger assemblies 2, so that a tri-legged state is realized, grabbing in a complex grabbing state can be completed, and the three finger assemblies 2 are arranged in such a way to form a triangular grabbing structure, and the grabbing stability is relatively good based on the stability of the triangle.
In some embodiments, the palm assembly 1 further comprises a protective cover 12, wherein the protective cover 12 is connected with the palm base 11 and covers the driving assembly 3. The protection cover 12 is connected with the palm base 11 and covers the outside of the driving assembly 3, specifically, the protection cover 12 covers the outside of the driving motor and the swinging motor 311, so that the damage to operators caused by misoperation of operators during motor work is avoided, and the safety and the stability are improved.
The working principle of the robot dexterous hand provided by the embodiment is that the driving gear 312 is driven to rotate by the swing motor 311, so that the driven gear 313 meshed with the driving gear 312 is driven to rotate, the first connecting seat 314 is driven to rotate, the whole finger assembly 2 swings around the connecting shaft 3141 in a first plane, and the plurality of finger assemblies 2 are gathered and opened; the bending motor 321 drives the wire spool 322 to rotate forward so as to tighten the tendon rope 4 and pull the second knuckle 22, the tendon rope 4 needs to overcome the pre-compression force of the second torsion spring 25 to bend the second knuckle 22 due to the coupling of the second knuckle 22 and the third knuckle 23, therefore, when the bending motor 321 drives the wire spool 322 to rotate reversely, the bending of the second knuckle 22 and the third knuckle 23 is performed when the first knuckle 21 is blocked (such as a gripping object is touched) or bent to a limit position, when the tendon rope 4 pulls the second knuckle 22 to bend inwards around the second joint 202, the second knuckle 22 gives an outward force to the connecting rod 26 at the first connecting hole 212, the connecting rod 26 bends inwards around the first connecting hole 212 due to the pre-compression force of the second torsion spring 25, the third knuckle 23 disappears due to the pre-compression force of the first torsion spring 24, and the second torsion spring 25 resets the first knuckle 21, and the second knuckle 23 resets around the connecting rod 26 at the second connecting hole 212 due to the torsion spring 25.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (10)
1. The utility model provides a robot dexterous hand which characterized in that includes palm subassembly, finger subassembly and drive assembly, wherein:
the palm assembly at least comprises a palm base, wherein the palm base is used for being connected with a mechanical arm of a robot;
The driving assembly comprises a swinging unit and a bending unit which are arranged on the palm base, the swinging unit is used for driving the finger assembly to swing, the bending unit is used for driving the finger assembly to bend, and the bending direction is perpendicular to the swinging direction;
The finger assembly is provided with a plurality of finger assemblies, each finger assembly is connected with one driving assembly, each finger assembly comprises a first knuckle, a second knuckle, a third knuckle, a first torsion spring and a second torsion spring, the first knuckle is rotatably connected with the swinging unit through a first joint, the second knuckle is rotatably connected with the first knuckle through a second joint, the third knuckle is rotatably connected with the second knuckle through a third joint, the bending unit is connected with the second knuckle through a tendon rope, the tendon rope penetrates through the first knuckle, the third knuckle is coupled with the second knuckle to drive the third knuckle to bend while the bending unit drives the second knuckle to bend, the first torsion spring is mounted on the first joint, the second torsion spring is mounted on the third joint, and the pre-compression force of the second torsion spring is larger than the pre-compression force of the first torsion spring.
2. The robotic dexterous hand of claim 1, further comprising a rotation stopping unit comprising an electromagnet mounted within the first knuckle and drivingly connected to the toothed pawl, and a follower gear mounted on the first joint, the electromagnet being capable of driving the toothed pawl into engagement with the follower gear when energized to limit rotation of the first knuckle about the first joint.
3. The robot smart hand of claim 1, wherein the swing unit includes a swing motor, a driving gear, a driven gear, and a first connection base, the swing motor is mounted on the palm base and connected to the driving gear, a connection shaft is disposed at a bottom of the first connection base, the connection shaft is rotatably mounted on the palm base, the first connection base is rotatably connected to the first knuckle through the first joint, and the driven gear is fixedly mounted on the connection shaft and meshed with the driving gear.
4. The robotic dexterous hand of claim 3, wherein the bending unit includes a bending motor mounted on the palm base and connected to the wire spool, a wire spool mounted on the first knuckle and below the first and second knuckles, and a tensioning post;
the top of the first connecting seat is provided with a rope penetrating hole penetrating through the connecting shaft;
One end of the tendon rope is wound on the wire spool, and the other end of the tendon rope penetrates into the rope threading hole from one end of the connecting shaft and is connected to the second knuckle after passing through the rope threading hole and bypassing below the tensioning column.
5. The robotic dexterous hand of claim 1, wherein the finger assembly further comprises a connecting rod, wherein a first mounting hole and a first connecting hole are provided at an end of the first knuckle adjacent to the second knuckle, the first connecting hole is located above the first mounting hole, a second mounting hole and a second connecting hole are provided at an end of the third knuckle adjacent to the second knuckle, the second connecting hole is located below the second mounting hole, the second joint is mounted in the first mounting hole, the third joint is mounted in the second mounting hole, and two ends of the connecting rod are rotatably connected with the first connecting hole and the second connecting hole, respectively.
6. The robotic dexterous hand of claim 1, wherein four finger assemblies are provided, three of which are mounted at spaced intervals on a first side of the palm base as index finger, middle finger and ring finger, respectively, and another finger assembly is mounted on a second side of the palm base as thumb, the second side being perpendicular to the first side.
7. The robotic dexterous hand of claim 6, wherein the curved plane of the finger assembly as a thumb is angled with respect to the curved planes of the other three finger assemblies.
8. The robotic dexterous hand of claim 1, wherein the finger assemblies are provided in at least three, the at least three finger assemblies being circumferentially mounted on the same face of the palm base with the bending direction facing inwardly.
9. The robotic dexterous hand of claim 1, wherein the finger assemblies are three, the three finger assemblies are mounted on the same side of the palm base, wherein two of the finger assemblies are spaced apart in parallel, and the other finger assembly is disposed opposite the two finger assemblies.
10. The robotic dexterous hand of any of claims 1-9, wherein the palm assembly further comprises a protective cover coupled to the palm base and covering the drive assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411324733.0A CN119188813A (en) | 2024-09-23 | 2024-09-23 | A robot dexterous hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411324733.0A CN119188813A (en) | 2024-09-23 | 2024-09-23 | A robot dexterous hand |
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| Publication Number | Publication Date |
|---|---|
| CN119188813A true CN119188813A (en) | 2024-12-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202411324733.0A Pending CN119188813A (en) | 2024-09-23 | 2024-09-23 | A robot dexterous hand |
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| Country | Link |
|---|---|
| CN (1) | CN119188813A (en) |
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- 2024-09-23 CN CN202411324733.0A patent/CN119188813A/en active Pending
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