Joint traction type humanoid robot hand

A robotic hand and pull-type technology, applied in the field of bionic robots, can solve the problem that the structure cannot meet the requirements of continuous improvement of product performance, and achieve the effect of good bionic effect, light weight, and ingenious mechanism conception

Inactive Publication Date: 2012-06-27
SHANDONG UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, the hand structure of the common humanoid prosthetic products cannot meet the market's continuous improvement in product performance requirements.

Method used

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  • Joint traction type humanoid robot hand
  • Joint traction type humanoid robot hand
  • Joint traction type humanoid robot hand

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0013] Attached below figure 1 to attach Figure 5 Embodiments of the present invention are further described.

[0014] like figure 1 , figure 2 and image 3 As shown, the joint pulling type humanoid robot hand of the present invention comprises thumb 27, index finger, middle finger, ring finger and little finger as a whole, wherein:

[0015] Described thumb 27 is a curved overall thumb, fixed on the palm frame 3 (see figure 1 ).

[0016] The structures of the index finger, middle finger, ring finger and little finger are as follows: figure 2 and image 3 Shown, as can be seen from the figure, the index finger and the ring finger are all connected as one by the front phalanx 14, the middle phalanx 18 and the back phalanx 20 through the phalanx 15; Section 17 and middle finger rear phalanx 19 are connected as a whole by knuckle shaft 15; described little finger is connected as a whole by front knuckle 14, little finger middle knuckle 2 and little finger rear knuckle 5...

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Abstract

The invention discloses a joint traction type humanoid robot hand which comprises a palm skeleton and fiver fingers, a thumb in the fiver fingers is a whole thumb which is fixed on the palm skeleton and in a curved shape, other four fingers are respectively formed by connecting front finger joints, middle finger joints and back finger joints through shafts, and the back finger joints of the four fingers are connected on a back finger joint shaft at the front end of the palm skeleton; a driving motor is mounted on the palm skeleton, and the driving motor uses a worm gear pair and a winding shaft for transmission; and four winding wheels are arranged on the winding shaft, a traction wire is wound on each winding wheel, and traction heads of the four traction wires respectively reach the finger joints via inner sides of the four fingers and are fixed on the corresponding four front finger joints. The joint traction type humanoid robot hand uses the single motor for providing the power, uses the worm gear pair for transmission and can drive all the finger joints of the hand to rotate by coaxially winding the traction wires and further complete serial opening and closing actions which are similar to the real hand.

Description

technical field [0001] The invention belongs to the field of bionic robots, and relates to a hand of a humanoid robot, which is specially used for artificial limbs of disabled people. Background technique [0002] At present, the structural part of the hand of the common humanoid prosthetic products is driven by a micro-motor, and the structural form of each finger joint is driven by a lever mechanism; there is also a micro-motor, which drives the root of the whole finger (four fingers regardless) through gear transmission. The structure of the joint. The structure of the hand of the above-mentioned prosthesis is still very different from that of a humanoid, and it is difficult to accurately and meticulously complete the functions of the hand required by a person's normal life. Therefore, the hand structure of common humanoid prosthetic products cannot meet the requirements of the market for continuous improvement of product performance. Contents of the invention [0003...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61F2/54
CPCB25J15/0009
Inventor 江浩樊炳辉张志献孙爱芹王传江曹燕杰郑义何丽妍
Owner SHANDONG UNIV OF SCI & TECH
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