Robot multi-fingered hand, robot arm and robot

Abstract

The invention discloses a robot multi-fingered hand, a robot arm and a robot, and relates to the technical field of the robots, so as to solve the technical problems that an existing robot multi-fingered hand is relatively complicated in structure, the realization of functions and the stability of movement are not facilitated and the ingenious property and the grabbing precision are low. The robotmulti-fingered hand is characterized in that each finger simply comprises two knuckles; a little finger and a ring finger are driven to bend by a driving device; a forefinger and a middle finger aredriven to bend by driving devices correspondingly; a thumb is driven by two driving devices, in which one driving device drives the thumb to bend and the other driving device drives the thumb to rotate around the finger root; a metacarpal bone is driven to rotate by a driving device independently; a position sensor is arranged at the tail end of a rotating shaft of the metacarpal bone and is usedfor feeding back a rotating position of the metacarpal bone; the finger roots of the four fingers, namely, the forefinger, the middle finger, the ring finger and the little finger, are provided with position sensors for the position detection of every two adjacent fingers; and a position sensor is arranged at the tail end of a rotating joint of the thumb and is used for feeding back a rotation angle and a bending position of the thumb.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a robot dexterous hand, a robot arm and a robot. Background technique [0002] Traditional industrial robot end grippers can only perform some simple tasks. However, more and more practical applications require the end of the robot to achieve more complex and intelligent operations, and the simple end gripper cannot meet the requirements of actual complex operation tasks. The robotic dexterous hand has the advantages of strong versatility, high grasping accuracy, dexterity, and good stability. It has become an effective solution to complex manipulation tasks and has become one of the hot research directions in the field of robotics since the late 20th century. [0003] The robot dexterous hand in the prior art has a complicated design and structure, and the overall size of the dexterous hand is mostly much larger than that of a human hand. The fingers are too thick and heavy, and...

AI Technical Summary

Problems solved by technology

[0005] The object of the present invention is to provide a robot dexterous hand, a robot arm and a robot to solve the problem that the existing robot dexterous hand usually has a complex structure and is not conducive to the realization of functions and the stability of movements, and at the same time the dexterity and grasping accuracy are low. technical problem

Images