Electro-hydraulic driving robot dexterous hand

Abstract

The invention discloses an electro-hydraulic driving robot dexterous hand. A palm (1), a thumb base body (7), a thumb first knuckle (9), a thumb second knuckle (9), a first knuckle (3), a second knuckle (4) and a third knuckle (5) are internally provided with electro-hydraulic linear actuators (10) respectively; when piston rods (1015) of the electro-hydraulic linear actuators (10) stretch, the corresponding knuckles bend and stretch back and forth and swing in a palm plane from left to right; a thumb rotates towards the centre of the palm back and forth; each fingertip is provided with a sensor (6); and each sensor (6) and each electro-hydraulic linear actuator (10) are electrically connected with a robot controller. The electro-hydraulic driving robot dexterous hand has the advantages that by adopting a distribution type hydraulic source as drive force, the volume of each drive system is reduced, and the flexibility of movement of each finger is improved to be capable of bearing an impact load, and grabbing force of the fingers is strengthened.

Description

technical field [0001] This patent relates to the field of robots, in particular to a dexterous hand of an electro-hydraulic driven robot. Background technique [0002] A humanoid robot is an automation device that integrates advanced technologies in many disciplines such as electronics, machinery, control, sensing, and artificial intelligence. It represents a country's high-tech development level. A humanoid robot has a human appearance and can adapt to human life and The working environment can replace humans to complete various tasks, and can expand human capabilities in many ways. At present, the application of humanoid robots at home and abroad has developed rapidly and is widely used in many fields such as service, medical care, education, and entertainment. . The dexterous hand, as the terminal executive part of the humanoid robot, can help humans complete many tasks, but at present, the bionic dexterous hand is still in the development stage at home and abroad, and ...

AI Technical Summary

Problems solved by technology

[0003] Existing robot dexterous hands generally use the mechanical structure of the motor and reducer as the power source, which is driven by steel wires, tendon ropes, and connecting rods to drive the fingers to perform grasping actions; Poor performance, the maximum grasping force that fingertips can provide is very small, usually less than 10N, the application is limited, and the system lacks flexibility; the use of hydraulic power drive can increase the flexibility of the system, and can greatly improve the driving force of the system, especially for fingers The grasping force on the fingertips can be doubled, so hydraulic drive is an application research direction of robot drive, but the current hydraulic drive method generally uses a centralized hydraulic source, and the hydraulic oil is introduced into each drive cylinder through oil pipes and control valves. Pushing the finger action causes the weight of the robot hand to be large, and the driving force has to overcome the resistance of its own weight, resulting in a bulky robot hand, increased weight, large power loss, and a small effective grasping force on the fingertips.

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