Humanoid robot hand structure

Abstract

The invention discloses a humanoid robot hand structure. The humanoid robot hand structure comprises a support and five fingers of a thumb mechanism, an index finger mechanism, a middle finger mechanism, a ring finger mechanism and a little finger mechanism which are arranged on the support, wherein the thumb mechanism is provided with three frame knuckles, the other four fingers are respectively provided with four frame knuckles, and a joint device is arranged between every two adjacent knuckles in the five fingers and used for controlling the fingers to bend or unbend; and the thumb mechanism, the index finger mechanism, the ring finger mechanism and the little finger mechanism are respectively provided with a swing device for controlling the fingers to diverge or fold. According to the humanoid robot hand structure, the joint devices and the swing devices are adopted to control bending and diverging actions of the fingers respectively, a rotating device is arranged to control the rotation of the thumb, and therefore the defects that in the prior art, a robot hand is poor in flexibility and small in freedom degree are overcome, various complex work tasks can be completed, and the grab force of the fingers can be greatly improved by means of pull wire driving; and the humanoid robot hand structure is widely suitable for being matched with intelligent robots.

Description

technical field [0001] The invention relates to intelligent mechanical equipment, in particular to a humanoid robot hand structure. Background technique [0002] With the continuous development of the application field of robots, the robot hand can have functions similar to the human hand, and can realize the functions of grasping, handling, and manipulating objects, and has become a hot research topic at home and abroad because of its dexterity and versatility; With the development of intelligence, robots are becoming more and more popular, and there is a huge demand for robot hands in disaster relief applications, commercial services, and industrial product manufacturing. [0003] At present, most of the humanoid robot hands use small electromechanical and electromagnetic motion control devices to realize the movement of the mechanical fingers. However, due to the limited space of the robot hand, the fingers of the robot hand with the above structure are poor in flexibilit...

AI Technical Summary

Problems solved by technology

[0004] In view of the above-mentioned situation, the object of the present invention is to provide a kind of humanoid robot hand structure, and it adopts the combined structure that joint device and swing device are arranged to control the bending and diverging action of fingers respectively, combined with the combination of setting rotation device to control the rotation of thumb, thereby overcoming It overcomes the defects of poor flexibility and less freedom of the robot hand in the prior art, can make the robot hand move flexibly, and can complete various complex tasks, and it can greatly improve the grasping force of the fingers by using the pull wire drive, and at the same time the overall The structure is scientific and reasonable, simple and compact, easy to install and operate, has a broad market prospect, and is easy to promote and use

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