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Humanoid robot palm structure

A humanoid robot and palm technology, applied in the field of robotics, can solve problems such as thicker palms and longer palms

Active Publication Date: 2022-01-04
上海清宝引擎机器人有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The purpose of the present invention is to overcome the defects of the prior art, provide a humanoid robot palm structure, and solve the problems of long, thick and large palm size in the existing robot control finger movement mode

Method used

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Embodiment Construction

[0049] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0050] refer to figure 1 , the present invention provides a palm structure of a humanoid robot, which is used to solve the problem that the existing steering gear cooperates with the connecting rod to drive the fingers to stretch and bend. The thickness of the human palm is relatively thick, it looks relatively fat, and it is not compatible with the humanoid robot arm; it is also used to solve the palm drive structure of the motor and the connecting rod, because the output direction of the motor is parallel to the direction of the finger, because the finger is formed Opening at different angles, the distribution of its motors will also adjust its direction accordingly, resulting in the problem of larger palm size. The palm structure of the present invention rationally arranges the driving motors to reduce the width, length and height of the pa...

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Abstract

The invention relates to a humanoid robot palm structure which comprises a palm skeleton, a plurality of connecting rod mechanisms which are rotatably mounted on the palm skeleton and are used for simulating fingers and driving motors which are arranged on the palm skeleton and are in driving connection with the corresponding connecting rod mechanisms through ball amplitude connecting rods, wherein one of the five driving motors is arranged on the palm center side, and the four driving motors are arranged on the palm side and are tightly arranged up and down. For the humanoid robot palm structure disclosed by the invention, through reasonable layout of the driving motors of the fingers, a width, a length and the size in a height direction of the palm are reduced, so that the size of the palm better conforms to the size of a palm of a real person; and the driving motors drive the corresponding connecting rod mechanisms to act through the ball amplitude connecting rods, so that motor shafts of the driving motors and rotating shafts of the connecting rod mechanisms are not located on a same plane, the space problem of layout of the driving motors can be solved, and thus the size of the palm is effectively reduced.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a humanoid robot palm structure. Background technique [0002] In the field of robotics, humanoid robots are developing rapidly, and humanoid palms are also rapidly iterating and becoming more flexible; according to the analysis of existing product technology, there are three ways to control finger movement, one is through connecting rod transmission, The second is to drive by a pull rope, and the third is to use a small joint motor. The power source mainly includes steering gear and linear motor. Among them, the control method of the pull rope with the linear motor or the steering gear has poor stability and cannot passively bend the fingers. The control method of the combination of the linear motor and the connecting rod results in a longer palm due to the size of the linear motor, and the distance between the steering gear and the connecting rod Combined control method, due to...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00B25J17/02
CPCB25J15/0009B25J17/0266
Inventor 舒斌王磊
Owner 上海清宝引擎机器人有限公司
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