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Humanoid robot palm structure

A humanoid robot and palm technology, applied in the field of robotics, can solve the problems of long and thick palms

Active Publication Date: 2022-07-19
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 with reference to the accompanying drawings and specific embodiments.

[0050] see figure 1 The present invention provides a humanoid robot palm structure, 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. Because of the arrangement that is perpendicular to the palm and parallel to the fingers, the thickness of the palm is higher than normal. The human palm is thicker, looks fatter, and is not in harmony with the humanoid robot arm; it is also used to solve the palm drive structure of the motor with the connecting rod, because the output direction of the motor is parallel to the direction of the fingers, and the fingers form a With different angles of opening, the motor distribution is also adjusted in direction, which leads to the problem of larger palm size. The palm structure of the present invention reasonably arranges ...

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Abstract

The invention relates to a palm structure of a humanoid robot, comprising: a palm skeleton; a plurality of link mechanisms rotatably mounted on the palm skeleton for simulating fingers; a drive motor arranged on the palm skeleton, which passes through a ball The web connecting rod is drivingly connected with the corresponding link mechanism; one of the five driving motors is arranged on the palm side, and four are arranged on the palm side, and are arranged in a close up and down arrangement. The present invention reduces the size of the width, length and height of the palm by reasonably arranging the driving motors of each finger, so that the size of the palm is more in line with the size of the palm of a real person. And the drive motor drives the corresponding link mechanism through the ball-spoke link, so that the motor shaft of the drive motor and the rotation axis of the link mechanism are not on the same plane, which can solve the space problem of the drive motor layout, thereby effectively reducing the size of the palm of the hand. size.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a palm structure of a humanoid robot. 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 the movement of fingers. The second is to drive through the rope, and the third is to use a small joint motor. There are two main power sources: steering gear and linear motor. Among them, the control method of the pulling rope combined 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 leads to a longer palm due to the size of the linear motor. In the combined control method, the palm is thicker due to the problem of motor arrangement. These two schemes are ...

Claims

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Application Information

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Patent Type & Authority Patents(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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