Robot multi-fingered dexterous hand

A robot and skillful hand technology, applied in the field of manipulators, can solve problems such as high cost, complex assembly and manufacturing process, and achieve the effects of controlling production costs, reducing installation size requirements, and facilitating assembly and post-assembly maintenance

Pending Publication Date: 2022-01-11
林楠
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the integration requirements of the above manipulator lead to its com

Method used

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  • Robot multi-fingered dexterous hand
  • Robot multi-fingered dexterous hand
  • Robot multi-fingered dexterous hand

Examples

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Embodiment Construction

[0035] The present invention will be further described below in conjunction with the accompanying drawings.

[0036] Such as figure 1 As shown, a multi-fingered dexterous hand of a robot includes a palm 1, a thumb structure 2 and a plurality of auxiliary finger structures 3. In the present invention, the auxiliary finger structures 3 are four, and each auxiliary finger structure 3 is independently arranged. Of course, the auxiliary finger structure 3 may also be other than two or more.

[0037] Such as Figure 2-6 As shown, the thumb can perform retraction movement, bending movement and flexion and extension movement relative to the palm part 1. The thumb structure 2 includes a first thumb part 21, a second thumb part 22, a retraction mechanism, a bending mechanism I and Flexion and extension mechanism, the retraction mechanism is used to drive the thumb to perform retraction movement relative to the palm 1 (that is, the thumb structure 2 rotates up and down relative to the ...

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Abstract

The invention discloses a robot multi-fingered dexterous hand. The robot multi-fingered dexterous hand comprises a palm part, a thumb structure and a plurality of auxiliary finger structures; the thumb structure comprises a first thumb part, a second thumb part, a folding and unfolding mechanism, a first bending mechanism and a flexion and extension mechanism; the folding and unfolding mechanism comprises a base block and a first driver, the base block is rotationally connected to the palm part, and the first driver drives the base block to rotate; the first thumb part is rotationally mounted on the base block, a first gear of the first bending mechanism is coaxially connected with a first transmission wheel, a second driver is in transmission connection with the first gear, the second thumb part is rotationally connected with the first thumb part, a second transmission wheel is rotationally connected to the second thumb part, and the first transmission wheel and the second transmission wheel are in transmission connection through a first transmission belt; a second gear of the flexion and extension mechanism is rotationally mounted on the base block, the second gear is connected to the first thumb part through a connecting rod mechanism, and a third driver is in transmission connection with the second gear. Through the arrangement, internal transmission of the finger structure is more compact, the integration degree is higher, and the production cost is lower.

Description

technical field [0001] The invention relates to the technical field of manipulators, in particular to a robotic multi-fingered dexterous hand. Background technique [0002] The bionic multi-fingered manipulator is a necessary component to realize the dexterous operation of the robot. The multi-fingered dexterous manipulator has more controllable degrees of freedom to ensure flexibility, and its bionic design needs to ensure the highest possible similarity to the human hand, which means placing as many actuators as possible in the limited space of the palm or forearm. Therefore, the multi-fingered dexterous hand has an extremely compact mechanical structure design and a high degree of integration. In the course of decades of development, some representative dexterous hands have appeared, such as DLR / HIT (German Aerospace Center and Harbin Institute of Technology jointly developed manipulator), NASA (NASA manipulator), Shadow (British shadow company manipulator), etc. . How...

Claims

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Application Information

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IPC IPC(8): B25J15/00
CPCB25J15/0009
Inventor 林楠
Owner 林楠
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