Robot dexterous hand

Abstract

The invention provides a robot dexterous hand, and relates to the technical field of robot dexterous hands, the robot dexterous hand comprises mechanical fingers, a supporting base and a radial displacement assembly, the radial displacement assembly comprises a driving motor, a lead screw, a nut platform and sliding blocks, an output shaft of the driving motor is connected with the lead screw, the number of the sliding blocks is three, and the number of the mechanical fingers is three. The mechanical fingers are connected with the sliding blocks in a one-to-one correspondence mode, any sliding block is in radial sliding connection with the supporting base, the lead screw is in threaded connection with the nut platform, a connecting rod is arranged between any sliding block and the nut platform, the connecting rod is rotationally connected with the nut platform, and the connecting rod is rotationally connected with the sliding blocks. According to the robot dexterous hand, the operation space of the mechanical fingers is changed so that the grabbing action can be completed, the freedom degree of the robot dexterous hand is improved, and objects of different sizes and different shapes can be grabbed easily.

Description

technical field [0001] The present invention relates to the technical field of robotic dexterous hands, in particular to a robotic dexterous hand. Background technique [0002] Compared with traditional industrial robots, robotic dexterous hands have outstanding advantages in terms of multiple degrees of freedom and dexterity in the face of complex environments and the diversity of operating objects. The manipulation space of the robot's dexterous hand is determined by the relative distance between its fingers. The current robot dexterous hand mainly adopts the scheme of fixing the position of the finger base joints, that is, the position of each finger base joint is immutable. [0003] For example, a three-finger underactuated dexterous hand introduced in Chinese patent CN108247656A includes a base palm; a fixed three-knuckle finger claw in an orientation; two symmetrically placed rotatable three-knuckle finger claw; a motor for controlling the rotatable finger claw and a ...

AI Technical Summary

Problems solved by technology

[0004] However, when the inventor of the present application implemented the above-mentioned technical solution, he found that the above-mentioned technical solution had at least the following problems to be improved: the existing robotic dexterous hand cannot drive the radial movement of the base joints of the fingers, resulting in the immutable position of the base joints of the fingers, which would limit the Its ability to grasp objects of different sizes and shapes limits the diversity of the robot's dexterous hands

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