A humanoid robotic hand
By using a motor-driven shaft and traction rope system, the system enables finger bending, adduction, abduction, and palm bending, solving the problem of insufficient flexibility in existing robotic hands and improving grip stability and flexibility.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- BEIJING INST OF TECH
- Filing Date
- 2024-03-04
- Publication Date
- 2026-05-26
AI Technical Summary
Existing robotic hands cannot precisely control the abduction and adduction movements of the fingers, resulting in reduced flexibility and an inability to bend the palm, which affects grip stability.
It adopts a motor drive shaft and traction rope system. Motor I controls finger bending, motor II controls finger adduction and abduction, and motor III controls palm bending. Combined with rotation and lifting connectors, it can achieve multi-degree-of-freedom movements.
It improves the flexibility and gripping stability of the robotic hand, making finger movements closer to those of a human hand, and the gripping is more closely aligned with the object, thus enhancing the stability and flexibility of the grip.
Smart Images
Figure CN118143985B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of prosthetic hand technology, specifically to a humanoid robotic hand that can achieve palm flexion and finger abduction and adduction functions. Background Technology
[0002] Currently, robotic hands on the market typically use wires or iron wires to pull joints, which can only perform two actions: bending or straightening the fingers. They cannot precisely control the abduction and adduction of the fingers, and the palm cannot bend. This results in a significant reduction in the flexibility of the robotic hand. There is an urgent need for a more flexible and biomimetic robotic hand. Summary of the Invention
[0003] In order to solve the technical problems in the prior art, improve hand dexterity, and provide an easy-to-operate and simple-structured humanoid robotic hand, this invention provides a humanoid robotic hand.
[0004] The technical solution adopted is as follows:
[0005] A humanoid robotic hand includes a palm and fingers mounted on the palm. The palm has a cavity formed by an outer shell and an inner shell. Motor I, Motor II, drive shaft I, and drive shaft II are installed within the cavity. Motor I is driven by drive shaft I, and motor II is driven by drive shaft II. The index, middle, ring, and little fingers are connected to drive shaft I via traction ropes I for controlling the flexion and extension of the index, middle, ring, and little fingers. The cavity also includes connectors corresponding to the index, middle, ring, and little fingers, and a fixing block is provided between adjacent connectors. The connecting components include a rotating connecting component and a lifting connecting component. One end of the rotating connecting component is fixedly connected to the base of the corresponding finger and fitted onto a hinge shaft I in the cavity. The lifting connecting component has a transverse elongated hole along the width of the palm. The other end of the rotating connecting component has a hinge shaft II, which is slidably disposed in the transverse elongated hole. The fixing block is connected to one end of the lifting connecting component via a spring I, and the other end of the lifting connecting component is connected to the drive shaft II via a traction rope II. When the traction rope II is controlled to extend or retract, the index finger, middle finger, ring finger, and little finger simultaneously perform transverse adduction and abduction movements.
[0006] Furthermore, the rotating connector is triangular in shape, the hinge shaft I is movably fitted at one vertex of the rotating connector, the hinge shaft II is fixed at one of the other two vertices of the rotating connector, the hinge shaft II is placed in the transverse elongated hole and is slidably connected to the transverse elongated hole.
[0007] Furthermore, the lifting connector corresponding to the middle finger and the lifting connector corresponding to the ring finger form a whole and are connected to the same fixing block disposed between the middle finger and the ring finger.
[0008] Furthermore, limiting rods are provided on both outer sides of the rotating connector in the direction of rotation. The limiting rods are fixed in the cavity and are used to limit the rotation angle of the rotating connector.
[0009] Furthermore, the cavity of the palm is provided with a crossbar, and the crossbar is provided with a plurality of spaced slots, and each of the traction ropes II passes through the corresponding slot and is fixedly connected to the drive shaft II.
[0010] Furthermore, the palm includes a detachable upper part and a lower part. The thumb, motor I, and drive shaft I are disposed in the lower part of the palm. The cavity of the lower part of the palm is also provided with motor III and a hinge block. The cavity of the upper part of the palm is also provided with drive shaft III. Drive shaft III penetrates vertically through the hinge block, and its two ends are respectively fixedly connected to the two side walls of the upper part of the palm. Motor III and drive shaft III form a driving connection to control the bending angle of the upper part and the lower part of the palm.
[0011] Furthermore, a crossbeam is provided between the drive shaft II and the inner shell of the upper part of the palm. The two ends of the crossbeam are fixedly connected to the two side walls of the cavity of the upper part of the palm. A plurality of traction rope support rings are provided at intervals along the length of the crossbeam. A plurality of perforated parts I are provided at intervals on the outer shell of the upper part of the palm opposite to the drive shaft II. A plurality of perforated parts II are provided at intervals on the outer shell of the lower part of the palm. The perforated parts I and the perforated parts II are in one-to-one correspondence. One end of each traction rope I is connected to the index finger, middle finger, ring finger and little finger respectively. The other end is connected to the drive shaft I in sequence through the corresponding support ring, perforated part I and perforated part II.
[0012] Preferably, the outer shell of the upper part of the palm is provided with two rows of perforated parts I.
[0013] The technical solution of the present invention has the following advantages:
[0014] A. This invention incorporates a motor I and a drive shaft I, driven by wires, for the index, middle, ring, and little fingers within the cavity formed by the palm. The bending of the four fingers is controlled by the traction rope I. Simultaneously, a motor II, a drive shaft II, a rotating connector, and a lifting connector are included. The four fingers are adducted and abducted by the wire drive of the traction rope II, and reset by springs I and II. This significantly improves the flexibility of the robotic hand, and the structure is simple and easy to control the finger movements.
[0015] B. The present invention also sets up a motor III and a drive shaft III in the cavity formed by the palm. By controlling the rotation angle of the upper part of the palm, the palm also has a degree of freedom. The bending of the palm makes the mechanical hand more similar to the gripping posture of the human hand when grasping objects, and it fits the object more closely during the gripping process, increasing the stability of the grip. Attached Figure Description
[0016] To more clearly illustrate the specific embodiments of the present invention, the accompanying drawings used in the specific embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.
[0017] Figure 1 This is a schematic diagram of the robotic arm structure after the inner shell is opened, as provided by the present invention.
[0018] Figure 2 A schematic diagram of the robotic hand structure after removing the lower part of the palm and the inner shell, as provided by the present invention;
[0019] Figure 3 This is a schematic diagram of the open state structure of the upper part of the palm provided by the present invention;
[0020] Figure 4 This is a schematic diagram of the open state structure of the lower part of the palm provided by the present invention.
[0021] Figure 5 A schematic diagram of the back structure of the robotic arm provided by the present invention.
[0022] The symbols provided in the diagram are explained as follows:
[0023] 1-Palm
[0024] 11-Upper part of the palm, 12-Lower part of the palm, 1a-Outer shell, 1b-Inner shell
[0025] 2-finger
[0026] 21-Index finger, 22-Middle finger, 23-Ring finger, 24-Little finger, 25-Thumb
[0027] 3-Motor I; 4-Motor II; 5-Drive Shaft I; 6-Drive Shaft II; 7-Traction Rope I
[0028] 8-Connector
[0029] 81-Rotary connector, 811-Hinge shaft II
[0030] 82-Lifting connector, 82a-Horizontal elongated hole
[0031] 9-Fixed block; 10-Hinge shaft I; 20-Spring II; 30-Spring I; 40-Traction rope II
[0032] 50-crossbar
[0033] 501-Card Slot
[0034] 60 - Limit rod; 70 - Motor III; 80 - Hinge block; 90 - Drive shaft III;
[0035] 100-Crossbeam; 110-Support ring; 120-Through part I; 130-Through part II; 140-Gear set. Detailed Implementation
[0036] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0037] like Figures 1 to 5As shown in the structure, the present invention provides a humanoid robotic hand, including a palm 1 and fingers 2 mounted on the palm 1. The palm 1 has a cavity formed by an outer shell 1a and an inner shell 1b. Motor I3, motor II4, drive shaft I5, and drive shaft II6 are installed within the cavity. Motor I3 is connected to drive shaft I5, and motor II4 is connected to drive shaft II6. The index finger 21, middle finger 22, ring finger 23, and little finger 24 of the fingers 2 are connected to drive shaft I5 via traction ropes I7, used to control the flexion and extension of the index finger 21, middle finger 22, ring finger 23, and little finger 24. The cavity also provides connecting members 8 corresponding to the index finger 21, middle finger 22, ring finger 23, and little finger 24, and a fixing block 9 is provided between adjacent connecting members 8. The connecting members 8 include a rotating connecting member 81 and a lifting connecting member 82. The rotating connecting member 81... One end is fixedly connected to the root of the corresponding finger 2 and fitted onto the hinge shaft I10 fixed in the cavity. The lifting connector 82 is provided with a transverse elongated hole 82a along the width of the palm. The other end of the rotating connector 81 is fixed with a hinge shaft II 811. The hinge shaft II 811 passes through the transverse elongated hole 82a and is slidably disposed in the transverse elongated hole 82a, that is, the hinge shaft II 811 can move along the transverse elongated hole 82a. The fixing block 9 is connected to one end of the lifting connector 82 through a spring I30. When the four fingers are in the extended state, the spring I30 is in the reset state. The other end of the lifting connector 82 is connected to the drive shaft II 6 through a traction rope II 40. When the traction rope II 40 is controlled to be extended or retracted, the index finger 21, middle finger 22, ring finger 23 and little finger 24 simultaneously perform transverse adduction and abduction movements. Specifically, motor II4 drives drive shaft II6 to rotate, and traction rope II40 is wound around drive shaft II6, simultaneously pulling lifting connector 82. The movement of lifting connector 82 causes hinge shaft II811 to move along transverse elongated hole 82a, thereby causing rotating connector 81 to rotate around hinge shaft I10. After rotating a certain angle, rotating connector 81 will also cause the corresponding index finger 21, middle finger 22, ring finger 23, and little finger 24 to swing towards the center at a certain angle, thus achieving the inward and closing movement of the four fingers. When motor II is controlled to move in the opposite direction, lifting connector 82 moves towards the fingers under the return force of spring I30, and rotating connector 81 rotates in the opposite direction around hinge shaft I. Hinge shaft II returns to its original position in transverse elongated hole, thereby gradually restoring the four fingers to an outward state.
[0038] Of course, by driving the drive shaft I5 to rotate via motor I3, the traction rope I7 pulls the four fingers to complete the bending grasping action. Under the joint control of motors I3 and II4, the grasping action can be performed in the state of the four fingers together or outward, which further improves the degree of replication of human hand functions by the robotic hand and enhances the grasping stability of the robotic hand under different grasping conditions.
[0039] The rotating connector in this invention is triangular in shape. The hinge shaft I10 is movably fitted at one vertex of the rotating connector 81, and the hinge shaft II 811 is fixed at one of the other two vertices of the rotating connector 81. The hinge shaft II 811 is placed in the transverse elongated hole 82a and is slidably connected to the transverse elongated hole 82a. In this invention, the motor II drives the drive shaft II to rotate. When the traction rope II 40 is wound around the drive shaft II 6, the middle finger 22 and ring finger 23 move closer together, while the index finger 21 and little finger 24 move towards the middle finger 22 and ring finger 23 respectively. Conversely, this achieves the outward extension of all four fingers.
[0040] As a further preferred embodiment of the present invention, the lifting connector 82 corresponding to the middle finger 22 and the lifting connector 82 corresponding to the ring finger 23 form a whole and are connected to the same fixing block 9 disposed between the middle finger 22 and the ring finger 23. When the lifting connector connected to this fixing block is pulled, the two rotating connectors 81 connected to both sides of the lifting connector 82 simultaneously drive the middle finger 22 and the ring finger 23 to rotate in opposite directions, thereby realizing the inward or outward movement between the middle finger 22 and the ring finger 23.
[0041] As a further preferred embodiment of the present invention, limiting rods 60 are provided on both outer sides of the rotating connector 81 in the direction of rotation. The limiting rods 60 are fixed to the outer shell 1a in the cavity and are used to limit the rotation angle of the rotating connector 81. Simultaneously, the present invention also provides a crossbar 50 in the cavity of the palm 1. The crossbar 50 has multiple spaced slots 501, and each traction rope II 40 passes through the corresponding slot 501 and is fixedly connected to the drive shaft II 6. The slots 501 on the crossbar 50 prevent the traction rope II 40 from deviating from its position and serve to limit the traction rope II 40.
[0042] In a further preferred embodiment of the present invention, the palm 1 includes a detachable upper palm portion 11 and a lower palm portion 12. A thumb 25, a motor I3, and a drive shaft I5 are disposed in the lower palm portion 12. A motor III70 and a hinge block 80 are also provided in the cavity of the lower palm portion 12. A drive shaft III90 is also provided in the cavity of the upper palm portion 11. The drive shaft III90 vertically passes through a through hole in the hinge block 80, and both ends of the drive shaft III90 are fixedly connected to the side walls of the upper palm portion 11. The motor III70 and the drive shaft III90 form a driving connection, used to control the bending angle of the upper palm portion 11 and the lower palm portion 12. The present invention provides one degree of freedom at the palm 1. By controlling the motor III70, the upper palm portion 11 can be bent, allowing the robotic hand to fit more closely to the object when grasping it, increasing the stability of the grasp.
[0043] To improve stability when bending the four fingers and enhance the strength of the hand, the present invention provides a crossbeam 100 between the drive shaft II and the inner shell of the upper part of the hand. The two ends of the crossbeam 100 are fixedly connected to the two side walls of the cavity of the upper part of the hand 11. Along the length of the crossbeam 100, there are also a plurality of spaced traction rope support rings 110. On the outer shell 1a of the upper part of the hand 11 opposite to the drive shaft II6, there are also a plurality of spaced perforated parts I120. On the outer shell 1a of the lower part of the hand 12, there are also spaced perforated parts II130. The perforated parts I120 and the perforated parts II130 are one-to-one. One end of each traction rope I7 is connected to the index finger 21, middle finger 22, ring finger 23 and little finger 24 respectively. The other end passes through the support ring 110 on the corresponding crossbeam 100 and is attached to the outer shell. After passing around the drive shaft II6, it is connected to the drive shaft I5 through the perforated parts I120 and II130. Preferably, the present invention has two rows of perforated parts I120 on the outer shell 1a of the upper part 11 of the palm. Each traction rope I7 passes through the front and rear rows of perforated parts I120 and perforated parts II130 on the outer shell in sequence and is connected to the drive shaft I.
[0044] In this invention, the index finger 21, middle finger 22, ring finger 23, and little finger 24 are all bent, adducted, and abducted using a wire-driven method, and are simultaneously reset by springs I30 and II20. By controlling the rotation angle of the upper part 11 of the palm, the palm 1 also has a degree of freedom. The bending of the palm allows the robotic hand to fit more closely to the object when grasping it, increasing the stability of the grasp.
[0045] In this invention, motor I drives drive shaft I5 to rotate via gear set 140, thereby enabling the four fingers to perform flexion and extension movements; motor II4 drives drive shaft II6 to rotate via gear set 140, thereby enabling the four fingers to perform lateral adduction and abduction movements; simultaneously, motor III70 drives drive shaft III90 to rotate via vertical gear set 140 (see details). Figure 4 This invention enables rotation between the upper part 11 and the lower part 12 of the palm. As can be seen, this invention, in addition to controlling the flexion and extension of the four fingers, also increases the lateral adduction and abduction degrees of freedom of the four fingers, and also increases the bending degree of freedom of the palm, greatly improving the flexibility of the robotic hand's movements. It can perform joint control of corresponding motors according to different application scenarios.
[0046] Any aspects not covered in this invention are applicable to existing technologies.
[0047] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.
Claims
1. A humanoid robot hand comprising a palm and fingers mounted on the palm, the palm having a cavity formed by an outer shell and an inner shell, characterized in that, The cavity houses motor I, motor II, drive shaft I, and drive shaft II. Motor I is connected to drive shaft I, and motor II is connected to drive shaft II. The index, middle, ring, and little fingers are connected to drive shaft I via traction rope I to control their flexion and extension. The cavity also contains connectors corresponding to the index, middle, ring, and little fingers, with a fixing block between adjacent connectors. The connectors include rotating connectors and lifting connectors. One end of the rotating connector is fixedly connected to the base of the corresponding finger and fitted onto the hinge shaft I in the cavity. The lifting connector has a transverse elongated hole along the width of the palm. The other end of the rotating connector has a hinge shaft II, which is slidably disposed in the transverse elongated hole. The fixing block is connected to one end of the lifting connector via a spring I, and the other end of the lifting connector is connected to the drive shaft II via a traction rope II. When the traction rope II is controlled to extend or retract, the index finger, middle finger, ring finger, and little finger simultaneously perform transverse adduction and abduction movements. The rotating connector is triangular in shape. The hinge shaft I is movably fitted at one vertex of the rotating connector. The hinge shaft II is fixed at one of the other two vertices of the rotating connector. The hinge shaft II is placed in the transverse elongated hole and is slidably connected to the transverse elongated hole. The lifting connector corresponding to the middle finger and the lifting connector corresponding to the ring finger form a whole and are connected to the same fixing block disposed between the middle finger and the ring finger; Limiting rods are also provided on both outer sides of the rotating connector in the direction of rotation. The limiting rods are fixed in the cavity and are used to limit the rotation angle of the rotating connector.
2. The humanoid robotic hand according to claim 1, characterized in that, The palm cavity is also provided with a crossbar, and the crossbar is provided with a plurality of spaced slots. Each of the traction ropes II passes through the corresponding slot and is fixedly connected to the drive shaft II.
3. The humanoid robotic hand according to claim 2, characterized in that, The palm includes a detachable upper part and a lower part. The thumb, motor I, and drive shaft I are disposed in the lower part of the palm. The cavity of the lower part of the palm also contains a motor III and a hinge block. The cavity of the upper part of the palm also contains a drive shaft III. The drive shaft III passes vertically through the hinge block, and its two ends are fixedly connected to the two side walls of the upper part of the palm, respectively. The motor III and the drive shaft III form a driving connection to control the bending angle of the upper part and the lower part of the palm.
4. The humanoid robotic hand according to claim 3, characterized in that, A crossbeam is provided between the drive shaft II and the inner shell of the upper part of the palm. The two ends of the crossbeam are fixedly connected to the two side walls of the cavity of the upper part of the palm. A plurality of traction rope support rings are provided at intervals along the length of the crossbeam. A plurality of perforated parts I are provided at intervals on the outer shell of the upper part of the palm opposite to the drive shaft II. A plurality of perforated parts II are provided at intervals on the outer shell of the lower part of the palm. The perforated parts I and the perforated parts II are in one-to-one correspondence. One end of each traction rope I is connected to the index finger, middle finger, ring finger and little finger respectively. The other end is connected to the drive shaft I in sequence through the corresponding support ring, perforated part I and perforated part II.
5. The humanoid robotic hand according to claim 4, characterized in that, The outer shell of the upper part of the palm is provided with two rows of perforated parts I.