Flexible dexterous hand and robot

Abstract

The invention relates to the technical field of robots, in particular to a flexible dexterous hand and a robot, the flexible dexterous hand comprises a dexterous hand body, and the dexterous hand body comprises a base, a driving part, a first dexterous hand mechanism and a second dexterous hand mechanism; the driving part is arranged on the base and can drive the first dexterous hand mechanism and the second dexterous hand mechanism to clamp and / or loosen through the driving rope group; one end of the first dexterous hand mechanism and one end of the second dexterous hand mechanism are both connected with the outer wall of the base, the first dexterous hand mechanism and the second dexterous hand mechanism are symmetrically arranged, and the other end of the first dexterous hand mechanism and the other end of the second dexterous hand mechanism are both provided with finger structures. The two ropes are crossed at a large angle in use, so that the included angle between the driving force and the finger axis is increased, the dexterous hand can obtain larger clamping force when the pulling force in the ropes is fixed, and large-size objects and small and heavy objects can be better clamped.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a flexible and dexterous hand and a robot. Background Art

[0002] In some robot usage scenarios, the robot will use its working parts to perform operations such as gripping and picking up objects. Most of these working parts are flexible dexterous hands with elastic steel sheets as the main body, and the fingers are made of flexible materials (such as elastic steel sheets and silicone) to make them highly adaptable and flexible. This design enables the dexterous hand to handle objects of various shapes and materials without damaging them. Flexible dexterous hands usually rely on the interaction between internal and external elastic elements to achieve grasping operations by controlling the movement of these elements. They are particularly important in the safe contact between robots and irregular or fragile objects. Among many dexterous hands, the elastic steel sheet dexterous hand is a relatively simple type of hand. Existing elastic dexterous hands mostly use a four-steel sheet structure. By pulling the inner steel sheet, both the inner and outer steel sheets are deformed. Since there is an angle between the connecting lines between the two ends of the inner and outer elastic steel sheets, the elastic forces in the inner and outer steel sheets will also have an angle. After vector synthesis, it can become the clamping force that prompts the dexterous hand to grip.

[0003] Existing flexible dexterous hands have two disadvantages. On the one hand, when the two fingers are about to close, the lines connecting the two ends of the four elastic steel sheets will tend to be parallel, causing the angle of the elastic force in the inner and outer steel sheets to gradually disappear. Therefore, the clamping force synthesized by their vectors will also decrease rapidly, which is not conducive to the dexterous hand to grasp small and heavy objects. On the other hand, the dexterous hand has a limited opening angle. When the length of the dexterous hand is limited, it is not conducive to it to grasp large objects. The reason is that the design of the fingertips mostly uses a fixed flat rubber pad. When the opening angle is large, the posture of the two rubber pads forms an "eight" shape, which makes it difficult to grasp objects. Summary of the invention

[0004] In view of the above problems, the present invention provides a flexible and dexterous hand and a robot.

[0005] The adopted technical solution is: a flexible dexterous hand, comprising a dexterous hand body, wherein the dexterous hand body comprises a base, a driving part, a first dexterous hand mechanism and a second dexterous hand mechanism; The driving part is arranged on the base, and can drive the first dexterous hand mechanism and the second dexterous hand mechanism to clamp and / or loosen through the driving rope group; One end of the first dexterous hand mechanism and the second dexterous hand mechanism are both connected to the outer wall of the base, and the first dexterous hand mechanism and the second dexterous hand mechanism are symmetrically arranged, and the other ends of the first dexterous hand mechanism and the second dexterous hand mechanism are both arranged with finger structures.

[0006] Optionally, the first dexterous hand mechanism includes a first elastic steel sheet, one end of the first elastic steel sheet is connected to the outer wall of the base, the other end of the first elastic steel sheet is connected to the finger structure, and the end connected to the finger structure is also connected to the driving unit; The second dexterous hand mechanism includes a second elastic steel sheet, which is arranged opposite to the first elastic steel sheet. One end of the second elastic steel sheet is connected to the outer wall of the base, and the other end of the second elastic steel sheet is connected to the finger structure, and the end connected to the finger structure is also connected to the driving part.

[0007] Optionally, the driving unit includes a motor, a winding shaft, a main driving rope, a main and auxiliary rope connector, an auxiliary traction rope group and a traction wheel group; The motor is arranged at the bottom of the base; The power output end of the motor is connected to the winding shaft and can drive the winding shaft to rotate; One end of the main driving rope is connected to the winding shaft and wound around the winding shaft, and the other end of the main driving rope is connected to the main and auxiliary rope connectors; The auxiliary traction rope group is connected to the main and auxiliary rope connectors, and is respectively connected to the first elastic steel sheet and the second elastic steel sheet through the traction wheel group.

[0008] Optionally, the traction wheel group includes a first traction wheel group and a second traction wheel group, and the auxiliary traction rope group includes a first auxiliary traction rope and a second auxiliary traction rope; One end of the first auxiliary traction rope is connected to the first elastic steel sheet, the other end of the first auxiliary traction rope is connected to the main and auxiliary rope connector, and the first auxiliary traction rope passes through the second traction wheel group; One end of the second auxiliary traction rope is connected to the second elastic steel sheet, and the other end of the second auxiliary traction rope is connected to the main-auxiliary rope connector, and the second auxiliary traction rope passes through the first traction wheel group.

[0009] Optionally, the first traction wheel assembly includes a first fixed pulley, a second fixed pulley and a first pulley base; The first fixed pulley and the second fixed pulley are both arranged on the first pulley base, and the second fixed pulley is arranged close to the base, and the first fixed pulley is arranged far away from the base, the first pulley base can contact the inner wall of the first elastic steel sheet, and the second secondary traction rope passes through the first fixed pulley and the second fixed pulley; The second traction wheel assembly includes a third fixed pulley, a fourth fixed pulley and a second pulley base; The third fixed pulley and the fourth fixed pulley are both arranged on the second pulley base, and the fourth fixed pulley is arranged close to the base, and the third fixed pulley is arranged far away from the base. The second pulley base can contact the inner wall of the second elastic steel sheet, and the first secondary traction rope passes through the first fixed pulley and the second fixed pulley.

[0010] Optionally, the first pulley base and the second pulley base are connected to the front end of the base, and the first elastic steel sheet and the second elastic steel sheet are connected to the rear end of the base.

[0011] Optionally, a slot is provided at the front end of the base, and the second fixed pulley and the fourth fixed pulley can be inserted into the slot.

[0012] Optionally, the winding shaft, main drive rope and main and auxiliary rope connectors are all arranged in the base.

[0013] Optionally, the finger structure includes a finger base and a finger, the finger base is arranged at the ends of the first dexterous hand mechanism and the second dexterous hand mechanism, a mounting groove and a rotating shaft are arranged in the finger base, and the protruding end of the finger is inserted into the mounting groove and connected to the rotating shaft.

[0014] Optionally, the finger can rotate 15° to 20° on the rotation axis.

[0015] The present application also provides a robot in which the above flexible and dexterous hand structure is used.

[0016] The benefits of the present invention include: 1. By setting a driving rope group to replace the two inner steel sheets in the existing four-steel sheet structure, the two ropes are crossed at a large angle during use, thereby increasing the angle between the driving force and the finger axis. When the tension in the rope is constant, the dexterous hand can obtain a greater clamping force, thereby better clamping large-sized objects and small and heavy objects.

[0017] 2. Replace the elastic structure of the steel sheet at the connection point between the traction rope and the elastic steel sheet and above with a rigid structure to prevent the upper structure of the steel sheet from being concave under the reaction force exerted by the object, affecting the clamping effect.

[0018] 3. Change the single-sided rubber pad structure of the fingertips to two surfaces with an angle of 45° between the two surfaces. Then install a rotating shaft between the rubber pad and the steel sheet and reserve 15° to 20° of movable space for the rubber pad fingertips to ensure that a group of surfaces remain parallel or nearly parallel throughout the entire stroke of the dexterous hand gripping. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is an axonometric diagram of a flexible and dexterous hand in a clamping state; Figure 2 This is an axonometric diagram of a flexible dexterous hand in a relaxed state; Figure 3 is a schematic diagram of the structure of the first dexterous hand mechanism; Figure 4 This is an axonometric view of the bottom of a flexible dexterous hand; Figure 5 A flexible and dexterous hand clamping view; Figure 6 A relaxed view of a flexible dexterous hand; Figure 7 Schematic diagram of finger structure; Figure 8 for Figure 7 Schematic diagram of the cross section along AA.

[0020] Wherein the figure marks are: 1 is the winding shaft, 2 is the main driving rope, 3 is the main and auxiliary rope connector, 4 is the first auxiliary traction rope, 5 is the first fixed pulley, 6 is the first pulley base, 7 is the first elastic steel sheet, 8 is the finger base, 9 is the finger, 11 is the motor, 12 is the second auxiliary traction rope, 13 is the second fixed pulley, 14 is the first end connecting plate, 15 is the second end connecting plate, 16 is the second pulley base, 17 is the fourth fixed pulley, 18 is the third fixed pulley, 19 is the second elastic steel sheet, 20 is the base, 21 is the slot, 22 is the rotating shaft, and 23 is the mounting groove. DETAILED DESCRIPTION

[0021] The following describes the implementation of the present invention through specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific implementations, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0022] It should be noted that the illustrations provided in the following embodiments are only used to schematically illustrate the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0023] like Figures 1 to 4 As shown, a flexible dexterous hand comprises a dexterous hand body, wherein the dexterous hand body comprises a base 20, a driving part, a first dexterous hand mechanism and a second dexterous hand mechanism; The driving unit is disposed on the base 20 and can drive the first dexterous hand mechanism and the second dexterous hand mechanism to clamp and / or loosen through the driving rope group; One end of the first dexterous hand mechanism and the second dexterous hand mechanism are both connected to the outer wall of the base 20, and the first dexterous hand mechanism and the second dexterous hand mechanism are symmetrically arranged, and the other ends of the first dexterous hand mechanism and the second dexterous hand mechanism are both arranged with finger structures.

[0024] The purpose of this design is to replace the two inner steel sheets in the existing four-steel sheet structure with a driving rope group, so that the two ropes cross at a large angle during use, thereby increasing the angle between the driving force and the finger axis, so that when the tension in the rope is constant, the dexterous hand can obtain a greater clamping force, thereby better clamping large-sized objects and small and heavy objects. In this way, the elastic structure is improved, and when the dexterous hand is about to be closed, the angle between the driving force and the finger axis is increased, thereby increasing the component of the driving force in the clamping direction, thereby enhancing the ability of the dexterous hand to clamp small-sized objects.

[0025] In this embodiment, a specific structure of the first dexterous hand mechanism and the second dexterous hand mechanism is provided, wherein the first dexterous hand mechanism includes a first elastic steel sheet 7, one end of the first elastic steel sheet 7 is connected to the outer wall of the base 20, the other end of the first elastic steel sheet 7 is connected to the finger structure, and the end connected to the finger structure is also connected to the driving part; The second dexterous hand mechanism includes a second elastic steel sheet 19, which is arranged opposite to the first elastic steel sheet 7. One end of the second elastic steel sheet 19 is connected to the outer wall of the base 20, and the other end of the second elastic steel sheet 19 is connected to the finger structure, and the end connected to the finger structure is also connected to the driving part.

[0026] At the same time, the present embodiment also provides a specific structure of a driving unit, wherein the driving unit includes a motor 11, a winding shaft 1, a main driving rope 2, a main and auxiliary rope connector 3, an auxiliary traction rope group and a traction wheel group; The motor 11 is disposed at the bottom of the base 20; The power output end of the motor 11 is connected to the winding shaft 1 and can drive the winding shaft 1 to rotate; One end of the main driving rope 2 is connected to the winding shaft 1 and is wound around the winding shaft 1, and the other end of the main driving rope 2 is connected to the main and auxiliary rope connector 3; The auxiliary traction rope group is connected to the main and auxiliary rope connectors 3, and are respectively connected to the first elastic steel sheet 7 and the second elastic steel sheet 19 through the traction wheel group.

[0027] Furthermore, the present embodiment also provides a specific structure of a traction wheel group, wherein the traction wheel group includes a first traction wheel group and a second traction wheel group, and the auxiliary traction rope group includes a first auxiliary traction rope 4 and a second auxiliary traction rope 12; One end of the first auxiliary traction rope 4 is connected to the first elastic steel sheet 7, and the connection is a rigid structure. The other end of the first auxiliary traction rope 4 is connected to the main and auxiliary rope connector 3, and the first auxiliary traction rope 4 passes through the second traction wheel group; One end of the second auxiliary traction rope 12 is connected to the second elastic steel sheet 19, and the connection is a rigid structure. The other end of the second auxiliary traction rope 12 is connected to the main-auxiliary rope connector 3, and the second auxiliary traction rope 12 passes through the first traction wheel group.

[0028] In actual use, after the motor is started, it will drive the winding shaft to rotate, so that the main drive rope pulls the main and auxiliary rope connectors toward the winding shaft, so that the first auxiliary traction rope and the second auxiliary traction rope connected to the main and auxiliary rope connectors move together, and under the guidance of the traction wheel group, the first auxiliary traction rope and the second auxiliary traction rope act on the first elastic steel sheet and the second elastic steel sheet respectively, thereby realizing the clamping and loosening of the dexterous hands.

[0029] like Figure 5 and Figure 6 As shown, the state diagrams of the flexible dexterous hand clamping and relaxing are respectively shown. In this embodiment, the first traction wheel group includes a first fixed pulley 5, a second fixed pulley 13 and a first pulley base 6; The first fixed pulley 5 and the second fixed pulley 13 are both arranged on the first pulley base 6, and the second fixed pulley 13 is arranged close to the base 20, and the first fixed pulley 5 is arranged far away from the base 20, the first pulley base 6 can contact the inner wall of the first elastic steel sheet 7, and the second secondary traction rope 12 passes through the first fixed pulley 5 and the second fixed pulley 13; The second traction wheel assembly includes a third fixed pulley 18, a fourth fixed pulley 17 and a second pulley base 16; The third fixed pulley 18 and the fourth fixed pulley 17 are both arranged on the second pulley base 16, and the fourth fixed pulley 17 is arranged close to the base 20, and the third fixed pulley 18 is arranged far away from the base 20. The second pulley base 16 can contact the inner wall of the second elastic steel sheet 19, and the first secondary traction rope 4 passes through the first fixed pulley 5 and the second fixed pulley 13.

[0030] In actual use, the second auxiliary traction rope is led out from the main and auxiliary rope connectors and passes through the second fixed pulley and the first fixed pulley in sequence, changing the direction of its force so that it can exert force on the first elastic steel sheet. When the dexterous hand clamps it, the first pulley base can contact the first elastic steel sheet, causing the first elastic steel sheet to deform and bulge. The first auxiliary traction rope is led out from the main and auxiliary rope connectors and passes through the fourth fixed pulley and the third fixed pulley in sequence, changing the direction of its force so that it can exert force on the second elastic steel sheet. When the dexterous hand clamps it, the second pulley base can contact the second elastic steel sheet, causing the second elastic steel sheet to deform and bulge.

[0031] Furthermore, the elastic structure of the steel sheet at the connection point between the traction rope and the elastic steel sheet and the above part is replaced with a rigid structure to prevent the upper structure of the steel sheet from being concave under the reaction force exerted by the object, affecting the clamping effect. At the same time, the traction rope is used to replace the inner elastic steel sheet. In order to make the angle between the traction rope and the outer elastic steel sheet as large as possible, the force application point of the traction rope will be offset downward compared with the force application point of the inner elastic steel sheet; the upper part of the elastic steel sheet is replaced by rigidity instead of elastic, which effectively avoids the problem of reverse deformation of the upper part of the elastic steel sheet, thereby ensuring the performance of the dexterous hand.

[0032] In this embodiment, the first pulley base 6 and the second pulley base 16 are connected to the front end of the base 20, the first elastic steel sheet 7 and the second elastic steel sheet 19 are connected to the rear end of the base 20, and a slot 21 is provided at the front end of the base 20. The second fixed pulley 13 and the fourth fixed pulley 17 can be inserted into the slot 21, and the winding shaft 1, the main drive rope 2 and the main and auxiliary rope connectors 3 are all arranged in the base 20.

[0033] It should be pointed out that in order to ensure the stability of the connection, a rigid first end connecting plate and a second end connecting plate are usually provided at the connection between the first elastic steel sheet and the second elastic steel sheet and the base. At the same time, matching slots are provided to facilitate the placement of the second fixed pulley and the fourth fixed pulley.

[0034] like Figure 7 and Figure 8 As shown, in this embodiment, the finger structure includes a finger base 8 and a finger 9. The finger base 8 is arranged at the ends of the first dexterous hand mechanism and the second dexterous hand mechanism. A mounting groove 23 and a rotating shaft 22 are arranged in the finger base 8. The protruding end of the finger 9 is inserted into the mounting groove 23 and is connected to the rotating shaft 22. The finger 9 can rotate on the rotating shaft 22 by 15° to 20°.

[0035] In actual use, the single-sided rubber pad structure of the fingertip can be changed to two surfaces, with an angle of 45° between the two surfaces. The two clamping contact surfaces at a 45° angle and the small-range free rotation structure together ensure that the fingertips of the dexterous hand can clamp objects with parallel or approximately parallel contact surfaces throughout the entire stroke. Then, a rotating shaft is installed between the rubber pad and the steel sheet, and 15° to 20° of movable space is reserved for the fingertips of the rubber pad to ensure that there is a group of surfaces that remain parallel or approximately parallel throughout the entire stroke of the dexterous hand. At the same time, this design takes into account the stability and clamping ability of the fingertips during clamping. The mobility of the fingertips around the rotation axis will damage the clamping stability, but the influence of the movable space of only 10° on the stability is negligible. The mobility around the rotation axis and the two-sided design at a 30° angle ensure the parallelism of the fingertips, thereby ensuring the clamping ability of the dexterous hand.

[0036] It should be pointed out that, in this embodiment, the dexterous hand referred to is actually a clamping claw structure.

[0037] In this embodiment, a robot is also provided, which structurally uses the flexible and dexterous hand in the above embodiments.

[0038] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A flexible dexterous hand, comprising a dexterous hand body, characterized in that: The dexterous hand body comprises a base (20), a driving unit, a first dexterous hand mechanism and a second dexterous hand mechanism; The driving part is arranged on the base (20), and can drive the first dexterous hand mechanism and the second dexterous hand mechanism to clamp and / or loosen through the driving rope group; One end of the first dexterous hand mechanism and the second dexterous hand mechanism are both connected to the outer wall of the base (20), and the first dexterous hand mechanism and the second dexterous hand mechanism are symmetrically arranged, and the other ends of the first dexterous hand mechanism and the second dexterous hand mechanism are both arranged with finger structures.

2. The flexible dexterous hand according to claim 1, characterized in that: The first dexterous hand mechanism comprises a first elastic steel sheet (7), one end of the first elastic steel sheet (7) is connected to the outer wall of the base (20), the other end of the first elastic steel sheet (7) is connected to the finger structure, and the end connected to the finger structure is also connected to the driving unit; The second dexterous hand mechanism comprises a second elastic steel sheet (19), the second elastic steel sheet (19) being arranged opposite to the first elastic steel sheet (7), one end of the second elastic steel sheet (19) being connected to the outer wall of the base (20), the other end of the second elastic steel sheet (19) being connected to the finger structure, and the end connected to the finger structure is also connected to the driving unit.

3. A flexible and dexterous hand according to claim 2, characterized in that: The driving unit comprises a motor (11), a winding shaft (1), a main driving rope (2), a main and auxiliary rope connector (3), an auxiliary traction rope group and a traction wheel group; The motor (11) is arranged at the bottom of the base (20); The power output end of the motor (11) is connected to the winding shaft (1) and can drive the winding shaft (1) to rotate; One end of the main driving rope (2) is connected to the winding shaft (1) and is wound around the winding shaft (1), and the other end of the main driving rope (2) is connected to the main and auxiliary rope connector (3); The auxiliary traction rope group is connected to the main and auxiliary rope connectors (3), and is respectively connected to the first elastic steel sheet (7) and the second elastic steel sheet (19) via a traction wheel group.

4. The flexible dexterous hand according to claim 3, characterized in that: The traction wheel group comprises a first traction wheel group and a second traction wheel group, and the auxiliary traction rope group comprises a first auxiliary traction rope (4) and a second auxiliary traction rope (12); One end of the first auxiliary traction rope (4) is connected to the first elastic steel sheet (7), and the connection is a rigid structure. The other end of the first auxiliary traction rope (4) is connected to the main and auxiliary rope connector (3), and the first auxiliary traction rope (4) passes through the second traction wheel group. One end of the second auxiliary traction rope (12) is connected to the second elastic steel sheet (19), and the connection is a rigid structure. The other end of the second auxiliary traction rope (12) is connected to the main and auxiliary rope connector (3), and the second auxiliary traction rope (12) passes through the first traction wheel group.

5. The flexible dexterous hand according to claim 4, characterized in that: The first traction wheel assembly comprises a first fixed pulley (5), a second fixed pulley (13) and a first pulley base (6); The first fixed pulley (5) and the second fixed pulley (13) are both arranged on the first pulley base (6), and the second fixed pulley (13) is arranged close to the base (20), and the first fixed pulley (5) is arranged away from the base (20), the first pulley base (6) can contact the inner wall of the first elastic steel sheet (7), and the second auxiliary traction rope (12) passes through the first fixed pulley (5) and the second fixed pulley (13); The second traction wheel assembly comprises a third fixed pulley (18), a fourth fixed pulley (17) and a second pulley base (16); The third fixed pulley (18) and the fourth fixed pulley (17) are both arranged on the second pulley base (16), and the fourth fixed pulley (17) is arranged close to the base (20), and the third fixed pulley (18) is arranged away from the base (20), the second pulley base (16) can contact the inner wall of the second elastic steel sheet (19), and the first auxiliary traction rope (4) passes through the first fixed pulley (5) and the second fixed pulley (13).

6. The flexible dexterous hand according to claim 5, characterized in that: The first pulley base (6) and the second pulley base (16) are connected to the front end of the base (20), and the first elastic steel sheet (7) and the second elastic steel sheet (19) are connected to the rear end of the base (20).

7. The flexible dexterous hand according to claim 5, characterized in that: The front end of the base (20) is provided with a slot (21), and the second fixed pulley (13) and the fourth fixed pulley (17) can be inserted into the slot (21).

8. A flexible and dexterous hand according to claim 6 or 7, characterized in that: The winding shaft (1), the main driving rope (2) and the main and auxiliary rope connectors (3) are all arranged in the base (20).

9. The flexible dexterous hand according to claim 8, characterized in that: The finger structure comprises a finger base (8) and a finger (9); the finger base (8) is arranged at the ends of the first dexterous hand mechanism and the second dexterous hand mechanism; a mounting groove (23) and a rotation axis (22) are arranged in the finger base (8); a protruding end of the finger (9) is inserted into the mounting groove (23) and connected to the rotation axis (22); and the finger (9) can rotate on the rotation axis (22) by 15° to 20°.

10. A robot, characterized in that: The method comprises the flexible and dexterous hand as claimed in any one of claims 1 to 9.

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