A robot hand and robot thereof

Abstract

The embodiment of the present application belongs to the field of mechanical grippers, and relates to a robot hand, comprising: a palm and under-actuated fingers; the palm comprises a palm support; the under-actuated fingers comprise: a thumb and N other fingers; the thumb comprises: a thumb drive member and a thumb body; each other finger comprises: a finger drive member and a finger body; the thumb drive member comprises a first drive unit and a second drive unit; the first drive unit is connected to the thumb body, and is used to drive the thumb to rotate in a direction away from or close to the palm; the second drive unit is connected to the thumb body, and is used to drive the thumb to bend or stretch; the finger drives of the other fingers are connected to the finger body to drive the finger body to bend or stretch; the first drive unit is arranged on the palm support to assemble the thumb to the palm; the finger drive member is arranged on the palm support to assemble the other fingers to the palm. The present application also relates to a robot. The technical solution provided in the present application can improve the dexterity of the robot hand.

Description

Technical Field

[0001] The present application relates to the technical field of mechanical grippers, and more specifically, to a robotic hand and a robot thereof. Background Art

[0002] With the development of science and technology, robots such as humanoid robots and industrial manipulators have gradually become popular in all walks of life, which has put forward new and higher requirements for robots regarding dexterous operation.

[0003] To achieve the above goals, people have tried to develop dexterous hands, but the dexterity of existing robots is generally insufficient, and thus they are unable to imitate human movements well. Utility Model Content

[0004] Based on this, an embodiment of the present application provides a robot hand and a robot thereof to improve the dexterity of the robot hand.

[0005] In a first aspect, an embodiment of the present application provides a robot hand, which adopts the following technical solution:

[0006] A robot hand, comprising: a palm and under-actuated fingers; the palm comprises a palm support; the under-actuated fingers comprise a thumb and N other fingers, wherein N is an integer greater than or equal to 1; the thumb comprises a thumb drive member and a thumb body; each of the other fingers comprises a finger drive member and a finger body; the thumb drive member comprises a first drive unit and a second drive unit;

[0007] The first driving part is connected to the thumb body and is used to drive the thumb to rotate in a direction away from or close to the palm; the second driving part is connected to the thumb body and is used to drive the thumb to bend or stretch;

[0008] The finger driving members of the other fingers are connected to the finger body to drive the finger body to bend or stretch;

[0009] The first driving part is disposed on the palm support to assemble the thumb on the palm;

[0010] The finger driving member is arranged on the palm support so as to assemble the other fingers on the palm.

[0011] Furthermore, the thumb drive member further includes a connecting portion; the first drive portion is a first linear drive portion; the second drive portion is a second linear drive portion;

[0012] At the edge of the palm support, the connecting portion is rotatably connected to the palm support via a connecting pivot;

[0013] The first end of the connecting part is rotatably connected to the output end of the first linear driving part around a third pivot; the second end of the connecting part is rotatably connected to the first end of the thumb body around a first pivot; the second end of the connecting part is also rotatably connected to the first end of the second linear driving part around a fourth pivot; the first end of the connecting part is driven to move by the output end of the first linear driving part, so that the second end of the connecting part drives the thumb body and the second linear driving part to rotate around the connecting pivot in a direction away from or close to the palm.

[0014] Furthermore, the thumb body includes: a first thumb joint, a second thumb joint and a thumb adapter;

[0015] The first thumb joint and the second thumb joint are rotatably connected via a second pivot;

[0016] The output end of the second linear driving unit is rotatably connected to the thumb adapter; the thumb adapter is also rotatably connected to the first end of the second thumb joint and the second end of the first thumb joint respectively; the second linear driving unit drives the first thumb joint to rotate around the first pivot through the thumb adapter, and simultaneously drives the second thumb joint to rotate around the second pivot, so as to realize the flexion or extension movement of the thumb.

[0017] Further, the thumb adapter comprises: a first connecting arm, a second connecting arm and a third connecting arm;

[0018] The first end of the third connecting arm is fixedly connected to the output end of the second linear driving unit; the second end of the third connecting arm is rotatably connected to the second end of the first thumb joint and the first end of the second thumb joint via the second pivot;

[0019] The second end of the first connecting arm is provided with the second connecting arm which can rotate along a laterally arranged pivot; the two ends of the second connecting arm are respectively connected to the two side walls of the first end of the second thumb joint via an eighth pivot so as to be rotatable;

[0020] The first end of the first connecting arm is rotatably connected to the fixing portion of the second linear driving portion via a tenth pivot;

[0021] The first pivot, the fourth pivot and the second pivot are distributed in a triangle; the second pivot, the eighth pivot and the tenth pivot are distributed in a triangle.

[0022] Furthermore, the connecting portion includes: a transfer portion, a longitudinal connecting arm and a transverse connecting arm; wherein the longitudinal direction is the direction from the bottom of the palm portion to the top of the palm portion;

[0023] The transfer portion extends toward the first linear drive portion to form the longitudinal connecting arm; the transfer portion extends toward the second linear drive portion to form the transverse connecting arm;

[0024] The longitudinal connecting arm serves as the first end of the connecting portion; the transverse connecting arm serves as the second end of the connecting portion;

[0025] The longitudinal connecting arm is provided with the third pivot in the longitudinal direction; the transverse connecting arm is provided with the first pivot and the fourth pivot in the transverse direction;

[0026] The longitudinal connecting arm or the transfer portion is provided with the connecting pivot along the longitudinal direction.

[0027] Further, the first linear drive unit is fixed to the palm support in a transverse direction; and / or the finger drive member is fixed to the palm support in a longitudinal direction; and / or

[0028] The palm also includes a palm shell; the palm shell is sleeved outside the palm bracket.

[0029] Furthermore, an attachment is provided on the inner side of the thumb body corresponding to the bending direction of the finger; and / or

[0030] The inner side of the finger body corresponding to the bending direction of the finger is provided with an attachment; and / or

[0031] An attachment is arranged on the center of the palm.

[0032] Further, the first pivot and the second pivot are respectively located on the side wall of the thumb body and close to the inner side surface of the thumb body; the inner side surface is the inner side surface of the thumb body corresponding to the bending direction of the finger; and / or

[0033] A connected hollow portion is formed in the first thumb joint and the second thumb joint, and the second linear driving portion and the thumb adapter are accommodated in the hollow portion.

[0034] Furthermore, N is equal to 3; and / or

[0035] Each of the finger bodies includes 3 joints; and / or

[0036] The thumb body includes two joints.

[0037] In a second aspect, an embodiment of the present application provides a robot, comprising a robot body and the robot hand described in the above embodiment;

[0038] The bottom of the palm support of the robot hand forms a mounting portion, and the robot hand is mounted on the execution end of the robot body through the mounting portion.

[0039] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0040] The embodiment of the present application controls the first driving part of the thumb to drive the thumb to rotate in a direction away from or close to the palm, and controls the second driving part to drive the thumb to bend or extend; and controls the finger driving parts of other fingers to drive the other fingers to bend or extend, so that the robot hand can move in multiple dimensions, thereby improving the dexterity of the robot hand and better imitating the human hand to complete corresponding operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the scheme of the present application, a brief introduction is given below to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0042] Figure 1 A schematic diagram of the overall structure of an embodiment of the robot hand provided in this application;

[0043] Figure 2 for Figure 1 A schematic diagram of a partial exploded structure of an embodiment of a robot hand is provided;

[0044] Figure 3A A schematic diagram of the overall structure of an embodiment of the thumb provided in the present application;

[0045] Figure 3B for Figure 3A A schematic structural diagram of an embodiment of a thumb body and a joint housing after explosion observed from an oblique upper perspective is provided;

[0046] Figure 3C for Figure 3A A schematic structural diagram of an embodiment of a thumb body and a joint housing after explosion observed from an oblique downward perspective is provided;

[0047] Figure 4 for Figure 3A A schematic diagram of an exploded structure of an embodiment of a thumb body is provided;

[0048] Figure 5 A schematic diagram of the overall structure of an embodiment of another finger provided in the present application;

[0049] Fig. 6A for Figure 5 A first exploded structural schematic diagram of an embodiment of another finger is provided;

[0050] Figure 6B for Figure 5 A second exploded structural schematic diagram of an embodiment of another finger is provided.

[0051] Figure numerals: 10 robot hand, 11 palm, 12 thumb, 13 other fingers, 111 palm bracket, 112 palm shell, 121 thumb body, 122 first driving part, 123 second driving part, 124 connecting part, 131 finger driving member, 132 finger body, 133 attachment, 134 assembly part, 1211 first thumb joint, 1212 second thumb joint, 1213 thumb adapter, 1214 joint shell, 1215 joint skeleton, 1231 fixing part, 1311 finger linear driving part, 1312 driving bracket, 1313 driving member, 1321 first connecting rod, 1322 second connecting rod, 1323 third connecting rod, 1324 fourth connecting rod, 1325 fifth connecting rod, 1326 sixth connecting rod, 1327 seventh connecting rod, 23 21 first joint, 2322 second joint, 2323 third joint, 3213 skeleton of the first joint, 3214 shell of the first joint, 3223 skeleton of the second joint, 3224 shell of the second joint, 3233 skeleton of the third joint, 3234 shell of the third joint, 13121 bottom of the bracket, 13122 top of the bracket, first extension part 3215, second extension part 3225, third extension part 3235, H1 transfer part, H2 longitudinal connecting arm, H3 transverse connecting arm, M1 first connecting arm, M2 second connecting arm, M3 third connecting arm, M4 transfer arm, L connecting pivot, L1 first pivot, L2 second pivot, L3 third pivot, L4 fourth pivot, L5 fifth pivot, L6 sixth pivot, L7 seventh pivot, L8 eighth pivot. DETAILED DESCRIPTION

[0052] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by technicians in the technical field of this application; the terms used in the specification of the application herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.

[0053] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0054] Unless otherwise defined, references herein to a certain structural member being "fixed to", "fixedly connected to" another structural member and other similar descriptions include fixing methods such as the two structural members being prefabricated as one piece or being fixedly connected via a centering member.

[0055] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0056] like Figure 1 and Figure 2 As shown, Figure 1 A schematic diagram of the overall structure of an embodiment of the robot hand provided in this application; Figure 2 for Figure 1 A schematic diagram of a partial exploded structure of an embodiment of a robot hand is provided.

[0057] An embodiment of the present application provides a robot hand 10, which includes: a palm 11 and under-actuated fingers; the palm 11 includes a palm support 111; the under-actuated fingers include: a thumb 12 and N other fingers 13, where N is an integer greater than or equal to 1; the thumb 12 includes: a thumb drive member and a thumb body 121; each of the other fingers 13 includes: a finger drive member (not shown due to obstruction) and a finger body 132; the thumb drive member includes a first drive part 122 and a second drive part 123.

[0058] An underactuated finger refers to a finger in which the number of driving parts is less than the number of the driven joints of the finger. By adopting underactuated fingers, the number of driving parts can be reduced, thereby reducing costs; in addition, the need for synchronous control of multiple driving parts of each finger can be reduced, which is more conducive to finger control.

[0059] The number N of "other fingers" can be one or more as needed. Figure 1 As shown, in an optional embodiment, the number N of other fingers is 3, and the cooperation of the 3 other fingers and the thumb can basically meet the needs of imitating various human hand operations without increasing the cost and volume of the robot hand due to too many fingers.

[0060] The above-mentioned multiple other fingers can be arranged parallel to each other, or at a certain angle; in an optional embodiment, the multiple other fingers are arranged at a preset angle, so that the object can be better wrapped when grasping the object. Specifically, the preset angle size can be arbitrarily set according to the needs of the grasping scene.

[0061] The number of "thumbs" is usually one, but you can use more than one if needed.

[0062] Each thumb and / or other finger can be set with any number of joints as needed. In an optional embodiment, the thumb body 121 includes two joints; the finger body 132 includes three joints. By adopting this number of joints, it matches the real human hand joint situation, so that human-like operation can be better achieved.

[0063] The first driving part 122 is connected to the thumb body 121 and is used to drive the thumb to rotate in a direction away from or close to the palm 11 ; the second driving part 123 is connected to the thumb body 121 and is used to drive the thumb to bend or stretch.

[0064] It should be noted that the first driving part 122 can be directly connected to the thumb body 121, and can also be connected to the thumb body through an intermediate piece (for example, the connecting part described in the later embodiments) as needed; similarly, the second driving part 123 can be directly connected to the thumb body 121, and can also be connected to the thumb body through an intermediate piece (for example, the thumb adapter described in the later embodiments) as needed.

[0065] The finger driving member 131 of other fingers 13 is connected to the finger body 132 to drive the other fingers to bend or stretch. Similarly, the finger driving member 131 can be connected to the finger body 132 directly or through an intermediate member, which will be further described in detail in the following embodiments.

[0066] The finger drive member 131, the first drive unit 122, and the second drive unit 123 can adopt any structural member that can realize linear or rotational driving as needed. In an optional embodiment, the embodiment of the present application is described by taking the finger drive member 131, the first drive unit 122, and the second drive unit 123 as linear drive structural members as an example. Specifically, the linear drive structure can be but is not limited to: a linear motor, a cylinder, or a hydraulic cylinder. For ease of understanding, the embodiment of the present application is described in detail below by taking the finger drive member 131, the first drive unit 122, and the second drive unit 123 as a linear motor as an example.

[0067] The first driving part 122 of the thumb 12 is arranged on the palm support 111 to assemble the thumb 12 on the palm 11; the finger driving member 131 is arranged on the palm support 111 to assemble other fingers on the palm. In the embodiment of the present application, by respectively arranging the thumb driving member and the finger driving member on the palm support 111, the thumb 12 and other fingers 13 can be assembled with the palm 11 to form an integral robot hand.

[0068] The thumb drive member and the finger drive member can be fixed at any desired position of the palm support as required. Figure 2As shown, in an optional embodiment, the finger driving member is fixed to the palm support along the longitudinal direction Y, so that the root of the finger body is located at the top of the palm support (not shown because it is located on the back of the palm support and is blocked); the first driving part 122 of the thumb 12 is fixed to the palm support 111 near the bottom along the transverse direction X, so that the root of the thumb body 121 is located at the edge of one side of the palm support 111 near the bottom. The embodiment of the present application can fully imitate the layout of the human hand through this design, so that the robot hand can better imitate the human hand to complete the corresponding operation.

[0069] In an optional embodiment, the longitudinal direction Y described in the embodiment of the present application may refer to the direction from the bottom to the top of the palm portion 11; and the transverse direction X refers to the direction perpendicular to the longitudinal direction Y.

[0070] The palm support 111 can be designed in any structure as needed. Figure 2 As shown, the palm support has a hollow corresponding to the first linear drive unit 122 of the thumb 12, and the first linear drive unit 122 is embedded in the hollow and fixed, so as to simplify the palm structure and reduce the space occupied by the palm as a whole. The palm support also includes a support plate corresponding to the finger drive member 131 of other fingers 13, and the support of the finger drive member 131 can be fixed to one side of the support plate (for example: the back of the palm).

[0071] In an alternative embodiment, continue as Figure 1 As shown, the palm portion 11 further includes a palm shell 112. The palm shell of the embodiment of the present application can be provided to achieve the effect of aesthetics and protection of the internal structural components of the palm.

[0072] In an optional embodiment, the joints of each thumb and / or other fingers are linearly arranged in sequence along the direction of movement of the linear drive unit. Figure 2 As shown, the second driving part 123, the first thumb joint 1211 and the second thumb joint 1212 are linearly arranged in sequence along the direction F of movement of the linear driving part, so as to be more beautiful and easier to achieve unified under-actuated control of multiple joints.

[0073] The embodiment of the present application controls the first driving part of the thumb to drive the thumb to rotate in a direction away from or close to the palm, and controls the second driving part to drive the thumb to bend or extend; and controls the finger driving parts of other fingers to drive the other fingers to bend or extend, so that the robot hand can move in multiple dimensions, thereby improving the dexterity of the robot hand and better imitating the human hand to complete corresponding operations.

[0074] like Figures 3A-3C and Figure 4 As shown, Figure 3AA schematic diagram of the overall structure of an embodiment of the thumb provided in the present application; Figure 3B for Figure 3A A schematic structural diagram of an embodiment of a thumb body and a joint housing after explosion observed from an oblique upper perspective is provided; Figure 3C for Figure 3A A schematic structural diagram of an embodiment of a thumb body and a joint housing after explosion observed from an oblique downward perspective is provided; Figure 4 for Figure 3A A schematic diagram of an exploded structure of an embodiment of a thumb body is provided.

[0075] In an optional embodiment, the thumb drive member further includes a connecting portion 124 ; the first drive portion 122 is a first linear drive portion 122 ; and the second drive portion 123 is a second linear drive portion 123 .

[0076] At the edge of the palm support 111, the connecting portion 124 is rotatably connected to the palm support 111 via a connecting pivot L. For example, Figure 3A As shown, the connecting portion 124 is rotatably connected to the palm support 111 via a connecting pivot L arranged along the longitudinal direction.

[0077] The first end of the connecting portion 124 is rotatably connected to the output end of the first linear driving portion 122 around the third pivot L3; the second end of the connecting portion 124 is rotatably connected to the first end of the thumb body 121 around the first pivot L1; the second end of the connecting portion 124 is also rotatably connected to the first end (the opposite end of the output end) of the second linear driving portion 123 around the fourth pivot L4; the first end of the connecting portion 124 is driven to move by the output end of the first linear driving portion 122, so that the second end of the connecting portion 124 drives the thumb body 121 and the second linear driving portion 123 around the connecting pivot L to achieve the above-mentioned "the thumb 12 rotates in a direction away from or close to the palm 11."

[0078] Typically, the fourth pivot axis L4 is arranged in parallel with the first pivot axis L1; in addition, other arrangements may be adopted as required.

[0079] like Figure 3C As shown, the embodiment of the present application adopts a connecting portion 124, so that during the reciprocating movement of the output end of the first linear drive portion 122, the first end of the connecting portion 124 is driven to rotate around the connecting pivot L. At this time, the other end of the connecting portion 124 can drive the entire thumb body 121 to rotate around the connecting pivot L, so as to realize the rotation of the thumb 12 away from or close to the palm 11, and realize complex drive conversion through simple structural parts, thereby simplifying the overall structural design of the robot hand.

[0080] Further, in an optional embodiment, the connecting portion 124 includes: a transfer portion H1, a longitudinal connecting arm H2 and a transverse connecting arm H3.

[0081] The transfer portion H1 extends toward the first linear driving portion 122 to form a longitudinal connecting arm H2 ; the transfer portion H1 extends toward the second linear driving portion 123 to form a transverse connecting arm H3 .

[0082] The longitudinal connecting arm H2 serves as a first end of the connecting portion 124 ; the transverse connecting arm H3 serves as a second end of the connecting portion 124 .

[0083] The longitudinal connecting arm H2 is provided with a third pivot axis L3 along the longitudinal direction; the transverse connecting arm H3 is provided with a first pivot axis L1 and a fourth pivot axis L4 along the transverse direction.

[0084] Longitudinal connecting arm H2 (such as Figure 3A Or as shown in 3C) or the transfer part H1 is also provided with the above-mentioned connecting pivot L along the longitudinal direction.

[0085] Further, in an optional embodiment, the longitudinal connecting arm H2 may be formed by extending the two ends of the transfer part H1 along the longitudinal direction Y toward the first linear driving part 122 to form two upper and lower connecting arms H2, and the rotatable connection with the first linear driving part 122 is achieved through the two upper and lower connecting arms H2. By forming the structure of the upper and lower connecting arms, on the one hand, the weight of the connecting part can be reduced; on the other hand, the upper and lower connecting arms can be rotatably connected to the two ends of the output end of the first linear driving part, so that the force is balanced during the rotation process, and the smoothness of the rotation is improved.

[0086] Further, in an optional embodiment, the lateral connecting arm H3 may be formed by extending the two ends of the transfer part H1 along the lateral direction X toward the second linear driving part 123 to form two left and right connecting arms H3, and the rotatable connection is achieved with the thumb body 121 and the second linear driving part 123 through the two left and right connecting arms H3. By forming the structure of the two left and right connecting arms, on the one hand, the weight of the connecting part can be reduced; on the other hand, the two connecting arms can be rotatably connected to the two sides of the first end of the second linear driving part 123 and the two side walls of the first thumb joint, so that the force is balanced during the rotation process, and the smoothness of the rotation is improved.

[0087] Continue as Figure 3B and Figure 3C As shown, in an optional embodiment, the thumb body 121 includes: a first thumb joint 1211 , a second thumb joint 1212 and a thumb adapter 1213 .

[0088] The first thumb joint 1211 and the second thumb joint 1212 are rotatably connected via a second pivot L2.

[0089] In an optional embodiment, the output end of the second linear drive unit 123 is rotatably connected to the thumb adapter 1213; the thumb adapter 1213 is also rotatably connected to the first end of the second thumb joint 1212 and the second end of the first thumb joint 1211, respectively. Through the linear movement of the second linear drive unit 123, the first thumb joint 1211 is driven to rotate around the first pivot L1, and the second thumb joint is driven to rotate around the second pivot L2 at the same time, thereby driving the thumb to bend or extend.

[0090] In the embodiment of the present application, the output end of the second linear drive unit 123 can synchronously drive the first thumb joint 1211 and the second thumb joint 1212 to rotate around their respective pivots through the thumb adapter, thereby driving the thumb to bend or extend, and realizing complex drive conversion through simple structural parts, thereby simplifying the structural design of the thumb body.

[0091] like Figure 3C and Figure 4 As shown, further, in an optional embodiment, the thumb adapter 1213 includes: a first connecting arm M1, a second connecting arm M2 and a third connecting arm M3.

[0092] The first end of the third connecting arm M3 is fixedly connected to the output end of the second linear driving unit 123; the second end of the third connecting arm M3 is rotatably connected to the second end of the first thumb joint and the first end of the second thumb joint via the second pivot L2.

[0093] For example, Figure 3B and 4 As shown, the third connecting arm M3 can be a concave structural member, the bottom of the concave structural member is fixedly connected to the output end of the second linear drive unit 123, and the two side walls of the concave structural member are rotatably connected to the second ends of the two side walls of the first thumb joint and the first ends of the two side walls of the second thumb joint through the second pivot L2.

[0094] The second end of the first connecting arm M1 is provided with a second connecting arm M2 which can rotate along a laterally arranged pivot; the two ends of the second connecting arm M2 are rotatably connected to the two side walls of the first end of the second thumb joint 1212 via an eighth pivot L8.

[0095] The first end of the first connecting arm M1 is rotatably connected to the fixed part of the second linear driving part 123 through a tenth pivot (not shown in the figure due to obstruction), for example: the first end of the first connecting arm M1 is rotatably connected to the fixed part of the second linear driving part 123 through the tenth pivot via the transfer arm M4.

[0096] For example, Figure 4As shown, the transfer arm M4 is a cylindrical structure, which is sleeved and fixed on the outer wall of the fixing portion 1231 and is fixedly connected to the fixing portion.

[0097] Specifically, Figure 3B As shown, the first pivot L1, the second pivot L2 and the fourth pivot L4 are distributed in a triangle, and the distance between the second pivot L2 and the fourth pivot L4 is changed by the linear motion of the second linear drive unit, so that the first thumb joint 1211 can rotate around the first pivot L1. Similarly, the second pivot L2, the eighth pivot L8 and the tenth pivot are also distributed in a triangle, and the second thumb joint can rotate around the second pivot L2 by the linear motion of the second linear drive unit.

[0098] In the embodiment of the present application, by setting up the adapter of the above structure, through the linear movement of the second linear drive unit, the adapter 1213 can respectively drive the first thumb joint to rotate around the first pivot L1 and the second thumb joint to rotate around the second pivot L2, thereby realizing the bending or extension movement of the thumb.

[0099] The embodiment of the present application uses the structure of the thumb adapter 1213 and a clever design to enable a simple structural component to achieve a complex adapter drive function, thereby simplifying the structural design of the thumb body.

[0100] It should be noted that, in addition to the structures listed in the embodiments of the present application, the thumb structure described in the embodiments of the present application may also adopt any under-actuated thumb structure as needed. As long as the requirements of the present application that the thumb can rotate away from or close to the palm based on the first driving unit, and the thumb can be bent or extended based on the second driving unit, are met, they are all within the scope of protection of the present application.

[0101] In an optional embodiment, each joint of the thumb body and / or the finger body includes: a joint bottom and a joint top, and joint side walls extending from opposite sides of the joint bottom to the joint top, wherein the joint top is also the inner side of the finger bending direction described in the embodiment of the present application. Specifically, the joint side wall and the joint bottom can be prefabricated as a whole, or fixedly connected by an intermediate piece.

[0102] In an optional embodiment, each joint of the thumb body and / or the finger body includes: a joint frame and a joint shell; the joint shell is fixed outside the joint frame. Each joint is connected rotatably around each pivot axis through the joint frame to realize the finger joint or thumb joint described in the embodiment of the application.

[0103] The embodiment of the present application fixes the joint shell outside the joint skeleton, so that when the shell is damaged due to wear, collision, etc., or the finger shape structure needs to be changed, the shell can be directly replaced, which is convenient for finger maintenance and improves the flexibility of finger design.

[0104] For ease of understanding, the following detailed description is mainly provided by taking the first thumb joint 1211 of the thumb body 121 as an example.

[0105] Continue as Figure 3A , Figure 3B and Figure 4 As shown, the joint housing 1214 of the first thumb joint 1211 is fixed outside the joint frame 1215. The first thumb joint 1211 is rotatably connected around the first pivot L1 and the second pivot L2 of the embodiment of the present application through the joint frame 1215, for example: the first end of the first thumb joint frame is rotatably connected to the connecting part around the first pivot L1; or the second end of the first thumb joint frame is rotatably connected to the second joint around the second pivot L2.

[0106] Further, in an optional embodiment, the joint skeleton of each joint includes two symmetrically arranged connecting rods and a skeleton bottom. Figure 4 As shown, taking the first thumb joint 1211 as an example, the first joint skeleton 1215 includes two symmetrically arranged connecting rods, which serve as the joint side wall or a part of the joint side wall of the first thumb joint, and the two connecting rods are connected as a whole through the bottom of the skeleton.

[0107] Further, in an optional embodiment, the joint housing includes a housing side wall and a housing bottom, and the joint skeleton and the housing side wall together serve as the joint side wall; the housing bottom and the skeleton bottom together serve as the joint bottom.

[0108] Furthermore, in an optional embodiment, the joint shell can be fixed to the outside of the joint frame through an intermediate piece, for example: by adhesive bonding, or by respectively providing mutually adaptable buckles and slots on the frame and the shell, and fixing the two together through the buckles and slots snapping together.

[0109] Furthermore, in another optional embodiment, the joint skeleton can also be prefabricated as one piece with the joint shell, that is, the joint skeleton can be used as a part of the joint shell, thereby reducing the use of finger parts, reducing the size and cost of the finger, and reducing the assembly steps.

[0110] Specifically, the materials of the joint skeleton and the joint shell can be arbitrarily designed as needed. For example, the joint shell can be made of rigid or flexible materials as needed.

[0111] In an optional embodiment, an attachment may be provided on the center of the palm (figure omitted).

[0112] By providing attachments on the palm, the application range of the robot hand can be improved.

[0113] In an optional embodiment, an attachment is provided on the inner side surface of the thumb body corresponding to the bending direction of the finger; and / or an attachment is provided on the inner side surface of the finger body corresponding to the bending direction of the finger.

[0114] Further, in an optional embodiment, at least part of the joints of the thumb body and / or finger body described in the embodiment of the present application are provided with attachments 133, and the attachments 133 can be directly used as the joint top (i.e., the inner side corresponding to the bending direction of the finger); in addition, a mounting surface can also be formed on the joint top, and the bottom surface of the attachment can be fixed to the mounting surface. Figure 4 As shown, the attachment 133 is preferably fixed (for example, fixed by the assembly part 134) to the side of the joint side wall away from the bottom of the joint, without forming a mounting surface on the top of the joint, which can reduce the structural parts of the joint and further reduce the size of the finger.

[0115] The number of attachments can be set as desired, and attachments can be set on the top of each joint, or on the top of some joints. Figure 4 As shown, attachments 133 are respectively provided on the tops of the first thumb joint 1211 and the second thumb joint 1212 .

[0116] Specifically, the attachment may be any object as required, such as a sensor, a friction pad (for example, for providing friction resistance when grasping an object), a flexible component (for example, for providing flexible force when grasping an object, etc.). For ease of understanding, the present application embodiment takes the attachment as a sensor as an example for further detailed description.

[0117] In an optional embodiment, the first pivot and the second pivot are respectively located on the side walls of the thumb body and correspond to the edge of one side of the joint top of the thumb body; specifically, the joint top serves as the inner side of the thumb body corresponding to the bending direction of the finger.

[0118] Exemplarily, the first pivot L1 and the second pivot L2 are located at an edge of a joint side wall of the joint corresponding to a joint top side.

[0119] By locating the first pivot and the second pivot on the side wall of the thumb body respectively, and corresponding to the edge of the top side of the joint of the thumb body, the body of each joint is placed behind the rotation center of the joint, thereby making way for the attachment set on the top of the joint, which is more conducive to the installation of the attachment and better realizes the function of the attachment.

[0120] Figure 5A schematic diagram of the side structure of an embodiment of another finger provided by the present application with the finger shell removed; Fig. 6A for Figure 5 A first exploded structural schematic diagram of an embodiment of another finger is provided; Figure 6B for Figure 5 A second exploded structural schematic diagram of an embodiment of another finger is provided.

[0121] like Figure 5 As shown, in an optional embodiment, the finger driving member 131 includes: a finger linear driving unit 1311 and a driving bracket 1312. The finger linear driving unit 1311 is disposed on the driving bracket 1312.

[0122] In one embodiment, a receiving space is formed inside the driving bracket 1312, and the finger linear driving part 1311 is received in the receiving space. This structural design makes the overall structure of the finger more beautiful and also provides good protection for the linear driving structure.

[0123] In one embodiment, the driving bracket includes a bracket bottom 13121 and a bracket top 13122; the bracket top 13122 is arranged corresponding to the joint top of the joint; the bracket bottom 13121 is used to be fixedly connected to the palm bracket 111. Through this structural design, the overall structure of the finger is more beautiful, and it is convenient to combine the finger with other components.

[0124] like Fig. 6A and Figure 6B As shown, in an optional embodiment, the finger body 132 of the other finger includes a first joint 2321, a second joint 2322, a third joint 2323 and a transmission assembly.

[0125] In an optional embodiment, each joint includes a joint frame and a joint housing.

[0126] In one embodiment, the first joint 2321 includes: a first joint skeleton 3213 and a first joint shell 3214; the second joint 2322 includes: a second joint skeleton 3223 and a second joint shell 3224; the third joint 2323 includes: a third joint skeleton 3233 and a third joint shell 3234.

[0127] The finger driving member 131 drives the first joint 2321 , the second joint 2322 and the third joint 2323 to bend or stretch through the cooperation of three joints and a transmission assembly.

[0128] In an optional embodiment, a through hollow portion is formed inside the first joint 2321, the second joint 2322 and the third joint 2323, so that the transmission assembly can be accommodated in the hollow portion, thereby saving the space occupied by other fingers as a whole and improving the aesthetics.

[0129] The finger driving member 131 , the first joint 2321 , the second joint 2322 and the third joint 2323 are arranged in sequence along the moving direction of the finger linear driving part 1311 .

[0130] Adjacent joints are rotatably connected via pivots.

[0131] Exemplarily, the first joint 2321 and the second joint 2322 are rotatably connected via a sixth pivot L6; the second joint 2322 and the third joint 2323 are rotatably connected via a seventh pivot L7.

[0132] In one embodiment, the sixth pivot and the seventh pivot may be arranged at the edge of the top of the joint of other fingers, so that the transmission assembly is placed behind the rotation center of the joint, thereby making way for the force sensor above, which is more conducive to the installation of the attachment and better realizes the function of the attachment.

[0133] The first end of the first joint 2321 is rotatably connected to the output end of the finger linear driving unit 1311 .

[0134] Specifically, the output end of the finger linear driving unit 1311 can be fixedly connected to the driving member 1313, and can be rotatably connected to the first joint 121 through the driving member 1313; in addition, the output end of the finger linear driving unit 1311 can also be directly rotatably connected to the first joint. For ease of understanding, the embodiment of the present application is mainly described in detail by taking the finger linear driving unit 1311 rotatably connected to the first joint 2321 through the driving member 1313 as an example.

[0135] Exemplarily, the joint side wall of the first end of the first joint 2321 is rotatably connected to the driving member 1313 via a ninth pivot L9 to achieve a rotatable connection with the output end of the finger linear driving unit 1311 .

[0136] In the embodiment of the present application, by adopting the above structure and by cleverly designing the hinge holes, each adjacent joint and the first joint and the driving assembly are respectively hinged to each other through the pivots passing through the hinge holes. It should be noted that in addition to the structure described in the above embodiment, any other structure can also be used to achieve the above hinge as needed.

[0137] In an optional embodiment, the transmission assembly of the finger body 132 includes: a first connecting rod 1321 , a second connecting rod 1322 , a third connecting rod 1323 , a fourth connecting rod 1324 , a fifth connecting rod 1325 , a sixth connecting rod 1326 and a seventh connecting rod 1327 .

[0138] The first end of the first link 1321 is fixed to the driving bracket 1312 (for example: fixed to the top of the bracket, the top of the bracket corresponds to the top of the joint of other fingers); the second end of the first link 1321 is rotatably connected to the first end of the second link 1322 (for example: rotatably connected through the first link pivot P1); the middle part of the first link 1321 is rotatably connected to the first joint 2321 through the fifth pivot L5.

[0139] In one embodiment, the first end of the first connecting rod 1321 is fixed to the top of the driving bracket 1312, so that the fifth pivot L5 is located at the edge of the top of the corresponding joint of the finger, so that the transmission assembly can be placed behind the rotation center of the joint, thereby making way for the force sensor above, which is more conducive to the installation of the attachment and better realizes the function of the attachment.

[0140] The middle portion of the third link 1323 is rotatably connected to the first joint (in an optional embodiment, it may refer to the side wall of the "framework 3213 of the first joint") (for example, Figure 6B As shown, the third link 1323 is rotatably connected to the first axial hole Q1 located at the skeleton 3213 through the second link pivot P2); and the two ends of the third link 1323 are rotatably connected to the second end of the second link 1322 and the first end of the fourth link 1324 respectively.

[0141] The second joint (for example: the skeleton 3223 of the second joint) is rotatably connected to the first end of the first joint 2321 and the second end of the fourth connecting rod 1324; the second ends of the first joint 2321 and the second joint 2322 corresponding to the first end of the fifth connecting rod 1325 are rotatably connected (for example: the skeleton 3213 is rotatably connected to the first end of the fifth connecting rod 1325 through the fourth axial hole Q4).

[0142] The middle portion of the sixth connecting rod 1326 is rotatably connected to the second joint (eg, the second axial hole Q2 located on the side wall of the frame 3223 ).

[0143] Both ends of the sixth link 1326 are rotatably connected to the second end of the fifth link 1325 and the first end of the seventh link 1327 , respectively.

[0144] The second end of the seventh connecting rod 1327 is rotatably connected to the third joint (eg, the third shaft hole Q3 located on the side wall of the frame 3233 of the third joint).

[0145] In the embodiment of the present application, the finger linear drive unit 1311 drives the skeleton 3213 of the first joint to rotate around the fifth pivot L5; the first joint and the second connecting rod 1322 move relative to each other (since the length of the second connecting rod 1322 remains unchanged, as the skeleton 3213 of the first joint rotates around the fifth pivot L5, the relative positions of the two change); since the length of the second connecting rod 1322 remains unchanged, when the third connecting rod 1323 rotates with the first joint 2321, the second connecting rod 1322 will pull the third connecting rod 1323 to rotate. The fourth link 1324 is driven to rotate, and then the skeleton 1223 of the second joint is driven to rotate through the fourth link 1324, and the skeleton 1213 of the first joint drives the fifth link 1325 to rotate (the fifth link is rotatably connected to the second joint through the sixth link), so that the first joint and the second joint can rotate around the sixth pivot L6; the fifth link 1325 drives the sixth link 1326 and the seventh link 1327 to transmit, thereby driving the third joint to rotate relative to the second joint around the seventh pivot L7.

[0146] The embodiment of the present application realizes transmission through the above-mentioned connecting rod. On the one hand, the posture of the finger can be accurately predicted; on the other hand, the finger has good rigidity and is not easily damaged.

[0147] The embodiment of the present application realizes under-driving of the entire finger by cooperating the driving component, three joints and seven connecting rods of the transmission component to each other, and integrates the transmission component and the three joints, thereby effectively simplifying the overall structure of other fingers and making the other fingers more beautiful as a whole.

[0148] In an optional embodiment, the above “the second ends of the first joint 2321 and the second joint 2322 corresponding to the first end of the fifth connecting rod 1325 are rotatably connected” can be implemented by the following structure:

[0149] The first joint 2321 (eg, the skeleton 3213 ) extends toward the second joint 2322 to form a first extension portion 3215 ; the first extension portion 3215 is rotatably connected to the first end of the fifth connecting rod 1325 (eg, the first extension portion 3215 is rotatably connected to the first end of the fifth connecting rod through the fourth axial hole Q4 ).

[0150] For example, Fig. 6A and 6B As shown, the fifth connecting rod 1325 is a single connecting rod, and the first extension portion 3215 is recessed inwardly to form a receiving groove corresponding to one end of the fifth connecting rod 1325 . The first end of the fifth connecting rod is received in the receiving groove and is rotatably connected to the fourth axial hole Q4 of the first extension portion 3215 .

[0151] In an optional embodiment, the above “the first end of the second joint 2322 corresponding to the first joint 2321 is rotatably connected to the second end of the fourth connecting rod 1324” can be implemented by the following structure:

[0152] The second joint 2322 extends toward the first joint 2321 to form a second extension portion 3225 ; the second extension portion 3225 is rotatably connected to the second end of the fourth connecting rod 1324 .

[0153] For example, Fig. 6A and 6B As shown, the second end of the fourth connecting rod 1324 forms two connecting arms; the skeleton 3223 of the second joint 2322 is two symmetrically arranged, and each skeleton 3223 forms a second extension part 3225 at one end corresponding to the first joint, and the fifth axial holes Q5 of the two second extension parts 3225 are rotatably connected to the sixth axial holes Q6 of the two connecting arms of the fourth connecting rod 1324.

[0154] In an optional embodiment, the above “the second end of the seventh connecting rod 1327 is rotatably connected to the third joint 2323” can be implemented by the following structure:

[0155] The third joint 2323 (eg, the frame 3233) forms a third extension portion 3235 toward the second joint 2322; the second end of the seventh link 1327 is rotatably connected to the third extension portion 3235 to drive the third joint to rotate around the seventh pivot L7 (eg, Figure 5 shown).

[0156] The embodiment of the present application can realize the rotatable connection between the connecting rod and the joint through the above structure, thereby simplifying the finger structure.

[0157] In an optional embodiment, the above-mentioned “the middle portion of the third link 1323 is rotatably connected to the first joint 2321; and the two ends of the third link 1323 are rotatably connected to the second end of the second link 1322 and the first end of the fourth link 1324 respectively.” can be achieved by the following structure:

[0158] The third link 1323 may be H-shaped, and the second end of the second link 1322 is placed in a groove on one side of the H-shaped third link 1323, and the two are rotatably connected to each other through a pivot; in addition, the first end of the fourth link 1324 is placed in a groove on the other side of the H-shaped third link 1323, and the two are rotatably connected to each other through a pivot. In addition, a pivot may be passed through the joint side walls on both sides of the first joint 2321 and the middle of the H-shaped third link 1323, so that the third link is rotatably connected to the joint side wall of the first joint (for example: the first shaft hole Q1 of the skeleton 3213).

[0159] In the embodiment of the present application, the third connecting rod is designed to be H-shaped, so that the overall structure after the connecting rod is rotatably connected to the second connecting rod and the fourth connecting rod is more streamlined, which is conducive to further reducing the size of the finger.

[0160] Similarly, in an optional embodiment, the above-mentioned “two ends of the sixth connecting rod 1326 are rotatably connected to the second end of the fifth connecting rod and the first end of the seventh connecting rod respectively.” can be realized by the following structure:

[0161] The sixth link 1326 may be H-shaped, and the second end of the fifth link 1325 is placed in a depression on one side of the H-shaped sixth link 1326, and the two are rotatably connected to each other through a pivot; in addition, the first end of the seventh link 1327 is placed in a depression on the other side of the H-shaped sixth link 1326, and the two are rotatably connected to each other through a pivot. In addition, a pivot may be passed through the joint side walls on both sides of the second joint 2322 and the middle of the H-shaped sixth link 1326, so that the sixth link is rotatably connected to the joint side walls of the second joint 2322 (for example, the second shaft hole Q2 of the frame 3223).

[0162] In the embodiment of the present application, the sixth connecting rod is designed to be H-shaped, so that the overall structure after the connecting rod is rotatably connected to the fifth connecting rod and the seventh connecting rod is more streamlined, which is conducive to further reducing the size of the finger.

[0163] It should be noted that the structures of other fingers described in the above embodiments are only for illustration. In addition, other fingers can adopt any other under-actuated structures or fingers of other types of structures that are not under-actuated as needed, as long as they can meet the requirements of this application and can achieve bending or stretching movements based on the finger driving member, they all fall within the scope of protection of this application.

[0164] Based on the robot hand described in the above embodiment, the present application provides a robot (without drawings), which includes a robot body and the robot hand described in the above embodiment. The robot hand is arranged at the execution end of the robot body, and is used to perform actions such as grasping and moving a target object.

[0165] It should be noted that the above-mentioned robot can be any robot that exists now or will be developed in the future, such as a humanoid robot or an industrial manipulator, and this application does not limit this.

[0166] like Figure 2 As shown, in one embodiment, a mounting portion 1111 is provided at the bottom of the palm support 111 , and the palm support 111 can be assembled with the robot body through the mounting portion.

[0167] For the relevant description of the robot hand, please refer to the above embodiments, which will not be repeated here.

[0168] Obviously, the embodiments described above are only some embodiments of the present application, rather than all embodiments. The preferred embodiments of the present application are given in the accompanying drawings, but they do not limit the patent scope of the present application. The present application can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present application more thorough and comprehensive. Although the present application is described in detail with reference to the aforementioned embodiments, for those skilled in the art, it is still possible to modify the technical solutions recorded in the aforementioned specific implementation methods, or to perform equivalent replacement of some of the technical features therein. Any equivalent structure made using the contents of the specification and drawings of this application, directly or indirectly used in other related technical fields, is similarly within the scope of patent protection of this application.

Claims

1. A robot hand, characterized in that: include: palm and underactuated fingers; The palm portion includes a palm portion support; The under-actuated finger includes: a thumb and N other fingers, wherein N is an integer greater than or equal to 1; the thumb includes: a thumb drive member and a thumb body; each of the other fingers includes: a finger drive member and a finger body; the thumb drive member includes a first drive portion and a second drive portion; The first driving part is connected to the thumb body and is used to drive the thumb to rotate in a direction away from or close to the palm; the second driving part is connected to the thumb body and is used to drive the thumb to bend or stretch; The finger driving members of the other fingers are connected to the finger body to drive the finger body to bend or stretch; The first driving part is disposed on the palm support to assemble the thumb on the palm; The finger driving member is arranged on the palm support so as to assemble the other fingers on the palm.

2. The robot hand according to claim 1, characterized in that: The thumb drive also includes a connecting portion; the first drive portion is a first linear drive portion; the second drive portion is a second linear drive portion; At the edge of the palm support, the connecting portion is rotatably connected to the palm support via a connecting pivot; The first end of the connecting part is rotatably connected to the output end of the first linear driving part around a third pivot; the second end of the connecting part is rotatably connected to the first end of the thumb body around a first pivot; the second end of the connecting part is also rotatably connected to the first end of the second linear driving part around a fourth pivot; the first end of the connecting part is driven to move by the output end of the first linear driving part, so that the second end of the connecting part drives the thumb body and the second linear driving part to rotate around the connecting pivot in a direction away from or close to the palm.

3. The robot hand according to claim 2, characterized in that: The thumb body comprises: a first thumb joint, a second thumb joint and a thumb adapter; The first thumb joint and the second thumb joint are rotatably connected via a second pivot; The output end of the second linear driving unit is rotatably connected to the thumb adapter; the thumb adapter is also rotatably connected to the first end of the second thumb joint and the second end of the first thumb joint respectively; the second linear driving unit drives the first thumb joint to rotate around the first pivot through the thumb adapter, and simultaneously drives the second thumb joint to rotate around the second pivot, so as to realize the flexion or extension movement of the thumb.

4. The robot hand according to claim 3, characterized in that: The thumb adapter comprises: a first connecting arm, a second connecting arm and a third connecting arm; The first end of the third connecting arm is fixedly connected to the output end of the second linear driving unit; the second end of the third connecting arm is rotatably connected to the second end of the first thumb joint and the first end of the second thumb joint via the second pivot; The second end of the first connecting arm is provided with the second connecting arm which can rotate along a laterally arranged pivot; the two ends of the second connecting arm are respectively connected to the two side walls of the first end of the second thumb joint via an eighth pivot so as to be rotatable; The first end of the first connecting arm is rotatably connected to the fixing portion of the second linear driving portion via a tenth pivot; The first pivot, the fourth pivot and the second pivot are distributed in a triangle; the second pivot, the eighth pivot and the tenth pivot are distributed in a triangle.

5. The robot hand according to any one of claims 2 to 4, characterized in that: The connecting portion includes: a transfer portion, a longitudinal connecting arm and a transverse connecting arm; wherein the longitudinal direction is the direction from the bottom of the palm portion to the top of the palm portion; The transfer portion extends toward the first linear drive portion to form the longitudinal connecting arm; the transfer portion extends toward the second linear drive portion to form the transverse connecting arm; The longitudinal connecting arm serves as the first end of the connecting portion; the transverse connecting arm serves as the second end of the connecting portion; The longitudinal connecting arm is provided with the third pivot in the longitudinal direction; the transverse connecting arm is provided with the first pivot and the fourth pivot in the transverse direction; The longitudinal connecting arm or the transfer portion is provided with the connecting pivot along the longitudinal direction.

6. The robot hand according to any one of claims 1 to 4, characterized in that: The first linear drive unit is fixed to the palm support in a transverse direction; and / or the finger drive member is fixed to the palm support in a longitudinal direction; and / or The palm also includes a palm shell; the palm shell is sleeved outside the palm bracket.

7. The robot hand according to any one of claims 1 to 4, characterized in that: The inner side of the thumb body corresponding to the bending direction of the finger is provided with an attachment; and / or The inner side of the finger body corresponding to the bending direction of the finger is provided with an attachment; and / or An attachment is arranged on the center of the palm.

8. The robot hand according to claim 3, characterized in that: The first pivot and the second pivot are respectively located on the side wall of the thumb body and close to the inner side surface of the thumb body; the inner side surface is the inner side surface of the thumb body corresponding to the bending direction of the finger; and / or A connected hollow portion is formed in the first thumb joint and the second thumb joint, and the second linear driving portion and the thumb adapter are accommodated in the hollow portion.

9. The robot hand according to any one of claims 1 to 4, characterized in that: Said N is equal to 3; and / or Each of the finger bodies includes 3 joints; and / or The thumb body includes two joints.

10. A robot, characterized in that: A robot body and a robot hand according to any one of claims 1 to 9; The bottom of the palm support of the robot hand forms a mounting portion; the robot hand is mounted on the execution end of the robot body through the mounting portion.

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