Robotic hand device with thenar muscle

Abstract

The utility model is a robot hand device with thenar muscle, comprising a finger unit, a palm unit, a thenar unit, a first drive unit, a second drive unit and a processing unit. When the processing unit generates a gripping instruction, the processing unit drives the finger unit and the palm unit to bend toward the palm position through the first drive unit until the finger unit and the palm unit grip an object, and the processing unit drives the thenar unit to move toward the palm position through the second drive unit until the thenar unit abuts against the object. In this way, the robot hand device with the thenar muscle can clamp the object through the thenar unit, grip the object in a more stable fixed manner, improve dynamic gripping stability, and reduce the risk of the object falling.

Description

Technical Field

[0001] The utility model relates to a robot hand device, in particular to a robot hand device with thenar muscles for improving dynamic holding stability. Background Art

[0002] With the development of robot technology, robots can do more and more things. Especially in the catering sector, robots can imitate the movements of professional chefs and perform cooking methods such as frying, boiling, stir-frying, etc.

[0003] When the robot imitates the cooking movements of professional chefs, it often needs to hold the handle of the pot through the robot hand device, and needs to perform cooking movements such as flipping the pan. However, the existing robot hand device is designed with only 5 fingers to generate gripping force, which can only hold the handle of the pot in a static state to prevent the pot from falling. When the robot hand device is needed to perform cooking movements such as flipping the pan, the pot will generate a large impact force due to the movement, resulting in the gripping force generated by the robot hand device being unable to hold the dynamic pot, making it impossible to operate the pot according to the expected trajectory. In this way, the robot cannot stably imitate the cooking movements of professional chefs. Therefore, it is hoped that a new robot hand device can be used to improve the above-mentioned disadvantage of being unable to stably hold dynamic pots. Utility Model Content

[0004] In view of the above problems, the utility model provides a robot hand device with thenar muscles, which can improve the dynamic gripping stability of the robot hand device with thenar muscles to reduce the risk of pots falling.

[0005] The robotic hand device with thenar muscle comprises:

[0006] Several finger units;

[0007] A palm unit pivotally connected to the plurality of finger units;

[0008] A thenar unit is disposed on a side of the palm unit facing a palm center;

[0009] A first driving unit connected to the plurality of finger units and the palm unit;

[0010] a second driving unit connected to the thenar unit;

[0011] a processing unit, electrically connected to the first driving unit and the second driving unit;

[0012] When the processing unit generates a holding instruction, the processing unit drives the plurality of finger units and the palm unit to bend toward the palm position through the first driving unit until the plurality of finger units and the palm unit hold an object, and the processing unit drives the thenar unit to move toward the palm position through the second driving unit until the thenar unit rests against the object.

[0013] The robot hand device with the thenar muscle is further provided with the thenar unit, and when the processing unit generates the holding instruction, the thenar unit will move toward the palm position and press against the object held by the robot hand device with the thenar muscle, thereby reinforcing the stability of the robot hand device with the thenar muscle in holding the object, improving the dynamic holding stability of the robot hand device with the thenar muscle, and reducing the risk of the cookware falling. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 The utility model is a block diagram of a robot hand device with thenar muscle.

[0015] Figure 2 It is a front schematic diagram of a robot hand device with thenar muscle according to the present invention.

[0016] Figure 3 It is a side schematic diagram of a robot hand device with thenar muscle of the utility model.

[0017] Figure 4 The utility model is a side schematic diagram of a robot hand device with the thenar muscle holding a pot handle.

[0018] Figure 5 The utility model is a three-dimensional schematic diagram of a robot hand device with the thenar muscle holding a pot handle. DETAILED DESCRIPTION

[0019] See also Figure 1 , Figure 2 and Figure 3 As shown, the utility model provides a novel robot hand device with thenar muscle. The robot hand device with thenar muscle comprises a finger unit 10, a palm unit 20, a thenar unit 30, a first driving unit 40, a second driving unit 50 and a processing unit 60.

[0020] The palm unit 20 is pivotally connected to the plurality of finger units 10. The thenar unit 30 is disposed on a side surface 22 of the palm unit 20 facing a palm center position 21. The first driving unit 40 is connected to the plurality of finger units 10 and the palm unit 20. The second driving unit 50 is connected to the thenar unit 30. The processing unit 60 is electrically connected to the first driving unit 40 and the second driving unit 50.

[0021] Please read further Figure 4 As shown, when the processing unit 60 generates a holding instruction, the processing unit 60 drives the plurality of finger units 10 and the palm unit 20 to bend toward the palm position 21 through the first driving unit 40 until the plurality of finger units 40 and the palm unit hold an object 70, and the processing unit 60 drives the thenar unit 30 to move toward the palm position 21 through the second driving unit 50 until the thenar unit 30 rests against the object 70.

[0022] When the processing unit 60 generates the holding instruction, the processing unit 60 controls the plurality of finger units 10 and the palm unit 20 to bend toward the palm center position 21 to hold the object 70, and further controls the thenar unit 30 to move toward the palm center position 21 to abut against the object 70. Thus, the robot hand device with the thenar muscle can further clamp the object 70 through the thenar unit 30, and hold the object 70 in a more stable fixed manner, thereby improving the dynamic holding stability of the robot hand device with the thenar muscle and reducing the risk of the object 70 falling.

[0023] See also Figure 5 As shown, for example, the object 70 may be a pot, and the robot hand device with the thenar muscle is used to hold the handle of the pot.

[0024] In addition, in this embodiment, the thenar unit 30 is disposed on the second palm portion of the palm unit, and the thenar unit 30 is a silicone block or a rubber block.

[0025] like Figure 3 As shown, when the processing unit 60 generates a release command, the processing unit 60 drives the several finger units 10 and the palm unit 20 to bend away from the palm position 21 through the first driving unit 40 until the several finger units 10 and the palm unit 20 are restored to an open palm position, and the processing unit 60 drives the thenar unit 30 to move away from the palm position 21 through the second driving unit 50 until the thenar unit 30 is restored to an original position.

[0026] When the processing unit 60 generates the release command, the processing unit 60 controls the plurality of finger units 10 and the palm unit 20 to bend away from the palm position 21 to release the object 70, and further controls the thenar unit 30 to move away from the palm position 21 to leave the object 70 and restore to the original position. In this way, the robot hand device with the thenar muscle can be restored to the open hand state, which is convenient for holding other objects. In this embodiment, the original position is the original position of the thenar unit 30 when the robot hand device with the thenar muscle is in the open hand state.

[0027] Furthermore, if Figure 2 and Figure 3 As shown, the palm unit 20 further includes a first palm portion 23 and a second palm portion 24. The first palm portion 23 has a first connecting end 231 and a second connecting end 232 opposite to each other. The first connecting end 231 is pivotally connected to the plurality of finger units 20. The second palm portion 24 is pivotally connected to the second connecting end 232 of the first palm portion 23.

[0028] Since the palm unit 20 further includes the first palm portion 23 and the second palm portion 24, and they are pivotally connected to each other, when the processing unit 60 generates the gripping instruction, in addition to controlling the plurality of finger units 10 and the palm unit 20 to bend toward the palm position 21, and controlling the thenar unit 30 to move toward the palm position 21, the processing unit 60 further controls the first palm portion 23 and the second palm portion 24 to bend toward the palm position 21. Thus, the palm unit 20 of the robot hand device with thenar muscle can fit the object 70 more closely, so as to further improve the gripping strength of the robot hand device with thenar muscle, increase the dynamic gripping stability, and reduce the risk of the object 70 falling.

[0029] In this embodiment, the first driving unit 40 is a plurality of steel wires, and a first motor element is used to tighten or release the plurality of steel wires to drive the plurality of finger units 10 and the first palm portion 23 and the second palm portion 24 of the palm unit 20 to bend toward the palm center position 21. The second driving unit 50 is a screw rod, and a second motor element is used to rotate the screw rod to drive the thenar unit 30 to move against the object 70 or to restore to the original position. The reason why the second driving unit 50 uses a screw rod is that the physical characteristics of the screw rod make it impossible for the object to push the screw rod back (back drive), so that the object 70 will be fixed at a certain position.

[0030] The above is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician familiar with the profession can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A robot hand device with thenar muscles, characterized in that: Contains: Several finger units; A palm unit pivotally connected to the plurality of finger units; A thenar unit is disposed on a side of the palm unit facing a palm center; a first driving unit, connected to the plurality of finger units and the palm unit; a second driving unit connected to the thenar unit; a processing unit, electrically connected to the first driving unit and the second driving unit; When the processing unit generates a holding instruction, the processing unit drives the plurality of finger units and the palm unit to bend toward the palm position through the first driving unit until the plurality of finger units and the palm unit hold an object, and the processing unit drives the thenar unit to move toward the palm position through the second driving unit until the thenar unit rests against the object.

2. The robot hand device with thenar muscle according to claim 1, characterized in that: When the processing unit generates a release command, the processing unit drives the plurality of finger units and the palm unit to bend away from the palm position through the first driving unit until the plurality of finger units and the palm unit return to an open palm position, and the processing unit drives the thenar unit to move away from the palm position through the second driving unit until the thenar unit returns to an original position.

3. The robot hand device with thenar muscle according to claim 1, characterized in that: The palm unit includes: A first palm portion having a first connecting end and a second connecting end opposite to each other; wherein the first connecting end is pivotally connected to the plurality of finger units; A second palm portion is pivotally connected to the second connecting end of the first palm portion.

4. The robot hand device with thenar muscle according to claim 3, characterized in that: The thenar unit is arranged on the second palm portion of the palm unit.

5. The robot hand device with thenar muscle according to claim 1, characterized in that: The first driving unit comprises a plurality of steel wires.

6. The robot hand device with thenar muscle according to claim 1, characterized in that: The second driving unit is a screw rod.

7. The robot hand device with thenar muscle according to claim 1, characterized in that: The thenar unit is a silicone block or a rubber block.

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