Novel humanoid dexterous hand

Abstract

The utility model relates to the technical field of robots, and provides a novel humanoid dexterous hand which comprises a base, an outer covering plastic shell and a metal framework arranged on one side of the base. By starting a first linear motor, a second linear motor and a third linear motor, the first linear motor contracts and drives a motor connecting piece to conduct hinge joint, meanwhile, a first cross connecting rod is linked to conduct hinge joint, knuckles are bent and used for taking objects, and the second linear motor contracts and drives a head connecting piece to conduct hinge joint. During hinging, the position of the fingertip knuckles of the thumb can be adjusted according to the requirement for object taking so as to assist in object taking, meanwhile, a third linear motor is contracted so that a third cross connecting rod and a fourth cross connecting rod can be hinged, meanwhile, the fingertip knuckles of the thumb can be bent, and object taking can be assisted; therefore, the purpose of flexibly adjusting the dexterous hand is achieved, the dexterous hand is suitable for taking objects in different shapes, and meanwhile the dexterous fingers can move independently.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and particularly relates to a novel anthropomorphic dexterous hand. Background Art

[0002] With the rapid development of China's industry and the continuous increase of labor costs, the ordinary manual mode can no longer meet the needs of productivity, and the development of industry is increasingly inseparable from the application of robots. Driven by robot technology, the types of robots are becoming more and more diverse. Among them, robots used in service areas such as restaurants and shopping malls have higher requirements for the flexibility of their hands. Dexterous hands have gradually become a development trend, and their anthropomorphic appearance and grasping method will give people a more cordial impression.

[0003] The known Chinese publicly authorized patent: (Publication No.: CN202120538187.6) discloses a manipulator and a robot, belonging to the technical field of robots. The manipulator includes a base, a clamping rod assembly, an optical flow sensor assembly and a pressure sensor assembly; there are two clamping rod assemblies, the two clamping rod assemblies are opposite and both are movably connected to the base, and the clamping rod assembly is used for clamping an object; the optical flow sensor assembly is fixed on the base and is located between the two clamping rod assemblies; there are two pressure sensor assemblies, and they are respectively fixed on the parts of the two clamping rod assemblies for clamping an object. The manipulator provided by the embodiment of the present application can detect the contact force between the object and the manipulator and the slipping trend of the object relative to the manipulator through independent pressure sensor assemblies and optical flow sensor assemblies. Moreover, the cost of the pressure sensor assemblies and the optical flow sensor assemblies is low, and the detection accuracy is high.

[0004] However, in the implementation of related technologies, it is found that the above-mentioned manipulator and robot have the following problems: in the prior art during use, it is difficult to flexibly adjust the dexterous hand. Due to the different shapes of objects, and not all object shapes are symmetric structures, it is difficult to well realize various application scenarios such as grasping and picking up different objects. Therefore, a novel anthropomorphic dexterous hand is proposed. Summary of the Utility Model

[0005] The utility model provides a novel anthropomorphic dexterous hand, which solves the problem in related technologies that it is difficult to flexibly adjust the dexterous hand. Due to the different shapes of objects, and not all object shapes are symmetric structures, it is difficult to well realize various application scenarios such as grasping and picking up different objects.

[0006] The technical solution of the utility model is as follows: a novel anthropomorphic dexterous hand, including: a base and an outer plastic shell;

[0007] A metal skeleton arranged on one side of the base, on which a four-finger module, four first linear motors, a second linear motor and a thumb module are respectively arranged;

[0008] The four first linear motors are connected to the four-finger module, the second linear motor is located on one side of the four first linear motors, and the second linear motor is connected to the thumb module.

[0009] Preferably, the four-finger module includes four base connectors arranged on the metal skeleton. The four base connectors are located on one side of the four first linear motors. One side of each of the four base connectors is provided with a motor connector, and the motor connector is connected to the output end of the four first linear motors.

[0010] Preferably, a first cross link is hinged to the other side of the base connector, and a second cross link is jointly hinged to both sides of the base connector.

[0011] Preferably, one end of the first cross link and the second cross link are jointly hinged with a finger joint, and the base connector, the motor connector, the first cross link, the second cross link and the finger joint form four independent single fingers.

[0012] Preferably, the thumb module includes a head connector fixedly connected to the output end of the second linear motor, and a base is hinged to one side of the head connector.

[0013] Preferably, a third linear motor is arranged on the inner wall of the base. The output end of the third linear motor is fixedly connected with a connector, and a thumb fingertip joint is hinged to one side of the connector.

[0014] Preferably, a third cross link is oppositely hinged on the inner wall of the base. One end of the third cross link is hinged to the connector. Two fourth cross links are oppositely hinged on both sides of the base. One end of the two fourth cross links is hinged to the thumb fingertip joint.

[0015] The working principle and beneficial effects of the present utility model are as follows:

[0016] By starting the first linear motor, the second linear motor and the third linear motor, the first linear motor contracts, drives the motor connector to hinge, and at the same time drives the first cross link to hinge, so that the finger joint bends for picking up an object. Then the second linear motor contracts and drives the head connector to hinge. At the same time of hinging, the position of the thumb fingertip joint can be adjusted according to the need of picking up an object to assist in picking up the object. At the same time, the third linear motor contracts, so that the third cross link and the fourth cross link are hinged, and at the same time the thumb fingertip joint bends to assist in picking up the object. Thus, the purpose of flexible adjustment of the dexterous hand is realized, which is applicable to picking up objects of different shapes. At the same time, the dexterous fingers can move independently, effectively improving the applicable range. Brief Description of the Drawings

[0017] The present utility model will be further described in detail below in conjunction with the drawings and specific embodiments.

[0018] Figure 1 It is a schematic diagram of the overall three-dimensional structure proposed for the present utility model;

[0019] Figure 2 It is a schematic diagram of the overall sectional three-dimensional structure proposed for the present utility model;

[0020] Figure 3 It is a schematic diagram of the partial three-dimensional structure of the metal skeleton proposed for the present utility model.

[0021] In the figure: 1, base; 2, metal skeleton; 3, four-finger module; 30, base connecting piece; 31, motor connecting piece; 32, first cross-linking rod; 33, second cross-linking rod; 34, finger joint; 4, first linear motor; 5, second linear motor; 6, thumb module; 60, head connecting piece; 61, base; 62, third linear motor; 63, connecting piece; 64, thumb fingertip joint; 65, third cross-linking rod; 66, fourth cross-linking rod; 7, outer plastic shell. Specific Embodiments

[0022] The technical solutions in the embodiments of the present utility model will be clearly and completely described below in conjunction with the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without making creative efforts fall within the scope of protection of the present utility model.

[0023] Please refer to Figure 1 - Figure 3, a new type of humanoid dexterous hand, comprising: a base 1 and an outer plastic shell 7; a metal skeleton 2 disposed on one side of the base 1, on which a four-finger module 3, four first linear motors 4, a second linear motor 5 and a thumb module 6 are respectively arranged. The four first linear motors 4 are connected to the four-finger module 3. The second linear motor 5 is located on one side of the four first linear motors 4 and is connected to the thumb module 6. The four-finger module 3 includes four base connectors 30 disposed on the metal skeleton 2. The four base connectors 30 are located on one side of the four first linear motors 4. One side of each of the four base connectors 30 is provided with a motor connector 31. The motor connector 31 is connected to the output end of the four first linear motors 4. The other side of the base connector 30 is hinged with a first cross link 32. Both sides of the base connector 30 are jointly hinged with a second cross link 33. One end of the first cross link 32 and the second cross link 33 is jointly hinged with a finger joint 34. The base connector 30, the motor connector 31, the first cross link 32, the second cross link 33 and the finger joint 34 form four independent single fingers. The thumb module 6 includes a head connector 60 fixedly connected to the output end of the second linear motor 5. One side of the head connector 60 is hinged with a base 61. The inner wall of the base 61 is provided with a third linear motor 62. The output end of the third linear motor 62 is fixedly connected with a connector 63. One side of the connector 63 is hinged with a thumb fingertip joint 64. The inner wall of the base 61 is relatively hinged with a third cross link 65. One end of the third cross link 65 is hinged with the connector 63. Two fourth cross links 66 are relatively hinged on both sides of the base 61. One end of the two fourth cross links 66 is hinged with the thumb fingertip joint 64.

[0024] The technical solution provided by the present utility model is that by starting the first linear motor 4, the second linear motor 5 and the third linear motor 62, the first linear motor 4 contracts, drives the motor connector 31 to articulate, and at the same time drives the first cross link 32 to articulate, so that the finger joint 34 bends for picking up an object. The second linear motor 5 contracts and drives the head connector 60 to articulate. At the same time of articulation, the position of the thumb fingertip joint 64 can be adjusted according to the need of picking up an object to assist in picking up the object. At the same time, by contracting the third linear motor 62, the third cross link 65 and the fourth cross link 66 are articulated, and at the same time the thumb fingertip joint 64 bends to assist in picking up the object, thus achieving the purpose of flexible adjustment of the dexterous hand, being applicable to picking up objects of different shapes, and at the same time the dexterous fingers can move independently, solving the problem that it is difficult to well realize various application scenarios such as grasping and picking up different objects in the prior art. The outer plastic shell 7 is used to decorate and cover the exposed screw holes of the device. At the same time, the outer plastic shell 7 can increase the friction force on the object surface, prevent the object from falling during the process of picking up and moving the object, and at the same time can also play a certain protective role on the object surface.

[0025] The above are only the preferred embodiments of the present utility model, and are not intended to limit the present utility model. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A novel humanoid dexterous hand, characterized in that: include: A base (1) and an outer plastic shell (7); A metal frame (2) arranged on one side of the base (1), wherein a four-finger module (3), four first linear motors (4), a second linear motor (5) and a thumb module (6) are respectively arranged on the metal frame (2); The four first linear motors (4) are connected to the four-finger module (3), the second linear motor (5) is located on one side of the four first linear motors (4), and the second linear motor (5) is connected to the thumb module (6).

2. The novel humanoid dexterous hand according to claim 1, characterized in that: The four-finger module (3) comprises four base connectors (30) arranged on the metal frame (2), the four base connectors (30) are located on one side of the four first linear motors (4), and a motor connector (31) is arranged on one side of the four base connectors (30), and the motor connector (31) is connected to the output ends of the four first linear motors (4).

3. The novel humanoid dexterous hand according to claim 2, characterized in that: A first cross link (32) is hingedly connected to the other side of the base connection member (30), and a second cross link (33) is hingedly connected to both sides of the base connection member (30).

4. The novel humanoid dexterous hand according to claim 3 is characterized in that: One end of the first cross link (32) and the second cross link (33) are hingedly connected with a finger joint (34), and the base connector (30), the motor connector (31), the first cross link (32), the second cross link (33) and the finger joint (34) form four independent single fingers.

5. The novel humanoid dexterous hand according to claim 1, characterized in that: The thumb module (6) comprises a head connecting piece (60) fixedly connected to the output end of the second linear motor (5), and a base (61) is hinged on one side of the head connecting piece (60).

6. The novel humanoid dexterous hand according to claim 5, characterized in that: A third linear motor (62) is disposed on the inner wall of the base (61), an output end of the third linear motor (62) is fixedly connected to a connecting piece (63), and a thumb knuckle (64) is hingedly connected to one side of the connecting piece (63).

7. The novel humanoid dexterous hand according to claim 6, characterized in that: A third cross-link (65) is hinged to the inner wall of the base (61), one end of which is hinged to the connecting piece (63). Two fourth cross-links (66) are hinged to the two sides of the base (61), one end of which is hinged to the thumb knuckle (64).

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