Robot hand and robot

Abstract

The embodiment of the utility model belongs to the technical field of robots, and relates to a robot hand and a robot, and the robot hand comprises a palm, N fingers and an image sensor; wherein N is an integer greater than or equal to 2; each finger comprises a finger joint; the palm comprises a palm center and a palm back; the image sensor is arranged on the palm, and a lens of the image sensor is exposed to the center of the palm. According to the technical scheme provided by the invention, the capability of effectively acquiring the external information by the robot hand can be improved.

Description

Technical Field

[0001] The present application relates to the field of robotics, and more particularly, to a robotic hand and a robot. Background Art

[0002] With the development of humanoid robots, the ability of robots to adapt to complex environments and scenarios has received increasing attention. However, as a robotic hand that directly contacts external objects (such as a multi-finger dexterous hand), the sensing system equipped in the existing dexterous hand control system is relatively simple and lacks the ability to effectively obtain and accurately perceive external information (such as the surrounding environment and the grasped object), which greatly limits the application of dexterous hands. Utility Model Content

[0003] Based on this, an embodiment of the present application provides a robotic hand and a robot to improve the robotic hand's ability to effectively acquire external information.

[0004] In a first aspect, an embodiment of the present application provides a robot hand, which adopts the following technical solution:

[0005] A robotic hand, comprising: a palm, N fingers, and an image sensor; wherein N is an integer greater than or equal to 2; each of the fingers comprises a finger joint; and the palm comprises a palm and a back of the palm;

[0006] The image sensor is disposed on the palm, and a lens of the image sensor is exposed to the palm.

[0007] Furthermore, the field of view of the image sensor includes an area extending from the center of the palm with the lens corresponding to the image sensor as a starting point to the end of the finger.

[0008] Furthermore, the center of the palm is concave inward to form a field of view avoidance area to prevent the field of view of the image sensor from being blocked.

[0009] Furthermore, the shape of the field of view avoidance zone corresponds to the shape of the field of view of at least a portion of the palm area; the field of view of the palm area is the area of the field of view of the image sensor that falls on the palm; and / or,

[0010] The lens of the image sensor is located within the field of view avoidance area; and / or,

[0011] The lens of the image sensor is located on a side wall of the field of view avoidance area close to the base of the palm.

[0012] Furthermore, the lens of the image sensor is recessed in the palm; and / or,

[0013] The lens of the image sensor is tilted toward the finger and away from the palm; and / or,

[0014] The image sensor is located at the rear of the palm; the rear is an area closer to the base of the palm relative to the center of the palm.

[0015] Furthermore, the palm image sensor is implemented by the following structure:

[0016] The palm includes a palm support; the image sensor includes a base and a lens;

[0017] The base is fixed to the palm support so that the lens is exposed to the palm.

[0018] Furthermore, the robot hand further comprises: a force / tactile sensor;

[0019] At least some of the force / tactile sensors are disposed on the fingertips of the finger joints.

[0020] Furthermore, the front of the palm forms a grip assisting functional area; the front is an area closer to the palm end of the palm relative to the center of the palm; the height of the grip assisting functional area does not block the field of view of the image sensor.

[0021] Furthermore, the grip assist functional area includes: a force / tactile sensor and / or an anti-slip structure.

[0022] In a second aspect, an embodiment of the present application provides a robot comprising a robot body and a robot hand as described in any one of the above.

[0023] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0024] In the embodiment of the present application, an image sensor is arranged on the palm of the hand, and the lens of the image sensor is exposed to the palm. In this way, when the robot hand grasps an object, the image sensor can capture the image of the object to be operated more intuitively and flexibly. Therefore, the robot hand's ability to obtain effective image information can be improved, and the application of the robot hand can be further enriched. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the solution 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 any creative work.

[0026] Figure 1 A schematic diagram of the overall structure of an embodiment of the robot hand provided in this application;

[0027] Figure 2 for Figure 1 Bottom view of the provided robot hand;

[0028] Figure 3 for Figure 1 A side view diagram of the provided robotic hand showing the image sensor's field of view.

[0029] Figure numerals: 11 palm, 12 finger, 13 image sensor, 14 force / tactile sensor, 111 palm, 112 palm end, 113 palm base, 131 lens, 122 second joint, 123 third joint, 1111 field of view avoidance area, 1112 auxiliary function area, 20 target object, L field of view. DETAILED DESCRIPTION

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meanings as commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of the application 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.

[0031] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0032] Unless otherwise defined, references herein to a structural member being "fixed to" or "fixedly connected to" another structural member, or other similar descriptions, include fixing methods in which the two structural members are prefabricated as one piece or fixedly connected via an intermediate member.

[0033] 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.

[0034] 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 1Bottom view of the provided robot hand.

[0035] An embodiment of the present application provides a robot hand 10 , which includes a palm 11 , N fingers 12 , and an image sensor 13 .

[0036] The palm 11 includes two surfaces: the palm 111 and the back of the palm; in addition, the palm 11 also includes: a palm end 112 connected to the fingers (wherein, the end of the finger away from the end of the palm can be called the end of the finger) and a palm base 113 opposite to the palm end (for example, taking a humanoid robot (omitted in the figure) as an example, the palm base is the part connected to the robot arm).

[0037] Where N is an integer greater than or equal to 2. That is, the robot hand includes more than two fingers, one of which can be called a "thumb". The thumb and other fingers can perform relative operations such as gripping and separating to achieve actions such as grasping and releasing objects. For ease of understanding, Figure 1 As shown, the embodiment of the present application is described in detail by taking N equal to 4 (ie, the robot hand includes a thumb and three other fingers) as an example.

[0038] Each finger 12 of the robotic hand 10 includes at least one finger joint.

[0039] For example, continue as Figure 1 and Figure 2 As shown, the thumb may include two finger joints, while each of the other fingers includes three finger joints.

[0040] The image sensor 13 is arranged on the palm 11, and the lens of the image sensor 13 is exposed to the palm 111, so that when the robot hand performs actions such as grasping an object, the lens exposed to the palm can more directly and effectively capture the image of the object, reducing the possibility of the lens being blocked.

[0041] In the embodiment of the present application, the lens can be set to protrude from the palm or recessed in the palm as needed, both of which fall within the scope of protection of the present application. Figure 2 As shown, in an optional embodiment, the lens 131 is recessed in the palm 11, which can reduce interference with the operation caused by the image sensor protruding from the palm during palm operation (further explanation of the image sensor setting will be provided in later embodiments).

[0042] It should be noted that the field of view of the image sensor can be adjusted arbitrarily as needed.

[0043] like Figure 3 As shown, Figure 3 for Figure 1 A side view diagram of the provided robotic hand showing the image sensor's field of view.

[0044] In an optional embodiment, the field of view of the image sensor 13 includes an area extending from the palm 11 with the lens 131 of the image sensor 13 as a starting point to the end of the finger 12 .

[0045] For example, Figure 3 As shown, when the robot fingers are stretched, the field of view L can cover the area from the starting point forward to the end of the third joint 123 of other fingers if it is not blocked (for example, blocked by part of the palm area).

[0046] The embodiment of the present application can effectively ensure the visibility of the finger operation by extending the field of view of the image sensor to include the area from the palm with the lens of the corresponding image sensor as the starting point to the end of the finger, thereby improving the ability to obtain effective image information of the entire robot hand operation.

[0047] Specifically, the image sensor can be disposed on the palm of the hand in various ways that exist now or will be developed in the future.

[0048] In an optional embodiment, the palm 11 may include a palm support (for example, the palm may generally include skin on the outer surface and a palm support under the skin (not shown due to occlusion). The image sensor 13 includes a base (not shown due to occlusion) and a lens 131. The base is fixed to the palm support, and the lens is exposed to the palm, thereby realizing the setting of the image sensor on the palm. Subsequently, the coordinate system conversion between the image sensor and the robot can be achieved based on hand-eye calibration.

[0049] The image sensor described in the embodiments of the present application may be, but is not limited to, a CCD or CMOS camera, or a video camera, and may specifically be various currently available or future developed 2D image sensors, 3D image sensors (such as 3D laser sensors, depth sensors), and the like.

[0050] In the embodiment of the present application, an image sensor is arranged on the palm of the hand, and the lens of the image sensor is exposed to the palm. In this way, when the robot hand grasps an object, the image sensor can capture the image of the object to be operated more intuitively and flexibly. Therefore, the robot hand's ability to obtain effective image information can be improved, and the application of the robot hand can be further enriched.

[0051] Continue as Figure 1 and Figure 2 As shown, in an optional embodiment, the image sensor 13 is located at the back of the palm 111.

[0052] The rear portion is an area closer to the palm base 113 relative to the center 0 of the palm 111 .

[0053] In the embodiment of the present application, since the robot hand often needs to perform actions such as grasping, based on the need for the robot hand to imitate actual human grasping, the front of the palm often needs to be in contact with objects more, so the image sensor is set at the back of the palm to facilitate the above-mentioned image acquisition; in addition, by setting the image sensor at the back of the palm, it is beneficial to fully observe the relative position of the fingers and external objects, avoiding uncontrolled bumps and collisions.

[0054] It should be noted that the image sensor 13 can be located at any position on the rear of the palm 111 as needed, such as the center or the edge of the rear.

[0055] Furthermore, in an optional embodiment, the image sensor 13 is located at the center of the rear portion of the palm 111 .

[0056] In the embodiment of the present application, the image sensor is arranged at the center of the back of the palm, which makes it easier for the image sensor to obtain a more evenly distributed left and right field of view of the environment around the palm with the palm as the center.

[0057] Continue as Figure 2 and 3 As shown, in an optional embodiment, the lens 131 of the image sensor 13 is tilted toward the finger 12 and away from the palm 11 .

[0058] Specifically, the above-mentioned tilt angle can be arbitrarily adjusted according to actual needs in combination with factors such as the field of view of the image sensor, the location where the image sensor is set, and the main operation area for collecting images.

[0059] Continue as Figure 3 As shown, in the embodiment of the present application, based on the previous embodiments, the field of view L of the image sensor usually needs to include the front finger and the target object to be operated under the robot hand, as well as the operation process of the finger grasping the target object, so the lens 131 of the image sensor 13 is tilted towards the finger 12 and away from the palm 11, so as to ensure that the field of view of the image sensor can effectively include the above-mentioned target range.

[0060] Continue as Figure 1 and Figure 2 As shown, in an optional embodiment, the center 111 of the palm 11 is concave inward to form a field of view avoidance area 1111.

[0061] Typically, the field of view avoidance zone is located in the area of the image sensor's field of view that falls on the palm. This way, when a recessed area is formed corresponding to this part of the palm, the obstruction of the field of view can be effectively reduced.

[0062] Based on the previous embodiments, when the image sensor is recessed in the palm of the hand, since the field of view L of the image sensor is radial, part of the field of view is usually blocked by the palm. In the embodiment of the present application, the palm 111 of the palm 11 is recessed inward to form a field of view avoidance area 1111 corresponding to the field of view of the image sensor 13. This can reduce the obstruction of the field of view of the image sensor caused by the palm itself, thereby effectively ensuring that the field of view of the image sensor set in the palm meets the design requirements.

[0063] It should be noted that the image sensor can be arranged outside the field of view avoidance area or inside the field of view avoidance area as needed.

[0064] In an optional embodiment, the lens of the image sensor is generally disposed within the field of view avoidance area.

[0065] The embodiment of the present application forms a field of view avoidance zone around the lens by placing the lens of the image sensor within the field of view avoidance zone to prevent the relevant parts of the palm from interfering with the field of view, thereby more effectively ensuring that the field of view avoidance zone achieves the effect of field of view avoidance.

[0066] It should be noted that the shape of the viewing field avoidance zone can be designed arbitrarily as needed.

[0067] In a preferred embodiment, the shape of the field of view avoidance zone 1111 corresponds to the shape of the field of view of at least a portion of the palm area; the field of view of the palm area is the area where the field of view of the image sensor 13 falls on the palm 11.

[0068] like Figure 1 As shown in Figure 3, for example, the field of view L of the image sensor 13 can be regarded as radiating from the center of the lens (usually the field of view needs to include all or part of the joints of the front finger 12 and a certain area below the robot hand). Since the image sensor 13 is recessed in the palm, part of the radial field of view L of the image sensor 13 just falls into the palm. Therefore, the field of view avoidance area 1111 is a corresponding radial recessed area centered on the lens 131 of the image sensor 13. This can effectively reduce the obstruction of the target image (for example, including the image of the finger grasping the object).

[0069] The embodiment of the present application makes the shape of the field of view avoidance zone correspond to the shape of the field of view of at least part of the palm area, so that it can be better within the field of view of the image sensor, that is, reduce the possibility of the palm blocking the image, and effectively increase the field of view of the image sensor set on the palm; without causing meaningless depressions outside the field of view in the field of view avoidance zone.

[0070] In an optional embodiment, the lens 131 of the image sensor 13 is located on a side wall of the field of view avoidance area 1111 close to the palm base 113 .

[0071] Based on the previous embodiments, the lens is tilted toward the finger away from the palm, and mainly collects the operations of the target object and the robot's fingers on the object. Therefore, setting the lens at the side wall position near the root of the robot hand in the field of view avoidance area can better ensure that the lens meets the above-mentioned angle setting requirements.

[0072] Continue as Figure 1 and Figure 2 As shown, in an optional embodiment, the robot hand described in the embodiment of the present application further includes: a force / tactile sensor 14.

[0073] The force / tactile sensor refers to a force sensor and / or a tactile sensor.

[0074] Specifically, the force sensor may be, but is not limited to, a two-dimensional or multi-dimensional force sensor, used to measure two-dimensional or multi-dimensional force data.

[0075] Specifically, a tactile sensor is a type of sensing device that can be placed at the end of an actuator such as a robotic arm and / or a robot, and is used to measure tactile information while cooperating with the end actuator to achieve a grasping function.

[0076] To enable grasping objects of varying shapes and softness, the contact surface between the tactile sensor and the object is typically flexible and resilient. Tactile information includes, but is not limited to, array-based multi-dimensional force information, surface deformation information, temperature information, and texture information.

[0077] The implementation of a tactile sensor includes a flexible contact surface, a sensing circuit, a computing device, and a tactile information analysis algorithm.

[0078] At least part of the force / tactile sensors 14 are disposed on the fingertips of the finger joints.

[0079] For example, Figure 1 As shown, taking a robot hand including a thumb and three other fingers as an example, the thumb includes two joints, and each other finger includes three joints, so there are 11 finger joints in total. Therefore, there can be 11 force / tactile sensors 14 in total.

[0080] By setting force / tactile sensors on each finger joint of the robot hand, the embodiment of the present application can more directly obtain information related to the force feedback of the contact between the robot hand and the object, improve the robot hand's ability to accurately perceive external information, and help further improve the accuracy and flexibility of the robot hand's operation.

[0081] In an optional embodiment, the front of the palm 111 forms an auxiliary function area 1112. The height of the auxiliary function area cannot block the field of view of the image sensor.

[0082] Specifically, the front of the palm refers to the area from the center 0 of the palm 111 to the palm end 112 .

[0083] Specifically, the auxiliary functional area can be set, added or formed as needed to form any device or functional area that can assist the robot hand in performing operations such as grasping, pushing and pulling.

[0084] Furthermore, in an optional embodiment, the auxiliary function area includes a force / tactile sensor to further measure the force information of the front of the palm through the force / tactile sensor, thereby helping the robot hand to complete various target operations more flexibly.

[0085] Furthermore, in an optional embodiment, the gripping auxiliary functional area includes an anti-slip structure, such as a friction pad.

[0086] The embodiment of the present application forms a grasping auxiliary function area in the front of the palm, which may further increase auxiliary functions without affecting the operation of the image sensor, thereby helping the robot hand to better complete various applications such as grasping and carrying.

[0087] Based on the robot hand described in the above embodiment, the present invention provides a robot (illustration omitted), which includes a robot body and the robot hand described in the above embodiment. The robot hand is provided at the execution end of the robot body and is used to perform operations such as grasping, releasing, and moving a target object.

[0088] 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 it.

[0089] For the relevant description of the robot hand, please refer to the above embodiments and will not be repeated here.

[0090] The embodiment of the present application arranges the image sensor on the palm, and the lens of the image sensor is exposed to the palm. In this way, when the robot hand grasps an object, the image sensor can capture the image of the object to be operated more intuitively and flexibly. Therefore, the robot hand's ability to obtain effective image information can be improved, which can further enrich the application of the robot hand and thus enrich the application of the entire robot.

[0091] Obviously, the embodiments described above are only some of the embodiments of the present application, rather than all of the 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 has been described in detail with reference to the aforementioned embodiments, for those skilled in the art, it is still possible to modify the technical solutions described in the aforementioned specific embodiments, or to make equivalent replacements for some of the technical features therein. Any equivalent structure made using the contents of the present application specification and the accompanying drawings, directly or indirectly used in other related technical fields, is also within the scope of patent protection of the present application.

Claims

1. A robot hand, characterized in that: The robot hand includes: a palm, N fingers, and an image sensor; wherein N is an integer greater than or equal to 2; each of the fingers includes a finger joint; the palm includes: a palm and a back of the palm; The image sensor is disposed on the palm, and a lens of the image sensor is exposed to the palm; The field of view of the image sensor includes an area extending from the center of the palm with the lens of the image sensor as a starting point to the tip of the finger; The center of the palm is concave inward to form a field of view avoidance area to prevent the field of view of the image sensor from being blocked; The lens of the image sensor is located in the field of view avoidance area.

2. The robot hand according to claim 1, wherein: The shape of the field of view avoidance zone corresponds to the shape of the field of view of at least a portion of the palm area; the field of view of the palm area is the area of the field of view of the image sensor that falls on the palm; and / or, The lens of the image sensor is located on a side wall of the field of view avoidance area close to the base of the palm.

3. The robot hand according to claim 1, wherein: The lens of the image sensor is recessed in the palm; and / or, The lens of the image sensor is tilted toward the finger and away from the palm; and / or, The image sensor is located at the rear of the palm; the rear is an area closer to the base of the palm relative to the center of the palm.

4. The robot hand according to claim 1, wherein: The palm image sensor is implemented by the following structure: The palm includes a palm support; the image sensor includes a base and a lens; The base is fixed to the palm support so that the lens is exposed to the palm.

5. The robot hand according to claim 1, wherein: The robot hand further comprises: a force / tactile sensor; At least some of the force / tactile sensors are disposed on the fingertips of the finger joints.

6. The robot hand according to claim 1, wherein: The front of the palm forms a grip assisting functional area; the front is an area closer to the palm end of the palm relative to the center of the palm; the height of the grip assisting functional area does not block the field of view of the image sensor.

7. The robot hand according to claim 6, characterized in that The grip assisting functional area includes: a force / tactile sensor and / or an anti-slip structure.

8. A robot, characterized in that: The robot comprises a robot body and the robot hand according to any one of claims 1 to 7.

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