Dexterous hand stable in grabbing and robot
By setting an auxiliary clamping part on the palm of the dexterous hand to form an object clamping area, the problem of four-finger bending limitation is solved, stable grasping of small, smooth and hard objects is achieved, and the grasping stability of the dexterous hand is improved.
Patent Information
- Application Number
- CN202422861139.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-22
- Publication Date
- 2025-09-30
- Estimated Expiration
- 2034-11-22
AI Technical Summary
When existing dexterous hands grasp small, smooth, hard objects, the four fingers have bending limitations, resulting in unstable grasping.
An auxiliary clamping part is set on the palm of the dexterous hand, and an object clamping area is formed between the bent four fingers and the auxiliary clamping part set at the palm position. The object clamping area is used for grasping, and the auxiliary clamping part provides support.
The grasping stability of the dexterous hand for small, smooth hard objects is improved, and the grasping range is expanded.
Smart Images
Figure CN223395289U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of robotic arms, and in particular to a dexterous hand and robot with stable grip. Background Art
[0002] Currently, more and more robots are using dexterous hands as their end effectors for flexible grasping and dexterous manipulation of delicate objects. When grasping objects with a dexterous hand, the thumb, four fingers, and palm of the hand generally cooperate to grasp the object. However, for small, smooth, hard objects, a wrapping grasping method is required, where the thumb, four fingers, and palm of the dexterous hand wrap around the hard object for stable grasping. However, when the dexterous hand grasps an object and the thumb needs to perform additional work, it cannot assist the four fingers and palm in grasping the object. Grasping the object requires the coordination between the four fingers and the palm of the hand. However, the four fingers have bending limitations, resulting in the inability to stably grasp small, smooth, hard objects. Utility Model Content
[0003] To solve the above problems, the purpose of the embodiments of the present application is to provide a dexterous hand and a robot with stable grasping.
[0004] In a first aspect, an embodiment of the present application provides a dexterous hand with stable grip, comprising: a palm, a thumb, four fingers, and an auxiliary clamping portion with elasticity;
[0005] The four fingers and the thumb are hinged to the palm respectively, and a driving mechanism for driving the thumb and the four fingers to move is provided inside the palm;
[0006] The driving mechanism is connected to the thumb and the four fingers respectively;
[0007] The auxiliary clamping portion is arranged at the center of the palm;
[0008] When an object needs to be grasped, the space formed between the bent four fingers and the auxiliary clamping portion provided at the center of the palm serves as an object clamping area, and the object is grasped using the object clamping area.
[0009] In a second aspect, an embodiment of the present application further provides a robot comprising: the dexterous hand described in the first aspect above.
[0010] In the solutions provided in the first to second aspects of the embodiments of the present application, an auxiliary clamping portion is provided on the palm of the dexterous hand; when it is necessary to grasp an object, the space formed between the bent four fingers and the auxiliary clamping portion provided at the palm position serves as an object clamping area, and the object is grasped using the object clamping area. Compared with the related art in which the four fingers are subject to bending restrictions during the process of grasping objects with the dexterous hand, resulting in the inability to stably grasp hard objects with small volume and smooth surface, the space formed between the bent four fingers and the auxiliary clamping portion provided at the palm position serves as the object clamping area, thereby reducing the longitudinal space between the bent four fingers and the palm of the dexterous hand. The auxiliary clamping portion can provide support when grasping objects with small volume, smooth surface and high hardness, and can grasp hard objects with small volume and smooth surface as stably as possible, thereby improving the stability of the dexterous hand in grasping objects.
[0011] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS
[0012] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only 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.
[0013] Figure 1 A front view of a dexterous hand using a first implementation of an auxiliary clamping portion provided in an embodiment of the present application is shown;
[0014] Figure 2 A side view of a dexterous hand using a first implementation of an auxiliary clamping portion provided in an embodiment of the present application is shown;
[0015] Figure 3 A schematic diagram showing a dexterous hand grasping a hard object using a first implementation of an auxiliary clamping portion provided by an embodiment of the present application is shown;
[0016] Figure 4 A front view of a second implementation of a dexterous hand using an auxiliary clamping portion provided in an embodiment of the present application is shown;
[0017] Figure 5 A side view of a dexterous hand using a second implementation of an auxiliary clamping portion provided in an embodiment of the present application is shown;
[0018] Figure 6A schematic diagram showing a dexterous hand grasping a hard object using a second implementation of the auxiliary clamping portion provided in an embodiment of the present application is shown;
[0019] Figure 7 A side view of a dexterous hand using a third implementation of an auxiliary clamping portion provided in an embodiment of the present application is shown;
[0020] Figure 8 A schematic diagram of a dexterous hand grasping a hard object using a second implementation of an auxiliary clamping portion provided in an embodiment of the present application is shown. DETAILED DESCRIPTION
[0021] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on this application.
[0022] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.
[0023] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they can refer to fixed connection, detachable connection, or integral connection; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.
[0024] The end effector of traditional robots generally uses a clamping method to grasp objects. The clamping method has disadvantages such as a single grasping method and lack of flexibility. It can no longer meet the requirements of robots for grasping operation capabilities in complex environments and complex grasping tasks.
[0025] Therefore, in existing technologies, an increasing number of robot end effectors are beginning to adopt designs that mimic the humanoid hand. The human hand is highly flexible and can perform a variety of gripping techniques, such as grasping, grabbing, pinching, and hooking. The key to designing a humanoid hand lies in the structural design of each finger.
[0026] Currently, in the design of traditional humanoid hands for robots, the four fingers except the thumb are basically designed with two knuckles. This can save cost and weight, but can also achieve most functions that can be completed with three knuckles.
[0027] In the process of grasping with dexterous hands, the thumb, four fingers and palm usually cooperate to grasp the object. Due to the physical properties of some objects, such as spherical hard objects, an enveloping grasping method is required. Otherwise, the object is easy to fall out of the dexterous hand during the grasping process. In addition, when the thumb needs to do additional work during the grasping process, it cannot assist the other four fingers and the palm to grasp the object. The object can only be grasped by relying on the cooperation between the four fingers and the palm of the dexterous hand. However, for smaller objects with the above-mentioned physical properties, since the four fingers adopt a two-knuckle design, there will be bending restrictions when the four fingers are bent, resulting in an area where the four fingers cannot contact the palm, which will limit the application of the dexterous hand.
[0028] Therefore, how to design a dexterous hand that can grasp a wider range and more stably at the premise of low cost and low weight is a problem that technicians in this field need to solve.
[0029] Based on this, the following embodiments of the present application propose a dexterous hand and robot with stable grasping, by providing an auxiliary clamping part on the palm of the dexterous hand; when it is necessary to grasp an object, the space formed between the bent four fingers and the auxiliary clamping part provided at the palm position serves as the object clamping area, and the object is grasped using the object clamping area, and the space formed between the bent four fingers and the auxiliary clamping part provided at the palm position serves as the object clamping area, thereby reducing the longitudinal space between the bent four fingers and the palm of the dexterous hand, and the auxiliary clamping part can provide support when grasping objects with small volume, smooth surface and high hardness, and can grasp small, smooth-surfaced hard objects as stably as possible, thereby improving the stability of the dexterous hand in grasping objects.
[0030] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and embodiments.
[0031] Example
[0032] This embodiment provides a dexterous hand with stable grip, comprising: a palm 1, a thumb 2, four fingers 3 and an elastic auxiliary clamping part 4.
[0033] The four fingers 3 and the thumb 2 are hinged to the palm 1 respectively. A driving mechanism (not shown in the figure) is provided inside the palm 1 for driving the thumb 2 and the four fingers 3 to move respectively.
[0034] In one embodiment, the four fingers 3 are hinged to one end of the palm 1 , respectively, and the thumb 2 is hinged to the side of the palm 1 .
[0035] The driving mechanism is connected to the thumb 2 and the four fingers 3 respectively.
[0036] The auxiliary clamping portion 4 is provided at the center of the palm 1 .
[0037] When an object needs to be grasped, the space formed between the bent four-finger portion 3 and the auxiliary clamping portion 4 provided at the palm position serves as an object clamping area, and the object is grasped using the object clamping area.
[0038] In one embodiment, see Figure 1 The front view of the dexterous hand using the first implementation of the auxiliary clamping part is shown in FIG. Figure 2 The side view of the first embodiment of the auxiliary clamping portion is shown in FIG. Figure 3 The diagram shown is a schematic diagram of a dexterous hand grasping a hard object using the first implementation of the auxiliary clamping portion. The auxiliary clamping portion 4 can be fixed at the center of the palm 1 to reduce the longitudinal space of the object clamping area.
[0039] When the grasped object is a hard object, the bottom of the hard object contacts the auxiliary clamping part 4 and is supported by the auxiliary clamping part 4, and the top of the hard object contacts the curved four-finger part 3, and the hard object is located in the object clamping area.
[0040] The elastic auxiliary clamping portion 4 is deformed to cover the bottom of the hard object, thereby achieving stable grasping of the hard object.
[0041] In the dexterous hand with stable grip proposed in this embodiment, the palm 1 further includes: an arc-shaped protrusion 101 ; the arc-shaped protrusion 101 is arranged in the palm 1 near the base of the thumb 2 .
[0042] By setting the arc-shaped protrusion, the limiting effect of the dexterous hand when grasping objects is increased, so that when the dexterous hand grasps some objects, the grasped objects can be located in the above-mentioned object clamping area, thereby improving the grasping stability of the dexterous hand.
[0043] In one embodiment, see Figure 4 The front view of the second embodiment of the dexterous hand using the auxiliary clamping part is shown in FIG. Figure 5The side view of the second embodiment of the auxiliary clamping portion is shown in FIG. Figure 6 The diagram shown is a schematic diagram of a dexterous hand grasping a hard object using the second implementation of the auxiliary clamping part, wherein the auxiliary clamping part 4 includes: an integrally formed clamping part body 401 and a four-finger connecting part 402 .
[0044] The clamping portion body 401 covers the center of the palm 1 , and the four-finger connecting portion 402 covers the base of the four fingers 3 .
[0045] The edge of the clamping portion body 401 close to the arc-shaped protrusion 101 is fixedly connected to the palm portion 1 .
[0046] The four-finger connecting portion 402 is located at the edge of the root of the four-finger portion 3 and is fixedly connected to the root of the four-finger portion 3 .
[0047] When the object being grasped is a hard object, the bottom of the hard object contacts the auxiliary clamping portion 4 and is supported by the auxiliary clamping portion 4, the top of the hard object contacts the curved four-finger portion 3, and the hard object is located in the object clamping area.
[0048] The bent four-finger portion 3 drives the connected four-finger connecting portion 402 to deform, and the deformed four-finger connecting portion 402 causes the clamping portion body 401 integrally formed with the four-finger connecting portion 402 to roll and stack. The rolled and stacked clamping portion body 401 covers the hard object located in the object clamping area, thereby completing the stable grasping of the hard object.
[0049] In one embodiment, see Figure 7 The side view of the third embodiment of the dexterous hand using the auxiliary clamping portion is shown in FIG. Figure 8 The diagram shown is a schematic diagram of a dexterous hand grasping a hard object using the third implementation of the auxiliary clamping part. In the third implementation of the auxiliary clamping part, the auxiliary clamping part 4 includes: an integrally formed clamping part body 401 and a four-finger connecting part 402.
[0050] The clamping portion body 401 covers the center of the palm 1 , and the four-finger connecting portion 402 covers the base of the four fingers 3 .
[0051] The auxiliary clamping portion 4 has a cavity 403 formed therein. That is, the clamping portion body 401 and the four-finger connecting portion 402 both have a portion of the cavity 403 .
[0052] The capsule cavity 403 is filled with air.
[0053] The clamping body 401 is fixed to the center of the palm 1 .
[0054] When the object being grasped is the hard object and the hard object is located in the object clamping area, the bent four-finger portion 3 will squeeze the air in the partial cavity of the cavity 403 located in the four-finger connecting portion 402 into the partial cavity of the cavity 403 located in the clamping portion body 401. After the air enters the partial cavity of the cavity 403 located in the clamping portion body 401, the clamping portion body 401 expands. After expansion, the clamping portion body 401 covers the hard object located in the object clamping area, thereby completing the stable grasping of the hard object.
[0055] Here, in the case where the object grasped is the hard object and the hard object is located in the object clamping area, it means: when the object grasped is the hard object, the bottom of the hard object is in contact with the auxiliary clamping part 4 and is supported by the auxiliary clamping part 4, the top of the hard object is in contact with the curved four-finger part 3, and the hard object is located in the object clamping area.
[0056] In a third implementation of the auxiliary clamping portion, the auxiliary clamping portion 4 with the capsule cavity 403 defined therein is an elastic film.
[0057] The elastic film can be made of, but not limited to, high-elasticity rubber, latex or high-elasticity thermoplastic elastomer materials.
[0058] In the above three implementations of the auxiliary clamping portion 4 , the thickness of the auxiliary clamping portion 4 is between 2 mm and 10 mm.
[0059] In this embodiment, the grasped hard object may be a hard object with a small volume and a smooth surface.
[0060] In this embodiment, a small volume refers to a smooth object with a width of less than 7 mm.
[0061] The hard object with a small volume and a smooth surface can be, but is not limited to, a glass ball and a steel ball.
[0062] In order to increase the friction force on the surface of the auxiliary clamping part 4 so that the auxiliary clamping part 4 can better grasp objects, in the dexterous hand with stable grip proposed in this embodiment, raised particles 5 are provided on the surface of the auxiliary clamping part 4.
[0063] Specifically, in the dexterous hand with stable grasping proposed in this embodiment, as Figure 2 、 Figure 5 and Figure 7 As shown, each finger in the four-finger part 3 includes a first joint 301 and a second joint 302 .
[0064] The first knuckle 301 of each finger is hinged to the palm 1 respectively.
[0065] The first joint 301 and the second joint 302 of each finger are coupled.
[0066] The four-finger connecting portion 402 is provided at the base of the first knuckle 301 of each finger.
[0067] This embodiment also provides a robot comprising the above-mentioned dexterous hand.
[0068] In summary, this embodiment proposes a dexterous hand and robot with stable grasping, by providing an auxiliary clamping part on the palm of the dexterous hand; when it is necessary to grasp an object, the space formed between the bent four fingers and the auxiliary clamping part provided at the palm position serves as the object clamping area, and the object is grasped using the object clamping area. Compared with the related art in which the four fingers are subject to bending restrictions during the dexterous hand grasping of objects, resulting in the inability to stably grasp small, smooth-surfaced hard objects, the space formed between the bent four fingers and the auxiliary clamping part provided at the palm position serves as the object clamping area, thereby reducing the longitudinal space between the bent four fingers and the palm of the dexterous hand, and the auxiliary clamping part can provide support when grasping objects with small volume, smooth surface and high hardness, so that small, smooth-surfaced hard objects can be stably grasped as much as possible, thereby improving the stability of the dexterous hand in grasping objects.
[0069] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.
Claims
1. A dexterous hand with stable grip, characterized by: include: A palm portion (1), a thumb (2), four finger portions (3) and an elastic auxiliary clamping portion (4); The four fingers (3) and the thumb (2) are respectively hinged to the palm (1), and a driving mechanism for driving the thumb (2) and the four fingers (3) to move is provided inside the palm (1); The driving mechanism is connected to the thumb (2) and the four fingers (3) respectively; The auxiliary clamping portion (4) is arranged at the center of the palm (1); When an object needs to be grasped, the space formed between the bent four-finger portion (3) and the auxiliary clamping portion (4) provided at the palm position serves as an object clamping area, and the object is grasped using the object clamping area.
2. The dexterous hand with stable grip according to claim 1, characterized in that: The auxiliary clamping portion (4) can be fixed at the center of the palm (1) to reduce the longitudinal space of the object clamping area; When the object to be grasped is a hard object, the bottom of the hard object contacts the auxiliary clamping portion (4) and is supported by the auxiliary clamping portion (4), the top of the hard object contacts the curved four-finger portion (3), and the hard object is located in the object clamping area; The elastic auxiliary clamping portion (4) is deformed to cover the bottom of the hard object, thereby achieving stable grasping of the hard object.
3. The dexterous hand with stable grip according to claim 2, characterized in that: The palm portion (1) further includes: an arc-shaped protrusion (101); The arc-shaped protrusion (101) is arranged in the palm (1) at a position close to the base of the thumb (2).
4. The dexterous hand with stable grip according to claim 3, characterized in that: The auxiliary clamping portion (4) comprises: an integrally formed clamping portion body (401) and a four-finger connecting portion (402); The clamping portion body (401) covers the center of the palm (1), and the four-finger connecting portion (402) covers the base of the four-finger portion (3); The edge of the clamping portion body (401) close to the arc-shaped protrusion (101) is fixedly connected to the palm portion (1); The four-finger connecting portion (402) is located at the edge of the root of the four-finger portion (3) and is fixedly connected to the root of the four-finger portion (3); When the object being grasped is the hard object, the bottom of the hard object contacts the auxiliary clamping portion (4) and is supported by the auxiliary clamping portion (4), the top of the hard object contacts the curved four-finger portion (3), and the hard object is located in the object clamping area; The bent four-finger portion (3) drives the connected four-finger connecting portion (402) to deform, and the deformed four-finger connecting portion (402) causes the clamping portion body (401) integrally formed with the four-finger connecting portion (402) to roll and stack, and the rolled and stacked clamping portion body (401) covers the hard object located in the object clamping area, thereby completing the stable grasping of the hard object.
5. The dexterous hand with stable grip according to claim 4, characterized in that: A capsule cavity (403) is provided inside the auxiliary clamping portion (4); The capsule cavity (403) is filled with air; The clamping portion body (401) is fixed at the center of the palm (1); When the object being grasped is the hard object and the hard object is located in the object clamping area, the bent four-finger portion (3) will squeeze the air in the partial cavity of the cavity (403) located in the four-finger connecting portion (402) into the partial cavity of the cavity (403) located in the clamping portion body (401). After the air enters the partial cavity of the cavity (403) located in the clamping portion body (401), the clamping portion body (401) expands. After the expansion, the clamping portion body (401) covers the hard object located in the object clamping area, thereby completing the stable grasping of the hard object.
6. The dexterous hand with stable grip according to claim 5, characterized in that: The auxiliary clamping portion (4) with the capsule cavity (403) formed therein is an elastic film.
7. The dexterous hand with stable grip according to claim 5, characterized in that: Each finger in the four-finger portion (3) comprises: a first finger joint (301) and a second finger joint (302); The first knuckle (301) of each finger is hinged to the palm (1) respectively; The first knuckle (301) and the second knuckle (302) of each finger are coupled; The four-finger connecting portion (402) is arranged at the base of the first knuckle (301) of each finger.
8. The dexterous hand with stable grip according to any one of claims 1 to 7, characterized in that: The thickness of the auxiliary clamping portion (4) is between 2 mm and 10 mm.
9. The dexterous hand with stable grip according to any one of claims 1 to 7, characterized in that: Protruding particles (5) are provided on the surface of the auxiliary clamping portion (4).
10. A robot, characterized in that: include: The dexterous hand according to any one of claims 1 to 9.