Special tool for dexterous hand

Abstract

The utility model discloses a tool special for a dexterous hand. The dexterous hand comprises a palm base plate, a thumb, four fingers and a joint module. A connecting hole is formed in the finger quilt at the tail end of the longest finger in the four fingers, and the connecting hole is a threaded hole; the upper portion of the palm base plate is connected with the wrist joint through a frameless torque motor with the axis being the same as the extending direction of four fingers. The special tool for the dexterous hand comprises a finger connecting piece, a six-axis sensor and a sleeve connecting piece. The finger connecting piece comprises a finger sleeve and a first connecting plate connected to the bottom of the finger sleeve, and the finger sleeve sleeves a finger tail end joint provided with a connecting hole and is connected with the finger joint through a bolt; the first connecting plate is coaxially connected with the top of the six-axis sensor, and the bottom of the six-axis sensor is connected with a sleeve connecting piece used for being connected with a sleeve matched with a bolt head. The screwing operation of the bolt can be realized, and the sleeve can be accurately centered with the bolt head or the screw head, so that the situation that the dexterous hand is damaged due to overlarge torque caused by non-alignment is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, concretely relates to a special tool for dexterous hand. BACKGROUND

[0002] Dexterous hand is an important component of humanoid robot, belongs to the cross field of deep bionics, flexible sensing, micro-electro-mechanical system, high-performance material and other frontier technologies, is the key breakthrough of realizing intelligent robot technology revolution leap, and "dexterous hand" is the end effector of embodied robot and environment interaction, is the synthesis of deep bionics, flexible sensing, micro-electro-mechanical system, high-performance material and other frontier technologies.

[0003] However, the existing dexterous hand is difficult to realize the work needing subtle adjustment and operation, such as screwing screw, nut and the like due to insufficient degree of freedom and control accuracy. INVENTION CONTENTS

[0004] In view of the problems and deficiencies in the prior art, the utility model provides a special tool for dexterous hand.

[0005] The utility model technical scheme is as follows:

[0006] A special tool for dexterous hand, the dexterous hand includes a palm base plate, a thumb and four fingers separately arranged with the thumb are connected on the palm base plate, and each finger has two finger joints, is connected through a joint module and can realize bending and rotating action;

[0007] The finger of the end of the longest finger in the four fingers is provided with a connecting hole, and the connecting hole is a threaded hole;The upper part of the palm base plate is connected with the wrist joint through a frameless torque motor with the same extension direction as the four fingers;

[0008] The special tool for dexterous hand includes a finger connecting piece, a six-axis sensor and a sleeve connecting piece;

[0009] The finger connecting piece includes a finger sleeve and a first connecting plate connected at the bottom of the finger sleeve, the finger sleeve is sleeved on the finger end joint provided with the connecting hole through the finger joint hole, and a fixing hole is arranged on the sidewall matched with the finger joint of the finger sleeve, and the finger sleeve is connected with the finger joint by screwing the bolt into the connecting hole through the fixing hole;

[0010] The first connecting plate is coaxially connected with the top of the six-axis sensor, and the bottom of the six-axis sensor is connected with the sleeve connecting piece, which is used for connecting the sleeve matched with the bolt head.

[0011] In operation, the finger sleeve is connected with the distal phalangeal joint of the longest finger, and the lower edge of the finger sleeve is sequentially connected with a six-axis sensor and a sleeve connector, the sleeve connector is matched with the head of the bolt or screw through a sleeve, the sleeve is driven to rotate by driving the frameless torque motor on the upper part of the palm base plate, so that the sleeve is driven to rotate, and the screwing operation on the bolt is realized.

[0012] In order to prevent the finger sleeve from damaging the outer surface of the phalangeal joint, an elastic buffer is arranged on the inner wall of the phalangeal joint hole.

[0013] According to a specific embodiment, the phalangeal joint hole is composed of a vertical plane matched with the finger and a curved surface matched with the finger pulp, and the fixing hole is a circular hole perpendicular to the vertical plane and penetrating through the side wall of the finger sleeve.

[0014] According to a specific embodiment, the sleeve connector comprises a second connecting plate and a sleeve connecting rod, the second connecting plate is coaxially fixedly connected with the bottom of the six-axis sensor, and the sleeve connecting rod is connected to the bottom of the second fixing plate and coaxial with the six-axis sensor.

[0015] A plurality of first fixing holes and second fixing holes are uniformly distributed on the first connecting plate and the second connecting plate along the axis, respectively, and are used for fixedly connecting with the six-axis sensor through a threaded pair.

[0016] More specifically, in order to improve the performance of the sensor, the six-axis sensor is a silicon strain sensor. The joint module comprises a motor, a speed reducer and a flexible transmission mechanism, which is arranged between two adjacent phalangeal joints, and is used for driving the adjacent phalangeal joints to rotate relatively to realize the bending action. A plurality of high-precision tactile sensors are distributed on the finger and the palm base plate, which are used for sensing the physical information such as pressure and friction of the object. A high-definition AI hand-eye camera is installed on the palm base plate, which is used for capturing image information of the object.

[0017] The beneficial effects of the utility model are:

[0018] In operation, the finger sleeve is connected with the distal phalangeal joint of the longest finger, and the lower edge of the finger sleeve is sequentially connected with a six-axis sensor and a sleeve connector, the sleeve connector is matched with the head of the bolt or screw through a sleeve, the sleeve is driven to rotate by driving the frameless torque motor on the upper part of the palm base plate, so that the sleeve is driven to rotate, and the screwing operation on the bolt is realized. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1A perspective view of the dexterous hand;

[0020] Figure 2 A sectional view of the front view of the dexterous hand tool;

[0021] Figure 3 A sectional view of the finger connecting piece;

[0022] Figure 4 A sectional view of the sleeve connecting piece;

[0023] 1, dexterous hand; 11, connecting hole; 2, finger connecting piece; 21, finger sleeve; 211, finger joint hole; 212, fixing hole; 22, first connecting plate; 221, first fixing hole; 23, elastic buffer; 3, six-axis sensor; 4, sleeve connecting piece; 41, second connecting plate; 411, second fixing hole; 42, sleeve connecting rod. DETAILED DESCRIPTION

[0024] The technical means adopted to achieve the predetermined inventive purpose of the utility model will be further described below in combination with the drawings in the utility model embodiments.

[0025] A tool special for a dexterous hand 1, as shown in Figure 1 The dexterous hand 1 comprises a palm base plate, on which fingers are connected, the fingers include a thumb and four fingers arranged separately from the thumb, and each finger has two finger joints connected through a joint module, which can realize bending and rotating actions.

[0026] The finger at the end of the longest finger among the four fingers is provided with a connecting hole 11, and the connecting hole 11 is a threaded hole; the upper part of the palm base plate is connected with a wrist joint through a frameless torque motor with the same extension direction as the four fingers through an axis.

[0027] As shown in Figures 2-4 The tool special for the dexterous hand 1 comprises a finger connecting piece 2, a six-axis sensor 3 and a sleeve connecting piece 4;

[0028] The finger connecting piece 2 comprises a finger sleeve 21 and a first connecting plate 22 connected at the bottom of the finger sleeve 21, the finger sleeve 21 is sleeved on the finger end joint provided with the connecting hole 11 through the finger joint hole 211, and a fixing hole 212 is arranged on the side wall matched with the finger joint of the finger sleeve 21, and the finger sleeve 21 is connected with the finger joint by screwing the bolt into the connecting hole 11 through the fixing hole 212;

[0029] The first connecting plate 22 is coaxially connected with the top of the six-axis sensor 3, and the bottom of the six-axis sensor 3 is connected with the sleeve connecting piece 4, which is used for connecting the sleeve matched with the bolt head.

[0030] In operation, the finger sleeve 21 is connected with the end joint of the longest finger, and the lower edge of the finger sleeve 21 is sequentially connected with the six-axis sensor and the sleeve connecting piece 4. The sleeve connecting piece 4 is matched with the bolt head or screw head through the sleeve. The sleeve is driven to rotate by driving the frameless torque motor on the upper part of the palm base plate, so as to drive the sleeve to rotate, and the screwing operation on the bolt is realized.

[0031] In order to prevent the finger sleeve 21 from damaging the outer surface of the finger joint, the elastic buffer 23 is arranged on the inner wall of the finger joint hole 211.

[0032] According to a specific embodiment, the finger joint hole 211 is composed of a vertical plane matched with the finger and a curved surface matched with the finger pulp, and the fixing hole 212 is a circular hole perpendicular to the vertical plane and penetrating through the side wall of the finger sleeve 21. The purpose is to make the connection of the finger sleeve 21 with the finger joint more stable.

[0033] According to a specific embodiment, the sleeve connecting piece 4 includes a second connecting plate 41 and a sleeve connecting rod 42. The second connecting plate 41 is coaxially fixedly connected with the bottom of the six-axis sensor 3, and the sleeve connecting rod 42 is connected at the bottom of the second connecting plate and coaxial with the six-axis sensor 3. Specifically, the lower part of the sleeve connecting rod 42 is provided with a bayonet for detachably connecting with the top of the sleeve.

[0034] A plurality of first fixing holes 221 and second fixing holes 411 are uniformly distributed on the first connecting plate 22 and the second connecting plate 41 along the axis, respectively, and are used for fixedly connecting with the six-axis sensor 3 through a threaded pair.

[0035] More specifically, in order to improve the performance of the sensor, the six-axis sensor 3 is a silicon strain sensor. The joint module includes a motor, a speed reducer and a flexible transmission mechanism, which is arranged between two adjacent finger joints, and is used to drive the adjacent finger joints to rotate relatively to realize the bending action. A plurality of high-precision tactile sensors are distributed on the fingers and the palm base plate, which are used to sense the physical information such as pressure and friction of the object. A high-definition AI hand-eye camera is installed on the palm base plate, which is used to capture image information of the object.

[0036] The above is the preferred embodiment of the present application, but the present application is not limited to the above embodiments and examples. Various changes, equivalent replacements, improvements and the like made within the knowledge range of those skilled in the art without departing from the concept of the present application shall be included in the protection scope of the present application.

Claims

1. A dexterous hand special tool, the dexterous hand (1) comprising a palm base plate, on which fingers are connected, the fingers comprising a thumb and four fingers arranged separately from the thumb, and each finger having two finger joints connected by a joint module to realize bending and rotating actions; characterized in that, the end of the longest finger of the four fingers is provided with a connecting hole (11), the connecting hole (11) being a threaded hole; the upper part of the palm base plate is connected with the wrist joint through a frameless torque motor with the same axis as the extension direction of the four fingers; the dexterous hand special tool comprises a finger connecting piece (2), a six-axis sensor (3) and a sleeve connecting piece (4); the finger connecting piece (2) comprises a finger sleeve (21) and a first connecting plate (22) connected at the bottom thereof, the finger sleeve (21) is sleeved on the end joint of the finger provided with the connecting hole (11) through a finger joint hole (211), and a fixing hole (212) is arranged on the side wall matched with the finger joint of the finger sleeve (21), the finger sleeve (21) is connected with the finger joint by screwing a bolt through the fixing hole (212) into the connecting hole (11); the first connecting plate (22) is coaxially connected with the top of the six-axis sensor (3), and the bottom of the six-axis sensor (3) is connected with the sleeve connecting piece (4) for connecting the sleeve matched with the bolt head.

2. The dexterous hand specific tool of claim 1, wherein, The inner wall of the finger joint hole (211) is provided with an elastic buffer (23).

3. The dexterous hand specific tool of claim 2, wherein, The finger joint hole (211) is composed of a vertical plane matched with the finger and a curved surface matched with the finger pulp, and the fixing hole (212) is a circular hole perpendicular to the vertical plane and penetrating the side wall of the finger sleeve (21).

4. The dexterous hand specific tool of claim 3, wherein, The sleeve connecting piece (4) comprises a second connecting plate (41) and a sleeve connecting rod (42), the second connecting plate (41) is coaxially fixedly connected with the bottom of the six-axis sensor (3), and the sleeve connecting rod (42) is connected at the bottom of the second fixing plate and coaxial with the six-axis sensor (3).

5. The dexterous hand specific tool of claim 4, wherein, A plurality of first fixing holes (221) and second fixing holes (411) are uniformly distributed along the axis on the first connecting plate (22) and the second connecting plate (41) respectively, and are respectively used for fixed connection with the six-axis sensor (3) through a threaded pair.

6. The dexterous hand specific tool of claim 1, wherein, The six-axis sensor (3) is a silicon strain sensor.

7. The dexterous hand specialized tool of claim 1, wherein, The joint module comprises a motor, a speed reducer and a flexible transmission mechanism, which is arranged between two adjacent finger joints for driving the adjacent finger joints to rotate relatively to realize the bending action.

8. The dexterous hand specialized tool of claim 1, wherein, A plurality of high-precision tactile sensors are distributed on the fingers and the palm base plate for sensing the pressure and friction physical information of the object.

9. The dexterous hand specialized tool of claim 1, wherein, A high-definition AI hand-eye camera is installed on the palm base plate for capturing image information of the object.

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