Rigid and flexible combined dexterous hand
By designing a dexterous hand that combines rigidity and flexibility, and using a drive unit to control the hinge and flexible connection of the finger bone unit, the problems of insufficient precision of the rigid gripper and insufficient load capacity of the flexible gripper are solved, achieving high precision and safety in the grasping process.
Patent Information
- Application Number
- CN202520169711.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-24
- Publication Date
- 2025-12-26
- Estimated Expiration
- 2035-01-24
AI Technical Summary
Existing rigid robotic grippers require high precision when grasping objects, but are prone to damaging them. Flexible robotic grippers, on the other hand, are insufficient in terms of load capacity and stability, making it difficult to balance precision and safety.
Design a dexterous hand that combines rigidity and flexibility. The drive unit inside the shell controls the external finger bone unit. The finger root is hinged, and the fingertip is flexibly connected. Combined with two-stage drive ropes and electric cylinders to control the movement of the finger bones, it ensures accuracy and safety under different torques.
It achieves both improved accuracy and safety during the grasping process, ensures load capacity, and provides stable grasping for different object shapes.
Smart Images
Figure CN223719521U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to flexible manipulator technical field especially relates to a rigid-flexible combined dexterous hand. BACKGROUND
[0002] As for the common robot hand claw, it can be divided into two categories in general: one is rigid hand claw, the movement structure of this kind of hand claw is made of rigid material; the second is flexible hand claw, and its movement structure is mainly constructed by using flexible material. The rigid hand claw mainly relies on the rotation operation of the connecting rod around the fixed point in the movement process, and the overall structure has very strong rigidity, so the ability to carry heavy objects is quite outstanding. However, this also means that it must be accurately controlled when running, and a little difference may cause damage to the object when grabbing the object, so it can be seen that the rigid hand claw has very high requirements for control accuracy. In contrast, the flexible hand claw, due to the structure of the flexible material, the material is prone to deformation when stressed, and once it touches the object, it can naturally avoid the risk of damaging the object, essentially ensuring safety. However, the rigidity of the flexible material itself is insufficient, and under the continuous influence of gravity, the flexible material in the flexible hand claw is prone to twisting, causing the hand claw to be difficult to stably adhere to the object, thereby limiting the load capacity of the flexible hand claw. In addition, in the control link, the flexible hand claw cannot accurately control the joint angle like the rigid hand claw, so when facing objects with a large size span, the flexible hand claw is difficult to contact them stably and fully. SUMMARY
[0003] In view of the above problems, the utility model provides a rigid-flexible combined dexterous hand, which mainly solves the problem that the existing rigid or flexible manipulator cannot balance the accuracy and the safety of grabbing.
[0004] To solve the above technical problems, the technical scheme of the utility model is as follows:
[0005] A rigid-flexible combined dexterous hand, comprising a shell, a driving unit installed inside the shell, and two mirror image finger units articulated outside the shell and controlled by the driving unit, each finger unit comprising a plurality of rigid fingers connected in sequence, wherein the rigid fingers at the root part of the finger unit are connected by articulation, and the rigid fingers at the tip part of the finger unit are connected by flexibility.
[0006] In some embodiments, each finger unit comprises a first rigid finger articulated with the shell, a second rigid finger articulated with the first rigid finger, and a third rigid finger connected with the second rigid finger through a flexible joint.
[0007] In some embodiments, the driving unit comprises a first electric cylinder and a second electric cylinder, wherein an output end of the first electric cylinder is connected with two first driving ropes through a first adapter block, the first driving ropes are connected with corresponding third rigid fingers, and an output end of the second electric cylinder is connected with two second driving ropes through a second adapter block, the second driving ropes are connected with corresponding first rigid fingers.
[0008] In some embodiments, surfaces of the first rigid finger, the second rigid finger and the third rigid finger are provided with anti-skid pads.
[0009] The utility model discloses a beneficial effect is: through setting up the driving unit in the shell inside, the shell outside sets up the pair of finger unit, controls the finger unit to open and shut through this driving unit, uses the hinged connection at the finger root of the finger unit that bears the greater moment, ensures the overall load of the finger unit, uses the flexible connection at the fingertip of the finger unit that bears the smaller moment, increases the precision and safety of the paw. BRIEF DESCRIPTION OF DRAWINGS
[0010] Figure 1 The structure diagram of the rigid-flexible combined dexterous hand is disclosed for the utility model embodiment. DETAILED DESCRIPTION
[0011] In order to make the purpose, technical scheme and advantage of the utility model more clear and definite, the content of the utility model is further explained in detail below by combining with the drawings and specific embodiment. It can be understood that the specific embodiment described here is only used for explaining the utility model, not limiting the utility model. In addition, it needs to be explained that, in order to facilitate the description, only the part related to the utility model is shown in the drawings, not all contents.
[0012] The embodiment proposes a rigid-flexible combined dexterous hand, as shown in Figure 1 The structure diagram of the rigid-flexible combined dexterous hand is disclosed for the utility model embodiment.
[0013] In the embodiment, the driving unit is arranged in the shell 1, the pair of finger units is arranged outside the shell 1, the finger unit is controlled to open and shut through the driving unit, the hinged connection is used at the finger root of the finger unit that bears the greater moment, the overall load of the finger unit is ensured, the flexible connection is used at the fingertip of the finger unit that bears the smaller moment, the precision and safety of the paw are increased.
[0014] The present embodiment is exemplarily described by using a three-section phalangeal hand claw to explain the above-mentioned "the rigid phalangeal bones at the root part of the phalangeal unit are hingedly connected with each other, and the rigid phalangeal bones at the tip part of the phalangeal unit are flexibly connected with each other", specifically, each phalangeal unit comprises a first rigid phalangeal bone 2 hingedly connected with the outer shell 1, a second rigid phalangeal bone 3 hingedly connected with the first rigid phalangeal bone 2, and a third rigid phalangeal bone 5 flexibly connected with the second rigid phalangeal bone 3 through a flexible joint 4.
[0015] As another important inventive point of the present use, in an example, each phalange unit is controlled by two driving ropes respectively, so as to realize two-stage driving, so that the control of the phalange unit is more accurate. Specifically, the driving unit includes a first electric cylinder 6 and a second electric cylinder 9, wherein the output end of the first electric cylinder 6 is connected with two first driving ropes 8 through a first adapter block 7, the first driving ropes 8 are connected with corresponding third rigid phalanges 5, the output end of the second electric cylinder 9 is connected with two second driving ropes 11 through a second adapter block 10, and the second driving ropes 11 are connected with corresponding first rigid phalanges 2. In this scheme, the second electric cylinder 9 controls two second driving ropes 11 at the same time, and the two second driving ropes 11 are connected with the first rigid phalanges 2 in two phalange units respectively. When the output end of the second electric cylinder 9 rotates forward, the two second driving ropes 11 are synchronously contracted, so as to drive the first rigid phalanges 2 to rotate along the hinge point. At this time, the two first rigid phalanges 2 are mirror-imaged and close to each other. With the continuous contraction of the second driving ropes 11, the first rigid phalanges 2 will swing inward, and the remaining phalanges will also swing. Similarly, the first electric cylinder 6 controls two first driving ropes 8 at the same time, and the two first driving ropes 8 are connected with the third rigid phalanges 5 in two phalange units respectively. When the output end of the first electric cylinder 6 rotates forward, the two first driving ropes 8 are synchronously contracted, so as to drive the third rigid phalanges 5 to rotate along the flexible joint 4. At this time, the two third rigid phalanges 5 are mirror-imaged and close to each other. In the grasping task, when the phalange unit is about to contact the object to be grasped, the first driving rope 8 is contracted, so that the third rigid phalange 5 drives the flexible joint 4 and the second rigid phalange 3 to further swing inward. Finally, the flexible joint 4 deforms under the action of the first driving rope 8, so that the third rigid phalange 5 adapts to the overall shape of the object, thereby completing the grasping. Therefore, the above scheme controls the first rigid phalanges 2 and the third rigid phalanges 5 in two phalange units through two sets of electric cylinders, adapter blocks and driving ropes, so as to ensure the accuracy of the position control of the hand claw. In addition, when the device grasps the object in a vertical posture, the pulling force provided by the second electric cylinder 9 and the first electric cylinder 6 for the second driving rope 11 and the first driving rope 8 respectively can ensure that the hand claw can realize a larger load in this state. When the hand claw grasps the object in a horizontal posture, the hinged connection between the shell 1, the first rigid phalange 2 and the second rigid phalange 3 can prevent the joint from being twisted due to the gravity of the object, so that the hand claw can fully contact the object, thereby ensuring that the hand claw can still realize a larger load capacity when grasping the object horizontally.
[0016] Optionally, one end of the second driving rope 11 is fixed by means of a wire clamp hidden in the first rigid phalange 2 or the third rigid phalange 5, and the first driving rope 8 is fixed by means of a wire clamp hidden in the third rigid phalange 5.
[0017] Optionally, the surfaces of the first rigid phalange 2, the second rigid phalange 3 and the third rigid phalange 5 are provided with anti-skid pads 12.
[0018] The above examples are only for illustrating the technical concept and characteristics of the present application, and the purpose is to enable those skilled in the art to understand the content of the present application and to implement it, and cannot limit the protection scope of the present application. Any equivalent changes or modifications made according to the essence of the present application shall be covered within the protection scope of the present application.
Claims
1. A hybrid dexterous hand comprising a housing, a drive unit mounted inside the housing, and two mirror image phalangeal units articulated outside the housing and controlled by the drive unit, characterized in that, Each of the phalangeal units comprises a plurality of rigid phalanges connected in sequence, wherein the rigid phalanges at the root part of the phalangeal unit are connected to each other by a hinge connection, and the rigid phalanges at the tip part of the phalangeal unit are connected to each other by a flexible connection.
2. The softexible combined dexterous hand of claim 1, wherein, Each of the phalangeal units comprises a first rigid phalange hingedly connected to the outer shell, a second rigid phalange hingedly connected to the first rigid phalange, and a third rigid phalange connected to the second rigid phalange by a flexible joint.
3. The rigid-flexible combined dexterous hand of claim 1, wherein, The driving unit comprises a first electric cylinder and a second electric cylinder, wherein the output end of the first electric cylinder is connected to two first driving ropes through a first adapter block, the first driving ropes are connected to corresponding third rigid phalanges, and the output end of the second electric cylinder is connected to two second driving ropes through a second adapter block, the second driving ropes are connected to corresponding first rigid phalanges.
4. The rigid-flexible combined dexterous hand of claim 1, wherein, The surfaces of the first rigid phalange, the second rigid phalange and the third rigid phalange are provided with anti-skid pads.