Special screwdriver and dexterous hand

Abstract

The utility model provides a special screwdriver which is used for enabling a dexterous hand to achieve screwing operation and comprises a shell, a double-thread screw and a reset mechanism, and a supporting plate is arranged in the shell. A double-spiral groove is formed in the supporting plate in a penetrating mode and composed of two sets of spiral grooves opposite in spiral direction. The double-thread screw can move up and down along the double-spiral groove, and two groups of threads with opposite spiral directions are arranged on the double-thread screw; the reset mechanism is arranged between the supporting plate and the double-thread screw and used for resetting the double-thread screw after the double-thread screw moves up and down along the double-spiral groove. The special screwdriver designed by the utility model can be used for screwing or unscrewing a screw, a motor is not needed, the screw can be screwed or unscrewed only by controlling a dexterous hand to simply move close to and far away from the screw, the hardware structure is simple, software does not need to be independently embedded for matched movement, the cost is reduced, and the working efficiency is improved. And popularization and application of the dexterous hand are facilitated.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and more specifically, to a special screwdriver and a dexterous hand. Background Technology

[0002] When dexterous hands are used to grasp tools and perform tasks, their lack of freedom and control precision makes it difficult to perform tasks requiring fine adjustments and operations, such as tightening screws. Existing dexterous hands struggle to flexibly grasp screwdrivers to tighten or loosen screws. Current solutions often involve designing a dedicated robotic arm. When this operation is needed, the existing dexterous hand is disassembled from the wrist joint of the robotic arm, and a dedicated robotic arm is installed. Rewiring is also required. While designing a dedicated robotic arm can solve the problem of dexterous hands being unable to tighten or loosen screws due to insufficient freedom and control precision, it increases costs and is cumbersome and time-consuming to install and disassemble.

[0003] Therefore, how to improve the overall work efficiency while dexterous hands complete the twisting work is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] To address the aforementioned problems, the purpose of this utility model is to provide a special screwdriver that allows for efficient screwing while reducing costs, enabling dexterous hands to perform screwing tasks.

[0005] Another objective of this invention is to provide a dexterous hand with the aforementioned special screwdriver.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A special screwdriver for enabling dexterous hands to perform screwing operations includes a housing, a double-ended screw, a reset mechanism, and a support plate inside the housing;

[0008] The support plate is provided with a double helical groove, which consists of two sets of helical grooves with opposite helical directions;

[0009] The double-ended screw can move up and down along the double helical groove, and the double-ended screw is provided with two sets of threads with opposite helical directions;

[0010] The reset mechanism is located between the support plate and the double-ended screw for resetting the double-ended screw after it moves up and down along the double helical groove.

[0011] Furthermore, the reset mechanism includes a reset spring and a reset plate. There are two reset plates, which are rotatably connected to the two unthreaded sections of the double-ended screw through bearings. The reset spring is located between the reset plate and the support plate, and the two ends of the reset spring are fixedly connected to the reset plate and the support plate, respectively.

[0012] Furthermore, guide rods are fixedly installed on the upper and lower end faces of the support plate, respectively. The guide rods are perpendicular to the support plate, and the other end of the guide rods passes through the reset plate.

[0013] Furthermore, the support plate is located in the middle of the length direction of the shell, the shell has a symmetrical structure about the support plate, and the inner wall of the shell matches the outer wall structure and size of the dexterous hand's fingers. The shell is used to connect with the dexterous hand's fingers.

[0014] Furthermore, the gap between the two sets of threads on the double-ended screw is not less than the thickness of the support plate.

[0015] Furthermore, the gap between the two sets of threads on the double-ended screw is equal to the thickness of the support plate.

[0016] Furthermore, multiple protrusions are provided on the inner walls at both ends of the shell.

[0017] A dexterous hand includes a dedicated screwdriver, said dedicated screwdriver being any of the dedicated screwdrivers described above.

[0018] Furthermore, the fingertip has a locking groove and a receiving cavity. The locking groove is located on the side wall of the finger and is used to engage with the protrusion when a special screwdriver is installed on the dexterous hand. One end of the receiving cavity extends through the fingertip and is used to accommodate a double-ended screw with its depth direction being the length direction of the finger.

[0019] In the initial state, the part between the two sets of threads of the double-ended screw is in the double helical groove.

[0020] In use, first determine whether the screw needs to be tightened or loosened based on the task at hand. Then, select the correct end and attach the dedicated screwdriver to the finger of the dexterous hand (to better distinguish which end of the dedicated screwdriver is tightening and which is loosening, symbols can be used for marking, for example: tightening end is represented by "J", and loosening end by "S", not shown in the figure). Then, under the action of the dexterous hand, one end of the double-ended screw will contact the screw. The dexterous hand will continue to press the housing of the dedicated screwdriver forward. Under the action of the double helical grooves and threads, the double-ended screw and the support plate will have relative linear motion and relative rotational motion. The rotating double-ended screw will tighten or loosen the screw. After the work is completed, the dexterous hand will remove the dedicated screwdriver from the screw. Then, under the action of the reset mechanism, the double-ended screw returns to the initial state, ready for the next work. Compared with the existing technology, the dedicated screwdriver provided by this utility model avoids the redevelopment and design of the dexterous hand, significantly reducing production costs. Meanwhile, the special screwdriver provided by the utility model can be directly installed onto the fingers of the dexterous hand. The entire installation and implementation process is simple and quick, avoiding tedious installation and debugging processes, significantly improving overall work efficiency, and facilitating the promotion and application of dexterous hands.

[0021] The beneficial effects of this application are:

[0022] 1. The special screwdriver designed in this utility model can tighten or loosen screws without the need for a motor. It only requires controlling the dexterous hand to move towards or away from the screw to tighten or loosen it. The hardware structure is simple and does not require separate embedded software to coordinate the movement, which reduces costs and facilitates the promotion and application of dexterous hands.

[0023] 2. The special screwdriver designed in this utility model only needs to be clipped onto the fingers of a dexterous hand when in use. It is easy and simple to install, and there is no need for wiring or debugging, which saves time.

[0024] 3. The design of the guide rod in this utility model can prevent the reset plate from rotating and causing the spring to twist when the double-ended screw rotates, thus reducing the service life of the special screwdriver. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a partial sectional view of the screwdriver of this utility model;

[0027] Figure 2 This is a cross-sectional view of the double helical groove of this utility model;

[0028] Figure 3 This is a three-dimensional structural diagram of the shell of this utility model;

[0029] Figure 4 This is a three-dimensional structural diagram of the double-headed screw of this utility model;

[0030] Figure 5 This is a three-dimensional structural diagram of the dexterous hand of this utility model;

[0031] Figure 6 This is a three-dimensional structural diagram of the dexterous hand and the special screwdriver of this utility model after they are connected.

[0032] Figure label:

[0033] 100. Dexterous hand; 101. Finger; 1011. Snap-fit ​​groove; 1012. Receiving cavity.

[0034] 200. Special screwdriver; 201. Housing; 2011. Raised bar; 2012. Support plate; 20121. Double helical groove; 202. Double-ended screw; 2021. Thread; 203. Reset mechanism; 2031. Reset spring; 2032. Reset plate; 204. Guide rod. Detailed Implementation

[0035] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0036] 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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0037] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0038] Currently, when dexterous hands are used to grasp tools and perform tasks, their insufficient degrees of freedom and control precision make it difficult to perform tasks requiring fine adjustments and operations, such as tightening screws. Existing dexterous hands struggle to flexibly grasp screwdrivers to tighten or loosen screws. Current solutions often involve designing a dedicated robotic arm. When this operation is needed, the existing dexterous hand is disassembled from the wrist joint of the robotic arm, and a dedicated robotic arm is installed. Rewiring is also required. While designing a dedicated robotic arm can solve the problem of dexterous hands being unable to tighten or loosen screws due to insufficient degrees of freedom and control precision, it increases costs and is cumbersome and time-consuming to install and disassemble.

[0039] Based on this, this application proposes a dedicated screwdriver and a dexterous hand. The dedicated screwdriver provided by this invention avoids the need for redevelopment and redesign of the dexterous hand, and eliminates the need for a motor. Simply controlling the dexterous hand to move closer to or away from the screw is sufficient to tighten or loosen it. The hardware structure is simple, and no separate software is required to coordinate the movement, significantly reducing production costs. Furthermore, the dedicated screwdriver provided by this invention can be directly installed onto the fingers of the dexterous hand, making the entire installation and implementation process simple and quick, avoiding cumbersome installation and debugging processes, significantly improving overall work efficiency, and facilitating the promotion and application of the dexterous hand.

[0040] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and embodiments. Example

[0041] See Figure 1 The image shown is a partial sectional view of the screwdriver of this utility model. Figure 2 The cross-sectional view of the double helical groove of this utility model shown is shown below. Figure 3 The diagram shown is a three-dimensional structural schematic of the housing of this utility model. Figure 4 The diagram shown is a three-dimensional structural schematic of the double-ended screw of this utility model.

[0042] This embodiment proposes a special screw for enabling the dexterous hand 100 to perform a screwing operation. It includes a housing 201, a double-ended screw 202, and a reset mechanism 203. A support plate 2012 is provided inside the housing 201. The support plate 2012 is located in the middle part of the length direction of the housing 201. The housing 201 has a symmetrical structure about the support plate 2012. The inner wall of the housing 201 matches the outer wall structure and size of the fingers of the dexterous hand 100. The housing 201 is used to connect with the fingers of the dexterous hand 100.

[0043] A double helical groove 20121 is provided through the support plate 2012. The double helical groove 20121 is composed of two sets of helical grooves with opposite helical directions. The double-ended screw 202 can move up and down along the double helical groove 20121. The double-ended screw 202 is provided with two sets of threads 2021 with opposite helical directions. Under the action of the double helical groove 20121 and the threads 2021, when the double-ended screw 202 and the support plate 2012 undergo relative linear motion, they will also undergo relative rotational motion.

[0044] The double helical groove 20121 formed by the helical grooves with opposite helical directions and the two sets of threads 2021 with opposite helical directions on the double-ended screw 202 allow the double-ended screw 202 to rotate in different directions relative to the support plate 2012 when the double-ended screw 202 and the support plate 2012 undergo relative linear motion.

[0045] The gap between the two sets of threads 2021 on the double-ended screw 202 is not less than the thickness of the support plate 2012, so as to avoid the double-ended screw 202 from getting stuck with the double helical groove 20121.

[0046] In one embodiment, the gap between the two sets of threads 2021 on the double-ended screw 202 is equal to the thickness of the support plate 2012.

[0047] In order to reset the double-ended screw 202 after it moves up and down along the double spiral groove 20121, a reset mechanism 203 is also provided between the support plate 2012 and the double-ended screw 202. The reset mechanism 203 includes a reset spring 2031 and a reset plate 2032.

[0048] There are two reset plates 2032, which are rotatably connected to the two ends of the unthreaded section 2021 of the double-ended screw 202 through bearings. The reset spring 2031 is located between the reset plate 2032 and the support plate 2012, and the two ends of the reset spring 2031 are fixedly connected to the reset plate 2032 and the support plate 2012 respectively.

[0049] Under the action of the reset mechanism 203, in the initial state, the part between the two sets of threads 2021 of the double-ended screw 202 is located at the double helical groove 20121.

[0050] To prevent the reset plate 2032 from rotating and causing the spring 2031 to twist when the double-ended screw 202 rotates, guide rods 204 are fixedly provided on the upper and lower end faces of the support plate 2012, respectively. The guide rods 204 are perpendicular to the support plate 2012, and the other end of the guide rods 204 passes through the reset plate 2032.

[0051] In one embodiment, there are two guide rods on the same side of the support plate 2012, and the spring 2031 is located on the outer periphery of the guide rod 204.

[0052] Multiple protrusions 2011 are provided at both ends of the inner wall of the housing 201. The protrusions 2011 are used to engage with the locking groove 1011 when the special screwdriver 200 is installed on the dexterous hand 100.

[0053] See Figure 5 The diagram shown is a three-dimensional structural schematic of the dexterous hand of this utility model. Figure 6 The diagram shown is a three-dimensional structural schematic of the present invention after the dexterous hand and the special screwdriver are engaged.

[0054] A dexterous hand includes a dedicated screwdriver 200, with a snap-fit ​​groove 1011 and a receiving cavity 1012 at the fingertip. The snap-fit ​​groove 1011 is located on the side wall of the finger and is used to snap the dedicated screwdriver 200 onto the dexterous hand 100. In this way, when the dedicated screwdriver 200 is used, it only needs to be snapped onto the finger of the dexterous hand 100, which is convenient and simple to install, without the need for wiring and debugging, saving time.

[0055] One end of the receiving cavity 1012 extends through the fingertip. The receiving cavity 1012 is used to receive the double-ended screw 202 and its depth direction is the length direction of the finger.

[0056] When using it, first determine whether the screw needs to be tightened or loosened based on the task at hand. Then, select the correct end and attach the special screwdriver 200 to the finger of the dexterous hand 100 (to better distinguish which end of the special screwdriver is for tightening and which is for loosening, you can use symbols to mark it, for example: the tightening end is represented by "J" and the loosening end by "S", not shown in the figure). Then, under the action of the dexterous hand 100, one end of the double-ended screw 202 will contact the screw, and the dexterous hand 100 will continue to press down on the screw. When the housing 201 of the screwdriver 200 moves forward, the double-ended screw 202 and the support plate 2012 will rotate relative to each other when the double helical groove 20121 and the thread 2021 move in a straight line. The rotating double-ended screw 202 will tighten or loosen the screw. After the work is completed, the dexterous hand 100 will take the special screwdriver 200 away from the screw. Then, under the action of the reset mechanism 203, the double-ended screw 202 will return to the initial state to prepare for the next work.

[0057] In summary, this application provides a dedicated screwdriver and a dexterous hand. The dedicated screwdriver can tighten or loosen screws without the need for a motor. Simply controlling the dexterous hand to move it closer to or away from the screw is sufficient to tighten or loosen it. The hardware structure is simple and does not require separate embedded software to coordinate the movement, thus reducing costs and facilitating the promotion and application of the dexterous hand.

[0058] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A dedicated screwdriver for enabling a dexterous hand (100) to perform a screwing operation, characterized in that: The application relates to a special screwdriver (200) and a dexterous hand (100) connected with the special screwdriver (200). The support plate (2012) is provided with a double helical groove (20121) penetrating through the support plate (2012), and the double helical groove (20121) is composed of two groups of helical grooves with opposite helical directions. The double-end screw rod (202) can move up and down along the double helical groove (20121), and the double-end screw rod (202) is provided with two groups of threads (2021) with opposite helical directions. The reset mechanism (203) is arranged between the support plate (2012) and the double-end screw rod (202) and is used for resetting the double-end screw rod (202) after the double-end screw rod (202) moves up and down along the double helical groove (20121).

2. The specialized screwdriver of claim 1, wherein: The reset mechanism (203) comprises reset springs (2031) and reset plates (2032), the number of the reset plates (2032) is two, the two ends of the double-end screw rod (202) are respectively connected with the two groups of threadless (2021) sections of the double-end screw rod (202) through bearings, the reset springs (2031) are located between the reset plates (2032) and the support plate (2012), and the two ends of the reset springs (2031) are respectively fixedly connected with the reset plates (2032) and the support plate (2012).

3. The specialized screwdriver of claim 2, wherein: The upper and lower end faces of the support plate (2012) are respectively fixedly provided with guide rods (204), the guide rods (204) are respectively perpendicular to the support plate (2012), and the other ends of the guide rods (204) respectively penetrate through the reset plates (2032).

4. The specialized screwdriver of claim 1, wherein: The support plate (2012) is located at the middle part of the length direction of the shell (201), the shell (201) is arranged in a symmetrical structure about the support plate (2012), the inner wall of the shell (201) is matched with the outer wall structure and size of the fingers of the dexterous hand (100), and the shell (201) is used for being connected with the fingers of the dexterous hand (100).

5. The specialized screwdriver of claim 1, wherein: The gap between the two groups of threads (2021) on the double-end screw rod (202) is not less than the thickness of the support plate (2012).

6. The specialized screwdriver of claim 5, wherein: The gap between the two groups of threads (2021) on the double-end screw rod (202) is equal to the thickness of the support plate (2012).

7. The specialized screwdriver of claim 1, wherein: The inner walls of the two ends of the shell (201) are respectively provided with a plurality of convex strips (2011).

8. A dexterous hand characterized by: The application relates to a special screwdriver (200) and a dexterous hand (100) connected with the special screwdriver (200).

9. The dexterous hand of claim 8, wherein: The fingers are provided with a clamping groove (1011) and a containing cavity (1012), the clamping groove (1011) is located on the finger side wall, the clamping groove (1011) is used for clamping the convex strips (2011) when the special screwdriver (200) is installed on the dexterous hand (100), one end of the containing cavity (1012) penetrates through the finger tip, and the containing cavity (1012) is used for containing the double-end screw rod (202) and the depth direction of the containing cavity (1012) is the length direction of the finger.

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