Electrically-driven humanoid dexterous hand

Abstract

The utility model relates to the technical field of robots, in particular to an electrically-driven humanoid dexterous hand which comprises a palm body, a first finger pulp and a second finger pulp, a bending block is rotatably installed on one side of the palm body, and bending structures are arranged at the upper end of the palm body and one side of the bending block. A first finger pulp is movably installed at the upper end of the palm body and one side of the bent block through a bent structure, a second finger pulp is installed at one end of the first finger pulp through a bent structure, a user pulls a pull rod downwards, the pull rod drives a moving plate to move downwards, the moving plate drives one end of a connecting rod to move, and the connecting rod drives an adjusting rod to move. The adjusting rod drives the pop-up clamping block to move towards the interior of the movable groove, so that the pop-up clamping block is separated from the limiting groove, the assembling head and the connecting strip can be pulled out from the interior of the assembling groove, the rotating frame can be detached from the first finger pulp or the second finger pulp, and the finger pulp is convenient to replace.

Description

Technical Field

[0001] This utility model relates to a humanoid dexterous hand, and more particularly to an electrically driven humanoid dexterous hand, belonging to the field of robotics technology. Background Technology

[0002] Humanoid dexterous hands, as an important branch of robotics, have profound significance. By mimicking the structure and movement mechanisms of human fingers, they achieve precise grasping, manipulation, and perception capabilities, enabling robots to perform many complex tasks that previously required human manipulation. In fields such as industrial manufacturing and logistics, humanoid dexterous hands can replace humans in repetitive, high-precision, and high-risk tasks, reducing human safety risks. Highly humanoid dexterous hands allow robots to enter more fields requiring human manipulation, such as healthcare, service, and education, thereby expanding the application areas of robots. In particular, with the widespread adoption and application of humanoid robots, they will gradually change people's lifestyles and work patterns. For example, in the home, humanoid dexterous hands can assist people with housework; in the medical field, they can provide rehabilitation training and assisted living for people with disabilities, better serving humanity.

[0003] A search revealed a subactuated humanoid dexterous hand controlled by a micro motor, with publication number CN209954679U.

[0004] Existing electrically driven humanoid dexterous hands coordinate actions such as grasping by bending the finger joints. However, the existing finger joints are mostly fixed by bolts. After long-term use, the mechanical finger joints are easily damaged. Once damaged, replacement is very inconvenient and seriously affects the operation of the overall equipment.

[0005] Therefore, it is urgent to improve the existing electrically driven humanoid dexterous hand in order to solve the above-mentioned problems. Utility Model Content

[0006] The purpose of this invention is to provide an electrically driven humanoid dexterous hand that can solve the problem of existing electrically driven humanoid dexterous hands using finger joints to bend and perform grasping and other actions. However, existing finger joints are mostly fixed by bolts, and after long-term use, the mechanical finger joints are easily damaged. Once damaged, replacement is very inconvenient and seriously affects the operation of the overall equipment.

[0007] To achieve the above objectives, the main technical solution adopted by this utility model includes: an electrically driven humanoid dexterous hand, comprising a palm body, a first fingertip, and a second fingertip. A bending block is rotatably mounted on one side of the palm body. A bending structure is provided on the upper end of the palm body and one side of the bending block. The first fingertip is movably mounted on the upper end of the palm body and one side of the bending block through the bending structure. The second fingertip is mounted on one end of the first fingertip through the bending structure.

[0008] The bending structure includes a connecting frame, which is fixedly installed on the upper end of the palm body, one side of the bending block and one end of the first fingertip. The other end of the first fingertip and one end of the second fingertip are detachably mounted with a rotating frame. A connecting structure is provided between the rotating frame and the first and second fingertips. The rotating frame is rotatably sleeved on the surface of the connecting frame. A driving component is provided between the rotating frame and the connecting frame.

[0009] Preferably, the drive assembly includes a mounting slot, which is formed on both sides of the lower end of the rotating frame. The mounting slot is U-shaped, and both sides of the rotating frame are provided with slots that connect to the mounting slot.

[0010] Preferably, a dual-axis motor is fixedly installed inside the connecting frame. A rotating rod is installed at the output end of the dual-axis motor. One end of the rotating rod passes through the mounting groove and is inserted into the slot, where a polygonal locking block is installed. The polygonal locking block cooperates with the slot.

[0011] Preferably, a square rod is movably inserted at one end of the rotating rod, one end of the square rod is fixedly connected to a polygonal locking block, an adsorption block is fixedly installed at the other end of the square rod, a tension spring connected to the adsorption block is sleeved on the surface of the square rod, and an electromagnetic coil is fixedly installed at one end inside the rotating rod, the electromagnetic coil being electrically connected to the adsorption block.

[0012] Preferably, both sides of one end of the rotating rod are provided with insertion holes, and one side of the polygonal card block is fixedly installed with an insertion block, which is movably inserted into the insertion hole.

[0013] Preferably, the connecting structure includes an assembly groove, which is formed at the lower end of the first and second fingertips. Connecting grooves are formed on both sides of the inner wall of the assembly groove. A limiting groove is formed at one end of the connecting groove. An assembly head is fixedly installed at the upper end of the rotating frame. The upper end of the assembly head is movably inserted into the interior of the assembly groove. Connecting strips are fixedly installed on both sides of the assembly head. The connecting strips are movably inserted into the interior of the connecting groove.

[0014] Preferably, a movable groove is provided on one side of the connecting strip, a return spring is fixedly installed inside the movable groove, and a pop-out block is fixedly installed at one end of the return spring. The pop-out block is movably inserted inside the limiting groove.

[0015] Preferably, the assembly head has an adjustment groove inside, and adjustment rods are movably inserted on both sides of the adjustment groove. One end of the adjustment rod is movably inserted inside the movable groove and connected to the pop-out block. A support spring is fixedly installed inside the adjustment groove. A movable plate is fixedly installed on the upper end of the support spring. Connecting rods are movably installed on both sides of the upper end of the movable plate. One end of the connecting rod is movably connected to the adjustment rod. A pull rod is fixedly installed on the lower end of the movable plate. One end of the pull rod is located outside the rotating frame.

[0016] This utility model has at least the following beneficial effects:

[0017] 1. In this utility model, when the rotating frame is connected to the connecting frame, the user pulls the polygonal locking block. The polygonal locking block moves the adsorption block through the square rod, compressing the tension spring. The rotating rod is inserted into the interior of the rotating frame along the mounting groove. When the user releases the polygonal locking block, the polygonal locking block moves into the groove under the action of the tension spring, allowing the rotating rod to drive the rotating frame to rotate through the polygonal locking block. Under the action of the insertion block and the insertion hole, the rotation of the polygonal locking block is strengthened. When the dual-axis motor rotates, the electromagnetic coil is energized, generating magnetic force. Under the action of magnetic force, the adsorption block is tightly attached to the electromagnetic coil, strengthening the connection between the polygonal locking block and the rotating frame. Reverse operation facilitates the quick separation of the rotating frame from the connecting frame, making it easy to replace.

[0018] 2. In this utility model, when the user pulls down the lever, the lever moves the moving plate downward, the moving plate moves one end of the connecting rod, the connecting rod moves the adjusting rod, and the adjusting rod moves the pop-out block into the interior of the movable groove, so that the pop-out block disengages from the limiting groove, allowing the assembly head and connecting strip to be pulled out from the interior of the assembly groove, and allowing the rotating frame to be disassembled from the first fingertip or the second fingertip, making it convenient to replace the fingertip. Attached Figure Description

[0019] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0020] Figure 1 This is a three-dimensional structural diagram of the device of this utility model;

[0021] Figure 2 This is a schematic diagram of the connection between the first fingertip and the second fingertip in the device of this utility model;

[0022] Figure 3 This is a half-sectional view of the connection between the first fingertip and the second fingertip in the device of this utility model.

[0023] Figure 4 For the present utility model Figure 3 Enlarged structural diagram at point A in the middle;

[0024] Figure 5 For the present utility model Figure 3 Enlarged structural diagram at point B.

[0025] In the diagram: 1. Hand body; 2. Bending block; 3. First fingertip; 4. Connecting frame; 5. Second fingertip; 6. Rotating frame; 7. Mounting slot; 8. Slot; 9. Polygonal locking block; 10. Dual-axis motor; 11. Rotating rod; 12. Electromagnetic coil; 13. Adsorption block; 14. Square rod; 15. Tension spring; 16. Insert block; 17. Assembly head; 18. Connecting strip; 19. Connecting slot; 20. Limiting slot; 21. Pop-out locking block; 22. Return spring; 23. Adjusting rod; 24. Adjusting slot; 25. Moving plate; 26. Connecting rod; 27. Pull rod; 28. Support spring. Detailed Implementation

[0026] The following will describe in detail the implementation of this application with reference to the accompanying drawings and embodiments, so that the implementation process of how this application uses technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

[0027] like Figures 1 to 4 As shown, this embodiment provides an electrically driven humanoid dexterous hand, including a palm body 1, a first fingertip 3, and a second fingertip 5. A bending block 2 is rotatably mounted on one side of the palm body 1. A bending structure is provided on the upper end of the palm body 1 and one side of the bending block 2. The first fingertip 3 is movably mounted on the upper end of the palm body 1 and one side of the bending block 2 through the bending structure. The second fingertip 5 is mounted on one end of the first fingertip 3 through the bending structure. The bending structure includes a connecting frame 4, which is fixedly mounted on the upper end of the palm body 1, one side of the bending block 2, and one end of the first fingertip 3. A rotating frame 6 is detachably mounted on the other end of the first fingertip 3 and one end of the second fingertip 5. A connecting structure is provided between the rotating frame 6 and the first fingertip 3 and the second fingertip 5. The rotating frame 6 is rotatably sleeved on the surface of the connecting frame 4. A driving component is provided between the rotating frame 6 and the connecting frame 4.

[0028] In this embodiment, the dual-axis motor 10 drives the rotating rod 11 to rotate. The rotating rod 11 drives the polygonal locking block 9 to rotate through the square rod 14, the insert block 16 and the insertion hole. The polygonal locking block 9 and the locking slot 8 cooperate, so that the rotating frame 6 can rotate outside the connecting frame 4, which can achieve the effect of bending the first fingertip 3 and the second fingertip 5, thereby facilitating the gripping of the whole device.

[0029] like Figures 1 to 4 As shown, this embodiment provides an electrically driven humanoid dexterous hand. The driving component includes a mounting groove 7, which is U-shaped and located on both sides of the lower end of a rotating frame 6. Each side of the rotating frame 6 has a slot 8 that connects to the mounting groove 7. A dual-axis motor 10 is fixedly installed inside a connecting frame 4. A rotating rod 11 is installed at the output end of the dual-axis motor 10. One end of the rotating rod 11 passes through the mounting groove 7 and is inserted into the slot 8, where a polygonal locking block 9 is installed. The polygonal locking block 9 cooperates with the slot 8. A square rod 14 is movably inserted at one end of the rotating rod 11. One end of the square rod 14 is fixedly connected to the polygonal locking block 9. An adsorption block 13 is fixedly installed at the other end of the square rod 14. A tension spring 15 connected to the adsorption block 13 is sleeved on the surface of the square rod 14. An electromagnetic coil 12 is fixedly installed inside one end of the rotating rod 11. The electromagnetic coil 12 is electrically connected to the adsorption block 13. Insertion holes are opened on both sides of one end of the rotating rod 11. An insertion block 16 is fixedly installed on one side of the polygonal locking block 9. The insertion block 16 is movably inserted into the inside of the insertion hole.

[0030] In this embodiment, when the rotating frame 6 is connected to the connecting frame 4, the user pulls the polygonal locking block 9. The polygonal locking block 9 moves the adsorption block 13 through the square rod 14, compressing the tension spring 15. The rotating rod 11 is inserted into the interior of the rotating frame 6 along the mounting groove 7. When the user releases the polygonal locking block 9, the polygonal locking block 9 moves into the groove 8 under the action of the tension spring 15, so that the rotating rod 11 can drive the rotating frame 6 to rotate through the polygonal locking block 9. Under the action of the insertion block 16 and the insertion hole, the rotation of the polygonal locking block 9 is strengthened. When the dual-axis motor 10 rotates, the electromagnet 12 is energized and generates magnetic force. Under the action of magnetic force, the adsorption block 13 is tightly attached to the electromagnet 12, strengthening the connection between the polygonal locking block 9 and the rotating frame 6. Reverse operation facilitates the quick separation of the rotating frame 6 from the connecting frame 4, making it easy to replace.

[0031] like Figure 3 and Figure 5As shown, this embodiment provides an electrically driven humanoid dexterous hand. The connecting structure includes an assembly groove, which is located at the lower ends of the first fingertip 3 and the second fingertip 5. Connecting grooves 19 are provided on both sides of the inner wall of the assembly groove. A limiting groove 20 is provided at one end of each connecting groove 19. An assembly head 17 is fixedly installed on the upper end of a rotating frame 6. The upper end of the assembly head 17 movably inserts into the assembly groove. Connecting strips 18 are fixedly installed on both sides of the assembly head 17. The connecting strips 18 movably insert into the connecting grooves 19. A movable groove is provided on one side of each connecting strip 18. A return spring 22 is fixedly installed inside the movable groove. One end of the return spring 22 is fixed... A pop-out latch 21 is installed, which is movably inserted inside the limiting groove 20. An adjustment groove 24 is opened inside the assembly head 17. Adjustment rods 23 are movably inserted on both sides of the adjustment groove 24. One end of the adjustment rod 23 is movably inserted inside the movable groove and connected to the pop-out latch 21. A support spring 28 is fixedly installed inside the adjustment groove 24. A movable plate 25 is fixedly installed on the upper end of the support spring 28. Connecting rods 26 are movably installed on both sides of the upper end of the movable plate 25. One end of the connecting rod 26 is movably connected to the adjustment rod 23. A pull rod 27 is fixedly installed on the lower end of the movable plate 25. The pull rod 27 is located on the outside of the rotating frame 6.

[0032] In this embodiment, the user pulls down the lever 27, which causes the moving plate 25 to move downward. The moving plate 25 causes one end of the connecting rod 26 to move, and the connecting rod 26 causes the adjusting rod 23 to move. The adjusting rod 23 causes the pop-out block 21 to move into the movable groove, so that the pop-out block 21 disengages from the limiting groove 20. This allows the assembly head 17 and the connecting strip 18 to be pulled out from inside the assembly groove, so that the rotating frame 6 can be disassembled from the first fingertip 3 or the second fingertip 5, making it convenient to replace the fingertip.

[0033] If certain terms are used in the specification and claims to refer to specific components, those skilled in the art will understand that hardware manufacturers may use different names to refer to the same component. This specification and claims do not distinguish components based on differences in name, but rather on differences in function. The term "comprising" as used throughout the specification and claims is an open-ended term and should be interpreted as "comprising but not limited to." "Approximately" means that within an acceptable margin of error, those skilled in the art can solve the technical problem and substantially achieve the technical effect within a certain margin of error.

[0034] It should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a product or system comprising a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a product or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the product or system that includes that element.

[0035] The foregoing description illustrates and describes several preferred embodiments of the present invention. However, as previously stated, it should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the inventive concept described herein through the foregoing teachings or techniques or knowledge in related fields. Any modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. An electrically driven humanoid dexterous hand, comprising a palm body (1), a first fingertip (3), and a second fingertip (5), characterized in that: A bending block (2) is rotatably installed on one side of the palm body (1). A bending structure is provided on the upper end of the palm body (1) and one side of the bending block (2). A first fingertip (3) is movably installed on the upper end of the palm body (1) and one side of the bending block (2) through the bending structure. A second fingertip (5) is installed on one end of the first fingertip (3) through the bending structure. The bending structure includes a connecting frame (4), which is fixedly installed on the upper end of the palm body (1), one side of the bending block (2) and one end of the first fingertip (3). The other end of the first fingertip (3) and one end of the second fingertip (5) are detachably mounted with a rotating frame (6). A connecting structure is provided between the rotating frame (6) and the first fingertip (3) and the second fingertip (5). The rotating frame (6) is rotatably sleeved on the surface of the connecting frame (4). A driving component is provided between the rotating frame (6) and the connecting frame (4).

2. The electrically driven humanoid dexterous hand according to claim 1, characterized in that: The drive assembly includes a mounting slot (7), which is located on both sides of the lower end of the rotating frame (6). The mounting slot (7) is U-shaped, and both sides of the rotating frame (6) are provided with slots (8) that connect to the mounting slot (7).

3. The electrically driven humanoid dexterous hand according to claim 2, characterized in that: A dual-axis motor (10) is fixedly installed inside the connecting frame (4). A rotating rod (11) is installed at the output end of the dual-axis motor (10). One end of the rotating rod (11) passes through the mounting groove (7) and is inserted into the slot (8) and is fitted with a polygonal card block (9). The polygonal card block (9) cooperates with the slot (8).

4. The electrically driven anthropomorphic dexterous hand according to claim 3, characterized in that: A square rod (14) is movably inserted at one end of the rotating rod (11). One end of the square rod (14) is fixedly connected to the polygonal locking block (9). An adsorption block (13) is fixedly installed at the other end of the square rod (14). A tension spring (15) connected to the adsorption block (13) is sleeved on the surface of the square rod (14). An electromagnetic coil (12) is fixedly installed inside one end of the rotating rod (11). The electromagnetic coil (12) is electrically connected to the adsorption block (13).

5. The electrically driven anthropomorphic dexterous hand according to claim 4, characterized in that: Both sides of one end of the rotating rod (11) are provided with insertion holes, and one side of the polygonal card block (9) is fixedly installed with a plug (16), which is movably inserted into the inside of the insertion hole.

6. The electrically driven anthropomorphic dexterous hand according to claim 1, characterized in that: The connection structure includes an assembly groove, which is located at the lower end of the first fingertip (3) and the second fingertip (5). A connecting groove (19) is provided on both sides of the inner wall of the assembly groove. A limiting groove (20) is provided at one end of the connecting groove (19). An assembly head (17) is fixedly installed on the upper end of the rotating frame (6). The upper end of the assembly head (17) is movably inserted into the interior of the assembly groove. A connecting strip (18) is fixedly installed on both sides of the assembly head (17). The connecting strip (18) is movably inserted into the interior of the connecting groove (19).

7. An electrically driven anthropomorphic dexterous hand according to claim 6, characterized in that: A movable groove is provided on one side of the connecting strip (18), and a reset spring (22) is fixedly installed inside the movable groove. A pop-out block (21) is fixedly installed at one end of the reset spring (22), and the pop-out block (21) is movably inserted inside the limiting groove (20).

8. An electrically driven humanoid dexterous hand according to claim 7, characterized in that: The assembly head (17) has an adjustment groove (24) inside. Adjustment rods (23) are movably inserted on both sides of the adjustment groove (24). One end of the adjustment rod (23) is movably inserted inside the movable groove and connected to the pop-out block (21). A support spring (28) is fixedly installed inside the adjustment groove (24). A movable plate (25) is fixedly installed on the upper end of the support spring (28). Connecting rods (26) are movably installed on both sides of the upper end of the movable plate (25). One end of the connecting rod (26) is movably connected to the adjustment rod (23). A pull rod (27) is fixedly installed on the lower end of the movable plate (25). One end of the pull rod (27) is located outside the rotating frame (6).

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