Dexterous hand structure and finger structure

Abstract

The utility model provides a dexterous hand structure and a finger structure, and the dexterous hand structure comprises a main body part which is provided with a first connecting end and five second connecting ends; the movable parts are connected to the five second connecting ends respectively, and the five movable parts are movably connected with the five second connecting ends; the five driving wires can penetrate into the movable parts, any one driving wire can be in contact with one side of the first pin shafts in the corresponding movable part in sequence, the finger joint parts are connected with one another, the finger joint parts are connected through the first pin shafts, and the finger joint parts are connected through the finger joint parts. The second connecting end is connected with the first pin shaft between the knuckle parts and the fingertip parts, the second connecting end is wound on the first pin shaft between the knuckle parts and the fingertip parts to turn to the other side of the first pin shaft, the second connecting end continuously extends to penetrate out of the movable part, and an elastic piece is connected between any knuckle part and the adjacent knuckle part or fingertip part or the second connecting end, so that the movable part in the dexterous hand structure can move and reset.

Description

Technical Field

[0001] This application belongs to the technical field of robotic hands, and particularly relates to a dexterous hand structure and finger structure. Background Technology

[0002] In existing technologies, the hand structure of humanoid robots generally requires a drive mechanism to independently drive each finger. However, in existing structures, the individual finger structures are overly complex, resulting in excessive weight for the hand. Furthermore, the drive mechanism being located within the hand structure restricts the humanoid robot's hand from performing flexible movements.

[0003] There is currently no effective solution to the above problems.

[0004] It should be noted that the above introduction to the technical background is only for the purpose of providing a clear and complete explanation of the technical solutions of this utility model and facilitating understanding by those skilled in the art. It should not be assumed that these technical solutions are known to those skilled in the art simply because they have been described in the background section of this utility model. Utility Model Content

[0005] The purpose of this application is to provide a dexterous hand structure and a finger structure to solve the above problems.

[0006] This application provides a dexterous hand structure, comprising:

[0007] The main body has a first connecting end and five second connecting ends;

[0008] Each of the five movable parts is movably connected to one of the five second connecting ends;

[0009] Each of the movable parts includes at least one interconnected knuckle and a fingertip. The knuckles are connected to each other by a first pin, and the knuckle and the fingertip are also connected by a first pin. A pulley is fixedly installed at the middle position of each of the first pins.

[0010] The first connecting end of the main body is provided with five connecting holes, through which drive wires are passed. The five drive wires pass into the main body and the corresponding movable part, and exit from the corresponding movable part and the main body. The five drive wires respectively abut against the multiple pulleys in the corresponding movable part to drive the corresponding first pin to rotate.

[0011] Each of the aforementioned knuckle portions is connected to an elastic element between itself and an adjacent knuckle portion, fingertip portion, or the second connecting end, for resetting the knuckle portion or fingertip portion.

[0012] Preferably, each of the five second connecting ends is fixedly connected to a connecting plate, and each of the first connecting plates is rotatably connected to the corresponding finger joint via a first pin.

[0013] Preferably, a second pin is provided near each of the first pins, and the middle position of the elastic element is rotatably connected to the second pin.

[0014] Preferably, the first pin and the second pin are parallel to each other.

[0015] Preferably, the drive line is kept separate from the second pin.

[0016] A finger structure, comprising at least one knuckle and a fingertip.

[0017] Multiple adjacent finger joints are rotatably connected to each other via a first pin.

[0018] The knuckle portion and the adjacent fingertip portion are rotatably connected by a first pin.

[0019] The drive wire passes through the knuckle and the fingertip, the drive wire is wound around the first pin between the knuckle and the fingertip, and the drive wire passes through the fingertip and the knuckle.

[0020] Wherein, a pulley is fixedly installed at the middle position of the first pin shaft, and the drive line abuts against the pulley to drive the first pin shaft to rotate; an elastic element is fixedly installed between the knuckle and the adjacent knuckle or the fingertip to reset the knuckle and the fingertip.

[0021] Preferably, each of the two ends of any of the finger joints is provided with a second pin, and the middle position of the elastic element is rotatably connected to the second pin.

[0022] Preferably, the first pin is parallel to the second pin.

[0023] Preferably, the elastic element is made of an elastic sheet.

[0024] Preferably, the drive line is kept separate from the second pin.

[0025] Compared with the prior art, the beneficial effects of this utility model are:

[0026] 1. This utility model allows five drive lines to be inserted into the movable part. Each drive line can sequentially contact one side of one of the multiple first pins in the corresponding movable part, then circle around the first pin between the knuckle and the fingertip, turn to the other side of the first pin, and then continue to extend out of the movable part. Furthermore, each knuckle is connected to an elastic element between itself and an adjacent knuckle, fingertip, or second connecting end, thereby enabling the movable part in the dexterous hand structure to move and reset.

[0027] 2. When this utility model moves via the end of the traction drive line, it can drive the pulley to rotate. The rotation of the pulley can drive the first pin to rotate. The rotation of the first pin can cause the knuckle and fingertip in the movable part to rotate relative to each other, thereby realizing the bending posture of the finger structure. The two sides of the elastic element abut against the two adjacent knuckles or the two sides of the elastic element abut against the adjacent fingertip and knuckle, thereby fixing the relative position of the two adjacent knuckles or the adjacent fingertip and knuckle. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this application 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 recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is an overall structural diagram of a dexterous hand, including a dexterous hand structure and finger structure, provided in an embodiment of this application.

[0030] Figure 2 This is an overall finger structure diagram of a dexterous hand structure and finger structure provided in the embodiments of this application;

[0031] Figure 3 This is an overall structural diagram of the main body of a dexterous hand structure and finger structure provided in an embodiment of this application.

[0032] In the figure: 1. Main body; 11. First connecting end; 12. Second connecting end; 2. Movable part; 21. Knuckle part; 22. Fingertip part; 3. First pin; 31. Pulley; 4. Drive line; 5. Elastic element; 6. Connecting plate; 7. Second pin. Detailed Implementation

[0033] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this application.

[0034] In the description of this utility model, it should be noted that the terms "upper," "middle," "lower," "inner," "outer," "front," and "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and for simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. The terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances. The implementation methods of this utility model will now be described based on its overall structure.

[0035] Reference Figure 1 As shown, this application embodiment provides a dexterous hand structure, including:

[0036] Main body 1, the main body 1 has a first connecting end 11 and five second connecting ends 12;

[0037] The five movable parts 2 are respectively connected to the five second connecting ends 12, and the five movable parts 2 are movably connected to the five second connecting ends 12.

[0038] Each movable part 2 includes at least one interconnected knuckle part 21 and a fingertip part 22. Multiple knuckle parts 21 are connected by a first pin 3. The knuckle part 21 and the fingertip part 22 are also connected by a first pin 3. A pulley 31 is fixedly installed at the middle position of each first pin 3.

[0039] The first connecting end 11 of the main body 1 has five connecting holes, through which drive wires 4 are passed. The five drive wires 4 pass into the main body 1 and the corresponding movable part 2, and the five drive wires 4 pass out from the corresponding movable part 2 and the main body 1. The five drive wires 4 respectively abut against multiple pulleys 31 in the corresponding movable part 2 to drive the corresponding first pin 3 to rotate.

[0040] Each knuckle 21 is connected to an elastic element 5 between itself and an adjacent knuckle 21, fingertip 22, or second connecting end 12, for resetting the knuckle 21 or fingertip 22.

[0041] according to Figure 1 Those skilled in the art can combine the main body 1 and the five movable parts 2 to form a dexterous hand structure, that is, the five movable parts 2 are installed on the second connecting end 12 of the main body 1 to form a finger structure.

[0042] Specifically, those skilled in the art can configure the movable part 2 to include at least one knuckle portion 21 and a fingertip portion 22. The knuckle portions 21 are connected to each other by a first pin 3, and the knuckle portions 21 and the fingertip portions 22 are also connected by a first pin 3.

[0043] With the above structure, the knuckle portion 21 is connected to the knuckle portion 21 or the fingertip portion 22 through the first pin 3, so that adjacent knuckle portions 21 can rotate relative to each other, and adjacent knuckle portions 21 and fingertip portions 22 can also rotate relative to each other.

[0044] Furthermore, those skilled in the art can arrange a pulley 31 to be fitted at the middle position of the first pin 3. It is understood that the first pin 3 is located inside the knuckle portion 21, and the outermost edge of the pulley 31 on the first pin 3 is also located inside the knuckle portion 21.

[0045] Based on the above structure, those skilled in the art can configure the drive line 4 to pass through the first connecting end 11 of the main body 1, and the drive line 4 to pass through the second connecting end 12 into the movable part 2.

[0046] Specifically, five drive lines can be inserted into the movable part 2. Any drive line 4 can contact one side of one of the multiple first pins 3 in the corresponding movable part 2 in turn, then circle around the first pin 3 between the knuckle part 21 and the fingertip part 22 to the other side of the first pin 3, and then continue to extend out of the movable part 2.

[0047] It is understandable that any drive line 4 passes through the movable part 2 and exits, and any drive line 4 abuts against the opposite sides of the pulley 31 on the first pin 3.

[0048] With the above structure, when a person skilled in the art moves the end of the traction drive line 4, he can drive the pulley 31 to rotate. The rotation of the pulley 31 can drive the first pin 3 to rotate, and the rotation of the first pin 3 can cause the knuckle part 21 and the fingertip part 22 in the movable part 2 to rotate relative to each other, thereby realizing the grasping posture of the dexterous hand.

[0049] In the above structure, the drive structure can be installed outside the dexterous hand. The drive structure drives the drive line 4 to move, and the movement of the drive line 4 causes the movable part 2 to move. This can reasonably reduce the mass of the parts on the dexterous hand and achieve the effect of remotely controlling the movement of the dexterous hand.

[0050] Furthermore, each knuckle 21 is connected to an elastic element 5 between itself and an adjacent knuckle 21, fingertip 22, or second connecting end 12, for resetting the knuckle 21 or fingertip 22.

[0051] With the above structure, elastic members 5 are provided at the connection between the knuckle portion 21 and the fingertip portion 21, as well as at the connection between knuckle portions 21. The two sides of the elastic member 5 abut against two adjacent knuckle portions 21, or the two sides of the elastic member 5 abut against adjacent fingertips 22 and knuckle portions 21, thereby fixing the relative position of two adjacent knuckle portions 21 or adjacent fingertips 22 and knuckle portions 21.

[0052] When the drive line 4 drives two adjacent knuckles 21 or adjacent fingertips 22 to rotate relative to the knuckles 21, the elastic element 5 is squeezed. After the driving force on the drive line 4 disappears, the elastic element 4 recovers its deformation, thereby allowing the two adjacent knuckles 21 or adjacent fingertips 22 to reset relative to the knuckles 21.

[0053] In summary, those skilled in the art can configure five drive lines to pass through the movable part 2. Any drive line 4 can sequentially contact one side of one of the multiple first pins 3 in the corresponding movable part 2, then circle around the first pin 3 between the knuckle part 21 and the fingertip part 22 to the other side of the first pin 3, and then continue to extend out of the movable part 2. Furthermore, any knuckle part 21 is connected to an elastic member 5 between itself and an adjacent knuckle part 21, fingertip part 22, or second connecting end 12, thereby enabling the movable part 2 in the dexterous hand structure to move and reset.

[0054] In the above embodiments, those skilled in the art would configure five movable parts 2 to be connected to five second connecting ends 12. Preferably, each of the five second connecting ends 12 is fixedly connected to a connecting plate 6, and each connecting plate 6 is rotatably connected to the corresponding finger joint 21 via a first pin 3.

[0055] With the above structure, those skilled in the art can configure the movable part 2 to be connected to the second connecting end 12 via the connecting plate 6, thereby making the connection of the movable part 2 more stable. Furthermore, configuring any connecting plate 6 to be rotatably connected to the corresponding knuckle part 21 via the first pin 3 allows the knuckle part 21 and the connecting plate 6 to rotate relative to each other.

[0056] It is understandable that in the above-described configuration, a pulley 31 is also provided on the first pin 3 between any connecting plate 6 and the corresponding finger joint 21, and the drive line 4 and the pulley 31 on the first pin 3 between any connecting plate 6 and the corresponding finger joint 21 also maintain contact and transmission.

[0057] In the above embodiments, each knuckle portion 21 is connected to an adjacent knuckle portion 21, fingertip portion 22, or second connecting end 12 by an elastic member 5. Preferably, a second pin 7 is provided near each first pin 3, and the elastic member 5 is rotatably connected to the second pin 7 at its middle position.

[0058] That is, the middle position of the elastic element 5 can be fixedly installed on the second pin 7, and the two sides of the elastic element 5 respectively abut against the two adjacent knuckle portions 21 or the two sides of the elastic element 5 respectively abut against the adjacent fingertip portion 22 and knuckle portion 21, thereby stably limiting and resetting the two adjacent knuckle portions 21 or the adjacent fingertip portion 22 and knuckle portion 21.

[0059] More preferably, the first pin 3 and the second pin 7 are parallel to each other. In this embodiment, the first pin 3 and the second pin 7 are parallel to each other, so that the elastic element 5 on the second pin 7 will not interfere with the first pin 3.

[0060] In one embodiment, the drive line 4 is kept separate from the second pin 7, so that the drive line does not interfere with the second pin 7 and the elastic element 5.

[0061] This specification also provides a finger structure, including at least one knuckle portion 21 and a fingertip portion 22.

[0062] Multiple adjacent finger joints 21 are rotatably connected to each other via a first pin 3;

[0063] The knuckle portion 21 is rotatably connected to the adjacent fingertip portion 22 via the first pin 3;

[0064] The drive wire 4 passes through the knuckle 21 and the fingertip 22, and is wound around the first pin 3 between the knuckle 21 and the fingertip 22. The drive wire 4 also passes through the fingertip 22 and the knuckle 21.

[0065] Among them, a pulley 31 is fixedly installed at the middle position of the first pin 3, and the drive line 4 abuts against the pulley 31 to drive the first pin 3 to rotate; an elastic member 5 is fixedly installed between the knuckle 21 and the adjacent knuckle 21 or fingertip 22 to reset the knuckle 21 and fingertip 22.

[0066] In this embodiment, those skilled in the art have configured the finger structure to be connected by at least one knuckle portion 21 and a fingertip portion 22.

[0067] Specifically, in a structure where one knuckle portion 21 is connected to a fingertip portion 22, the knuckle portion 21 and the fingertip portion 22 are connected by a first pin 3. In a structure where multiple knuckle portions 21 are connected to fingertip portions 22, the knuckle portion 21 and the fingertip portion 22 are connected by the first pin 3, and the knuckle portion 21 is also connected to an adjacent knuckle portion 21 by the first pin 3.

[0068] Furthermore, the drive wire 4 passes through the knuckle portion 21 and the fingertip portion 22, and is wound around the first pin 3 between the knuckle portion 21 and the fingertip portion 22, and also passes through the fingertip portion 22 and the knuckle portion 21. A pulley 31 is fixedly installed at the middle position of the first pin 3, and the drive wire 4 abuts against the pulley 31. When those skilled in the art move the end of the traction drive wire 4, they can drive the pulley 31 to rotate. The rotation of the pulley 31 can drive the first pin 3 to rotate, and the rotation of the first pin 3 can cause the knuckle portion 21 and the fingertip portion 22 in the movable part 2 to rotate relative to each other, thereby realizing the bending posture of the finger structure.

[0069] Furthermore, an elastic member 5 is fixedly installed between the knuckle portion 21 and the adjacent knuckle portion 21 or fingertip portion 22. The two sides of the elastic member 5 respectively abut against the two adjacent knuckle portions 21 or the two sides of the elastic member 5 respectively abut against the adjacent fingertip portion 22 and knuckle portion 21, thereby fixing the relative position of the two adjacent knuckle portions 21 or the adjacent fingertip portion 22 and knuckle portion 21.

[0070] When the drive line 4 drives two adjacent knuckles 21 or adjacent fingertips 22 to rotate relative to the knuckles 21, the elastic element 5 is squeezed. After the driving force on the drive line 4 disappears, the elastic element 4 recovers its deformation, thereby allowing the two adjacent knuckles 21 or adjacent fingertips 22 to reset relative to the knuckles 21.

[0071] In one embodiment, each of the two ends of any knuckle portion 21 is provided with a second pin 7, and the middle position of the elastic member 5 is rotatably connected to the second pin 7. The middle position of the elastic member 5 can be fixedly installed on the second pin 7, and the two sides of the elastic member 5 respectively abut against two adjacent knuckle portions 21 or the two sides of the elastic member 5 respectively abut against adjacent fingertip portions 22 and knuckle portions 21, thereby stably limiting and resetting the two adjacent knuckle portions 21 or the adjacent fingertip portions 22 and knuckle portions 21.

[0072] Preferably, the first pin 3 and the second pin 7 are parallel. The parallelism of the first pin 3 and the second pin 7 prevents the elastic element 5 on the second pin 7 from interfering with the first pin 3. More preferably, the elastic element 5 is made of an elastic sheet. Using an elastic sheet to make the elastic element 5 results in low cost, significant effect, and easy installation.

[0073] Preferably, the drive line 4 is kept separate from the second pin 7. Keeping the drive line 4 separate from the second pin 7 prevents interference between the drive line and the second pin 7 and the elastic element 5.

[0074] Although different specific embodiments are mentioned in this application, this application is not limited to the situations described in industry standards or embodiments. Slightly modified implementations based on certain industry standards or custom methods or embodiments can also achieve the same, equivalent, or similar, or predictable, implementation effects as the above embodiments. Embodiments applying these modified or modified data acquisition, processing, output, and judgment methods still fall within the scope of optional implementations of this application.

[0075] Although this application has been described by way of examples, those skilled in the art will know that this application has many modifications and variations without departing from the spirit of this application, and it is intended that the appended embodiments include these modifications and variations without departing from this application.

Claims

1. A dexterous hand structure, characterized in that, include: The main body has a first connecting end and five second connecting ends; Each of the five movable parts is movably connected to one of the five second connecting ends; Each of the movable parts includes at least one interconnected knuckle and a fingertip. The knuckles are connected to each other by a first pin, and the knuckle and the fingertip are also connected by a first pin. A pulley is fixedly installed at the middle position of each of the first pins. The first connecting end of the main body is provided with five connecting holes, through which drive wires are passed. The five drive wires pass into the main body and the corresponding movable part, and exit from the corresponding movable part and the main body. The five drive wires respectively abut against the multiple pulleys in the corresponding movable part to drive the corresponding first pin to rotate. Each of the aforementioned knuckle portions is connected to an elastic element between itself and an adjacent knuckle portion, fingertip portion, or the second connecting end, for resetting the knuckle portion or fingertip portion.

2. The dexterous hand structure according to claim 1, characterized in that, Each of the five second connecting ends is fixedly connected to a connecting plate, and each of the first connecting plates is rotatably connected to the corresponding finger joint via a first pin.

3. The dexterous hand structure according to claim 1, characterized in that, A second pin is provided near each of the first pins, and the middle position of the elastic element is rotatably connected to the second pin.

4. The dexterous hand structure according to claim 3, characterized in that, The first pin and the second pin are parallel to each other.

5. The dexterous hand structure according to claim 3, characterized in that, The drive line remains separate from the second pin.

6. A finger structure, characterized in that, Includes at least one knuckle and the fingertip. Multiple adjacent finger joints are rotatably connected to each other via a first pin. The knuckle portion and the adjacent fingertip portion are rotatably connected by a first pin. The drive wire passes through the knuckle and the fingertip, the drive wire is wound around the first pin between the knuckle and the fingertip, and the drive wire passes through the fingertip and the knuckle. Wherein, a pulley is fixedly installed at the middle position of the first pin shaft, and the drive line abuts against the pulley to drive the first pin shaft to rotate; an elastic element is fixedly installed between the knuckle and the adjacent knuckle or the fingertip to reset the knuckle and the fingertip.

7. The dexterous hand structure according to claim 6, characterized in that, Each of the finger joints is provided with a second pin at both ends, and the middle position of the elastic element is rotatably connected to the second pin.

8. The dexterous hand structure according to claim 7, characterized in that, The first pin is parallel to the second pin.

9. The dexterous hand structure according to claim 8, characterized in that, The elastic element is made of an elastic sheet.

10. The dexterous hand structure according to claim 9, characterized in that, The drive line remains separate from the second pin.

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